Flood prevention and dam repair device and method

Abstract

This invention discloses a flood control and dam repair device and method, belonging to the field of natural flood protection technology. The entire device consists of five parts: a water-blocking unit, a drainage and grouting unit, a pile driving unit, a pile transportation unit, and a monitoring and sensing unit. The water-blocking unit is the main body of the entire device. It achieves water isolation by adapting to different ground height differences through the telescopic structure of an adaptive flexible water-blocking tank, and realizes omnidirectional movement control of the water-blocking tank through a slider and screw drive mechanism. The drainage and grouting unit is used to drain the water accumulated inside the adaptive flexible water-blocking tank and inject grout into the tank. The pile driving unit is used to complete the drilling operation at the set location. The pile transportation unit can accurately insert the reinforcing bars into the completed drilled holes, ensuring that their position and orientation are consistent with the design. The monitoring and sensing unit is responsible for collecting the device's operating data in real time, providing reliable support for the automated operation of the equipment. This invention not only improves the efficiency and quality of flood control and dam repair, but also improves safety and enhances the practicality of the device through automated operation.

Description

Technical Field

[0001] This invention relates to the field of natural flood protection technology, and in particular to a flood control and dam repair device and method. Technical Background

[0002] my country is one of the countries most severely affected by floods in the world. Extreme rainstorms trigger floods across regions with numerous rivers and lakes, often adversely impacting densely populated areas. my country has a large number of small and medium-sized dikes scattered across a wide area, with inconvenient transportation and difficulties in transporting repair materials. Traditional dike repair and rescue equipment and methods are scarce. Rescue personnel typically carry repair tools and climb to the damaged sections of the dike to seal and grout breaches. In extreme cases, emergency measures may even require using vehicles as storage, often at great personal risk, to fill and seal breaches. Therefore, traditional manual repair methods are time-consuming, labor-intensive, and extremely dangerous, with numerous drawbacks.

[0003] Currently, flood control and dam repair devices mainly include the following two types: (1) Folding water conservancy flood control device. Patent CN202511036917.1 achieves water blocking through the unfolding and angle adjustment of the folding hinge structure, and blocks leakage by precisely pressing and fitting the seepage-proof cloth. Its disadvantage is that it can only temporarily intercept water flow and cannot reinforce the soil in easily seepage-prone areas such as dams and riverbanks. (2) Quick filling flood control device. Patent CN202520176470.7 quickly constructs a seepage-proof water retaining wall by filling the box to increase weight, modular splicing and sealing treatment. Its disadvantage is that it only relies on the bottom sealing gasket to achieve seepage prevention, and can only ensure the sealing effect on flat ground. It cannot effectively solve the seepage problem when facing complex terrain such as steps, ditches, and sandy land, especially when there is a gap in the dam and a rapid flow occurs. In summary, the existing devices have failed to solve the problem of personnel leaving the front-line dangerous operation, with a high risk factor and high labor intensity.

[0004] To overcome the above problems, this invention discloses a flood control and dam repair device and method that comprehensively considers and upgrades the shortcomings of the aforementioned flood control devices. The innovative design of the adaptive flexible water-proof enclosure can adapt to irregular terrain interfaces to achieve efficient water isolation. The device and method can take into account both flood control and dam repair functions, integrate piling, steel bar implantation and other integrated operation processes, and have strong scene adaptability and flexibility. It can reduce the risk factor of traditional manual flood control and solve the problem of high labor intensity of the aforementioned flood control devices, and has good practicality. Summary of the Invention

[0005] This invention addresses the shortcomings of existing devices in current dam repair operations, such as high risk to operators, low efficiency, and high labor intensity. It provides a flood control and dam repair device and method that integrates dam repair operations such as pile driving and steel bar implantation, and has a certain degree of flexibility.

[0006] This invention addresses the problems of existing flood control and dam repair devices by making fundamental innovations. Its basic ideas are: ① The device uses an adaptive flexible water-resistant enclosure as its main structure to effectively isolate water bodies and reduce water flow resistance. Furthermore, through the telescopic adjustment mechanism of each independent component, it achieves a tight fit to irregular terrain interfaces, enhancing its erosion resistance and positional stability in water. ② The piling unit is designed with a two-stage screw drive system. Through the synergistic action of the two precision screws, the axial travel and radial drilling capacity of the drill bit are effectively expanded, thereby significantly improving the displacement range and working depth of the borehole. ③ The pile transport unit integrates a bevel gear flipping mechanism and a gear and rack drive system. The bevel gear mechanism achieves the posture adjustment and flipping positioning of the reinforcing bars, while the gear and rack system controls its longitudinal feed. The two mechanisms work together to ensure construction positioning accuracy and process reliability.

[0007] To achieve the above objectives and principles, the technical solution of the present invention is as follows:

[0008] A flood control embankment repair device consists of five parts: a water-proof unit, a drainage and grouting unit, a pile driving unit, a pile transportation unit, and a monitoring and sensing unit.

[0009] The water-proof unit is the main body of the entire device, providing a solid foundation for the whole device; the drainage and grouting unit is installed on both sides of the water-proof unit; the pile driving unit is located at the front of the device; the pile transportation unit is installed above the pile driving unit; the monitoring and sensing units are distributed in various positions of the device and are responsible for collecting the device's operating data in real time.

[0010] The water-proof unit includes motor 1, gear 1, gear 2, lead screw 1, lead screw end cap, lead screw nut seat, slider connecting seat, motor 1 bracket, gear bracket, base plate, guide rail 1, slider 1, motor 2, motor 3, lead screw bracket, left gripper, right gripper, gripper support, flexible water-proof enclosure, track wheel, track, electric slider, electric guide rail, base, lead screw 2, lead screw 3, back plate, top plate, vertical module strip, outer buckle, inner buckle;

[0011] The motor bracket and gear bracket are bolted together and mounted on the base plate. The motor is bolted together and mounted on the motor bracket and connected to the gear through a set screw. The gear is axially fixed on the gear bracket and connected to the lead screw through a key for synchronous movement. The lead screw end cap axially fixes the lead screw. The gear and gear form a rotating pair. The lead screw nut seat and the slider connecting seat are bolted together and mounted on the slider. The guide rail and the slider connecting seat form a sliding pair. The motor drives the lead screw mechanism, causing the lead screw nut seat to move along the Z-axis, thereby driving the slider to move synchronously. This provides the water-stop unit with a degree of freedom F1 for the dam repair water-stop operation in the Z-axis direction.

