Drilling and grouting equipment suitable for extra-large chambers

Abstract

This invention provides a drilling and grouting device suitable for ultra-large chambers, belonging to the technical field of chamber construction equipment. It includes a mobile vehicle, a remote controller, a vision inspection component, a drilling machine, and a grouting machine. The mobile vehicle has a locator, a detector, and a main controller. The detector is suitable for detecting the gas and oxygen content inside the chamber; the locator is suitable for locating the current movement position; and the main controller is suitable for controlling the movement of the mobile vehicle. Information collected by the vision inspection component is transmitted to the main controller, which in turn transmits the information to the remote controller. Both the drilling machine and the grouting machine are mounted on the mobile vehicle and controlled by the main controller. The remote controller operates based on the image information to control the operation of the mobile vehicle, drilling machine, and grouting machine respectively. The drilling and grouting device for ultra-large chambers provided by this invention offers the technical advantages of centralized management of drilling and grouting, smooth continuous operation between drilling and grouting, seamless connection, timely monitoring of oxygen and gas content, accurate location of construction positions, and avoidance of construction safety hazards.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel construction equipment, and more specifically, relates to a drilling and grouting equipment suitable for ultra-large tunnels. Background Technology

[0002] The tunnel engineering is characterized by large cross-section, short length, high engineering and technical quality requirements, many surrounding tunnels, complex stress conditions of the surrounding rock, and difficult support. When supporting the tunnel in a super-large tunnel, it is necessary to first drill holes in the side wall or top wall of the tunnel, and then inject grout into the drill holes, or use anchor bolts for support, so as to improve the support capacity and structural strength of the super-large tunnel, extend the service life of the tunnel, and facilitate the safe operation of mechanical equipment.

[0003] For drilling and grouting in ultra-large chambers, drilling equipment (drilling machines, hole punching machines, etc.) and grouting equipment (grouting machines, injection machines, grouting pumps, etc.) are typically used. These devices are independently set up, failing to achieve centralized control and management. When continuous operation is required, multiple devices need to be controlled separately, making the coordination between drilling and grouting operations cumbersome. This prevents continuous operation between drilling and grouting and also hinders remote control of drilling and grouting operations, leading to construction delays and reduced efficiency. Furthermore, it is difficult to detect oxygen and gas levels within the chamber, as well as the current location, during construction, making safe construction difficult. Summary of the Invention

[0004] The purpose of this invention is to provide a drilling and grouting device suitable for ultra-large chambers, aiming to solve the technical problems of failing to achieve centralized management of drilling and grouting operations, difficulty in achieving continuous operation between drilling and grouting, and difficulty in achieving safe construction.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a drilling and grouting device suitable for ultra-large chambers, comprising:

[0006] A mobile vehicle is equipped with a locator. The mobile vehicle is equipped with a detector and a main controller that are electrically connected to each other. The detector is suitable for detecting the gas content and oxygen content in the chamber, and the locator is suitable for locating the current moving position. Both the detector and the locator send information to the main controller, and the main controller is suitable for controlling the movement of the mobile vehicle.

[0007] The remote controller is wirelessly connected to the main controller and is adapted to receive gas signals, oxygen signals and position signals. The remote controller is also adapted to control the movement of the mobile vehicle.

[0008] A visual inspection component is connected to the mobile vehicle and adapted to collect image information inside the chamber. It is electrically connected to the main controller. The information collected by the visual inspection component is transmitted to the main controller, and the main controller transmits the information to the remote controller.

[0009] A drilling machine, connected to the mobile vehicle and adapted to drill holes in the sidewalls or top wall of the chamber;

[0010] A grouting machine is connected to the mobile vehicle and is adapted to grout into the pre-drilled holes inside the chamber. Both the drilling machine and the grouting machine are electrically connected to the main controller, which controls the remote controller based on image information to control the operation of the mobile vehicle, the drilling machine, and the grouting machine respectively.

[0011] In one possible implementation, the mobile vehicle is equipped with a thruster for propelling slurry into the borehole. The thruster has three propulsion modes within the borehole: spiral, telescopic, and radial. The thruster is electrically connected to the remote controller and its operation is controlled by the remote controller.

