Robot Portable Operation Grouting Machine and Operation Method for Deep-Sea Environment

Abstract

A robot portable operation grouting machine and operation method for deep - sea environment, including a material storage tank body. The output port of the material storage tank body is connected to a grouting injector through a first one - way valve, and the grouting injector is connected to an oil cylinder through a fastener. The structure of the grouting injector is as follows: it includes a grouting pipe, the grouting pipe is in a hollow cylindrical structure. One end of the grouting pipe is provided with a round hole connected to the material storage tank body. A grouting piston is installed inside the grouting pipe through a first sealing ring. The middle of the grouting piston is provided with internal threads, and the piston rod of the oil cylinder is spirally connected at the internal thread part. The bottom of the grouting pipe is provided with a slurry outlet, and a grouting pipe system is installed at the slurry outlet. Thus, the components are integrally designed, with a compact structure, small volume and light weight, and can be carried by an underwater robot to perform underwater building crack repair operations at different depths.

Description

Technical Field

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

[0002] With the development of science and technology, people have paid more and more attention to the research of underwater engineering. In underwater engineering, when cracks or fissures appear in underwater buildings such as reservoir dams, there will be great potential safety hazards in the buildings. Therefore, after discovery, it is necessary to repair the underwater buildings in time to avoid serious safety accidents.

[0003] However, the underwater operation environment is different from the above - water operation environment: the weight and volume of the carried equipment are limited, and as the operation water depth increases, the environmental pressure increases, and the grouting machine cannot work properly. At present, the existing grouting machines on the market are mainly used for grouting repair of cracks in above - water buildings, and have the defects of complex structure, large weight, and large space occupation ratio, and are not suitable for the underwater operation mode carried by underwater robots.

[0004] Therefore, aiming at the defects of the above - mentioned existing grouting machines, it is necessary to overcome these problems, and there is an urgent need for a portable grouting machine suitable for the underwater grouting repair operation mode carried by underwater robots. Summary of the Invention

[0005] The applicant of the present invention aims at the above - mentioned disadvantages in the existing production technology, and provides a robot portable operation grouting machine and an operation method for deep - sea environments, so that the components are integratedly designed, with a compact structure, small volume, and light weight, and can be carried by an underwater robot for crack repair operations of underwater buildings at different depths.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A robot portable operation grouting machine for deep - sea environments includes a material storage tank body. The output port of the material storage tank body is connected to a grouting injector through a first one - way valve, and the grouting injector is connected to an oil cylinder through a fastener.

[0008] The structure of the grouting injector is as follows: it includes a grouting pipe. The grouting pipe is in a hollow cylindrical structure. One end of the grouting pipe is provided with a round hole connected to the material storage tank body. A grouting piston is installed inside the grouting pipe through a first sealing ring. The middle of the grouting piston is provided with internal threads, and the piston rod of the oil cylinder is spirally connected to the internal threads. The bottom of the grouting pipe is provided with a slurry outlet, and a grouting pipe system is installed at the slurry outlet.

[0009] As a further improvement of the above - mentioned technical solution:

[0010] The structure of the material storage tank body is as follows: it includes a material storage barrel, inside which a material storage tank piston is installed through cooperation with a second sealing ring. The tail of the material storage barrel is installed with a material storage tank cover through fasteners. The material storage tank piston extends out of the middle of the material storage tank cover, and a compensation spring is arranged between the material storage tank cover and the material storage tank piston.

[0011] A wide groove is provided on the contact surface between the material storage tank piston and the material storage barrel.

[0012] A circular hole is opened in the middle of the material storage tank cover, and several uniformly distributed holes are opened on the surface of the material storage tank cover.

[0013] A guide rod structure is arranged on the material storage tank piston to guide the compensation spring, and a weight reduction hole is also arranged on the material storage tank piston.

[0014] The material storage tank body, the grouting device and the oil cylinder are arranged coaxially.

[0015] Circlips are respectively arranged at both ends of the first sealing ring.

[0016] A step is arranged at the end of the oil cylinder. A plurality of threaded holes for locking with the grouting device are opened on the outer circumferential surface of the oil cylinder beside the step, and an external thread is arranged on the outer circumferential surface of the output end of the oil cylinder.

