WO2019192267A1 - 一种混凝土面板堆石坝面板脱空区水下修复系统 - Google Patents

一种混凝土面板堆石坝面板脱空区水下修复系统 Download PDF

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Publication number
WO2019192267A1
WO2019192267A1 PCT/CN2019/075005 CN2019075005W WO2019192267A1 WO 2019192267 A1 WO2019192267 A1 WO 2019192267A1 CN 2019075005 W CN2019075005 W CN 2019075005W WO 2019192267 A1 WO2019192267 A1 WO 2019192267A1
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WIPO (PCT)
Prior art keywords
working chamber
pressure
panel
grouting
rail
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Application number
PCT/CN2019/075005
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English (en)
French (fr)
Inventor
武颖利
易瑞吉
杨胜
郭万里
李登华
肖立敏
明经平
钟启明
范红霞
傅华
凌华
王芳
沈婷
李勇
曹永勇
李军
张民
张兆省
皇甫泽华
李士林
张举华
吴杰夫
胡哲
龚丽飞
吴刚
皇甫玉峰
陈晨
袁静
Original Assignee
水利部交通运输部国家能源局南京水利科学研究院
国电科学技术研究院有限公司成都分公司
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Application filed by 水利部交通运输部国家能源局南京水利科学研究院, 国电科学技术研究院有限公司成都分公司 filed Critical 水利部交通运输部国家能源局南京水利科学研究院
Priority to US17/045,237 priority Critical patent/US11198984B2/en
Publication of WO2019192267A1 publication Critical patent/WO2019192267A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
    • E02B7/02—Fixed barrages
    • E02B7/04—Dams across valleys
    • E02B7/06—Earth-fill dams; Rock-fill dams
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
    • E02B3/16—Sealings or joints
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D15/00—Handling building or like materials for hydraulic engineering or foundations
    • E02D15/02—Handling of bulk concrete specially for foundation or hydraulic engineering purposes
    • E02D15/06—Placing concrete under water
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D37/00—Repair of damaged foundations or foundation structures

Definitions

  • the invention relates to the field of testing equipment, in particular to an underwater repairing system for a concrete panel rockfill dam panel void area.
  • the invention can solve the underwater rapid, efficient and low-cost repair of the concrete panel rockfill dam void area.
  • concrete face rockfill dam is widely used in water conservancy and hydropower projects.
  • Concrete slabs are an important part of dam body anti-seepage system, and its safety directly determines the safety of dam body. Affected by the construction quality and external load of the dam, the panel and the lower cushion material are prone to the void area, and the void area often appears below the water level line, which brings great inconvenience to the repair of the void area.
  • the object of the present invention is to provide a simple and efficient underwater repairing system for the concrete panel rockfill dam panel void area, and realize the underwater rapid low-cost repair of the concrete panel rockfill dam panel void area.
  • the present invention adopts the following technical solutions:
  • An underwater repairing system for a concrete face rockfill dam panel voiding area comprising a moving platform, a working warehouse, a pressure drainage device, a traction device and a positioning device; the working chamber and the positioning device are arranged on the mobile platform, the traction device Controlling the movement platform to move on the surface of the dam concrete panel; the positioning device transmits the detection position; the working chamber is a pressure chamber of the upper closed structure, the working chamber is connected with the pressure drainage device, and the working chamber is provided with a drilling device and a grouting device
  • the moving platform moves to the empty area, the pressure drainage device starts to discharge the water in the working chamber, forms a partially closed waterless space inside the working chamber, and the drilling device drills the upper end panel of the emptying area, and then the injection
  • the slurry device is grouted and repaired.
  • the first guide rail is further included; the first rail is vertically fixed to the moving platform; the working chamber is connected to the first rail through the connecting rod, and is slid in the direction of the first rail by the driving of the driving motor.
  • the working compartment can be controlled to move downward along the guide rail, so that the surface of the bottom side panel of the working compartment is pressed and pressed tightly to facilitate pressure drainage.
  • the edge of the bottom of the working compartment is made of a flexible rubber material, which can further press and compress the surface of the bottom side panel of the working compartment; the outer side of the flexible rubber bottom edge is provided with a flexible pressure water stopping material under the pressure of water Seal the work compartment.
  • a second guide rail is further included, and the drilling device and the grouting device are disposed on the second rail.
