Portable multi-component chemical grouting machine and operation method dedicated to deep-sea environment

Abstract

A portable multi-component chemical grouting machine and operation method specifically for deep-sea environments, including a storage tank, which is internally provided with two chemically grout sub-storage barrels arranged side by side for storing chemical grout, and a storage tank piston is cooperatively installed in each chemically grout sub-storage barrel. The end output port of each chemically grout sub-storage barrel is connected to a three-way joint through a pipeline, and it is connected to the inlet end of a grouting pipe through a pipeline. The grouting pipe is fixedly arranged on the top surface of the storage tank. A hydraulic cylinder is installed beside the grouting pipe, and the output end of the hydraulic cylinder extends into the interior of the grouting pipe. The output end of the hydraulic cylinder is threadedly connected to a grouting piston inside the grouting pipe. A grouting joint is installed on the top surface at one end of the grouting pipe through a hose. Different components of chemical grout can be carried by an underwater robot into underwater operations at various depths, and can be instantaneously mixed in proportion when needed during the operation, and are injected into cracks for repair with the assistance of a manipulator. The operation mode is simple and the timeliness is good.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater engineering equipment, and in particular to a portable multi-component chemical grouting machine and an operation method dedicated to deep-sea environments. Background Art

[0002] In the deep-sea field, underwater structures (referring to structures existing underwater), such as dams, will develop cracks on their surfaces after being eroded by the environment over a long time, posing great potential safety hazards. Professional underwater robots are required to regularly inspect the surface of the structures and repair the cracks.

[0003] Currently, in the prior art, chemical grouts are generally used for repairing cracks in underwater structures. Usually, two or more chemical components need to be fully mixed in proportion and filled into the cracks within a certain time limit. Therefore, the operation mode of mixing on the water surface and then having an underwater robot carry it into the water for repair will cause the chemical grout to solidify due to the concealment of the operation location and the proficiency of the operator, resulting in the chemical grout being carried for too long and exceeding its time limit, making it unusable, which brings certain troubles to actual operations. Summary of the Invention

[0004] The applicant of the present invention aims at the above-mentioned drawbacks in the existing production technology and provides a portable multi-component chemical grouting machine and an operation method dedicated to deep-sea environments with a reasonable structure, so that chemical grouts of different components can be carried by an underwater robot into underwater operations at various depths in separate tanks, and can be instantaneously mixed in proportion when needed during the operation, and then injected into the cracks for repair with the assistance of a manipulator. The operation mode is simple and has good timeliness.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A portable multi-component chemical grouting machine dedicated to deep-sea environments includes a storage tank. Inside the storage tank, there are two chemical grout sub-storage barrels arranged side by side for storing chemical grouts, and a storage tank piston is installed in each chemical grout sub-storage barrel in a matching manner. The heads of the two storage tank pistons are rigidly connected by a connecting block. The end output port of each chemical grout sub-storage barrel is connected to a three-way joint through a pipeline and a connector. The three-way joint is connected to the inlet end of a grouting pipe through a right-angle elbow. The grouting pipe is fixedly arranged on the top surface of the storage tank. A hydraulic cylinder is installed beside the grouting pipe. The output end of the hydraulic cylinder extends into the grouting pipe, and the output end of the hydraulic cylinder is threadedly connected to a grouting piston inside the grouting pipe. A grouting joint is installed on the top surface at one end of the grouting pipe through a flexible hose.

[0007] As a further improvement of the above technical solution:

[0008] A mixer is installed inside the flexible hose.

[0009] A mixer is installed inside the pipeline between the three-way joint and the inlet end of the grouting pipe.

[0010] A first seal is provided between the grouting piston and the grouting pipe to form a closed cavity, which is driven by a hydraulic cylinder to push the grouting piston to move back and forth, forming positive and negative pressures inside the cavity.

[0011] A storage tank piston is installed inside the chemical slurry storage bucket of the storage tank through a second seal; symmetrical notches are provided on the outer surface of the storage tank, and a concave pit matching the grouting pipe is provided on the top surface of the storage tank.