[0017] The structure of the grouting pipe system is as follows: it includes a hose, inside which a stirring device is installed. One end of the hose is connected to the slurry outlet of the grouting pipe through a second one-way valve. The other end of the hose is installed with a grouting joint. A pagoda head is provided on the grouting joint for sealing. The middle part is set as a hexagonal surface that fits the clamping of the manipulator and a plane to prevent displacement, and the front end is a conical port.

[0018] The operation mode of a robot portable operation grouting machine for deep - sea environment includes the following operation steps:

[0019] S1: The underwater robot body directly enters the water to detect the cracks on the surface of underwater buildings. It has no attached operation tools, is light in weight, and has a fast detection speed.

[0020] S2: When the underwater robot detects a crack, it sends the position coordinates to the surface base station, and then continues to detect. After detecting the entire building surface, it returns to the water surface.

[0021] S3: Install the repair slurry in the material storage tank body according to the estimated quantity.

[0022] S4: Fix the entire grouting machine on the underwater robot and let the underwater robot carry it to move to the calibrated crack position.

[0023] S5: After reaching the specified target position, the manipulator clamps the grouting joint and inserts it into the target crack.

[0024] S6: Start the hydraulic source. The oil pipeline transports the hydraulic oil with pressure energy through the oil inlet to the oil cylinder. The piston rod of the oil cylinder moves, pushing the grouting piston forward, and injecting the repair mortar in the grouting device through the second one-way valve, hose, and grouting joint into the grouting hole.

[0025] S7: After completing a single grouting, the solenoid valve changes direction, and the hydraulic source applies pressure to the oil return port of the oil cylinder, causing the grouting piston to move back. Under the action of the first one-way valve, the repair mortar stored in the storage tank body is sucked into the grouting device.

[0026] S8: Repeat the above process to inject the repair mortar carried in the storage tank body into the cracks of the underwater building, completing the repair operation.

[0027] S9: After the crack is filled, the manipulator clamps and pulls out the grouting joint, returns to the water surface under the carrying of the underwater robot, replaces the syringe and the storage tank body, reloads the estimated amount of repair mortar, and moves to the next target position. Repeat this process until all crack repairs are completed. [[ID=II]]

[0028] The beneficial effects of the present invention are as follows:

[0029] The structure of the present invention is compact, reasonable, and easy to operate. Through the mutual cooperation of components such as the storage tank body, grouting device, and oil cylinder, it can be conveniently carried by an underwater robot to perform underwater building crack repair operations at different depths, with good working reliability.

[0030] At the same time, the present invention also has the following advantages:

[0031] (1) Compared with the existing grouting machines on the market, the present invention can be used for underwater repair operations, and has a high integration degree, small volume, and light weight. It can be carried on an underwater robot, which is flexible and convenient for carrying out underwater repair operations.

[0032] (2) Compared with the traditional motor-driven method of grouting machines, the grouting machine driven by an oil cylinder in the present invention is more suitable for underwater operations and has high reliability.

[0033] (3) The grouting machine in the present invention has a pressure compensation function. One side of the storage tank piston in the storage tank is in contact with the environment, keeping the pressure of the repair mortar in the grouting machine always consistent with the external environmental pressure, and not affected by the water depth of the operating environment. This design ensures that the grouting machine can perform normal grouting operations in water at a certain depth, improving the reliability of the repair operation.

[0034] (4) The grouting device and the storage tank part in the present invention are both made of nylon plastic. The pressure compensation design of the present invention enables the structures of the grouting device and the storage tank to be not affected by the environmental pressure, and non-pressure-bearing materials can be used, greatly reducing the weight of the grouting machine. At the same time, the cheap nylon plastic material reduces the loss caused by the easy coagulation characteristics of the repair mortar, with high economic benefits.

[0035] (5) The structural design of the grouting joint in the present invention facilitates the stable clamping of the underwater robot manipulator and its rapid insertion into the grouting hole, further reducing the operation difficulty of the underwater robot repair operation and improving the crack repair efficiency.

[0036] (6) The provision of the grouting device in the present invention avoids the direct pushing of the piston of the storage tank by the oil cylinder for grouting, reducing the power requirement of the oil cylinder, enabling it to be widely applied to small underwater robots with limited power. In addition, the method of injecting the repair slurry in the storage tank in multiple times can facilitate the operator to accurately control the amount injected into the grouting hole.