  • the second guide rail is provided, and the movement of the drilling device and the grouting device is more flexible, and does not need to rely on the moving platform, thereby facilitating the alternate operation of the drilling device and the grouting device.
  • the pressure drainage device comprises a pneumatic pump, a pneumatic pressure tube and a one-way check valve, the one-way check valve is disposed on the working chamber, the pneumatic pressure tube is connected to the working chamber; the air pump The drive presses the high pressure gas into the working chamber through the pneumatic pressure tube, and the water body in the working chamber is discharged through the one-way check valve to form a partially closed waterless space inside the working chamber.
  • an image pickup device and a lighting device are also included, and the image pickup device and the illumination device are disposed in a work compartment.
  • the camera and the lighting device can be used to monitor the repair work in real time, which is convenient for the control operation of the repair work.
  • the mobile platform is composed of a driving device, a crawler belt, a driving wheel, a driven wheel and a device carrier; the equipment carrier is disposed on the crawler belt, and the driving device controls the driven wheel and the driving wheel to rotate to drive the track to rotate.
  • Mobile devices are composed of a driving device, a crawler belt, a driving wheel, a driven wheel and a device carrier; the equipment carrier is disposed on the crawler belt, and the driving device controls the driven wheel and the driving wheel to rotate to drive the track to rotate.
  • the traction device comprises a hoisting machine and a traction cable; the traction cable is connected to the moving platform, and the device is controlled to reciprocate up and down along the panel by the driving force of the moving platform and the traction of the hoisting machine.
  • an electromagnet is provided at the bottom of the mobile platform. During the movement, the electromagnet is magnetized by the input current, and the steel bars inside the reinforced concrete are adsorbed, so that the device can be better adsorbed on the panel.
  • the front end of the mobile platform is provided with a high pressure cleaning nozzle.
  • the high-pressure cleaning nozzle is arranged to clean the sludge on the repair surface, which facilitates the smooth movement of the mobile platform and the smooth operation of the drilling device and the grouting device.
  • the pressure drainage device can adjust the internal pressure of the working chamber according to actual needs, thereby ensuring sufficient pressure difference inside and outside the working chamber, providing sufficient reaction force to the drilling device, and preventing drilling. After the panel is worn, the pressurized water inside the hollow area is spewed.
  • the positioning device can be positioned by a satellite positioning system.
  • a spraying device is also included, which is disposed in the working chamber. Spray repair of non-penetrating cracks on the surface of concrete panels can be achieved.
  • the system of the invention can complete the underwater economical and efficient repair of the concrete panel rockfill dam panel void area by forming a partially enclosed waterless space inside the working chamber, combining the drilling device and the grouting device.
  • Figure 1 is a schematic view showing the structure of the device of the present invention.
  • the system equipment shown in FIG. 1 comprises a mobile platform, a work compartment 1, a pressure drainage device 6, a traction device and a positioning device 3; the work compartment 1 and the positioning device 3 are arranged on a mobile platform, and the traction device controls the movement
  • the platform moves on the surface of the dam concrete panel 19; the positioning device 3 transmits the detection position;
  • the pressure drain device 6 includes a pneumatic pump 15, a pneumatic pressure tube 13 and a one-way check valve 5, the one-way check valve 5 is disposed on the working chamber 1, the pneumatic pressure tube 13 is connected to the working chamber 1;
  • the working chamber 1 is a pressure chamber of the upper closed structure, the working chamber 1 is connected to the pneumatic pressure tube 13, the working chamber 1 is provided with a drilling device 11 and a grouting device 12; the edge of the bottom of the working chamber 1 is a flexible rubber material 25; A flexible pressure water stopping material is disposed on an outer side of the flexible rubber bottom edge 25; the moving platform moves to the emptying area 21, and the pressure drainage device 6 starts to discharge water in the working chamber 1 to form a partial closed inside the working chamber 1.
  • the drilling device 11 drills the upper end panel 21 of the vacant zone, and then the grouting device 12 grouts to complete the repair.
  • first rail 24 and the second rail 8 are further included; the first rail 24 is vertically fixed on the moving platform; the working compartment 1 is connected to the first rail 24 via the connecting rod 26, and driven by the driving motor 23. Sliding in the direction of the first rail 24.
  • the drilling device 11 and the grouting device 12 are disposed on the second guide rail 8.
