CN110757664B

CN110757664B - Automatic underwater chiseling equipment

Info

Publication number: CN110757664B
Application number: CN201911009205.5A
Authority: CN
Inventors: 杨胜杰; 张永敏; 刘其杰; 王沛晨; 冷宏森
Original assignee: China State Construction Port Engineering Group Co Ltd
Current assignee: Shanghai Haida Communication Co ltd; China State Construction Port Engineering Group Co Ltd
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2021-05-25
Anticipated expiration: 2039-10-23
Also published as: CN110757664A

Abstract

The invention discloses an underwater automatic chiseling device which comprises a transverse moving mechanism, a longitudinal moving mechanism and a chiseling mechanism, wherein the transverse moving mechanism is connected with the longitudinal moving mechanism; at least two pairs of supporting large wheels are arranged at the bottom of the transverse moving mechanism; the supporting large wheel is driven by a large wheel motor, the large wheel motor is arranged at a certain height above the supporting large wheel, and the large wheel motor drives the supporting large wheel to rotate through a chain; the longitudinal moving mechanism is fixed to the transverse moving mechanism and comprises a longitudinal driving device and a chisel hair rod, the lowest point of the longitudinal driving device is not lower than the supporting bull wheel, the chisel hair rod is arranged vertical to the ground, and the longitudinal driving device drives the chisel hair rod to move up and down; the chiseling mechanism comprises a chiseling head, a fixing barrel, a pulley block and a vertical motor, the fixing barrel is fixed to the bottom of a chiseling rod, the chiseling head is connected with the fixing barrel in a sliding mode, the vertical motor is fixed to the top of the chiseling rod, and the chiseling head is driven to be close to or far away from a surface to be maintained through the cooperation of a first steel wire rope and the pulley block. The underwater automatic scabbling device can realize underwater automatic scabbling of the caisson and greatly improve the construction efficiency.

Description

Automatic underwater chiseling equipment

Technical Field

The invention relates to the field of hydraulic engineering, in particular to an underwater automatic chiseling device.

Background

The caisson is a deep foundation, is mainly used for wharfs, breakwaters and the like, is of a box-type structure, is internally provided with a partition plate, is filled with sand or rock blocks during construction, and is capped by a capping plate at the top to form a bearing and vertical wall structure of a main body. In areas with harsh environments, the caisson surface often falls off due to the effects of temperature, wave impact and the like, which affects the safety of wharfs or breakwaters, and therefore needs to be maintained. At present, underwater concrete pouring is also mature, but for repairing the caisson, the underwater maintenance mode is still low in efficiency, and one of the main reasons for the low underwater maintenance efficiency of the caisson is roughening treatment before concrete pouring.

Most of existing chiseling machines are used on land, even if a chiseling head can be used underwater, because of the wind and wave, existing mechanical equipment cannot be used underwater, and underwater operation must be performed manually, or a caisson is lifted out of the water surface to perform chiseling operation. No matter the operation is carried out underwater or lifted out of the water surface, the operation is very troublesome, the side surface of the caisson with the length of 10m × 2.6m is often constructed, when the scabbling depth is 0.04m, more than 6 hours are needed, time and labor are wasted, certain potential safety hazards exist in underwater construction, and the caisson is damaged secondarily due to the fact that the caisson is moved in the construction of lifting out of the water surface.

Therefore, an underwater roughening device is highly needed, which can safely and rapidly perform roughening treatment on the caisson and improve the working efficiency.

Disclosure of Invention

One object of the present invention is to provide a new technical solution for underwater automatic scabbling.