[0012] A weight-reducing hole is provided on the side of the piston rod of the storage tank piston, and resistance-reducing grooves are provided on both sides of the sealing ring groove on the storage tank piston.

[0013] A plurality of waist-shaped holes are provided circumferentially at the connection between the grouting pipe and the hydraulic cylinder.

[0014] A one-way valve is installed at the output port of the grouting pipe, and a one-way valve is also installed at the end output port of the chemical slurry storage bucket.

[0015] An operation method of a portable multi-component chemical grouting machine dedicated to deep-sea environment includes the following operation steps:

[0016] S1: The underwater robot body directly enters the deep sea to detect cracks on the surface of underwater buildings. It has no attached operation tools, is light in weight, and has a fast detection speed.

[0017] S2: When the underwater robot detects a crack, it sends the position coordinates to the surface base station.

[0018] S3: Then continue to detect, and return to the water surface after detecting the entire building surface.

[0019] S4: Install the chemical slurry in the storage tank according to the required ratio and estimated quantity, fix the entire grouting machine on the underwater robot, and let the underwater robot carry it to move to the calibrated crack position.

[0020] S5: After reaching the specified target position, the grouting joint is clamped by the manipulator and inserted into the target crack.

[0021] S6: Start the hydraulic source. The hydraulic cylinder is driven by hydraulic oil, and the grouting piston moves backward, generating negative pressure. The one-way valve at the outlet of the grouting pipe closes, and the one-way valve at the outlet of the storage tank opens. Under the rigid connection of the connecting block, different components of chemical slurry in the storage tank are output according to the set ratio, converge through the three-way joint, and are initially mixed under the action of the mixer and then input into the grouting pipe.

[0022] S7: The hydraulic oil input of the hydraulic cylinder is reversed, the grouting piston advances forward, generating positive pressure. The check valve at the outlet of the storage tank closes, and the chemically mixed slurry is output through the check valve at the outlet of the grouting pipe and is secondarily mixed by the mixer inside the hose.

[0023] S8: Finally, it is injected into the target crack through the hose and the grouting joint.

[0024] S9: The hydraulic cylinder moves repeatedly for multiple times, so that all the chemically mixed slurry in the storage tank is injected into the crack to be filled.

[0025] S10: After the crack is filled, the grouting joint is clamped and pulled out by the manipulator, returns to the water surface under the carrying of the underwater robot, replaces the syringe and the storage tank, reloads the estimated amount of chemically mixed slurry, and moves to the next target position. Repeat this process until all the cracks are repaired.

[0026] The beneficial effects of the present invention are as follows:

[0027] The structure of the present invention is compact, reasonable, and easy to operate. Through the mutual cooperation of components such as the hydraulic cylinder, the grouting pipe, the storage tank, and the mixer, the chemically mixed slurry of different components can be conveniently carried into the water by the underwater robot after being separated into tanks, and can be instantaneously mixed in proportion when needed during the operation, and then injected into the crack for filling. The operation timeliness is good. The device adopts an environmental pressure compensation design, can operate in water environments at different depths. At the same time, the compact structure design allows it to be carried on the underwater robot, and the operation mode is simple and convenient.

[0028] At the same time, the present invention also has the following advantages:

[0029] (1) The present invention can carry the chemically mixed slurry of different components into the water by the underwater robot after being separated into tanks, and can be instantaneously mixed in proportion when needed during the operation, ensuring that the chemically mixed slurry is injected into the crack within the time limit. Moreover, it has a compact structure, small volume, and light weight, can be directly carried by the underwater robot for operation, is flexible and convenient, and the repair operation mode is simple and convenient.

[0030] (2) In the present invention, the grouting machine adopts a pressure compensation design. One side of the storage tank piston in the storage tank is in direct contact with the environment, and the external environmental pressure is transmitted through the movement of the storage tank piston, keeping the pressure of the chemically mixed slurry in the grouting machine always consistent with the external environmental pressure. The structure is not affected by the water depth of the operation environment, can meet the operation requirements at various water depths, and has a light structure.