[0012] Track wheels are movably mounted on both sides of the base. The track wheels mesh with the track, and the rotation of the track drives the vehicle body to move. Electric guide rails are bolted to both sides of the base, so that the electric guide rails are arranged parallel along the Y-axis. The electric guide rails and the electric slider form a sliding pair. A guide rail is bolted to the top of the electric slider. The guide rail is bolted to the upper plate to form a gantry frame, which in turn drives the slider mounted on the gantry frame to move. This provides the water-proof unit with a degree of freedom F2 for precise adjustment of the dam repair position in the Y-axis direction.

[0013] The back plate is bolted to the base plate and can protect the transmission mechanism in the waterproof unit from dust and dirt.

[0014] Motors 2 and 3 are bolted together and mounted on slider 1. One end of lead screw 2 is mounted on motor 2, and the other end is mounted on lead screw bracket via bearing, allowing it to rotate only in the X-axis direction. One end of lead screw 3 is mounted on motor 3, and the other end is mounted on lead screw bracket via bearing, allowing it to rotate only in the X-axis direction. The left and right grippers cooperate with lead screws 2 and 3 respectively. The gripper supports are welded to slider 1 to provide support for the left and right grippers. Motors 2 and 3 drive the lead screw mechanism, causing the left and right grippers to move along the X-axis direction, providing a degree of freedom F3 for positioning and clamping the flexible water-resistant enclosure in the X-axis direction.

[0015] Preferably, the flexible water-proof enclosure is composed of several independent and interlocking vertical modular strips. The outer and inner buckles are respectively installed on the outer and inner sides of the flexible water-proof enclosure, providing support and limiting for the flexible water-proof enclosure. The height of each vertical modular strip is independently adjustable, and the telescopic structure adapts to the ground height difference at different locations to achieve water isolation. Moreover, the streamlined shape design enhances its resistance to erosion and its positional stability in the water.

[0016] The drainage grouting unit includes a cement bucket, grouting pipe one, cement pump, grouting pipe two, pipe gripper, drainage pipe, and water pump;

[0017] The water pump is bolted to the back plate. One end of the drainage pipe is connected to the water pump, and the other end is fixed by the pipe gripper. The pipe gripper is welded and fixed to the piling box and moves synchronously with the piling box to realize the drainage work inside the barrel after the flexible water-proof barrel is lowered into the dam for water-proofing operation.

[0018] The cement bucket is placed on the base. One end of the grouting pipe is connected to the cement bucket, and the other end is connected to the cement pump. The cement pump is fixed to the back plate by bolts. One end of the grouting pipe is connected to the cement pump, and the other end is fixed by the pipe gripper, so as to realize the grouting and transportation operation for dam repair.

[0019] The piling unit includes an upper base, a lower base, a lead screw four, a lead screw four slider seat, a guide rail two, a connecting rod, a piling box, a lead screw five, a lead screw five slider seat, a drill bit box, a drill bit, a motor four, a gear three, and a thrust bearing;

[0020] The upper base and the lower base are welded and fixed on the screw bracket. The guide rail 2 is connected between the upper base and the lower base by bolts. The screw 4 is fastened between the upper base and the lower base by the screw retainer. The screw 4 slider seat cooperates with the screw 4 and the guide rail 2. The screw 4 slider seat and the guide rail 2 form a sliding pair. The motor in the upper base drives the screw 4 to rotate, realizing the first-stage transmission for the up and down movement of the screw 4 slider seat.

[0021] Preferably, the lead screw four slider seat is welded to the piling box via a connecting rod; the lead screw five is fastened to the piling box via a lead screw fastener, the lead screw five slider seat and the piling box form a sliding pair, the lead screw five slider seat and the drill bit box are connected by bolts, and the lead screw five is driven to rotate by a motor in the piling box, thereby driving the drill bit box to move up and down, realizing the two-stage transmission of the piling unit;

[0022] Preferably, the drilling depth of the pile foundation in the Z-axis direction during dam repair is precisely adjusted through the primary and secondary transmissions of the pile driving unit.

[0023] Preferably, three drill bit boxes are installed on the five-slider seat of the lead screw to increase the number of pile holes in the dam pile foundation, making the pile foundation more solid and stable;

[0024] Motor 4 is installed inside the drill bit box. Motor 4 is connected to gear 3 by set screws. Gear 3 and drill bit form a rotating pair. Drill bit is axially fixed by thrust bearing. Motor 4 drives gear mechanism, thereby driving drill bit to rotate and complete pile foundation drilling in the Z-axis direction.

[0025] Preferably, the drill bit is designed with a hollow inner hole structure so that the reinforcing bars in the subsequent pile transportation unit can be guided through the inner hole channel and accurately fall into the drilled pile hole, and then can be connected with the grout delivered by the drainage and grouting unit to form a skeleton load-bearing structure.

[0026] The pile-moving unit includes a pile-moving shell, a transmission main shaft, a bevel gear one, a motor five, a bracket, a bevel gear two, a rack, a gear four, a guide rod, a coaxial motor, an electric gripper, and reinforcing bars;

[0027] The electric gripper is bolted to the coaxial motor. The gripper in the electric gripper can move left and right to fix the steel bar and achieve stable clamping of the steel bar.

[0028] The bracket is bolted to the pile driving box, and the motor is bolted to the pile driving box. Bevel gear one meshes with bevel gear two. Bevel gear one is fixed to the transmission main shaft by a key. The transmission main shaft is bolted to the pile transport shell. The motor drives bevel gear two to rotate, causing bevel gear one and the transmission main shaft to rotate, which in turn drives the pile transport shell to rotate synchronously, realizing a 90° rotation of the pile transport shell, thereby realizing the hollow inner hole structure of the drill bit for precise positioning of reinforcing bars.