[0012] In one possible implementation, a robotic arm is connected to the upper end of the mobile vehicle. The robotic arm has degrees of freedom to move in multiple directions. A plugging block is connected to the moving end of the robotic arm. After grouting inside the borehole, the plugging block is used to seal the outer end of the borehole. The robotic arm is electrically connected to the remote controller and its operation is controlled by the remote controller.

[0013] In one possible implementation, the mobile vehicle is equipped with an electric rotary table at its upper end. The upper end of the electric rotary table is a rotating end and connected to a telescopic support column. The visual detection component is connected to the upper end of the telescopic support column. The visual detection component uses the rotation of the electric rotary table to collect images of the chamber in different directions, and uses the telescopic support column to adjust the height of the collected images. Both the electric rotary table and the telescopic support column are electrically connected to the remote controller, and their operation is controlled by the remote controller.

[0014] In one possible implementation, the upper end of the mobile vehicle is provided with a first arc-shaped slide rail and a second arc-shaped slide rail on two opposite sides, the drilling machine has a first slider that is slidably connected to the first arc-shaped slide rail, and the grouting machine has a second slider that is slidably connected to the second arc-shaped slide rail. Both the drilling machine and the grouting machine have a degree of freedom to slide in an arc shape in the horizontal direction.

[0015] In one possible implementation, the upper end of the mobile vehicle is provided with multiple vertical slide rails on two opposite sides. The first arc-shaped slide rail and the second arc-shaped slide rail are slidably connected to the vertical slide rails on both sides. The drilling machine and the grouting machine both have the freedom to move vertically by means of the multiple vertical slide rails.

[0016] In one possible implementation, the propeller includes a connecting part detachably connected to the mobile vehicle, a slide rail connected to the connecting part, an auger drill slidably connected to the slide rail, and a push sleeve fitted on the drilling end of the auger drill slidably. The push sleeve is used to push slurry into the borehole by means of the auger drill slid.

[0017] In one possible implementation, the auger drill includes a power unit and an auger drill rod connected to the power output end of the power unit. The power unit is slidably connected to the slide rail, and the slide rail is equipped with a pusher for driving the power unit to slide. The sliding direction of the auger drill is parallel to the axial direction of the auger drill rod. The pusher sleeve is fitted onto the outer end of the auger drill rod. The auger drill rod is adapted to be inserted into the borehole and push the slurry into the borehole. The power unit slides linearly on the slide rail, driving the auger drill rod to advance linearly into the borehole, forming a radial advance pattern. The power unit slides back and forth linearly on the slide rail, driving the auger drill rod to advance linearly back and forth into the borehole, forming a telescopic advance pattern. The auger drill rod rotates itself and slides into the borehole in conjunction with the power unit, forming a spiral advance pattern. The operation of the auger drill and the pusher is controlled by the remote controller.

[0018] In one possible implementation, the push sleeve includes a sleeve detachably connected to the outer end of the auger rod and a plurality of rubber plugs spaced apart from the outer end of the sleeve. The rubber plugs are used to fill the gap between the auger rod and the inner wall of the borehole and can deform under pressure.

[0019] In one possible implementation, the plugging block is in the shape of a horizontal convex character, with one end for connecting to the robotic arm and the other end for inserting into and sealing the drill hole. The outer end of the plugging block is provided with a spiral rubber ring, which is used to seal the gap between the plugging block and the inner wall of the drill hole.