[0031] (3) In the present invention, the multi-barrel structure design of the storage tank enables the grouting machine to carry out operations with multi-component mixed chemically mixed slurry. Through the setting of the cross-sectional ratio of each chemically mixed slurry storage barrel and the rigid connection of the connecting block at the tail of the storage tank piston, the grouting machine can adjust the mixing ratio of each component of the chemically mixed slurry according to the needs. In addition, the setting of multiple mixers in the present invention makes the mixing of each component of the chemically mixed slurry more uniform.

[0032] (4) The structural design of the grouting joint in the present invention facilitates the stable clamping of the underwater robot manipulator, enables rapid insertion into the grouting hole, reduces the operation difficulty of the underwater robot repair operation, and improves the crack repair efficiency.

[0033] (5) Structures such as the grouting pipe, grouting piston, right-angle elbow, three-way joint, storage tank, storage tank piston, and mixer in the present invention are made of plastics such as nylon and PE. Inexpensive materials can reduce the losses caused by the easy coagulation characteristics of chemical slurry, and the operation has high economic benefits. At the same time, plastics such as nylon and PE can significantly reduce the weight of the grouting machine, making it convenient to carry.

[0034] (6) The underwater repair operation mode of the present invention is more accurate and efficient. The on-site mixing of different components of chemical slurry in water makes the timeliness of the chemical repair slurry better. Moreover, the grouting machine is small in volume and light in weight, not restricted by the carrying capacity of the underwater robot, and has certain popularization value, which can meet the underwater robot operations at various depths. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of the present invention.

[0036] Figure 2 is a top view of the present invention.

[0037] Figure 3 is an internal installation schematic diagram of the hydraulic cylinder and the grouting pipe of the present invention.

[0038] Figure 4 is an internal structural schematic diagram of the storage tank of the present invention.

[0039] Figure 5 is Figure 4 a partial enlarged view of part A in

[0040] Figure 6 is the structure of the storage tank of the present invention.

[0041] Figure 7 is a schematic structural diagram of the grouting joint of the present invention.

[0042] Figure 8 is a schematic structural diagram of the mixer of the present invention.

[0043] Figure 9 is a hydraulic schematic diagram of the present invention.

[0044] Among them: 1. Hydraulic cylinder; 2. Grouting pipe; 3. Grouting piston; 4. Check valve; 5. Hose; 6. Grouting joint; 7. Right-angle elbow; 8. Three-way joint; 9. Storage tank; 10. Storage tank piston; 11. Connecting block; 12. Mixer; 13. First seal; 14. Second seal;

[0045] 201, waist-shaped hole;

[0046] 601, T-shaped handle; 602, tapered mouth;

[0047] 901, notch; 902, pit; 903, chemical pulp storage tank;

[0048] 1001. Weight-reducing hole; 1002. Drag-reducing groove. DETAILED DESCRIPTION

[0049] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0050] like Figures 1-9 As shown, the portable multi-component chemical grouting machine of this embodiment is specially used in deep-sea environment, including a storage tank 9, and two chemical pulp sub-storage barrels 903 for storing chemical pulp arranged in parallel are provided inside the storage tank 9, and a storage tank piston 10 is installed in each chemical pulp sub-storage barrel 903, and the heads of the two storage tank pistons 10 are rigidly connected by a connecting block 11. The end output port of each chemical pulp sub-storage barrel 903 is connected to the three-way joint 8 through a pipeline, and the three-way joint 8 is connected to the inlet end of the grouting pipe 2 through a pipeline and a right-angle elbow 7. The grouting pipe 2 is fixed on the top surface of the storage tank 9, and a hydraulic cylinder 1 is installed next to the grouting pipe 2. The output end of the hydraulic cylinder 1 extends into the interior of the grouting pipe 2, and the output end of the hydraulic cylinder 1 is connected to the grouting piston 3 inside the grouting pipe 2 through a thread; a grouting joint 6 is installed on the top surface of one end of the grouting pipe 2 through a hose 5.