[0029] The guide rod is bolted to the pile driving box, the rack is bolted to the pile driving box, the coaxial motor and the guide rod form a sliding pair, and the fourth gear is connected to the coaxial motor shaft by a set screw. The coaxial motor drives the fourth gear to rotate, and the rack meshes with the fourth gear, thereby driving the coaxial motor to move up and down, realizing the controllable transportation of the steel reinforcement of the dam pile foundation.

[0030] Preferably, the coaxial motor integrates the motor and the transmission shaft into one unit, with the motor rotor shaft directly serving as the transmission output shaft to drive the gear four to rotate;

[0031] The monitoring sensing unit includes visual sensor one, visual sensor two, visual sensor three, and visual sensor four;

[0032] Preferably, the first visual sensor is bolted to the upper plate, and the third visual sensor is bolted to the base. Visual sensors one and three are used to monitor the forward and backward positions of the device. The second visual sensor is bolted to the upper base and is responsible for real-time acquisition and dynamic monitoring of key data during the operation of the drainage and grouting unit, the pile driving unit, and the pile transport unit, including drainage and grouting conditions, drilling depth, and the posture of the pile transport unit. The fourth visual sensor is bolted to the base and is responsible for acquiring data such as the position of the flexible water-resistant enclosure during its descent and ascent. The monitoring sensor unit is responsible for real-time acquisition of device operating data, providing reliable support for automated equipment operation, enabling perception of the flood control and dam environment, thereby allowing rescue personnel to remotely control the entire device, greatly enhancing the safety factor of flood control and dam repair.

[0033] The entire operation process of the device is as follows:

[0034] Step 1: Activate the flood control and dam repair equipment and move the entire machine to the specific location of the dam repair operation;

[0035] Step 2: Activate waterproof unit I to clamp and fix the flexible waterproof enclosure barrel in the target area, ensuring that it fits tightly against the terrain;

[0036] Step 3: Operate drainage grouting unit II to drain the water accumulated inside the flexible waterproof enclosure.

[0037] Step 4: Run piling unit III to drive the drill bit to drill a hole at the set position to the predetermined depth;

[0038] Step 5: Operate pile transport unit IV to accurately drop the reinforcing bars into the drilled pile foundation hole, ensuring the accurate positioning of the reinforcing bars;

[0039] Step 6: Operate drainage grouting unit II to inject grout into the flexible waterproof enclosure to complete the bonding and overall reinforcement of the steel reinforcement with the surrounding soil;

[0040] Step 7: The monitoring sensor unit V is responsible for collecting real-time data on device operation. Once the monitored slurry has initially solidified, the flexible waterproof enclosure will be removed from its construction area to complete the repair work at that location.

[0041] The beneficial effects of this invention are:

[0042] 1. This invention integrates pile driving and steel bar implantation into a single operation for dam repair, realizing integrated and continuous dam repair operations, thereby significantly improving construction efficiency and the smoothness of process connections.

[0043] 2. This device is designed with a flexible water-proof enclosure structure. Through the telescopic structure, it can adapt to the ground height difference at different locations. It can not only achieve effective water isolation on irregular terrain interfaces, but also enhance its erosion resistance and positional stability in water bodies with its streamlined shape design.

[0044] 3. The device designed in this invention has outstanding structural adaptability and motion flexibility. Its main transmission and execution mechanisms are based on the screw system design, which not only improves the positioning accuracy and load capacity of the device, but also enables it to maintain stable operation under complex or harsh working conditions.

[0045] 4. This invention provides reliable support for automated equipment operation through a series of modules and methods in conjunction with sensors, thereby enabling rescue personnel to remotely control the entire device and greatly enhancing the safety factor of flood control and dam repair. Attached Figure Description

[0046] Figure 1 A general drawing of a flood control and dam repair device;

[0047] Figure 2 Waterproof unit structure Figure I ;

[0048] Figure 3 Waterproof unit structure Figure II ;

[0049] Figure 4 Flexible waterproof enclosure mechanism and partial structural diagram;

[0050] Figure 5 Structural diagram of drainage grouting unit;

[0051] Figure 6 Piling unit structure diagram;

[0052] Figure 7 Internal structure diagram of the drill bit box;

[0053] Figure 8 Piling unit structure diagram;

[0054] Figure 9 Schematic diagram of the monitoring sensor unit;

[0055] Figure 10 Workflow diagram;

[0056] The labels in the diagram are as follows: Ⅰ-Waterproof unit, Ⅱ-Drainage and grouting unit, Ⅲ-Pile driving unit, Ⅳ-Pile transportation unit, Ⅴ-Monitoring and sensing unit, 1.1-Motor 1, 1.2-Gear 1, 1.3-Gear 2, 1.4-Screw 1, 1.5-Screw end cap, 1.6-Screw nut seat, 1.7-Slider connecting seat, 1.8-Motor 1 bracket, 1.9-Gear bracket, 1.10-Base plate, 1.11-Guide rail 1, 1.12-Slider 1, 1.13-Motor 2, 1. 14-Motor 3, 1.15-Screw Bracket, 1.16-Left Grip, 1.17-Right Grip, 1.18-Grip Support, 1.19-Flexible Waterproof Enclosure, 1.20-Crawler Wheel, 1.21-Crawler, 1.22-Electric Slider, 1.23-Electric Guide Rail, 1.24-Base, 1.25-Screw 2, 1.26-Screw 3, 1.27-Back Plate, 1.28-Top Plate, 1.29-Vertical Module Strip, 1.30-External Buckle, 1.31-Internal Buckle 2.1-Cement bucket, 2.2-Grouting pipe one, 2.3-Cement pump, 2.4-Grouting pipe two, 2.5-Pipe gripper, 2.6-Drainage pipe, 2.7-Water pump, 3.1-Upper base, 3.2-Lower base, 3.3-Screw four, 3.4-Screw four slider seat, 3.5-Guide rail two, 3.6-Connecting rod, 3.7-Pile driving box, 3.8-Screw five, 3.9-Screw five slider seat, 3.10-Drill bit box, 3.11-Drill bit, 3.12-Motor four 3.13-Gear Three, 3.14-Thrust Bearing, 4.1-Pile Carrying Housing, 4.2-Transmission Main Shaft, 4.3-Bevel Gear One, 4.4-Motor Five, 4.5-Bracket, 4.6-Bevel Gear Two, 4.7-Rack, 4.8-Gear Four, 4.9-Guide Rod, 4.10-Coaxial Motor, 4.11-Electric Gripper, 4.12-Rebar, 5.1-Vision Sensor One, 5.2-Vision Sensor Two, 5.3-Vision Sensor Three, 5.4-Vision Sensor Four. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0058] Example: The breach in the dam is 10m long, 1m wide, and 1.5m deep. It is divided into 10 repair points and repaired sequentially.