[0037] (7) The repair operation mode of the present invention is more accurate and efficient. It repairs one crack per single snorkeling, and by replacing the syringe and the storage tank, it can ensure that the injection is completed within the solidification time limit of the repair slurry. Moreover, the grouting machine is small in size and light in weight, not restricted by the underwater robot for carrying, and has certain popularization value. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of the present invention.

[0039] Figure 2 is a schematic internal structural diagram of the present invention.

[0040] Figure 3 is Figure 2 a partial enlarged view of part A in

[0041] Figure 4 is Figure 2 a partial enlarged view of part B in

[0042] Figure 5 is a schematic structural diagram of the oil cylinder of the present invention.

[0043] Figure 6 is a schematic structural diagram of the grouting pipe of the present invention.

[0044] Figure 7 is a side view of the cover of the storage tank of the present invention.

[0045] Figure 8 is a schematic structural diagram of the grouting pipe joint of the present invention.

[0046] Wherein: 1. Oil cylinder; 2. Grouting device; 3. Storage tank body; 4. Grouting pipe system;

[0047] 11. Step; 12. Threaded hole; 13. External thread;

[0048] 21. Grouting piston; 22. Grouting pipe; 23. First one-way valve; 24. First sealing ring; 25. Retaining ring;

[0049] 221. Water permeable hole; 222. Clamping plane;

[0050] 31. Storage barrel; 32. Storage tank piston; 33. Storage tank cover; 34. Compensation spring; 35. Second sealing ring;

[0051] 321. Guide rod structure; 322. Lightening hole; 323. Wide slot;

[0052] 331, round hole; 332, hole;

[0053] 41. Second one-way valve; 42. Hose; 43. Grouting joint;

[0054] 431. Pagoda head; 432. Hexagonal face; 433. Flat surface; 434. Conical mouth. DETAILED DESCRIPTION

[0055] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0056] like Figures 1-8 As shown, the portable robotic grouting machine for deep-sea environments of this embodiment includes a storage tank 3, the output port of the storage tank 3 is connected to the grouting device 2 via a first one-way valve 23, and the grouting device 2 is connected to the oil cylinder 1 via a fastener;

[0057] The structure of the grouting device 2 is as follows: it includes a grouting pipe 22, which is a hollow cylindrical structure. One end of the grouting pipe 22 is provided with a circular hole connected to the storage tank body 3. A grouting piston 21 is installed inside the grouting pipe 22 through a first sealing ring 24. The middle part of the grouting piston 21 is provided with an internal thread, which is spirally connected to the piston rod of the oil cylinder 1.

[0058] A slurry outlet is provided at the bottom of the grouting pipe 22, and a grouting pipe system 4 is installed at the slurry outlet.

[0059] The structure of the storage tank body 3 is as follows: it includes a storage barrel 31, a storage tank piston 32 is installed inside the storage barrel 31 through a second sealing ring 35, and a storage tank cover 33 is installed at the tail of the storage barrel 31 through fasteners. The storage tank piston 32 extends out of the middle of the storage tank cover 33, and a compensation spring 34 is arranged between the storage tank cover 33 and the storage tank piston 32.

[0060] A wide groove 323 is provided on the contact surface between the storage tank piston 32 and the storage barrel 31 .

[0061] A circular hole 331 is formed in the middle of the storage tank cover 33 , and a plurality of evenly distributed holes 332 are formed on the surface of the storage tank cover 33 .

[0062] A guide rod structure 321 is provided on the storage tank piston 32 , and the guide rod structure 321 guides the compensation spring 34 . A weight-reducing hole 322 is also provided on the storage tank piston 32 .

[0063] The material storage tank body 3, the grouting injector 2 and the oil cylinder 1 are arranged coaxially.

[0064] Circlips 25 are respectively arranged at both ends of the first sealing ring 24.

[0065] A step 11 is arranged at the end of the oil cylinder 1. A plurality of threaded holes 12 for locking with the grouting injector 2 are opened on the outer circumferential surface of the oil cylinder 1 beside the step 11. An external thread 13 is arranged on the outer circumferential surface of the output end of the oil cylinder 1.