[0051] In the present application, different numbers of chemical pulp storage barrels 903 can be set in the storage tank 9, which are determined according to the number of chemical components of the actual mixed chemical pulp, and the mixing ratio of each component is set according to the cross-sectional ratio.

[0052] A mixer 12 is installed inside the hose 5 .

[0053] A mixer 12 is installed inside the pipeline between the tee joint 8 and the inlet end of the grouting pipe 2.

[0054] A No. 1 seal 13 is provided between the grouting piston 3 and the grouting pipe 2 to form a closed cavity. The grouting piston 3 is driven by the hydraulic cylinder 1 to move back and forth, forming positive and negative pressure in the cavity.

[0055] The storage tank piston 10 is installed in the chemical slurry storage barrel 903 of the storage tank 9 through the No. 2 seal 14; the outer surface of the storage tank 9 is provided with symmetrical notches 901, and the top surface of the storage tank 9 is provided with a pit 902 matching the grouting pipe 2.

[0056] A weight-reducing hole 1001 is provided on the piston rod side of the storage tank piston 10, and resistance-reducing grooves 1002 are provided on both sides of the sealing ring groove on the storage tank piston 10.

[0057] A plurality of kidney-shaped holes 201 are circumferentially arranged at the connection between the grouting pipe 2 and the hydraulic cylinder 1.

[0058] A one-way valve 4 is installed at the output port of the grouting pipe 2, and a one-way valve 4 is also installed at the end output port of the chemical slurry storage barrel 903.

[0059] The operation method of the portable multi-component chemical grouting machine dedicated to the deep-sea environment in this embodiment includes the following operation steps:

[0060] S1: The underwater robot body directly enters the deep sea to detect cracks on the surface of underwater buildings. It has no attached operation tools, is light in weight, and has a fast detection speed.

[0061] S2: When the underwater robot detects a crack, it sends the position coordinates to the surface base station.

[0062] S3: Then continue to detect, and return to the water surface after detecting the entire building surface.

[0063] S4: Load the chemical slurry into the storage tank 9 according to the required ratio and estimated quantity. Fix the entire grouting machine on the underwater robot and let the underwater robot carry it to move to the calibrated crack position.

[0064] S5: After reaching the specified target position, use the manipulator to clamp the grouting joint 6 and insert it into the target crack.

[0065] S6: Start the hydraulic source. Under the drive of the hydraulic oil, the hydraulic cylinder 1 makes the grouting piston 3 move backward, generating negative pressure. The one-way valve 4 at the outlet of the grouting pipe 2 closes, and the one-way valve 4 at the outlet of the storage tank 9 opens. Under the rigid connection of the connecting block 11, different components of the chemical slurry in the storage tank 9 are output according to the set ratio, converge through the three-way joint 8, and are initially mixed under the action of the mixer 12 and then input into the grouting pipe 2.

[0066] S7: Reverse the input of the hydraulic oil in the hydraulic cylinder 1, and the grouting piston 3 advances forward, generating positive pressure. The one-way valve 4 at the outlet of the storage tank 9 closes, and the mixed chemical slurry is output by the one-way valve 4 at the outlet of the grouting pipe 2 and is secondarily mixed by the mixer 12 in the hose 5.

[0067] S8: Finally, it is injected into the target crack through the hose 5 and the grouting joint 6.

[0068] S9: The hydraulic cylinder 1 moves repeatedly for multiple times to inject all the chemical slurry in the storage tank 9 into the crack to be filled.

[0069] S10: After the crack is filled, use the manipulator to clamp and pull out the grouting joint 6, return to the water surface under the carrying of the underwater robot, replace the syringe and the storage tank 9, reload the estimated quantity of chemical slurry, move to the next target position, and repeat this process until all cracks are repaired.

[0070] The specific structure and functions of the portable multi-component chemical grouting machine dedicated to deep-sea environments described in the present invention are as follows:

[0071] It mainly includes a hydraulic cylinder 1, a grouting pipe 2, a grouting piston 3, a check valve 4, a hose 5, a grouting joint 6, a right-angle elbow 7, a three-way joint 8, a storage tank 9, a storage tank piston 10, a connecting block 11, a mixer 12, a first seal 13, a second seal 14, and fasteners, etc.