[0059] like Figure 1 As shown, a flood control and dam repair device consists of five parts: a water-blocking unit I, a drainage and grouting unit II, a pile driving unit III, a pile transportation unit IV, and a monitoring and sensing unit V. The water-blocking unit I is the main body of the entire device. It uses a flexible water-blocking enclosure 1.19 with a telescopic structure to adapt to different ground height differences to achieve water isolation, and is designed with a slider and screw drive mechanism to achieve omnidirectional movement and control of the water-blocking enclosure. The drainage and grouting unit II is used to drain the water accumulated inside the flexible water-blocking enclosure and inject grout into it. The pile driving unit… Unit III is installed above the flexible waterproof enclosure 1.19 and is used to complete drilling operations at a set location; the pile transportation unit IV is installed above the pile driving unit III and can accurately insert the reinforcing bars into the completed holes to ensure the transportation and installation of the reinforcing bars for the dam pile foundation; the monitoring and sensing unit V is responsible for collecting the device's operating data in real time, providing reliable support for the automated operation of the equipment, and enabling the perception of the flood control and dam environment, thereby enabling rescue personnel to remotely control the entire device, greatly enhancing the safety factor of flood control and dam repair.

[0060] like Figure 2-4As shown, the water-proof unit I includes a motor (1.1), a gear (1.2), a gear (1.3), a lead screw (1.4), a lead screw end cap (1.5), a lead screw nut seat (1.6), a slider connecting seat (1.7), a motor (1.8) bracket, a gear bracket (1.9), a base plate (1.10), a guide rail (1.11), a slider (1.12), a motor (1.13), a motor (1.14), a lead screw bracket (1.15), a left gripper (1.16), a right gripper (1.17), a gripper support (1.18), a flexible water-proof enclosure (1.19), a track wheel (1.20), a track (1.21), an electric slider (1.22), an electric guide rail (1.23), a base (1.24), a lead screw (1.25), a lead screw (1.26), a back plate (1.27), an upper plate (1.28), a vertical module strip (1.29), and an outer clamp. The motor bracket 1.30 and gear bracket 1.31 are bolted together and mounted on the base plate 1.10. Motor 1.1 is bolted to motor bracket 1.8 and connected to gear 1.2 via set screws. Gear 2 1.3 is axially fixed to gear bracket 1.9 and connected to lead screw 1.4 via a key for synchronous movement. Lead screw end cap 1.5 axially fixes lead screw 1.4. Gear 1.2 and gear 2 1.3 form a revolute pair. Lead screw nut seat 1.6 and slider connecting seat 1.7 are bolted together and mounted on slider 1.12. Guide rail 1.11 and slider connecting seat 1.7 form a sliding pair. Motor 1.1 drives the lead screw mechanism, causing lead screw nut seat 1.6 to move along the Z-axis. The movement of the sliding block 1.12, in turn, provides the waterproofing unit I with a degree of freedom F1 for the waterproofing operation of the dam repair in the Z-axis direction. Track wheels 1.20 are movably mounted on both sides of the base 1.24, engaging with tracks 1.21, whose rotation drives the vehicle body. Electric guide rails 1.23 are bolted to both sides of the base 1.24, arranged parallel along the Y-axis. The electric guide rails 1.23 and the electric sliding block 1.22 form a sliding pair. A guide rail 1.11 is bolted above the electric sliding block 1.22, and this guide rail 1.11 is bolted to the upper plate 1.28 to form a gantry, which in turn drives the sliding block 1.12 mounted on the gantry. The movement provides the water-proof unit I with a degree of freedom F2 for precise adjustment of the dam repair position in the Y-axis direction; the back plate 1.27 is bolted to the base plate 1.10 and can protect the transmission mechanism in the water-proof unit I from dust and ash; the motors 1.13 and 1.14 are bolted to the slider 1.12; one end of the lead screw 1.25 is mounted on the motor 1.13, and the other end is mounted on the lead screw bracket 1.15 through a bearing, so that it can only rotate in the X-axis direction; one end of the lead screw 1.26 is mounted on the motor 1.14, and the other end is mounted on the lead screw bracket 1.15 through a bearing, so that it can only rotate in the X-axis direction; the left gripper 1.16 and the right gripper 1.17 are respectively connected to the lead screw 1.25 and the lead screw 1.26.26. The gripper support 1.18 is welded to the slider 1.12, providing support for the left gripper 1.16 and the right gripper 1.17. Motors 2.13 and 3.14 drive the lead screw mechanism, causing the left gripper 1.16 and the right gripper 1.17 to move along the X-axis, providing a degree of freedom F3 for positioning and clamping the flexible water-proof enclosure 1.19 in the X-axis direction.

[0061] The flexible water-resistant enclosure 1.19 is composed of several independent and interlocking vertical modular strips 1.29. The outer buckle 1.30 and the inner buckle 1.31 are respectively installed on the outer and inner sides of the flexible water-resistant enclosure 1.19, providing support and limiting for the flexible water-resistant enclosure 1.19. The height of each vertical modular strip 1.29 is independently adjustable, and the telescopic structure adapts to the ground height difference at different positions to achieve water isolation. Moreover, the streamlined shape design enhances its resistance to erosion and its positional stability in the water.