[0020] The beneficial effects of the drilling and grouting equipment suitable for ultra-large chambers provided by this invention are as follows: Compared with the prior art, the drilling and grouting equipment suitable for ultra-large chambers of this invention includes a mobile vehicle, a remote controller, a vision inspection component, a drilling machine, and a grouting machine. The mobile vehicle has a locator, a detector, and a main controller. The detector is suitable for detecting the gas and oxygen content inside the chamber; the locator is suitable for locating the current moving position; and the main controller is suitable for controlling the movement of the mobile vehicle. The remote controller is wirelessly connected to the main controller and is suitable for receiving gas signals, oxygen signals, and position signals, and is also suitable for controlling the movement of the mobile vehicle. The vision inspection component is connected to the mobile vehicle and is suitable for collecting image information inside the chamber. The information collected by the vision inspection component is transmitted to the main controller, and the main controller transmits the information... Information is transmitted to the remote controller; the drilling machine is connected to the mobile vehicle and is suitable for drilling holes in the side walls or top walls of the chamber; the grouting machine is connected to the mobile vehicle and is suitable for grouting into the already drilled holes inside the chamber. Both the drilling machine and the grouting machine are electrically connected to the main controller, which controls the remote controller according to the image information to control the operation of the mobile vehicle, the drilling machine and the grouting machine respectively. This solves the technical problems of not being able to achieve centralized management of drilling and grouting operations, not being able to achieve continuous operation between drilling and grouting, and not being able to achieve safe construction. It has the technical effects of centralized management of drilling and grouting, smooth continuous operation between drilling and grouting, smooth connection, timely monitoring of oxygen and gas content, positioning of the current construction position, and avoiding construction safety hazards. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the structure of a drilling and grouting device suitable for ultra-large chambers, provided in an embodiment of the present invention, placed inside the chamber;

[0023] Figure 2 A schematic diagram of the structure of a drilling and grouting equipment suitable for ultra-large chambers provided in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a drilling and grouting device suitable for ultra-large chambers, provided for another embodiment of the present invention;

[0025] Figure 4 for Figure 3 The diagram shows a thruster structure suitable for drilling and grouting equipment in ultra-large chambers.

[0026] Figure 5 for Figure 4 A schematic diagram of the left end structure in the middle;

[0027] Figure 6 A schematic diagram of the plugging block structure (the plugging block is in a horizontal position) for the robotic arm connection of a drilling and grouting equipment suitable for ultra-large chambers, provided for an embodiment of the present invention.

[0028] Figure 7 for Figure 6 Another structural diagram of the plugging block.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Mobile vehicle; 11. Positioner; 12. Detector; 13. Main controller; 14. Wheels; 15. Robotic arm; 16. Electric rotary table; 17. Telescopic support column; 18. First arc-shaped slide rail; 19. Second arc-shaped slide rail; 110. Vertical slide rail; 111. Limiting component;

[0031] 2. Remote control;

[0032] 3. Visual inspection components;

[0033] 4. Drilling machine; 41. First slider;

[0034] 5. Grouting machine; 51. Second slider;

[0035] 6. Propeller; 61. Connecting part; 62. Slide rail part; 63. Auger; 631. Power unit; 632. Auger rod; 64. Push sleeve; 641. Sleeve; 642. Rubber stopper; 65. Pusher;

[0036] 7. Leak-stopping block; 71. Rubber ring;

[0037] 8. Storage box; 9. Hook. Detailed Implementation

[0038] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0039] Please also refer to Figures 1 to 7The present invention provides a drilling and grouting device suitable for ultra-large chambers. The drilling and grouting device includes a mobile vehicle 1, a remote controller 2, a vision inspection component 3, a drilling machine 4, and a grouting machine 5. The mobile vehicle 1 has a locator 11, and is equipped with a detector 12 and a main controller 13 electrically connected to each other. The detector 12 is suitable for detecting the gas and oxygen content in the chamber, and the locator 11 is suitable for locating the current moving position. Both the detector 12 and the locator 11 send information to the main controller 13, which is suitable for controlling the movement of the mobile vehicle 1. The remote controller 2 is wirelessly connected to the main controller 13 and is suitable for receiving gas signals, oxygen signals, and position signals. 2 is also suitable for controlling the movement of the mobile vehicle 1; the vision detection component 3 is connected to the mobile vehicle 1 and is suitable for collecting image information inside the chamber, and is electrically connected to the main controller 13. The information collected by the vision detection component 3 is transmitted to the main controller 13, and the main controller 13 transmits the information to the remote controller 2; the drilling machine 4 is connected to the mobile vehicle 1 and is suitable for drilling holes in the side wall or top wall inside the chamber; the grouting machine 5 is connected to the mobile vehicle 1 and is suitable for grouting into the already drilled holes inside the chamber. Both the drilling machine 4 and the grouting machine 5 are electrically connected to the main controller 13, and the remote controller 2 is operated according to the image information to control the operation of the mobile vehicle 1, the drilling machine 4 and the grouting machine 5 respectively.