According to a first aspect of the invention, an underwater automatic chiseling device is provided, which comprises a transverse moving mechanism, a longitudinal moving mechanism, a chiseling mechanism and a control mechanism, wherein the transverse moving mechanism drives the longitudinal moving mechanism to transversely move on the top of a caisson; the longitudinal moving mechanism is parallel to the surface to be maintained of the caisson and drives the scabbling mechanism to vertically move;

the chiseling mechanism comprises a chiseling group and a vertical motor, the chiseling group is arranged at the bottom of the longitudinal moving mechanism, the vertical motor is arranged at the top of the longitudinal moving mechanism, and the vertical motor drives the chiseling group to be vertically close to or far away from the surface to be maintained.

Preferably, the cross sliding mechanism comprises a cross sliding cart and a cross sliding trolley, the cross sliding cart comprises a bottom frame and a side frame, the bottom frame is arranged parallel to the top surface of the caisson, and the side frame is vertically fixed to one side of the bottom frame, which is close to the surface to be maintained; at least two pairs of supporting large wheels are arranged at the bottom of the underframe; a transverse moving rail is arranged on the side frame, and the transverse moving trolley moves along the transverse moving rail under the driving of a transverse moving motor; the longitudinal moving mechanism is fixed on the transverse moving trolley.

Preferably, the outer side of the supporting large wheel extends radially to form a blocking part, and after the supporting large wheel is installed on the caisson, the blocking part is positioned on the outer side of the side wall of the caisson; the blocking part is a circular truncated cone, and the lower bottom surface of the circular truncated cone faces outwards.

Preferably, two transverse moving rails are fixed on the side frames in parallel up and down, and the transverse moving trolley is perpendicular to the underframe; the traverse motor is fixed above the traverse rail.

Preferably, the longitudinal moving mechanism comprises a longitudinal driving device and a hair-cutting rod, the lowest point of the longitudinal driving device is not lower than the supporting large wheel, the hair-cutting rod is perpendicular to the base frame and extends to one side of the surface to be maintained, and the longitudinal driving device drives the hair-cutting rod to move up and down; the chisel edge group is mounted to the chisel edge shank base.

Preferably, the longitudinal driving device comprises a longitudinal moving sleeve and a longitudinal moving pushing cylinder, and the longitudinal moving sleeve is fixed on the transverse moving trolley; the chisel rod is connected in the longitudinal moving sleeve in a sliding manner; two ends of the longitudinal moving pushing cylinder are respectively connected with the longitudinal moving sleeve and the scabbling rod.

Preferably, the upper end and the lower end of the longitudinal moving sleeve are provided with longitudinal moving rollers, the circumferential surface of each longitudinal moving roller is tightly attached to the hair-cutting rod, and the rotating shaft of each longitudinal moving roller is perpendicular to the hair-cutting rod.

Preferably, chisel hair group is including chisel hair head, solid fixed cylinder and assembly pulley, gu fixed cylinder perpendicular to treat that the maintenance face is fixed extremely chisel hair pole bottom, chisel hair head with gu fixed cylinder inner wall sliding connection, vertical motor is fixed extremely chisel hair pole top, vertical motor through first wire rope with assembly pulley cooperation drive chisel hair head is close to or keeps away from treat the maintenance face.

Preferably, the pulley block comprises a fixed pulley and a movable pulley, the fixed pulley is fixed to the fixed cylinder wall, the movable pulley is fixed to the scabbling head, and the end of the first steel wire rope is fixed to the scabbling head and is wound on a winding wheel of the vertical motor after sequentially passing around the fixed pulley and the movable pulley.

Preferably, a return spring is arranged on the chisel head, and one end of the return spring is fixed to the end of the fixed cylinder and used for pushing the chisel head back to the initial position.

According to one embodiment of the disclosure, the underwater automatic chiseling equipment is used for repairing the caisson at a wharf with strong wind and wave or a shoreline and the like, can finish chiseling the underwater side wall of the caisson, and does not need manual diving operation or lifting operation of the caisson; compared with the traditional caisson chiseling operation, the underwater automatic chiseling operation performed by using the device can save 3-4 hours, improve the working efficiency by more than one time, and greatly reduce the potential safety hazard and labor cost.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a side view of an automatic underwater roughening apparatus according to an embodiment of the present invention.