[0062] like Figure 5 As shown, the drainage grouting unit II includes a cement bucket 2.1, a grouting pipe one 2.2, a cement pump 2.3, a grouting pipe two 2.4, a pipe gripper 2.5, a drainage pipe 2.6, and a water pump 2.7. The water pump 2.7 is bolted to the back plate 1.27. One end of the drainage pipe 2.6 is connected to the water pump 2.7, and the other end is fixed by the pipe gripper 2.5. The pipe gripper 2.5 is welded and fixed to the piling box 3.7 and moves synchronously with the piling box 3.7. The flexible waterproof enclosure 1.19 is used for drainage work after the dam waterproofing operation. The cement bucket 2.1 is placed on the base 1.24. One end of the grouting pipe 2.2 is connected to the cement bucket 2.1, and the other end is connected to the cement pump 2.3. The cement pump 2.3 is fixed to the back plate 1.27 by bolts. One end of the grouting pipe 2.4 is connected to the cement pump 2.3, and the other end is fixed by the pipe gripper 2.5 to realize the grouting and transportation operation for dam repair.

[0063] like Figure 6 , 7As shown, the piling unit III includes an upper base 3.1, a lower base 3.2, a lead screw 4 3.3, a lead screw 4 slider seat 3.4, a guide rail 2 3.5, a connecting rod 3.6, a piling box 3.7, a lead screw 5 3.8, a lead screw 5 slider seat 3.9, a drill bit box 3.10, a drill bit 3.11, a motor 4 3.12, a gear 3 3.13, and a thrust bearing 3.14. The upper base 3.1 and the lower base 3.2 are welded and fixed to the lead screw bracket 1.15. The guide rail 2 3.5 is bolted between the upper base 3.1 and the lower base 3.2. The lead screw 4 3.3 is fastened between the upper base 3.1 and the lower base 3.2 by a lead screw fastener. The lead screw 4 slider seat 3.4 cooperates with the lead screw 4 3.3 and the guide rail 2 3.5. The lead screw 4 slider seat 3.4 and the guide rail 2 3.5 forms a sliding pair. The motor in the upper base 3.1 drives the lead screw 3.3 to rotate, achieving the first-stage transmission for the vertical movement of the lead screw 3.4 slider seat 3.4. The lead screw 3.4 slider seat 3.4 is welded to the piling box 3.7 via a connecting rod 3.6. The lead screw 3.8 is fastened to the piling box 3.7 via a lead screw fastener. The lead screw 3.9 slider seat 3.9 and the piling box 3.7 form a sliding pair. The lead screw 3.9 slider seat 3.9 is bolted to the drill bit box 3.10. The motor in the piling box 3.7 drives the lead screw 3.8 to rotate, thereby moving the drill bit box 3.10 vertically, achieving the second-stage transmission of piling unit III. Through the first-stage and second-stage transmissions of piling unit III, precise adjustment of the drilling depth in the Z-axis direction during dam repair is achieved.

[0064] Three drill bit boxes 3.10 are installed on the lead screw five slider seat 3.9 to increase the number of pile holes in the dam pile foundation, making the pile foundation more solid and stable. The drill bit box 3.10 is equipped with a motor four 3.12, which is connected to a gear three 3.13 by a set screw. The gear three 3.13 and the drill bit 3.11 form a rotating pair. The drill bit 3.11 is axially fixed by a thrust bearing 3.14. The motor four 3.12 drives the gear mechanism, thereby driving the drill bit 3.11 to rotate, so that the drill bit 3.11 completes the pile foundation drilling operation in the Z-axis direction. The drill bit 3.11 is designed with a hollow inner hole structure so that the reinforcing steel bar 4.12 in the subsequent pile transportation unit IV can be guided through the inner hole channel to accurately fall into the drilled pile foundation hole, and then connected with the grout delivered by the drainage grouting unit II to form a skeleton load-bearing structure.

[0065] like Figure 8As shown, the pile-transporting unit IV includes a pile-transporting housing 4.1, a transmission main shaft 4.2, a first bevel gear 4.3, a fifth motor 4.4, a support 4.5, a second bevel gear 4.6, a rack 4.7, a fourth gear 4.8, a guide rod 4.9, a coaxial motor 4.10, an electric gripper 4.11, and a reinforcing bar 4.12. The electric gripper 4.11 is bolted to the coaxial motor 4.10, and the gripper in the electric gripper 4.11 can move left and right to fix the reinforcing bar 4.12, achieving stable clamping of the reinforcing bar 4.12. The support 4.5 is bolted to the pile-driving box 2.7, and the fifth motor 4.4 is bolted to the pile-driving box 2.7. The first bevel gear 4.3 meshes with the second bevel gear 4.6, and the first bevel gear 4.3 is fixed to the transmission main shaft 4.2 by a key connection. The transmission main shaft 4.2 is bolted to the pile-transporting housing 4.1, and the fifth motor 4.4 drives the bevel gears. Rotation of 4.6 causes bevel gear 4.3 and transmission shaft 4.2 to rotate, which in turn drives pile transport housing 4.1 to rotate synchronously, achieving a 90° rotation of pile transport housing 4.1, thereby enabling precise positioning of the hollow inner hole structure of drill bit 3.11 for reinforcing steel 4.12. The guide rod 4.9 is bolted to the pile driving box 2.7, and the rack 4.7 is bolted to the pile driving box 3.7. The coaxial motor 4.10 and guide rod 4.9 form a sliding pair. Gear 4.8 is connected to the shaft of coaxial motor 4.10 through set screws. Coaxial motor 4.10 drives gear 4.8 to rotate, and rack 4.7 meshes with gear 4.8, thereby driving coaxial motor 4.10 to move up and down, realizing the controllable transportation of reinforcing steel 4.12 for dam pile foundation. The coaxial motor 4.10 integrates the motor and transmission shaft into one unit, and the motor rotor shaft directly serves as the transmission output shaft, driving gear 4.8 to rotate.