[0072] The output port of the hydraulic cylinder 1 is connected to the grouting pipe 2 in a mating manner and fixed by fasteners. The grouting piston 3 is fixedly connected to the end of the piston rod of the hydraulic cylinder 1 in a threaded form. A first seal 13 is provided between the grouting piston 3 and the grouting pipe 2 to form a closed cavity. Driven by the hydraulic cylinder 1, the grouting piston 3 is pushed to move back and forth, forming positive / negative pressure in the cavity.

[0073] A check valve 4 is provided at the chemical slurry output port of the grouting pipe 2 to enable the one-way output of the chemical slurry without backflow. The output port check valve 4 is connected to the grouting joint 6 through a hose 5, so that the output chemical slurry is transported to the target crack through the hose 5 and the grouting joint 6. A section of mixer 12 is provided in the hose 5 between the check valve 4 and the grouting joint 6 to perform secondary mixing of the chemical slurry and ensure sufficient mixing of the chemical slurry.

[0074] A right-angle elbow 7 is provided at the chemical slurry input end of the grouting pipe 2 and is connected to the three-way joint 8 through a hose 5. Each of the two chemical slurry output ports of the storage tank 9 is provided with a check valve 4 to ensure that the stored chemical slurry can flow out unidirectionally. The two check valves 4 are respectively connected to the other two ports of the three-way joint 8 through hoses 5, and a section of mixer 12 is provided in the connecting hose 5 between the right-angle elbow 7 and the three-way joint 8 to ensure primary mixing of each component of the chemical slurry before entering the grouting pipe 2.

[0075] The storage tank 9 is provided with two chemical slurry sub-storage barrels 903. Each chemical slurry sub-storage barrel 903 is provided with a storage tank piston 10, which forms a sealed cavity with the second seal 14 for storing different components of the chemical slurry. The tails of the piston rods of the two storage tank pistons 10 are fixedly connected by a connecting block 11 using fasteners to form a rigid connection, so as to ensure that when the storage tank 9 outputs the chemical slurry, the feeding speeds of the two storage tank pistons 10 are kept consistent.

[0076] A plurality of waist-shaped holes 201 are circumferentially provided at the connection between the grouting pipe 2 and the hydraulic cylinder 1 to communicate with the environment, so as to avoid the formation of pressure at the rear end when the grouting piston 3 reciprocates, which hinders the reciprocating movement of the grouting piston 3.

[0077] The piston rod side of the storage tank piston 10 is in direct contact with the environment. Under the water environment at different depths, the storage tank piston 10 moves back and forth under the action of the external pressure, compressing the chemical slurry inside the entire device to balance the internal and external pressures of the device. Therefore, this grouting device can operate underwater at different depths, and the structure of the device is not affected by the environmental pressure. Compared with the traditional underwater pressure-resistant structure, it is small in volume and light in weight.

[0078] A weight reduction hole 1001 is provided on the piston rod side of the storage tank piston 10 to reduce the weight of the storage tank piston 10; both sides of the sealing ring groove on the storage tank piston 10 are provided with drag reduction grooves 1002 to reduce the frictional resistance of the storage tank piston 10 when moving when the storage tank 9 outputs chemical slurry, making it smoother when the grouting pipe 2 sucks in chemical slurry; a clamping groove is provided at the tail of the storage tank piston 10, which is assembled with the connecting block 11 and fixed with a threaded cylindrical pin to form a rigid connection.

[0079] A notch 901 is provided on the surface of the storage tank 9 to facilitate the use of a hoop or a tie to fix the overall connection device of the hydraulic cylinder 1 and the grouting pipe 2 to prevent random movement; in addition, a pit 902 is also provided on the surface of the storage tank 9 to facilitate the placement of the overall connection device of the hydraulic cylinder 1 and the grouting pipe 2 and reduce the volume of the entire grouting device; the storage tank 9 is provided with two chemical slurry sub-storage barrels 903 for storing chemical slurries of different components. The number of the chemical slurry sub-storage barrels 903 can be determined according to the number of mixed components of the chemical slurry. By adjusting the cross-sectional ratio between the chemical slurry sub-storage barrels 903, the mixing ratio of each component of the chemical slurry can be changed.