Fig. 2 is a front view schematically illustrating the underwater auto-chiseling apparatus of fig. 1.

Fig. 3 is a side view schematically showing a lateral moving structure in the automatic underwater roughening apparatus of fig. 1.

Fig. 4 is a schematic diagram of the structure at a in fig. 3.

Fig. 5 is a front view schematically showing the lateral movement mechanism in fig. 3.

Fig. 6 is a side view schematically showing the structure of a longitudinal movement mechanism in the underwater automatic scabbling apparatus of fig. 1.

Fig. 7 is a schematic diagram of the structure at B in fig. 6.

Fig. 8 is a schematic sectional view of a roughening mechanism in the underwater automatic roughening apparatus in fig. 1.

Fig. 9 is a schematic structural view of a fixed cylinder in the roughening mechanism in fig. 8.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Examples

As shown in fig. 1 to 9, the underwater automatic scabbling apparatus in the present embodiment includes a traverse mechanism 1100, a longitudinal movement mechanism 1200, a scabbling mechanism 1300, and a control mechanism 1400, wherein:

at least two pairs of large supporting wheels 1111 are arranged at the bottom of the transverse moving mechanism 1100, and each pair of large supporting wheels 1111 are respectively supported to the top of the surface to be maintained 2100 of the caisson 2000 and the top of the surface opposite to the surface to be maintained 2100; the supporting bull wheel 1111 is driven by a bull wheel motor 1112, the bull wheel motor 1112 is arranged at a certain height above the supporting bull wheel 1111, and can effectively avoid being wetted by water, for example, a plurality of mounting platforms (not shown in the figures) with certain height are arranged on the traversing mechanism 1100, the bull wheel motor 1112 and the control mechanism 1400 are both arranged on the mounting platforms, the bull wheel motor 1112 drives the supporting bull wheel 1111 to rotate, the driving is, for example, driven by a chain 1114 or a screw, the driving is, for example, driven by the chain 1114, and the supporting bull wheel 1111 can be suitable for complex seaside environments and is low in cost;

the longitudinal moving mechanism 1200 is fixed on the transverse moving mechanism 1100, the longitudinal moving mechanism 1200 comprises a longitudinal driving device 1220 and a chisel hair rod 1210, the lowest point of the longitudinal driving device 1220 is not lower than the supporting large wheel 1111, the chisel hair rod 1210 is arranged vertical to the ground, and the longitudinal driving device 1220 drives the chisel hair rod 1210 to move up and down;

the roughening mechanism 1300 comprises a roughening head 1310, a fixing cylinder 1320, a pulley block 1330 and a vertical motor 1340, wherein the fixing cylinder 1320 is fixed to the bottom of the roughening rod 1210 perpendicularly to the surface to be maintained 2100, the roughening head 1310 is slidably connected into the fixing cylinder 1320, the roughening end of the roughening head 1310 extends out of the fixing cylinder 1320, the vertical motor 1340 is fixed to the top of the roughening rod 1210, and the vertical motor 1340 drives the roughening head to move perpendicularly to the surface to be maintained 2100 in the fixing cylinder 1320 through a first steel wire rope 1341 and the pulley block 1330 so that the roughening end of the roughening head 1310 is close to or far away from the surface to be maintained 2100.

The control mechanism 1400 may include a remote controller and a controller (not shown), wherein the controller is disposed on the traversing mechanism 1100, and the remote controller controls the actions of the devices to complete the chiseling operation; the control mechanism 1400 may also be an automatic control cabinet, which is installed on the traversing mechanism 1100 or on the land, and includes automatic control elements such as a PLC, a contactor, and a relay, which control the automatic operation of the traversing mechanism 1100, the longitudinally moving mechanism 1200, and the roughening mechanism 1300; the lines in the device are wound by waterproof flexible hoses, so that the short circuit caused by friction damage is avoided, and a power bus of the control mechanism 1400 is connected to the control mechanism 1400 through a waterproof joint.