[0066] like Figure 9As shown, the monitoring sensing unit V includes visual sensor 5.1, visual sensor 5.2, visual sensor 5.3, and visual sensor 5.4. Visual sensor 5.1 is bolted to the upper plate 1.28, and visual sensor 5.3 is bolted to the base 1.24. Visual sensors 5.1 and 5.3 are used to monitor the forward and backward positions of the device. Visual sensor 5.2 is bolted to the upper base 3.1 and is responsible for monitoring the drainage grouting unit II, pile driving unit III, and pile transportation unit IV. Key data during the operation are collected and dynamically monitored in real time, including drainage and grouting conditions, drilling depth, and the posture of the pile-transporting unit IV. The vision sensor IV 5.4 is bolted to the base 1.24 and is responsible for collecting data such as the position of the flexible water-proof enclosure 1.19 during its descent and ascent. The monitoring sensor unit V is responsible for collecting real-time operating data of the device, providing reliable support for the automated operation of the equipment, enabling perception of the flood control and dam environment, thereby allowing rescue personnel to remotely control the entire device and greatly enhancing the safety factor of flood control and dam repair.

[0067] The operation method and flow of this device are as follows: Figure 10 As shown.

[0068] Step 1: Activate the flood control and dam repair equipment and move the entire machine to the specific location of the dam repair operation;

[0069] Specifically, the device is moved to the specific location of the dam repair operation by using tracked wheels 1.20 and tracks 1.21 in conjunction with vision sensors 1.5.1 and 3.3.

[0070] Step 2: Activate waterproof unit I to clamp and fix the flexible waterproof enclosure barrel in the target area, ensuring that it fits tightly against the terrain;

[0071] Specifically, starting motors 1.13 and 1.14 cause their left gripper 1.16 and right gripper 1.17 to move along the X-axis, providing a degree of freedom F3 for positioning and clamping the flexible waterproof enclosure 1.19 in the X-axis direction, thereby fixing the flexible waterproof enclosure 1.19; starting motor 1.1 drives the flexible waterproof enclosure 1.19 to move in the Z-axis direction through a screw-slider mechanism, providing a degree of freedom F1 for the waterproof unit I in the Z-axis direction for dam repair waterproofing operations; electric slider 1.22 and electric... The moving guide rail 1.23 drives the flexible water-proof enclosure 1.19 to move in the Y-axis direction, providing the water-proof unit I with a degree of freedom F2 for precise adjustment of the dam repair position in the Y-axis direction, realizing the precise adjustment and placement of the target area of ​​the flexible water-proof enclosure 1.19; the height of each vertical module bar 1.29 in the flexible water-proof enclosure 1.19 is independently adjustable, and the telescopic structure adapts to the ground height difference at different positions to achieve water isolation, and the streamlined shape can significantly improve its resistance to water flow impact and positional stability in the water body.

[0072] Step 3: Operate drainage grouting unit II to drain the water accumulated inside the flexible waterproof enclosure.

[0073] Specifically, the drainage pipe 2.6 moves up and down synchronously with the piling box 3.7 via the pipe gripper 2.5, causing the drainage pipe 2.6 to fall to the bottom of the bucket. The water pump 2.7 then operates to drain the water inside the bucket after the flexible water-proof enclosure bucket 1.19 has been lowered into the dam.

[0074] Step 4: Run piling unit III to drive the drill bit to drill a hole at the set position to the predetermined depth;

[0075] Specifically, the motor in the upper base 3.1 drives the lead screw 3.3 to rotate, thereby moving the pile driving box 3.7 up and down, realizing the first-stage transmission drilling of the pile driving unit III; the motor in the pile driving box 3.7 drives the lead screw 3.8 to rotate, thereby moving the drill bit box 3.10 up and down to drill, realizing the second-stage transmission drilling of the pile driving unit III. Through the first-stage and second-stage transmissions of the pile driving unit III, the drilling depth of the pile foundation in the Z-axis direction during dam repair is precisely adjusted; the motor in the drill bit box 3.10 drives the gear mechanism, thereby driving the drill bit 3.11 to rotate, so that the drill bit 3.11 completes the pile foundation drilling operation in the Z-axis direction.

[0076] Step 5: Operate pile transport unit IV to accurately drop the reinforcing bars into the drilled pile foundation hole, ensuring the accurate positioning of the reinforcing bars;

[0077] Specifically, starting motor 4.4 drives bevel gear 4.6 to rotate, keeping the pile carrier shell 4.1 vertical, thereby aligning the reinforcing bar 4.12 with the center of the hollow structure hole of drill bit 3.11 in drill bit box 3.10; starting coaxial motor 4.10 drives gear 4.8 to rotate, driving the coaxial motor 4.10 to move up and down through the gear and rack structure, thereby driving the reinforcing bar 4.12 to move up and down through electric clamp 4.11, smoothly dropping the reinforcing bar 4.12 into the drilled pile hole, and then connecting it with the grout delivered by drainage grouting unit II to form a skeleton load-bearing structure.

[0078] Step 6: Operate drainage grouting unit II to inject grout into the flexible waterproof enclosure to complete the bonding and overall reinforcement of the steel reinforcement with the surrounding soil;

[0079] Specifically, the grouting pipe 2.4 moves up and down synchronously with the pile driver 3.7 via the pipe gripper 2.5, causing the grouting pipe 2.4 to fall to the bottom of the bucket. The cement pump 2.3 then pumps the rapidly solidifying cement from the cement bucket 2.1 into the flexible waterproof enclosure bucket 1.19, thus realizing the grouting and conveying operation for dam repair.

[0080] Step 7: The monitoring sensor unit V is responsible for collecting real-time data on device operation. Once the monitored slurry has initially solidified, the flexible waterproof enclosure will be removed from its construction area to complete the repair work at that location.

[0081] Specifically, visual sensor 1 (5.1) and visual sensor 3 (5.3) are used to monitor the forward and backward positions of the device through visual sensing; visual sensor 4 (5.4) is responsible for collecting data such as the position of the adaptive flexible waterproof enclosure 1.19 during its descent and ascent; visual sensor 2 (5.2) is responsible for real-time collection and dynamic monitoring of various key data during the operation of drainage and grouting unit II, pile driving unit III, and pile transportation unit IV, including drainage and grouting conditions, drilling depth, and the posture of pile transportation unit IV. After the monitored grout has solidified, waterproof unit I uses the left clamp 1.16 and right clamp 1.17 to move the flexible waterproof enclosure 1.19 out of the construction area, completing the repair work at that point.