[0066] The structure of the grouting pipe system 4 is as follows: It includes a hose 42. A stirring device is installed inside the hose 42. One end of the hose 42 is connected to the slurry outlet of the grouting pipe 22 through a second one-way valve 41. A grouting joint 43 is installed at the other end of the hose 42. A pagoda head 431 is provided on the grouting joint 43 for sealing. The middle part is set as a hexagonal surface 432 that fits the clamping of the manipulator and a plane 433 to prevent displacement. The front end is a conical opening 434.

[0067] The operation mode of the robot portable operation grouting machine for deep - sea environment in this embodiment includes the following operation steps:

[0068] S1: The underwater robot body directly enters the water to detect the cracks on the surface of underwater buildings. It has no attached operation tools, is light in weight, and has a fast detection speed;

[0069] S2: When the underwater robot detects a crack, it sends the position coordinates to the surface base station, and then continues to detect. After detecting the entire building surface, it returns to the water surface;

[0070] S3: Load the repair slurry in the material storage tank body 3 according to the estimated quantity;

[0071] S4: Fix the entire grouting machine on the underwater robot and move it to the calibrated crack position by the underwater robot;

[0072] S5: After reaching the specified target position, the manipulator clamps the grouting joint 43 and inserts it into the target crack;

[0073] S6: Start the hydraulic source. The oil delivery pipeline transports the hydraulic oil with pressure energy to the oil cylinder 1 through the oil inlet. The piston rod of the oil cylinder 1 moves, pushing the grouting piston 21 forward. The repair slurry in the grouting injector 2 is pushed into the grouting hole through the second one - way valve 41, the hose 42, and the grouting joint 43;

[0074] S7: After completing a single grouting, the electromagnetic valve changes direction, and the hydraulic source applies pressure to the oil return port of the oil cylinder 1, making the grouting piston 21 move back. Under the action of the first one - way valve 23, the repair slurry stored in the material storage tank body 3 is sucked into the grouting injector 2;

[0075] S8: Repeat the above steps to pour the repair slurry carried in the storage tank body 3 into the underwater building cracks, completing the repair operation;

[0076] S9: After the crack is filled, the grouting joint 43 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 body 3, reloads the estimated amount of repair slurry, moves to the next target position, and repeats the above steps until all crack repairs are completed.

[0077] The specific structure and functions of the robot portable operation grouting machine for deep - sea environment of the present invention are as follows:

[0078] It mainly includes an oil cylinder 1, a grouting device 2, a storage tank body 3 and a grouting pipe system 4;

[0079] The grouting device 2 is composed of a grouting piston 21, a grouting pipe 22, a first one - way valve 23, a first sealing ring 24, a retaining ring 25, etc.;

[0080] The storage tank body 3 is composed of a storage barrel 31, a storage tank piston 32, a storage tank cover 33, a compensation spring 34, a second sealing ring 35, etc.;

[0081] The grouting pipe system 4 is composed of a second one - way valve 41, a hose 42, a grouting joint 43, etc.

[0082] The oil cylinder 1, the grouting device 2 and the storage tank body 3 are arranged coaxially. The grouting device 2 is placed in the middle of the device and is fixedly connected to the oil cylinder 1 at the piston end by screws. Using the oil cylinder 1 as the power to drive the grouting and sucking actions of the grouting device 2, the storage tank body 3 is connected to the input port of the grouting device 2 through the first one - way valve 23 to ensure a large supply of slurry. A grouting pipe system 4 is provided at the output end of the grouting device 2 to convey the output repair slurry to the designated target position.

[0083] The grouting device 2 is composed of a grouting piston 21, a grouting pipe 22, a first one - way valve 23, a first sealing ring 24, a retaining ring 25, etc.

[0084] The grouting piston 21 is arranged in the grouting pipe 22, and a first sealing ring 24 is provided between them to form a dynamic seal, so that when the grouting piston 21 moves, positive / negative pressure can be formed in the cavity, and the repair slurry can be smoothly injected / aspirated without leakage; in addition, retaining rings 25 are provided on both sides of the first sealing ring 24 to prevent the first sealing ring 24 moving in a straight line from being worn by the rough slurry and reducing the sealing effect;

[0085] The end face of the grouting piston 21 is provided with internal threads and is fixed to the output end of the oil cylinder 1, and makes a straight reciprocating motion along with the output of the oil cylinder 1. The input and output ports of the repair slurry of the grouting pipe 22 are respectively provided with a first one - way valve 23 and a second one - way valve 41, so that when the grouting piston 21 advances, the slurry is output from the second one - way valve 41, and when the grouting piston 21 retracts, the slurry is input from the first one - way valve 23.