Through this scheme of this embodiment, the sideslip mechanism 1100 of this device is indulged the horizontal walking of mechanism 1200 of moving along caisson 2000's side drive, it reciprocates to indulge the mechanism 1200 that moves and drive chisel hair mechanism 1300, thereby make the working range of chisel hair mechanism 1300 cover caisson 2000 treat maintenance face 2100, and sideslip mechanism 1100, the power part of indulging mechanism 1200 and chisel hair mechanism 1300 all sets up above the surface of water, drive as transmission through chain or wire rope, reach waterproof purpose, be fit for using at the coast line of stormy waves urgency, be equipped with waterproof chisel hair head 1310 again, make this device be fit for the underwater chisel hair work of caisson, and can freely move, need not artifical chisel hair under water, it is safe and convenient more to use, be favorable to improving the efficiency of construction.

The chisel hair head in this embodiment uses a high frequency hydraulic ram to drive a chisel hair head (e.g., model FS-235 LJ-01-03) that can be used for underwater construction, and the hydraulic station 1500 of the chisel hair head 1310 is located on the traversing mechanism 1100.

In this embodiment or other embodiments, the traverse mechanism 1100 includes a traverse cart 1110 and a traverse cart 1120, the traverse cart 1110 further includes a bottom frame 1115 and a side frame 1116, and the supporting wheels 1111 are disposed at the bottom of the bottom frame 1115 of the traverse cart 1110; the chassis 1115 is disposed parallel to the top surface of the caisson 2000, and the side frame 1116 is vertically fixed to one side of the chassis 1116 near the surface 2100 to be repaired; a transverse moving rail 1130 is arranged on the side frame 1116, and the transverse moving trolley 1120 is driven by a transverse moving motor 1121 to move along the transverse moving rail 1130; the longitudinal movement mechanism 1200 is fixed to the traverse trolley 1120. Because the whole weight of the device is larger, the transverse moving flexibility can be improved only by driving the longitudinal moving mechanism 1200 to move through the transverse moving trolley 1120; and the frequent movement of the entire traversing mechanism 1100 is not conducive to maintaining the stability of the present device in harsh environments. In this embodiment, in order to maintain the stability of the base frame 1115 and the side frames 1116, support frames 1117 are connected between the base frame 1115 and the side frames 1116 in an inclined arrangement, so that the traverse cart 1110 forms a stable triangular structure.

In this embodiment or other embodiments, the traverse rail 1130 is fixed to the traverse cart 1110 on a side close to the surface to be repaired 2100 in an up-down parallel manner, and the traverse cart 1120 is vertically arranged on the traverse rail 1130; the traversing motor 1121 is fixed above the traversing rail 1130, and the traversing motor 1121 pulls the traversing trolley 1120 to move through the cooperation of the corner wheel 1123 and the second steel wire rope 1122. The vertically arranged traversing trolley 1120 can increase the connection area with the longitudinal moving mechanism 1200, so that the connection firmness is improved, and the traversing trolley 1120 can be stressed more uniformly by the arrangement mode, thereby being beneficial to maintaining the stability of the traversing trolley 1120; the arrangement mode is convenient for the arrangement of the traverse motor 1121, so that the traverse motor 1121 can be arranged at a higher position to avoid being affected by wind and waves, the corner wheels 1123 are arranged at the corners of the traverse rail 1130, one or two traverse motors 1121 can be arranged at two sides above the traverse rail 1130, two ends of the second steel wire rope 1122 respectively bypass the two corner wheels 1123 at the bottom and are connected to the traverse trolley 1120, and the traverse trolley 1120 can move back and forth through the forward rotation and the reverse rotation of the traverse motor 1121.