  • the moving platform is composed of a driving device, a crawler belt, a driving wheel 4, a driven wheel 7 and a equipment platform 2; the equipment platform 2 is disposed on the crawler belt, and the driving device controls the driven wheel 7 and the driving wheel 4 to rotate to drive the track rotation to move device.
  • the traction device comprises a hoisting machine 17 and a traction cable 18; the traction cable 17 is connected to the moving platform, and the driving force of the moving platform and the traction of the hoisting machine 17 jointly control the reciprocating motion of the device along the upper and lower sides of the panel.
  • the hoisting machine 17 is fixed on one side of the dam roof panel, and the equipment is placed on the concrete panel 19, and the traction cable 18 is released by the hoisting machine 17, and moves downward along the panel into the water body under the self-weight of the device, and the device travels to After the position of the panel emptying area 21, the hoisting machine 17 is closed, the equipment stops moving, and the motor 23 is driven by the vertical movement of the control working chamber, so that the working compartment 1 moves downward along the first guide rail 24, so that the rubber of the bottom of the working compartment 1 is set.
  • the bottom edge 25 is pressed and pressed against the concrete panel 19, and then the high pressure gas is pressed into the working chamber 1 through the pneumatic pressure pipe 13 through the air pump 15, and the one-way check valve 5 is automatically opened to pass the water inside the working chamber 1 through the single
  • the working chamber 1 is discharged to the check valve 5 until the water in the working chamber 1 is completely emptied.
  • the pressure inside the working chamber 1 is adjusted by the pressure drain device 6, so that the internal pressure of the working chamber 1 and the external water pressure form a certain value.
  • the pressure difference is completed to complete the underwater repair of the concrete panel rockfill dam panel void area.
  • the drilling device 11 is opened, the drill pipe 9 is moved to the position where the drilling is required, and the drilling operation is started.
  • the drill pipe 9 is controlled to move upward until the drill pipe 9 is disengaged.
  • the concrete panel 19 controls the drill rod 9 to move along the second rail 8 to the side of the drilling position, and then opens the grouting device 12, drives the grouting head 10 to move along the second rail 8 to the drilling position, and passes through the grouting device 12 controls the grouting head 10 to be placed inside the borehole to the panel vacant zone 21, after which the grouting pump 16 is opened, and the grouting slurry is injected into the panel vacant zone 21 through the grouting pipe 14 and the grouting head 10 until the panel is emptied After the area 21 is filled, the grouting head 10 is slowly lifted up, and the grouting is carried out while lifting, to block the drilling, and then the equipment is evacuated after the solidification of the grouting slurry.
  • the pressure in the working chamber 1 is first adjusted to be consistent with the external water pressure by the pressure drainage device 6, and the vertical movement driving motor 23 drives the working chamber 1 to move upward along the first guide rail 24, so that the working chamber 1 is disengaged.
  • the concrete panel 19 evacuates the inside of the pressure chamber 1 through the pressure drainage device 6, so that the water slowly fills the working chamber 1, and then the device is pulled up to the water level by the hoisting machine 17, and the equipment is evacuated.
  • the present embodiment differs from the first embodiment only in that it further includes an image pickup device and a lighting device, and the image pickup device and the illumination device are disposed in the work compartment 1.
  • Embodiment 1 differs from Embodiment 1 only in that an electromagnet is disposed at the bottom of the mobile platform.
  • Embodiment 1 differs from Embodiment 1 only in that the front end of the mobile platform is provided with a high pressure cleaning nozzle.