Claims

1. An integrated flood control and dam repair device and method, characterized in that, It includes a water-proof unit (Ⅰ), a drainage grouting unit (Ⅱ), a pile driving unit (Ⅲ), a pile transportation unit (Ⅳ), and a monitoring and sensing unit (Ⅴ). The water-proof unit (Ⅰ) is the main body of the entire device, providing a solid foundation for the entire device. The drainage and grouting unit (Ⅱ) is installed on both sides of the water-proof unit (Ⅰ). The pile driving unit (Ⅲ) is located in front of the device. The pile transportation unit (Ⅳ) is installed above the pile driving unit (Ⅲ). The monitoring and sensing unit (Ⅴ) is distributed in various positions of the device and is responsible for collecting the device's operating data in real time. The water-blocking unit (Ⅰ) includes motor 1 (1.1), gear 1 (1.2), gear 2 (1.3), lead screw 1 (1.4), lead screw end cap (1.5), lead screw nut seat (1.6), slider connecting seat (1.7), motor 1 bracket (1.8), gear bracket (1.9), base plate (1.10), guide rail 1 (1.11), slider 1 (1.12), motor 2 (1.13), motor 3 (1.14), lead screw bracket (1.15), and left clamp. Hand (1.16), right gripper (1.17), gripper support (1.18), flexible water-proof enclosure (1.19), track wheel (1.20), track (1.21), electric slider (1.22), electric guide rail (1.23), base (1.24), lead screw two (1.25), lead screw three (1.26), back plate (1.27), top plate (1.28), vertical module strip (1.29), outer buckle (1.30), inner buckle (1.31); The motor bracket (1.8) and gear bracket (1.9) are bolted together and mounted on the base plate (1.10). The motor (1.1) is bolted together and mounted on the motor bracket (1.8) and connected to the gear (1.2) by a set screw. The gear (1.3) is axially fixed on the gear bracket (1.9) and connected to the lead screw (1.4) by a key for synchronous movement. The lead screw end cap (1.5) axially fixes the lead screw (1.4). The gear (1.2) and gear (1.3) are connected together. (1.3) forms a rotating pair. The screw nut seat (1.6) and the slider connecting seat (1.7) are bolted together and installed on the slider one (1.12). The guide rail one (1.11) and the slider connecting seat (1.7) form a sliding pair. The motor one (1.1) drives the screw mechanism, so that the screw nut seat (1.6) moves along the Z-axis, thereby driving the slider one (1.12) to move synchronously, providing the water-blocking unit (Ⅰ) with a degree of freedom F1 for the dam repair water-blocking operation in the Z-axis direction; Track wheels (1.20) are movably installed on both sides of the base (1.24). The track wheels (1.20) mesh with the track (1.21), and the track (1.21) rotates to drive the vehicle body to move. Electric guide rails (1.23) are installed on both sides of the base (1.24) by bolts, so that the electric guide rails (1.23) are arranged parallel along the Y-axis. The electric guide rails (1.23) and the electric slider (1.22) form a sliding pair. The electric slider (1.22) is installed above the guide rail (1.11) by bolts. The guide rail (1.11) and the upper plate (1.28) are connected by bolts to form a gantry, which in turn drives the slider (1.12) installed on the gantry to move, providing the water-proof unit (Ⅰ) with a degree of freedom F2 for precise adjustment of the dam repair position in the Y-axis direction. The back plate (1.27) is bolted to the base plate (1.10) and can prevent dust and dirt from entering the transmission mechanism in the water-proof unit (Ⅰ). Motor 2 (1.13) and Motor 3 (1.14) are bolted together and mounted on slider 1 (1.12). One end of lead screw 2 (1.25) is mounted on motor 2 (1.13), and the other end is mounted on lead screw bracket (1.15) via a bearing, allowing it to rotate only in the X-axis direction. One end of lead screw 3 (1.26) is mounted on motor 3 (1.14), and the other end is mounted on lead screw bracket (1.15) via a bearing, allowing it to rotate only in the X-axis direction. The left gripper (1.16) and right gripper... (1.17) respectively cooperates with lead screw two (1.25) and lead screw three (1.26), and the gripper support (1.1) 8 is welded to slider one (1.12) to provide support for the left gripper (1.16) and right gripper (1.17). Motor two (1.13) and motor three (1.14) drive the lead screw mechanism to make the left gripper (1.16) and right gripper (1.17) move along the X-axis direction, providing a degree of freedom F3 for positioning and clamping the flexible water-proof enclosure (1.19) in the X-axis direction; The drainage grouting unit (II) includes a cement bucket (2.1), grouting pipe one (2.2), cement pump (2.3), grouting pipe two (2.4), pipe gripper (2.5), drainage pipe (2.6), and water pump (2.7). The water pump (2.7) is bolted to the back plate (1.27). One end of the drain pipe (2.6) is connected to the water pump (2.7), and the other end is fixed by the pipe gripper (2.5). The pipe gripper (2.5) is welded and fixed to the piling box (3.7) and moves synchronously with the piling box (3.7). The cement bucket (2.1) is placed on the base (1.24). One end of the grouting pipe (2.2) is connected to the cement bucket (2.1), and the other end is connected to the cement pump (2.3). The cement pump (2.3) is fixed to the back plate (1.27) by bolts. One end of the grouting pipe (2.4) is connected to the cement pump (2.3), and the other end is fixed by the pipe gripper (2.5) and moves synchronously with the piling box (3.7). The piling unit (Ⅲ) includes an upper base (3.1), a lower base (3.2), a lead screw four (3.3), a lead screw four slider seat (3.4), a guide rail two (3.5), a connecting rod (3.6), a piling box (3.7), a lead screw five (3.8), a lead screw five slider seat (3.9), a drill bit box (3.10), a drill bit (3.11), a motor four (3.12), a gear three (3.13), and a thrust bearing (3.14). The upper base (3.1) and lower base (3.2) are welded and fixed on the screw bracket (1.15). The guide rail (3.5) is bolted between the upper base (3.1) and lower base (3.2). The screw (3.3) is fastened between the upper base (3.1) and lower base (3.2) by the screw retainer. The screw (4) slider seat (3.4) cooperates with the screw (3.3) and the guide rail (3.5). The screw (4) slider seat (3.4) and the guide rail (3.5) form a sliding pair. The motor in the upper base (3.1) drives the screw (3.3) to rotate, thereby driving the screw (4) slider seat (3.4) to move up and down. The lead screw four slider seat (3.4) and the pile driving box (3.7) are welded together by the connecting rod (3.6); the lead screw five (3.8) is fastened to the pile driving box (3.7) by the lead screw fixer; the lead screw five slider seat (3.9) and the pile driving box (3.7) form a sliding pair; the lead screw five slider seat (3.9) and the drill bit box (3.10) are connected by bolts; the motor in the pile driving box (3.7) drives the lead screw five (3.8) to rotate, thereby driving the drill bit box (3.10) to move up and down. Three drill bit boxes (3.10) are installed on the five-slider seat (3.9) of the screw to increase the number of pile holes in the dam pile foundation, making the pile foundation more solid and stable; The pile-carrying unit (Ⅳ) includes a pile-carrying shell (4.1), a transmission main shaft (4.2), a bevel gear one (4.3), a motor five (4.4), a bracket (4.5), a bevel gear two (4.6), a rack (4.7), a gear four (4.8), a guide rod (4.9), a coaxial motor (4.10), an electric gripper (4.11), and a reinforcing bar (4.12). The electric gripper (4.11) is bolted to the coaxial motor (4.10), and the gripper in the electric gripper (4.11) can move left and right to fix the steel bar (4.12). The bracket (4.5) is bolted to the pile driving box (2.7), and the motor (4.4) is bolted to the pile driving box (2.7). The bevel gear (4.3) meshes with the bevel gear (4.6). The bevel gear (4.3) is fixed to the transmission shaft (4.2) by a key. The transmission shaft (4.2) is bolted to the pile transport housing (4.1). The motor (4.4) drives the bevel gear (4.6) to rotate, causing the bevel gear (4.3) and the transmission shaft (4.2) to rotate, thereby driving the pile transport housing (4.1) to rotate synchronously. The monitoring sensing unit (V) includes visual sensor one (5.1), visual sensor two (5.2), visual sensor three (5.3), and visual sensor four (5.4). The first visual sensor (5.1) is bolted to the upper plate (1.28), and the third visual sensor (5.3) is bolted to the base (1.24). The first visual sensor (5.1) and the third visual sensor (5.3) are used to monitor the forward and backward positions of the device through visual sensing. The second visual sensor (5.2) is bolted to the upper base (3.1) and is responsible for real-time collection and dynamic monitoring of various key data during the operation of the drainage and grouting unit (II), the pile driving unit (III), and the pile transportation unit (IV), including drainage and grouting conditions, drilling depth, and the posture of the pile transportation unit (IV). The fourth visual sensor (5.4) is bolted to the base (1.24) and is responsible for collecting data such as the position of the flexible water-proof enclosure (1.19) during its descent and ascent.