In this embodiment or other embodiments, the outer side of the supporting wheel 1111 extends radially to form a stop 1113, and after being mounted on the caisson 2000, the stop 1113 is located on the outer side of the sidewall of the caisson 2000. The supporting large wheel 1111 is clamped to the outer side of the side wall of the caisson 2000, the stability of the device is kept, the impact resistance is improved, and the device can be kept to move along the side wall of the caisson 2000 without being separated during transverse movement.

In this embodiment or other embodiments, the blocking portion 1113 is a circular truncated cone, and a lower bottom surface of the circular truncated cone faces outward. The guiding function of the support stop part 1113 is further improved, and the arrangement can ensure that the device is suitable for caissons with certain radian or caissons arranged according to certain angle.

In this embodiment or other embodiments, the longitudinal driving device 1220 comprises a longitudinal moving sleeve 1221 and a longitudinal moving pushing cylinder 1222, the longitudinal moving sleeve 1221 is fixed to the traverse trolley 1120; the chisel rod 1210 is slidably connected into the longitudinal sleeve 1221; the bottom of the longitudinal-moving push cylinder 1222 is fixedly connected with the longitudinal-moving sleeve 1221, and the push rod of the longitudinal-moving push cylinder 1222 is connected with the chisel rod 1210 through a connecting block 1224, and the connection is hinged in this embodiment, so that the fixed connection is prevented from being broken due to twisting. The longitudinal movement sleeve 1221 guides the movement of the chisel rod 1210, thereby improving the accuracy and maintaining the stability of the chisel rod 1210 during the chiseling operation. The longitudinal moving push cylinder 1222 in this embodiment is an electric cylinder, and can control the extending distance of the longitudinal moving push cylinder 1222, so as to ensure the position precision during chiseling; the controller of the electric cylinder is located in the control mechanism 1300 and is controlled by the control mechanism 1300.

For the promotion and the withdrawal efficiency and increase of service life of guaranteeing electronic jar, electronic jar forward is arranged, and the push rod upwards stretches out promptly, because electronic jar's pulling force is less during the withdrawal, can utilize the gravity realization of chiseling mechanism 1300 self to move down. In other embodiments, in order to ensure that the transmission motor of the electric cylinder is not impacted by sea waves, the push rod of the electric cylinder extends downwards, but the electric cylinder with higher power and pulling force is needed to be adopted due to smaller pulling force when the electric cylinder moves upwards, so the cost is higher.

In this or other embodiments, the bottom of the longitudinal pushing cylinder 1222 is fixed to the bottom of the longitudinal sleeve 1221, the connecting block 1224 is fixed to the top of the chisel rod 1210, and the vertical motor 1340 is fixed to the top of the connecting block 1224. The vertical motor 1340 is able to move with the movement of the chisel rod 1210 to facilitate the arrangement of the transmission.

In this embodiment or other embodiments, the longitudinal moving rollers 1223 are disposed at the upper and lower ends of the longitudinal moving sleeve 1221, the circumferential surface of the longitudinal moving roller 1223 is tightly attached to the chisel rod 1210, and the rotating shaft of the longitudinal moving roller 1223 is perpendicular to the chisel rod 1210. The diameter of the longitudinal movement sleeve 1221 in this embodiment is larger than that of the hair-cutting rod 1210, and the friction force when the hair-cutting rod 1210 moves is the rolling friction force with the longitudinal movement roller 1223, so that the friction force when the hair-cutting rod 1210 moves can be reduced, and the hair-cutting rod 1210 can be further guided to move, and the stability is improved.