[0086] The material storage tank body 3 is composed of a material storage barrel 31, a material storage tank piston 32, a material storage tank cover 33, a compensation spring 34, a second sealing ring 35, etc.

[0087] The material storage tank piston 32 is arranged inside the material storage barrel 31 and is designed as a dynamic seal form through the second sealing ring 35 to form a movable sealed cavity for storing repair slurry; a material storage tank cover 33 is provided at the tail of the material storage barrel 31 and is fixed by bolts; a compensation spring 34 is provided between the material storage tank cover 33 and the material storage tank piston 32, and its main function is to form a certain pre-pressure to reduce the frictional resistance when the grouting device 2 sucks in the repair slurry.

[0088] The grouting pipe system 4 is composed of a second one-way valve 41, a hose 42, a grouting joint 43, etc.

[0089] The second one-way valve 41 connects the output end of the grouting device 2 and the hose 42. Its main function is to prevent the repair slurry in the hose 42 from retreating when the grouting device 2 sucks in the repair slurry; the function of the hose 42 is to help pour the output repair slurry to the designated target position through the grouting joint 43, which can be directly achieved by clamping with the underwater robot manipulator without moving the entire grouting machine device, and the operation method is more flexible.

[0090] A number of threaded holes 12 are provided circumferentially on the oil cylinder 1 for fixedly connecting with the grouting device 2; the oil cylinder 1 is provided with a step 11 to position the axial position of the grouting device 2 and prevent relative displacement of the grouting device 2 when the oil cylinder 1 acts; an external thread 13 is provided at the end of the piston rod of the oil cylinder 1 for connecting the driving grouting piston 21. This design facilitates the replacement of the contaminated grouting piston 21 after the grouting operation, and the oil cylinder 1 can be reused.

[0091] A number of water-permeable holes 221 are provided circumferentially in the cavity of the connecting end face between the grouting pipe 22 and the oil cylinder 1 to communicate with the environment, avoiding the formation of positive / negative pressure in the cavity when the grouting piston 21 moves and hindering the action; symmetric clamping planes 222 are provided circumferentially at the slurry output end of the grouting pipe 22. On the one hand, they are used for the sealed installation of the second one-way valve 41, and on the other hand, they are convenient for clamping and fixing when the grouting device 2 is disassembled and assembled.

[0092] The material storage tank piston 32 is provided with a guide rod structure 321 to guide the compensation spring 34 and prevent the compensation spring 34 from bending and offsetting due to its large length; the material storage tank piston 32 is provided with a weight-reducing hole 322 to reduce the weight of the device; a wide groove 323 is provided on the contact surface between the material storage tank piston 32 and the material storage barrel 31 to reduce the frictional resistance when the material storage tank piston 32 moves by reducing the contact area, and further reduce the resistance when the grouting device 2 sucks in the slurry.

[0093] A circular hole 331 is provided at the center of the storage tank cover 33, which cooperates with the guide rod structure 321 to guide the storage tank piston 32; several holes 332 are provided on the surface of the storage tank cover 33. On the one hand, it reduces the weight of the non-pressure-bearing structure of the storage tank cover 33, and on the other hand, it guides the environmental water to the side of the storage tank piston 32, so that the repair slurry inside the entire grouting machine is balanced with the external environmental water pressure through the storage tank piston 32. The device is not affected by the water depth environmental pressure and can work normally.

[0094] The connection end of the grouting joint 43 and the hose 42 is provided with a tapered head 431 for sealing; the clamping part is designed as a hexagonal surface 432, which is convenient for the manipulator of the underwater robot to firmly clamp and operate; the output end is a tapered opening 434, which makes it more convenient for the grouting joint 43 to insert into the grouting hole; a flat surface 433 is provided on the side of the tapered opening 434 to limit the clamping displacement of the manipulator claw, and at the same time, the flat surface 433 fits the hole surface to reduce the overflow amount of the repair slurry in the grouting hole.