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  • Mining & Mineral Resources (AREA)
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Abstract

一种混凝土面板堆石坝面板脱空区(21)水下修复系统，包括移动平台、工作仓(1)、压力排水装置(6)、牵引装置和定位装置(3)；工作仓(1)和定位装置(3)设置于移动平台上，牵引装置控制移动平台在坝体混凝土面板(19)表面移动；定位装置(3)传输检测位置；工作仓(1)为上封闭结构的压力仓，工作仓(1)连接压力排水装置(6)，工作仓(1)内设有钻孔装置(11)、注浆装置(12)；移动平台移动至脱空区(21)，压力排水装置(6)启动将工作仓(1)内的水排出，在工作仓(1)内部形成局部封闭的无水空间，钻孔装置(11)对脱空区(21)上端混凝土面板(19)进行钻孔，之后注浆装置(12)注浆，完成修复。通过在工作仓(1)内部形成局部封闭的无水空间，结合钻孔装置(11)和注浆装置(12)，完成混凝土面板堆石坝面板脱空区(21)的水下修复。

Description

一种混凝土面板堆石坝面板脱空区水下修复系统 技术领域
本发明涉及检测设备领域，具体涉及一种混凝土面板堆石坝面板脱空区域水下修复系统。本发明可解决混凝土面板堆石坝脱空区的水下快速高效低成本修复。本专利依托国家重点研发计划“平原水库工程除险抢护关键技术研究”项目(2017YFC0405005)完成。
背景技术
混凝土面板堆石坝作为主要的坝型，在水利水电工程中应用广泛，混凝土面板作为坝体防渗体系的重要组成部分，其安全性直接决定了坝体的安全。受坝体施工质量和外荷载影响，面板与下部垫层料易出现脱空区域，且脱空区域多出现在水位线以下，给脱空区的修复带来巨大的不便。
目前对混凝土面板堆石坝的面板脱空区水下修复尚无有效办法，当发现混凝土面板下部出现较大面积脱空区且危害坝体安全时，一般采取放空水库，将脱空区区域出露在水位以上，通过灌浆来实现脱空区修复，此方法带来水资源的巨大浪费，对企业造成巨大的经济损失。因此，设计一种简单有效的混凝土面板堆石坝面板脱空区水下修复设备，显得尤为重要。
发明内容
本发明的目的是提供一种简单高效的混凝土面板堆石坝面板脱空区水下修复系统，实现混凝土面板堆石坝面板脱空区的水下快速低成本修复。
为实现上述技术目的，本发明采用如下技术方案：
一种混凝土面板堆石坝面板脱空区水下修复系统，包括移动平台、工作仓、压力排水装置、牵引装置和定位装置；所述工作仓和定位装置设置于移动平台上，所述牵引装置控制移动平台在坝体混凝土面板表面移动；所述定位装置传输检测位置；所述工作仓为上封闭结构的压力仓，工作仓连接压力排水装置，工作仓内设有钻孔装置、注浆装置；所述移动平台移动至脱空区，压力排水装置启动将工作仓内的水排出，在工作仓内部形成局部封闭的无水空间，钻孔装置对脱空区上端面板进行钻孔，之后注浆装置注浆，进行修复。
作为本发明的进一步改进，还包括第一导轨；所述第一导轨垂直固定于移动平台上；工作仓通过连接杆连接第一导轨，在驱动电机的驱动下沿第一导轨方向滑动。设置导轨时，当到达脱空区，可以控制工作仓沿导轨向下运动，使得工作仓底边面板表面贴合压紧，便于压力排水。优选的，所述工作仓底部的边缘为柔性橡胶材质，可以进一步使得工作仓底边面板表面贴合压紧；所述柔性橡胶底边的外侧设置柔性压力止水材料，在水的压力作用下密封 工作仓。
作为本发明的进一步改进，还包括第二导轨，所述钻孔装置和注浆装置设置于第二导轨上。设置第二导轨，钻孔装置和注浆装置的移动更灵活，不需要依赖移动平台，便于钻孔装置和注浆装置的交替工作。
作为本发明的进一步改进，所述压力排水装置包括气压泵、气压压力管和单向逆止阀，所述单向逆止阀设置于工作仓上，所述气压压力管连接工作仓；气压泵驱动将高压气体通过气压压力管压入工作仓，工作仓内水体通过单向逆止阀排出，在工作仓内部形成局部封闭的无水空间。