In this embodiment or other embodiments, the pulley assembly 1330 includes a fixed pulley 1331 and a movable pulley 1332, the fixed pulley 1331 is fixed to the wall of the fixed cylinder 1320, the movable pulley 1332 is fixed to the roughening head 1310, and an end of the first cable 1341 is fixed to the roughening head 1310 near the movable pulley 1332, and is wound around the fixed pulley 1331 and the movable pulley 1332 in sequence and then wound around a winding wheel of the vertical motor 1340. When the vertical motor 1340 rotates, the first wire rope 1341 pulls the movable pulley 1332 under the action of the pulley block 1330, so that the movable pulley 1332 approaches the fixed pulley 1331 to realize the movement of the chisel head 1310, a pulley hole 1321 is formed in the side wall of the fixed barrel 1320 in the embodiment, and the fixed pulley 1331 and the movable pulley 1332 both extend out of the pulley hole 1321 to facilitate the winding of the first wire rope 1341; the guide wheel 1322 matched with the burr head 1310 is fixed on the wall of the fixed cylinder 1320, so that the movement of the burr head 1310 is stabilized, and the friction force between the burr head 1322 and the wall of the fixed cylinder 1320 can be reduced.

In this embodiment or other embodiments, a return spring 1311 is provided on the burr head 1310, and one end of the return spring 1311 is fixed to an end of the fixed barrel 1320, i.e., an end of the burr head 1310 from which it extends, for pushing the burr head 1310 back to an initial position. The extension and retraction of the burr head 1310 is achieved. When the chisel hair operation is needed, vertical motor 1340 is started to extend chisel hair head 1310 for chisel hair operation, the device is required to move transversely or longitudinally, vertical motor 1340 or reverse vertical motor 1340 is released to avoid the interference of chisel hair head 1310 and the damage of chisel hair head 1310, and the chisel hair head 1310 retracts into fixed cylinder 1320 under the elastic action of return spring 1311 to facilitate movement.

In this embodiment, in order to ensure that the present apparatus can operate automatically, limit switches (not shown) are disposed at the left and right ends of the traverse trolley 1120 and at the two ends of the roughening rod 1210, and when the traverse trolley 1120 and the roughening rod 1210 move to a proper position, the position information is fed back to the control mechanism 1400, and the control mechanism 1400 controls the traverse trolley 1120 or the roughening rod 1210 to move in the opposite direction or stop moving.

This device is when using, at first utilizes hoisting equipment to place this device in the caisson top, makes the support bull wheel card to caisson lateral wall top, starting equipment, indulges and moves mechanism and sideslip dolly and all return the normal position, and the chisel hair head stretches out and begins to carry out the chisel hair from the one corner of caisson lateral wall, indulges simultaneously and moves mechanism or sideslip mechanism and remove, drives the chisel hair and removes according to "Z" font, and the face of waiting to maintain is all chisel hair to be accomplished until the completion, and the chisel hair withdrawal back indulges and moves mechanism and sideslip dolly and return the normal position, and the sideslip cart drives this device and removes on next caisson, continues the chisel hair of next caisson.

Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. An underwater automatic chiseling device comprises a transverse moving mechanism (1100), a longitudinal moving mechanism (1200), a chiseling mechanism (1300) and a control mechanism (1400), and is characterized in that,

the transverse moving mechanism (1100) drives the longitudinal moving mechanism (1200) to move along the arrangement direction of the caissons (2000); the longitudinal moving mechanism (1200) is parallel to a surface (2100) to be maintained of the caisson (2000) and drives the scabbling mechanism (1300) to vertically move;

the scabbling mechanism (1300) comprises a scabbling group and a vertical motor (1340), the scabbling group is arranged at the bottom of the longitudinal moving mechanism (1200), the vertical motor (1340) is arranged at the top of the longitudinal moving mechanism (1200), and the vertical motor (1340) drives the scabbling group to vertically approach or depart from the surface (2100) to be repaired;

the longitudinal movement mechanism (1200) comprises a longitudinal driving device (1220) and a hair-cutting rod (1210), and the longitudinal driving device (1220) drives the hair-cutting rod (1210) to move up and down; the chisel group is mounted to the bottom of the chisel rod (1210);

the chiseling group comprises a chiseling head (1310), a fixing barrel (1320) and a pulley block (1330), wherein the fixing barrel (1320) is perpendicular to a surface (2100) to be maintained and fixed to the bottom of the chiseling rod (1210), the chiseling head (1310) is in sliding connection with the inner wall of the fixing barrel (1320), the vertical motor (1340) is fixed to the top of the chiseling rod (1210), and the vertical motor (1340) drives the chiseling head (1310) to be close to or far from the surface (2100) to be maintained through a first steel wire rope (1341) and the pulley block (1330) in a matched mode.