[0040] The drilling and grouting equipment suitable for ultra-large chambers provided by this invention, compared with the prior art, sets both the drilling machine 4 and the grouting machine 5 on the mobile vehicle 1, which enables smooth connection between drilling and grouting. Grouting can be carried out immediately after drilling. The safety level of the work site is detected by the detector 12, and the operation of the drilling machine 4 and the grouting machine 5, as well as the movement of the mobile vehicle 1, are controlled by the remote controller 2, realizing automatic control of drilling and grouting without the need for personnel to approach. It solves the technical problems of not being able to achieve centralized management of drilling and grouting operations, difficulty in achieving continuous operation between drilling and grouting, and difficulty in achieving safe construction. It has the technical effects of centralized management of drilling and grouting, smooth continuous operation between drilling and grouting, smooth connection, timely monitoring of oxygen and gas content, positioning of the current construction location, and avoiding construction safety hazards.

[0041] In this embodiment, the visual inspection component 3 can capture images of the interior of the tunnel, especially images of the borehole appearance. The remote control 2 has a display screen that can show the acquired information. Based on this information, it can be seen whether grouting has been carried out inside the borehole, thus facilitating the control of the grouting machine 5 for operation. In addition to capturing images, the visual inspection component 3 can also inspect the drilling quality (especially the appearance quality) of the borehole. It includes visual inspection software (including an image database) and a CCD camera (an industrial type used for capturing images). The CCD camera can capture images of the tunnel wall or the borehole. It is a machine vision inspection device that stores a large number of images of the borehole quality. It can compare the captured images with the stored images to determine the quality of the borehole. The operator can use the visual inspection component 3 to judge the output results to determine the quality of the borehole or whether re-drilling is necessary. When the gas content or concentration exceeds the standard, or the oxygen content or concentration is low, the staff can be immediately evacuated from the site, which can serve as a safety warning. The locator 11 can also record the current location and transmit the information to the main controller 13. The main controller 13 can transmit the information to the remote controller 2, where the location information and various content information can be viewed. The main controller 13 is similar to a controller or control panel (existing technology) and has a built-in wireless communication module, which can realize wireless communication connection with the remote controller 2.

[0042] The mobile vehicle 1 is equipped with wheels 14 at its bottom, enabling it to move to any location. The movement of the mobile vehicle 1 allows for adjustment of the positions of the drilling machine 4 and the grouting machine 5, allowing drilling and grouting to be performed in any direction within the tunnel. Both the drilling machine 4 and the grouting machine 5 have adjustable drilling and grouting directions. Using the mobile vehicle 1 in conjunction with these functions allows for more convenient and flexible adjustment of the drilling and grouting positions. Grouting can be performed immediately after drilling, saving the time between the two processes, improving the efficiency of their connection, and shortening the transition time. Using the remote control 2, operators can view image information on the remote control 2 without needing to be physically present at the construction site, identifying where drilling and grouting are needed before operating the drilling machine 4 and the grouting machine 5. This enables automated or semi-automated drilling and grouting operations within the tunnel, improving operational efficiency.

[0043] In order to allow the grout to penetrate into the borehole and achieve the desired effect, please refer to some embodiments. Figures 1 to 7The mobile vehicle 1 is equipped with a thruster 6 for advancing grout into the borehole. The thruster 6 has three advancement modes within the borehole: spiral, telescopic, and radial. The thruster 6 is electrically connected to a remote controller 2 and its operation is controlled by the remote controller 2. Normally, the grout tends to stagnate inside the borehole near the outer edge, which can affect the subsequent support effect. Typically, grout is manually pushed into the borehole using a stick. However, using this thruster 6 avoids manual operation and, with its multiple advancement modes, effectively advances the grout into the borehole, thus improving the subsequent support effect.

[0044] Specifically, the purpose of grouting into the borehole is to facilitate the insertion of anchor bolts and other equipment into the borehole. The anchor bolts come into contact with the grout, and after the grout solidifies, it integrates the anchor bolts with the internal rock structure of the chamber, thus improving the strength and stability of the anchor bolt support. The remote controller 2 has a control module that can control the operation of the thruster 6.