[0080] The grouting joint 6 is provided with a T-shaped handle 601 structure. The T-shaped handle 601 is composed of a hexagonal bar stock. The setting of this structure makes it more stable and does not displace when the underwater robot manipulator clamps the grouting joint 6; the grouting joint 6 is provided with a conical port 602, making it easier for the underwater robot to insert into the crack during underwater operation and reducing the operation difficulty.

[0081] The mixer 12 selects a common tubular static mixer structure. After the multi-component chemical slurry passes through the mixer 12, through multiple divisions - rotations - mixings, a good mixing effect can be achieved.

[0082] The grouting pipe 2, the grouting piston 3, the right-angle elbow 7, the three-way joint 8, the storage tank 9, the storage tank piston 10, and the mixer 12 cannot be reused after one underwater operation because the chemical slurry solidifies due to overaging. Moreover, this grouting device adopts a pressure compensation design and its structure is not affected by the environmental water pressure. Therefore, it can be made of plastics such as nylon and PE, which can further reduce the use cost and lighten the weight of the device, and has high operating economic benefits.

[0083] The multi-component chemical grouting machine takes into account both economy and underwater adaptability. It adopts a pressure compensation design as a whole, which can adapt to the pressure of the deep-sea environment. Except for the oil cylinder bearing hydraulic pressure, the entire device is not affected by water pressure. The syringe and the storage tank are easily affected by the property that the repair slurry is easy to solidify and cannot be reused. After each underwater operation, they need to be replaced. Therefore, considering that the structures of the syringe and the storage tank are hardly affected by external pressure loads, nylon plastics with light weight and low price are selected.

[0084] The specific working process of the present invention is as follows:

[0085] When the underwater robot detects a crack on the surface of an underwater building, the underwater robot returns to the shore, carries the underwater portable multi-component chemical grouting machine back to the crack, and the injection joint 6 is clamped by the manipulator and inserted into the crack. At this time, the hydraulic source is started. Under the drive of the hydraulic oil, the injection piston 3 of the hydraulic cylinder 1 moves backward, generating a negative pressure. The one-way valve 4 at the outlet of the injection pipe 2 closes, and the one-way valve 4 at the outlet of the storage tank opens. Under the rigid connection of the connecting block 11, different-component chemical slurries in the storage tank 9 are output according to the set ratio, and converge through the three-way joint 8. They are initially mixed under the action of the mixer 12 and then input into the injection pipe 2. The input of the hydraulic oil in the hydraulic cylinder 1 is reversed, and the injection piston 3 advances forward, generating a positive pressure. The one-way valve 4 at the outlet of the storage tank 9 closes, and the mixed chemical slurry is output by the one-way valve 4 at the outlet of the injection pipe 2. It is secondarily mixed by the mixer 12 in the hose 5 and finally injected into the target crack through the hose 5 and the injection joint 6. The hydraulic cylinder 1 moves repeatedly for many times, so that all the chemical slurry in the storage tank 9 is injected into the crack to be filled.

[0086] This underwater repair operation mode is more accurate and efficient. The way of mixing different-component chemical slurries immediately when used underwater makes the timeliness of the chemical repair slurry better. Moreover, the grouting machine is small in size and light in weight, and is not restricted by the underwater robot in terms of carrying.

[0087] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention is referred to the claims. Any form of modification can be made within the protection scope of the present invention.