2. The underwater auto-roughening apparatus as claimed in claim 1, wherein the traverse mechanism (1100) includes a traverse cart (1110) and a traverse cart (1120), the traverse cart (1110) includes a base frame (1115) and side frames (1116), the base frame (1115) is disposed parallel to a top surface of the caisson (2000), and the side frames (1116) are vertically fixed to a side of the base frame (1115) near the surface to be repaired (2100); at least two pairs of supporting large wheels (1111) are arranged at the bottom of the underframe (1115); a transverse moving rail (1130) is arranged on the side frame (1116), and the transverse moving trolley (1120) moves along the transverse moving rail (1130) under the driving of a transverse moving motor (1121); the longitudinal movement mechanism (1200) is fixed to the traverse trolley (1120).

3. The underwater auto-roughening apparatus as claimed in claim 2, wherein an outer side of the supporting large wheel (1111) is extended radially to form a blocking portion (1113), and the blocking portion (1113) is located outside a side wall of the caisson (2000) after being installed to the caisson (2000); the blocking part (1113) is a circular truncated cone, and the lower bottom surface of the circular truncated cone faces outwards.

4. The underwater auto-chiseling apparatus as claimed in claim 2, wherein said traverse rail (1130) has two, up and down, parallel rails fixed to said side frames (1116), and said traverse carriage (1120) is disposed perpendicular to said base frame (1115); the traverse motor (1121) is fixed above the traverse rail (1130).

5. An underwater automatic roughening apparatus as claimed in claim 4, characterized in that the lowest point of said longitudinal driving means (1220) is not lower than said supporting large wheel (1111), said roughening rod (1210) being perpendicular to said base frame (1115) and extending to the side of said surface to be repaired (2100).

6. An underwater auto-chiseling apparatus as claimed in claim 5, characterized in that said longitudinal driving means (1220) comprise a longitudinal moving sleeve (1221) and a longitudinal moving pushing cylinder (1222), said longitudinal moving sleeve (1221) being fixed to said traverse trolley (1120); the hair-cutting rod (1210) is connected into the longitudinal moving sleeve (1221) in a sliding mode; two ends of the longitudinal moving pushing cylinder (1222) are respectively connected with the longitudinal moving sleeve (1221) and the hair chiseling rod (1210).

7. The underwater automatic roughening apparatus according to claim 6, wherein longitudinal moving rollers (1223) are provided at both upper and lower ends of the longitudinal moving sleeve (1221), a circumferential surface of the longitudinal moving rollers (1223) is closely attached to the roughening rod (1210), and a rotation shaft of the longitudinal moving rollers (1223) is perpendicular to the roughening rod (1210).

8. The underwater automatic roughening apparatus as claimed in claim 1, wherein the pulley block (1330) includes a fixed pulley (1331) and a movable pulley (1332), the fixed pulley (1331) is fixed to a wall of the fixed cylinder (1320), the movable pulley (1332) is fixed to the roughening head (1310), an end of the first wire rope (1341) is fixed to the roughening head (1310), and is wound around a winding wheel of the vertical motor (1340) after passing through the fixed pulley (1331) and the movable pulley (1332) in sequence.

9. An underwater automatic chiseling apparatus according to claim 8, characterized in that a return spring (1311) is provided on the chisel head (1310), one end of the return spring (1311) being fixed to an end of the fixed cylinder (1320) for pushing the chisel head (1310) back to an initial position.