[0045] During the actual construction process, the three propulsion modes mentioned above should be used appropriately according to the characteristics of the rock, the location of the grout, and the ease of grout insertion. Specifically, when the grout volume is large and difficult to insert, a spiral propulsion mode can be used, where the propeller 6 rotates in a spiral shape, similar to the drilling principle of a self-tapping screw, allowing the grout to drill into the borehole. This movement trajectory resembles a spiral and is therefore defined as spiral. When the grout is located in the middle of the borehole depth direction, a telescopic propulsion mode can be used, where the propeller 6 exhibits a telescopic movement, similar to a hammering motion, pushing the grout into the borehole. This provides a certain impact force to the grout, causing it to move into the borehole under the action of the impact force, thus smoothly inserting the grout. This movement trajectory resembles a telescopic movement and is therefore defined as telescopic. When the slurry is located near the outer end of the borehole and is easily pushed into the borehole, a radial propulsion mode can be used. That is, the propeller 6 moves gradually and evenly from the outer end of the borehole to the inner end in a radial pattern. During the movement, it can push the slurry into the borehole. This movement trajectory is similar to a ray, so it is defined as radial.

[0046] In some embodiments, please refer to Figures 1 to 7 A robotic arm 15 is connected to the upper end of the mobile vehicle 1. The robotic arm 15 has degrees of freedom to move in multiple directions. A plugging block 7 is connected to the moving end of the robotic arm 15. After grouting inside the borehole, the plugging block 7 is used to seal the outer end of the borehole. The robotic arm 15 is electrically connected to a remote controller 2 and its operation is controlled by the remote controller 2. In this embodiment, the robotic arm 15 uses existing technology. Its bottom end is connected to the upper end of the mobile vehicle 1, and its moving end can move or adjust in various directions. By connecting its moving end to the plugging block 7, it can seal the borehole. The plugging block 7, with the help of the robotic arm 15 and the mobile vehicle 1, can seal boreholes at different locations.

[0047] In some embodiments, please refer to Figures 1 to 7 The mobile vehicle 1 is equipped with an electric rotary table 16 at its upper end. The upper end of the electric rotary table 16 is a rotating end and connected to a telescopic support column 17. The vision detection component 3 is connected to the upper end of the telescopic support column 17. The vision detection component 3 uses the rotation of the electric rotary table 16 to collect images of the chamber in different directions, and uses the telescopic support column 17 to adjust the height of the collected images. Both the electric rotary table 16 and the telescopic support column 17 are electrically connected to the remote controller 2, and their operation is controlled by the remote controller 2. In this embodiment, the rotary table is the electric rotary table 16 in the prior art, which can rotate circumferentially in the horizontal plane, thereby driving the vision detection component 3 to rotate and capture image information from different directions or positions. The remote controller 2 has a control module suitable for controlling the operation of the electric rotary table 16 and the telescopic support column 17. The telescopic support column 17 is similar to an electric telescopic rod, which can be extended and retracted after being controlled to adjust the position of the vision detection component 3.

[0048] Without moving the mobile vehicle 1, in order to enable the drilling machine 4 and the grouting machine 5 to move horizontally, or to adjust their drilling or grouting positions against the inner wall of the tunnel, in some embodiments, please refer to [reference needed]. Figures 1 to 7 The mobile vehicle 1 has a first arc-shaped slide rail 18 and a second arc-shaped slide rail 19 respectively on two opposite sides of its upper end. The drilling machine 4 has a first slider 41 that is slidably connected to the first arc-shaped slide rail 18, and the grouting machine 5 has a second slider 51 that is slidably connected to the second arc-shaped slide rail 19. Both the drilling machine 4 and the grouting machine 5 have the freedom to slide in an arc shape in the horizontal direction. The first slider 41 is slidably connected to the first arc-shaped slide rail 18, which allows adjustment of the horizontal position of the drilling machine 4. The second slider 51 is slidably connected to the second arc-shaped slide rail 19, which allows adjustment of the horizontal position of the grouting machine 5, thereby controlling the drilling and grouting positions. In this embodiment, the mobile vehicle 1 is relatively large, capable of supporting and transporting the drilling machine 4 and the grouting machine 5.