2. The flood control and dam repair device and method according to claim 1, characterized in that: The flexible water-proof enclosure (1.19) is composed of several independent and vertically adjustable modular strips (1.29) that are interlocked. The outer buckle (1.30) and the inner buckle (1.31) are respectively installed on the outer and inner sides of the flexible water-proof enclosure (1.19), providing support and limiting for the flexible water-proof enclosure (1.19). The height of each vertical modular strip (1.29) is independently adjustable, and it can adapt to the ground height difference at different positions through the telescopic structure. Moreover, the streamlined shape design enhances its resistance to erosion and its positional stability in the water.

3. The flood control and dam repair device and method according to claim 1, characterized in that: The drill bit box (3.10) is equipped with motor four (3.12). Motor four (3.12) and gear three (3.13) are connected by set screws. Gear three (3.13) and drill bit (3.11) form a rotating pair. Drill bit (3.11) is axially fixed by thrust bearing (3.14). Motor four (3.12) drives the gear mechanism, thereby driving drill bit (3.11) to rotate. The drill bit (3.11) is designed with a hollow inner hole structure so that the reinforcing bars (4.12) in the subsequent pile transportation unit (Ⅳ) can be guided through the inner hole channel and accurately fall into the drilled pile hole.

4. The flood control and dam repair device and method according to claim 1, characterized in that: The guide rod (4.9) is bolted to the pile driving box (2.7), the rack (4.7) is bolted to the pile driving box (3.7), the coaxial motor (4.10) and the guide rod (4.9) form a sliding pair, and the gear four (4.8) is connected to the shaft of the coaxial motor (4.10) by a set screw. The coaxial motor (4.10) drives the gear four (4.8) to rotate, and the rack (4.7) meshes with the gear four (4.8), thereby driving the coaxial motor (4.10) to move up and down. The coaxial motor (4.10) integrates the motor and transmission shaft into one unit, with the motor rotor shaft directly serving as the transmission output shaft, driving gear four (4.8) to rotate.

5. A method flow for operating a flood control and dam repair device and method, characterized in that: The operation process of the flood control and dam repair device and method according to any one of claims 1 to 4 includes: Step 1: Activate the flood control and dam repair equipment and move the entire machine to the specific location of the dam repair operation; Step 2: Activate the waterproof unit (Ⅰ) and clamp and fix the flexible waterproof enclosure (1.19) in the target area to ensure that it fits tightly with the terrain; Step 3: Operate the drainage grouting unit (Ⅱ) to drain the water accumulated inside the flexible water-proof enclosure (1.19); Step 4: Run the piling unit (Ⅲ) and drive the drill bit (3.11) to drill to the predetermined depth at the set position; Step 5: Run the pile transport unit (Ⅳ) to accurately drop the reinforcing bar (4.12) into the drilled pile hole, ensuring the accurate position of the reinforcing bar; Step 6: Operate the drainage grouting unit (Ⅱ) to inject grout into the flexible water-proof enclosure (1.19) to complete the bonding and overall reinforcement of the steel reinforcement (4.12) with the surrounding soil; Step 7: The monitoring and sensing unit (V) is responsible for collecting real-time data on the operation of the device. After the monitored slurry has initially solidified, the flexible waterproof enclosure (1.19) is moved out of its construction area to complete the repair work at this point.

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