Claims

1. A portable multi-component chemical grouting machine dedicated to deep-sea environments, characterized in that: It includes a storage tank (9). Inside the storage tank (9), there are two chemical pulp sub-storage barrels (903) arranged side by side for storing chemical pulp. A storage tank piston (10) is installed in each chemical pulp sub-storage barrel (903). The heads of the two storage tank pistons (10) are rigidly connected by a connecting block (11). The end outlet of each chemical pulp sub-storage barrel (903) is connected to a three-way joint (8) through a pipeline. The three-way joint (8) is connected to the inlet end of a grouting pipe (2) through a pipeline and a right-angle elbow (7). The grouting pipe (2) is fixedly arranged on the top surface of the storage tank (9). A hydraulic cylinder (1) is installed beside the grouting pipe (2). The output end of the hydraulic cylinder (1) extends into the grouting pipe (2). The output end of the hydraulic cylinder (1) is threadedly connected to a grouting piston (3) inside the grouting pipe (2); A grouting joint (6) is installed on the top surface of one end of the grouting pipe (2) through a hose (5); A mixer (12) is installed inside the hose (5); A mixer (12) is installed inside the pipeline between the three-way joint (8) and the inlet end of the grouting pipe (2); A first seal (13) is provided between the grouting piston (3) and the grouting pipe (2) to form a closed cavity. Driven by the hydraulic cylinder (1), the grouting piston (3) is pushed to move back and forth to form positive and negative pressures inside the cavity; The storage tank piston (10) is installed in the chemical pulp sub-storage barrel (903) of the storage tank (9) through a second seal (14); Symmetrical notches (901) are provided on the outer surface of the storage tank (9), and a concave pit (902) matching the grouting pipe (2) is provided on the top surface of the storage tank (9); A weight-reducing hole (1001) is provided on the piston rod side of the storage tank piston (10), and resistance-reducing grooves (1002) are provided on both sides of the seal ring groove on the storage tank piston (10); A plurality of waist-shaped holes (201) are provided circumferentially at the connection between the grouting pipe (2) and the hydraulic cylinder (1) to communicate with the environment; A one-way valve (4) is installed at the output port of the grouting pipe (2), and a one-way valve (4) is also installed at the end outlet of the chemical pulp sub-storage barrel (903); The piston rod side of the storage tank piston (10) is directly in contact with the environment.

2. An operating method for a portable multi-component chemical grouting machine dedicated to deep-sea environments as described in claim 1, characterized in that: It includes the following operating steps: S1: The underwater robot body directly enters the deep sea to detect cracks on the surface of underwater buildings. It has no attached operating tools, is light in weight, and has a fast detection speed. S2: When the underwater robot detects a crack, it sends the position coordinates to the surface base station. S3: Then continue the detection, and return to the water surface after detecting the entire building surface. S4: Install the chemical pulp in the storage tank (9) according to the required ratio and estimated quantity. Fix the entire grouting machine on the underwater robot and let the underwater robot carry it to move to the calibrated crack position. S5: After reaching the specified target position, use the manipulator to clamp the grouting joint (6) and insert it into the target crack. S6: Start the hydraulic source. Under the drive of hydraulic oil, the grouting piston (3) of the hydraulic cylinder (1) moves backward to generate negative pressure. The check valve (4) at the outlet of the grouting pipe (2) closes, and the check valve (4) at the outlet of the storage tank (9) opens. Under the rigid connection of the connecting block (11), different components of the chemical slurry in the storage tank (9) are output according to the set ratio, converge through the three-way joint (8), and are initially mixed under the action of the mixer (12) and then input into the grouting pipe (2). S7: Reverse the input of the hydraulic oil in the hydraulic cylinder (1). The grouting piston (3) advances forward to generate positive pressure. The check valve (4) at the outlet of the storage tank (9) closes, and the mixed chemical slurry is output through the check valve (4) at the outlet of the grouting pipe (2) and is secondarily mixed by the mixer (12) in the hose (5). S8: Finally, it is injected into the target crack through the hose (5) and the grouting joint (6). S9: The hydraulic cylinder (1) moves repeatedly for multiple times to inject all the chemical slurry in the storage tank (9) into the crack to be filled. S10: After the crack is filled, the manipulator clamps and pulls out the grouting joint (6), returns to the water surface carried by the underwater robot, replaces the syringe and the storage tank (9), reloads the estimated amount of chemical slurry, moves to the next target position, and repeats the above process until all cracks are repaired.

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