[0049] To adjust the height of the drilling machine 4 and the grouting machine 5 for drilling and grouting at the top or slightly above the chamber, in some embodiments, please refer to... Figures 1 to 7 Multiple vertical slide rails 110 are respectively provided on two opposite sides of the upper end of the mobile vehicle 1. The first arc-shaped slide rail 18 and the second arc-shaped slide rail 19 are slidably connected to the vertical slide rails 110 on both sides. The drilling machine 4 and the grouting machine 5 have the freedom of vertical movement by means of the multiple vertical slide rails 110. At least two vertical slide rails 110 are provided on one side. The outer ends of the first arc-shaped slide rail 18 and the second arc-shaped slide rail 19 are provided with sliders. The sliders slide on the vertical slide rails 110, thereby adjusting the height of the drilling machine 4 and the grouting machine 5.

[0050] Specifically, limiting components 111 (such as set screws, bolts, etc.) are provided on the vertical slide rail 110 to limit the height of the first arc-shaped slide rail 18 and the second arc-shaped slide rail 19, preventing slippage during use and ensuring construction quality and efficiency. The limiting component 111 passes through through holes at different heights on the vertical slide rail 110 and abuts or abuts against the first arc-shaped slide rail 18 and the second arc-shaped slide rail 19 located at that height, thus achieving a fixed limiting effect.

[0051] In some embodiments, please refer to Figures 1 to 7 The propeller 6 includes a connecting part 61 detachably connected to the mobile vehicle 1, a slide rail part 62 connected to the connecting part 61, an auger drill 63 slidably connected to the slide rail part 62, and a push sleeve 64 fitted on the drilling end of the auger drill 63. The push sleeve 64 is used to push slurry into the borehole by means of the auger drill 63. One end of the connecting part 61 is slidably connected to the first arc-shaped slide rail 18 or the second arc-shaped slide rail 19, and its position can be adjusted by means of the first arc-shaped slide rail 18 or the second arc-shaped slide rail 19. The other end of the connecting part 61 is connected to the slide rail part 62. The slide rail part 62 has a slide rail, which can provide the auger drill 63 with the freedom of sliding, so that the sliding of the auger drill 63 is coordinated with its own rotation, and the above three propulsion modes can be realized.

[0052] Specifically, the pusher sleeve 64 acts as a sealing sleeve, pushing the grout and minimizing the gap between the auger drill 63 and the borehole wall, thus maximizing the grout's penetration into the borehole. Of course, as the pusher sleeve 64 advances into the borehole, the increased air pressure inside the borehole allows some air to pass between the pusher sleeve 64 and the borehole wall; this is permissible and does not affect the grout's penetration.

[0053] In some embodiments, please refer to Figures 1 to 7The auger drill 63 includes a power unit 631 and an auger drill rod 632 connected to the power output end of the power unit 631. The power unit 631 is slidably connected to a slide rail 62. A pusher 65 for driving the power unit 631 to slide is provided on the slide rail 62. The sliding direction of the auger drill 63 is parallel to the axial direction of the auger drill rod 632. A pusher sleeve 64 is fitted on the outer end of the auger drill rod 632. The auger drill rod 632 is adapted to be inserted into the borehole and push the slurry to move into the borehole. The power unit 631 is in The linear sliding on the slide rail 62 drives the auger drill rod 632 to advance linearly into the borehole, forming a radial advance pattern. The power unit 631 reciprocates linearly on the slide rail 62, driving the auger drill rod 632 to reciprocate linearly into the borehole, forming a telescopic advance pattern. The auger drill rod 632 rotates itself and slides into the borehole in conjunction with the power unit 631, forming a spiral advance pattern. The operation of the auger drill 63 and the pusher 65 is controlled by the remote controller 2. In this embodiment, the pusher 65 is an electric telescopic rod, which is formed by at least two rod sections and can extend and retract in the direction of sliding along the power unit 631. Its extension and retraction length can be controlled by the remote controller 2. The remote controller 2 is equipped with a control module for controlling the operation of the auger drill 63 and the pusher 65. Through the coordinated operation of the pusher 65 and the auger drill rod 632, the above three advance patterns can be realized. The power unit 631 of the auger drill 63 is a motor and other components in the prior art. It can realize the rotation of the auger drill rod 632 by controlling the remote controller 2.