作为本发明的进一步改进，还包括摄像装置和照明装置，所述摄像装置和照明装置设置于工作仓内。采用摄像装置和照明装置可以实时监控修复作业，方便对修复作业的控制操作。
作为本发明的进一步改进，所述移动平台由驱动装置、履带、驱动轮、从动轮以及设备载台组成；设备载台设置于履带上，通过驱动装置控制从动轮和驱动轮转动带动履带转动来移动设备。
作为本发明的进一步改进，所述牵引装置包括卷扬机和牵引钢索；牵引钢索连接在移动平台上，通过移动平台的自身驱动力和卷扬机的牵引，共同控制设备沿面板上下往复运动。
作为本发明的进一步改进，所述移动平台底部设有电磁铁。在移动过程中，通过输入电流使得电磁铁具有磁性，对钢筋混凝土内部的钢筋进行吸附，使得设备可更好的吸附在面板上。
作为本发明的进一步改进，所述移动平台前端设有高压清洗喷头。设置高压清洗喷头对修复面的淤积物进行清洗，便于移动平台的顺利移动以及钻孔装置和注浆装置的顺利工作。
作为本发明的进一步改进，所述压力排水装置可根据实际需要，对工作仓内部压力进行调整，既可以保证工作仓内外足够的压力差，给钻孔装置提供足够的反力，又可防止钻穿面板后，脱空区内部的承压水喷涌。
作为本发明的进一步改进，所述定位装置可通过卫星定位系统进行定位。
作为本发明的进一步改进，还包括喷涂装置，所述喷涂装置设置于工作仓内。可以实现对混凝土面板表面非贯穿型裂缝的喷涂修复。
本发明系统可通过在工作仓内部形成局部封闭的无水空间，结合钻孔装置和注浆装置，完成混凝土面板堆石坝面板脱空区的水下经济高效的修复。
附图说明
图1为本发明的装置结构示意图；
其中，1.工作仓，2.设备载台，3.定位装置，4.驱动轮，5.单向逆止阀，6.压力排水装置，7.从动轮，8.第二导轨，9.钻杆，10.注浆头，11.钻孔装置，12.注浆装置，13.气压压力管，14.注浆管，15.气压泵，16.注浆泵，17.卷扬机，18.牵引钢索，19.混凝土面板，20.垫层，21.面板脱空区，22.水位线，23.工作仓竖向运动驱动电机，24.第一导轨，25.橡胶底边，26.工作仓连接杆。
具体实施方式
下面结合实施例和附图说明对本发明的技术方案做进一步说明。
实施例1
如图1所示的系统设备，包括移动平台、工作仓1、压力排水装置6、牵引装置和定位装置3；所述工作仓1和定位装置3设置于移动平台上，所述牵引装置控制移动平台在坝体混凝土面板19表面移动；所述定位装置3传输检测位置；
所述压力排水装置6包括气压泵15、气压压力管13和单向逆止阀5，所述单向逆止阀5设置于工作仓1上，所述气压压力管13连接工作仓1；
所述工作仓1为上封闭结构的压力仓，工作仓1连接气压压力管13，工作仓1内设有钻孔装置11、注浆装置12；工作仓1底部的边缘为柔性橡胶材质25；所述柔性橡胶底边25的外侧设置柔性压力止水材料；所述移动平台移动至脱空区21，压力排水装置6启动将工作仓1内的水排出，在工作仓1内部形成局部封闭的无水空间，钻孔装置11对脱空区上端面板21进行钻孔，之后注浆装置12注浆，完成修复。
本实施例中，还包括第一导轨24和第二导轨8；所述第一导轨24垂直固定于移动平台上；工作仓1通过连接杆26连接第一导轨24，在驱动电机23的驱动下沿第一导轨24方向滑动。钻孔装置11和注浆装置12设置于第二导轨8上。
所述移动平台由驱动装置、履带、驱动轮4、从动轮7以及设备载台2组成；设备载台2设置于履带上，通过驱动装置控制从动轮7和驱动轮4转动带动履带转动来移动设备。
所述牵引装置包括卷扬机17和牵引钢索18；牵引钢索17连接在移动平台上，通过移动平台的自身驱动力和卷扬机17的牵引，共同控制设备沿面板的上下往复运动。
本实施例中，将卷扬机17固定在坝顶面板一侧，设备放置在混凝土面板19上，通过卷扬机17释放牵引钢索18，在设备自重作用下，沿面板向下运动进入水体，设备行进至面 板脱空区21位置后，关闭卷扬机17，是设备停止运动，同时通过控制工作仓竖向运动驱动电机23，使工作仓1沿第一导轨24向下运动，使得工作仓1底部设置的橡胶底边25与混凝土面板19贴合压紧，之后通过气压泵15将高压气体通过气压压力管13压入工作仓1，此时单向逆止阀5自动打开，将工作仓1内部水体通过单向逆止阀5排出工作仓1，直至工作仓1中水完全排空，此时通过压力排水装置6对工作仓1内部的压力进行调整，使得工作仓1内部压力与外部水压力形成一定的压力差，完成混凝土面板堆石坝面板脱空区水下修复的准备工作。