[0095] Both the grouting injector 2 and the storage tank body 3 are made of nylon plastic, which is lighter in weight and greatly reduces the carrying weight of the underwater robot; in addition, the grouting injector 2 and the storage tank body 3 are easily affected by the characteristic that the repair slurry is easy to solidify and cannot be reused. After each underwater operation, they need to be replaced. Therefore, nylon plastic is selected, and the economic benefit of the operation is higher.

[0096] During operation, the oil cylinder 1 is driven by the hydraulic source, and the piston rod moves, pushing the grouting piston 21 forward to inject the repair slurry in the grouting injector 2 into the crack through the second one-way valve 41, the hose 42 and the grouting joint 43; after the grouting is completed, the hydraulic source applies pressure to the oil return port of the oil cylinder 1 to make the grouting piston 21 move back, and suck the repair slurry stored in the storage tank body 3 into the grouting injector 2 through the first one-way valve 23; and so on, the repair slurry carried in the storage tank body 3 is poured into the crack on the dam surface to complete the repair operation. The main function of the compensation spring 34 is to give a certain pre-pressure to reduce the resistance when the grouting injector 2 sucks the repair slurry; the rear cavity of the storage tank body 3 is communicated with the environmental water and is balanced with the external water pressure through the storage tank piston 32, and the load impact on the structure can be ignored.

[0097] The grouting machine takes into account both economy and underwater adaptability. The overall design is a pressure compensation type, which can adapt to the pressure of the deep-sea environment. Except for the oil cylinder 1 bearing the hydraulic pressure, the entire device is not affected by the water pressure; the syringe and the storage tank are easily affected by the characteristic 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 the external pressure load, nylon plastic with light weight and low price is selected; the cement-based repair slurry has a large viscous resistance. In order to reduce the injection resistance, a spring is set at the tail of the storage tank to provide a preset pressure.

[0098] During actual use:

[0099] When the underwater robot starts the repair operation on the surface of the underwater structure, the manipulator grips the grouting joint 43 and inserts it into the grouting hole. The hydraulic source is started, and the oil pipeline transports the hydraulic oil with pressure energy through the oil inlet to the oil cylinder 1. The piston rod acts, pushing the grouting piston 21 to move forward, and the repair slurry in the grouting device 2 is injected into the grouting hole through the second one-way valve 41, the hose 42, and the grouting joint 43; after a single grouting is completed, the hydraulic source applies pressure to the oil return port of the oil cylinder 1, causing the grouting piston 21 to move back. Under the action of the first one-way valve 23, the repair slurry stored in the storage tank body 3 is sucked into the grouting device 2; this process is repeated, and the repair slurry carried in the storage tank body 3 is poured into the cracks of the underwater structure to complete the repair operation. Environmental water is introduced on one side of the storage tank piston 32. As the depth increases, the repair slurry in the grouting device 2 and the storage tank body 3 is balanced with the external water pressure through the grouting piston 21, and the load impact on the structure can be ignored; at the same time, the compensation spring 34 behind the storage tank piston 32 provides a certain pre-pressure for the repair slurry, reducing the resistance when the grouting device 2 sucks in.

[0100] This underwater repair operation mode is more accurate and efficient. It can repair one crack in a single snorkeling operation, and by replacing the syringe and the storage tank, it can ensure that the injection is completed within the setting time of the repair slurry. Moreover, the grouting machine is small in size and light in weight, and is not restricted by the underwater robot in terms of carrying.

[0101] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention can be seen in the claims. Within the protection scope of the present invention, any form of modification can be made.