[0054] To increase the amount of grout pushed into the borehole, in some embodiments, please refer to... Figures 1 to 7 The pusher sleeve 64 includes a sleeve 641 detachably connected to the outer end of the auger rod 632 and multiple rubber plugs 642 spaced apart and connected to the outer end of the sleeve 641. The rubber plugs 642 are used to fill the gap between the auger rod 632 and the inner wall of the borehole and can be deformed under pressure. The rubber plugs 642 are deformed by the pressure of the inner wall of the borehole and are in a deformed state during the advancement process. Of course, they will return to their original shape when there is no pressure. The effect of using the pusher sleeve 64 is greater than that of not using it. When used, it can increase the friction between the pusher sleeve and the inner wall of the borehole, so that the slurry can be pushed in to the maximum extent. When the pusher sleeve 64 is not used and only the auger rod 632 is used for pushing, there will be a problem that some slurry will not be pushed in. After all, there is a gap between the auger blades of the auger rod 632 and the inner wall of the borehole, and it cannot be guaranteed that all the slurry will be pushed in.

[0055] Specifically, the length of the auger drill rod 632 is not limited, as long as it can be inserted into the borehole and serve a propulsive function. If one section of the auger drill rod 632 is not long enough, two sections can be used, joined end to end to form a single unit, which can achieve the same effect. Figure 4 The 632 structure of the medium spiral drill pipe.

[0056] Figure 5The dashed line represents the shape of the rubber stopper 642 before deformation, that is, the shape located outside the drill hole; the solid line represents the shape of the rubber stopper 642 after deformation, that is, the shape located inside the drill hole.

[0057] To increase the friction between the plugging block 7 and the inner wall of the borehole, thereby achieving the effect of plugging the leak, in some embodiments, please refer to... Figures 1 to 7 The plugging block 7 is a horizontal, convex shape. One end is used to connect to the robotic arm 15, and the other end is used to insert into the drill hole and seal it. A spiral rubber ring 71 is provided on the outer end of the plugging block 7 to seal the gap between the plugging block 7 and the inner wall of the drill hole. The plugging block 7 includes two cylinders with different outer diameters. The smaller cylinder is used to connect to the moving end of the robotic arm 15, i.e., to be grasped by the robotic arm 15. The larger cylinder is used to insert into the drill hole and seal the drill hole opening. The outer diameter formed by the rubber ring 71 is larger than the outer diameter of the drill hole. This allows the rubber ring 71 to deform locally after being inserted into the drill hole, creating friction between the rubber ring 71 and the inner wall of the drill hole, preventing the plugging block 7 from easily slipping out of the drill hole. The rubber ring 71 will freely return to its original shape when no force is applied.

[0058] Specifically, the sealing block 7 has a triangular or circular cross-section, which can both serve to seal and plug. A clamp is connected to the middle of the telescopic support 17, and a storage box 8 and a hook 9 are connected (hinged) to the outer end of the clamp. The storage box 8 is used to store construction tools used for drilling and grouting in the chamber, and the hook 9 is used to hang some construction equipment, which facilitates organization, storage and use.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A drilling and grouting equipment suitable for ultra-large chambers, characterized in that, include: A mobile vehicle is equipped with a locator. The mobile vehicle is equipped with a detector and a main controller that are electrically connected to each other. The detector is suitable for detecting the gas content and oxygen content in the chamber, and the locator is suitable for locating the current moving position. Both the detector and the locator send information to the main controller, and the main controller is suitable for controlling the movement of the mobile vehicle. The remote controller is wirelessly connected to the main controller and is adapted to receive gas signals, oxygen signals and position signals. The remote controller is also adapted to control the movement of the mobile vehicle. A visual inspection component is connected to the mobile vehicle and adapted to collect image information inside the chamber. It is electrically connected to the main controller. The information collected by the visual inspection component is transmitted to the main controller, and the main controller transmits the information to the remote controller. A drilling machine, connected to the mobile vehicle and adapted to drill holes in the sidewalls or top wall of the chamber; A grouting machine is connected to the mobile vehicle and is adapted to grout into the pre-drilled holes inside the chamber. Both the drilling machine and the grouting machine are electrically connected to the main controller, which controls the remote controller according to image information to control the operation of the mobile vehicle, the drilling machine and the grouting machine respectively. The mobile vehicle is equipped with a propeller for pushing the slurry into the borehole. The propeller has three propulsion modes in the borehole: spiral, telescopic, and radial. The propeller is electrically connected to the remote controller and its operation is controlled by the remote controller. When the propulsion mode is spiral, the propeller rotates in a spiral shape. When the propulsion mode is radial, the propeller moves gradually and evenly from the outer end of the borehole to the inner end in a radial shape to push the slurry into the borehole.

2. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 1, characterized in that, The mobile vehicle is equipped with a robotic arm at its upper end. The robotic arm has degrees of freedom to move in multiple directions. A plugging block is connected to the moving end of the robotic arm. After grouting inside the borehole, the plugging block is used to seal the outer end of the borehole. The robotic arm is electrically connected to the remote controller and its operation is controlled by the remote controller.

3. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 1, characterized in that, The mobile vehicle is equipped with an electric rotating platform at its upper end. The upper end of the electric rotating platform is a rotating end and is connected to a telescopic support column. The vision detection component is connected to the upper end of the telescopic support column. The vision detection component uses the rotation of the electric rotating platform to collect images of the chamber in different directions, and uses the telescopic support column to adjust the height of the collected images. Both the electric rotating platform and the telescopic support column are electrically connected to the remote controller and their operation is controlled by the remote controller.

4. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 1, characterized in that, The upper end of the mobile vehicle is provided with a first arc-shaped slide rail and a second arc-shaped slide rail on two opposite sides. The drilling machine has a first slider that is slidably connected to the first arc-shaped slide rail, and the grouting machine has a second slider that is slidably connected to the second arc-shaped slide rail. Both the drilling machine and the grouting machine have the freedom to slide in an arc shape in the horizontal direction.

5. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 4, characterized in that, The upper end of the mobile vehicle is provided with multiple vertical slide rails on two opposite sides. The first arc-shaped slide rail and the second arc-shaped slide rail are slidably connected to the vertical slide rails on both sides. The drilling machine and the grouting machine have the freedom to move vertically by means of the multiple vertical slide rails.

6. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 1, characterized in that, The propulsion device includes a connecting part detachably connected to the mobile vehicle, a slide rail part connected to the connecting part, an auger drill slidably connected to the slide rail part, and a push sleeve fitted on the drilling end of the auger drill slid. The push sleeve is used to push slurry into the borehole by means of the auger drill slid.

7. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 6, characterized in that, The auger drill includes a power unit and an auger drill rod connected to the power output end of the power unit. The power unit is slidably connected to the slide rail, and the slide rail is equipped with a pusher for driving the power unit to slide. The sliding direction of the auger drill is parallel to the axial direction of the auger drill rod. The pusher sleeve is fitted onto the outer end of the auger drill rod. The auger drill rod is adapted to be inserted into the borehole and push the slurry into the borehole. The power unit slides linearly on the slide rail, driving the auger drill rod to advance linearly into the borehole, forming a radial advancement pattern. The power unit slides back and forth linearly on the slide rail, driving the auger drill rod to advance linearly back and forth into the borehole, forming a telescopic advancement pattern. The auger drill rod rotates itself and slides into the borehole in conjunction with the power unit, forming a spiral advancement pattern. The operation of the auger drill and the pusher is controlled by the remote controller.

8. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 6, characterized in that, The push sleeve includes a sleeve detachably connected to the outer end of the auger rod and a plurality of rubber plugs spaced apart from the outer end of the sleeve. The rubber plugs are used to fill the gap between the auger rod and the inner wall of the borehole and can deform under pressure.

9. The drilling and grouting equipment suitable for ultra-large chambers as described in claim 2, characterized in that, The plugging block is in a horizontal, convex shape. One end is used to connect to the robotic arm, and the other end is used to insert into the drill hole and seal it. A spiral rubber ring is provided on the outer end of the plugging block, which is used to seal the gap between the plugging block and the inner wall of the drill hole.

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