打开钻孔装置11，使钻杆9移动至需要钻孔位置，开始钻孔作业，当钻孔穿透混凝土面板19，到达面板脱空区21时，控制钻杆9向上运动至钻杆9脱离混凝土面板19，并控制钻杆9沿第二导轨8移动至钻孔位置侧边，之后打开注浆装置12，驱动注浆头10沿第二导轨8运动至钻孔位置，并通过注浆装置12控制注浆头10放入钻孔内部至面板脱空区21，之后打开注浆泵16，使注浆浆液通过注浆管14和注浆头10注入面板脱空区21直至将面板脱空区21填满，之后缓慢将注浆头10向上提起，提起过程中边提边注浆，实现对钻孔的封堵，之后等待注浆浆液凝固后将装备撤离。
装备撤离时，先通过压力排水装置6将工作仓1内压力调整至与外部水压力一致，通过工作仓竖向运动驱动电机23驱动工作仓1沿第一导轨24向上运动，使工作仓1脱离混凝土面板19，通过压力排水装置6对压力仓1内部进行抽气，使水缓慢充满工作仓1，之后通过卷扬机17将装置牵引至水位以上，完成装备撤离。
实施例2
本实施例与实施例1的不同之处仅在于，还包括摄像装置和照明装置，所述摄像装置和照明装置设置于工作仓1内。
实施例3
本实施例与实施例1的不同之处仅在于，所述移动平台底部设有电磁铁。
实施例4
本实施例与实施例1的不同之处仅在于，所述移动平台前端设有高压清洗喷头。
以上所述为本发明的优选实施实例，并不用于限制不发明，对于本领域技术人员，可以参照本发明详细说明，对前述各功能部件的技术方案进行修改，或者对其中部分技术特征进行等同替换，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种混凝土面板堆石坝面板脱空区水下修复系统，其特征在于，包括移动平台、工作仓、压力排水装置、牵引装置和定位装置；
    所述工作仓和定位装置设置于移动平台上，所述牵引装置控制移动平台在坝体混凝土面板表面移动；所述定位装置传输检测位置；
    所述工作仓为上封闭结构的压力仓，工作仓连接压力排水装置，工作仓内设有钻孔装置、注浆装置；所述移动平台移动至脱空区，压力排水装置启动将工作仓内的水排出，在工作仓内部形成局部封闭的无水空间，钻孔装置对脱空区上端面板进行钻孔，之后注浆装置注浆，进行修复。
  2. 根据权利要求1所述的系统，其特征在于，还包括第一导轨；所述第一导轨垂直固定于移动平台上；工作仓通过连接杆连接第一导轨，在驱动电机的驱动下沿第一导轨方向滑动。
  3. 根据权利要求1或2所述的系统，其特征在于，所述工作仓底部的边缘为柔性橡胶材质；所述柔性橡胶底边的外侧设置柔性压力止水材料，在水的压力作用下密封工作仓。
  4. 根据权利要求1所述的系统，其特征在于，还包括第二导轨，所述钻孔装置和注浆装置设置于第二导轨上。
  5. 根据权利要求1所述的系统，其特征在于，所述压力排水装置包括气压泵、气压压力管和单向逆止阀，所述单向逆止阀设置于工作仓上，所述气压压力管连接工作仓；气压泵驱动将高压气体通过气压压力管压入工作仓，工作仓内水体通过单向逆止阀排出，在工作仓内部形成局部封闭的无水空间。
  6. 根据权利要求1所述的系统，其特征在于，还包括摄像装置和照明装置，所述摄像装置和照明装置设置于工作仓内。
  7. 根据权利要求1所述的系统，其特征在于，所述移动平台由驱动装置、履带、驱动轮、从动轮以及设备载台组成；设备载台设置于履带上，通过驱动装置控制从动轮和驱动轮转动带动履带转动来移动设备。
  8. 根据权利要求1所述的系统，其特征在于，所述牵引装置包括卷扬机和牵引钢索；牵引钢索连接在移动平台上，通过移动平台的自身驱动力和卷扬机的牵引，共同控制设备沿面板的上下往复运动。
  9. 根据权利要求1所述的系统，其特征在于，所述移动平台底部设有电磁铁。
  10. 根据权利要求1所述的系统，其特征在于，所述移动平台前端设有高压清洗喷头。
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