Claims

1. A robot portable operation grouting machine for deep - sea environment, characterized in that: It includes a material storage tank body (3), the output port of the material storage tank body (3) is connected to a grouting injector (2) through a first one-way valve (23), and the grouting injector (2) is connected to an oil cylinder (1) through a fastener; The structure of the grouting injector (2) is as follows: it includes a grouting pipe (22), the grouting pipe (22) is in a hollow cylindrical structure, one end of the grouting pipe (22) is provided with a round hole connected to the material storage tank body (3), a grouting piston (21) is installed inside the grouting pipe (22) through a first sealing ring (24), an internal thread is opened in the middle of the grouting piston (21), and the piston rod of the oil cylinder (1) is connected in a spiral manner at the internal thread; a slurry outlet is arranged at the bottom of the grouting pipe (22), and a grouting pipe system (4) is installed at the slurry outlet; the structure of the material storage tank body (3) is as follows: it includes a material storage barrel (31), a material storage tank piston (32) is installed inside the material storage barrel (31) through a second sealing ring (35) in a matching manner, a material storage tank cover (33) is installed at the tail of the material storage barrel (31) through a fastener, the material storage tank piston (32) extends out of the middle of the material storage tank cover (33), a compensation spring (34) is arranged between the material storage tank cover (33) and the material storage tank piston (32), and the rear cavity of the material storage tank body (3) communicates with the ambient water; a wide groove (323) is arranged on the contact surface between the material storage tank piston (32) and the material storage barrel (31); a round hole (331) is opened in the middle of the material storage tank cover (33), and a number of uniformly distributed holes (332) are opened on the surface of the material storage tank cover (33); A number of water-permeable holes (221) are arranged circumferentially in the cavity of the connecting end surface between the grouting pipe (22) and the oil cylinder (1) to communicate with the environment.

2. The robot portable operation grouting machine for deep - sea environment according to claim 1, characterized in that: A guide rod structure (321) is arranged on the material storage tank piston (32) to guide the compensation spring (34), and a weight-reducing hole (322) is also arranged on the material storage tank piston (32).

3. The robotic portable operation grouting machine for deep-sea environment according to claim 1, characterized in that: The material storage tank body (3), the grouting injector (2) and the oil cylinder (1) are arranged coaxially.

4. The robot portable operation grouting machine for deep - sea environment according to claim 1, characterized in that: Retaining rings (25) are respectively arranged at both ends of the first sealing ring (24).

5. The robotic portable operation grouting machine for deep-sea environment according to claim 1, wherein: A step (11) is arranged at the end of the oil cylinder (1), a plurality of threaded holes (12) for locking with the grouting injector (2) are opened on the outer circumferential surface of the oil cylinder (1) beside the step (11), and an external thread (13) is arranged on the outer circumferential surface of the output end of the oil cylinder (1).

6. The robot portable operation grouting machine for deep - sea environment according to claim 1, characterized in that: The structure of the grouting pipe system (4) is as follows: it includes a hose (42), a stirring device is installed inside the hose (42), one end of the hose (42) is connected to the slurry outlet of the grouting pipe (22) through a second one-way valve (41), a grouting joint (43) is installed at the other end of the hose (42), a pagoda head (431) is arranged on the grouting joint (43) for sealing, a hexagonal surface (432) for fitting with the clamping of the manipulator and a plane (433) for preventing displacement are arranged in the middle part, and a conical port (434) is arranged at the front end.

7. The operation method of a robotic portable operation grouting machine for deep-sea environment as claimed in claim 1, characterized in that: It includes the following operating steps: S1: The underwater robot body directly enters the water to detect the cracks on the surface of the underwater building. It has no attached operation 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, then continues to detect. After detecting the entire building surface, it returns to the water surface; S3: Load the repair slurry into the storage tank body (3) according to the estimated quantity; S4: 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 (43) and insert it into the target crack; S6: Start the hydraulic source. The oil pipeline transports the hydraulic oil with pressure energy through the oil inlet to the oil cylinder (1). The piston rod of the oil cylinder (1) moves, pushing the grouting piston (21) forward, and pushing the repair slurry in the grouting device (2) through the second one-way valve (41), the hose (42), and the grouting joint (43) into the grouting hole; S7: After completing a single grouting, the solenoid valve changes direction, and the hydraulic source applies pressure to the oil return port of the oil cylinder (1) to make the grouting piston (21) move back. Under the action of the first one-way valve (23), the repair slurry stored in the storage tank body (3) is sucked into the grouting device (2); S8: Repeat this way to pour the repair slurry carried in the storage tank body (3) into the cracks of the underwater building and complete the repair operation; S9: After the crack is filled, use the manipulator to clamp and pull out the grouting joint (43), return to the water surface under the carry of the underwater robot, replace the syringe and the storage tank body (3), reload the estimated quantity of repair slurry, and move to the next target position. Repeat this way until all crack repairs are completed.

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