A device and method for in-pipe grouting of a buried pipeline

Abstract

The application provides a buried pipeline in-pipe grouting device and a grouting method, and belongs to the technical field of underground pipeline grouting, wherein the grouting device comprises a workbench, a walking mechanism and a grouting mechanism; the walking mechanism is arranged on the workbench and drives the workbench to move; the grouting mechanism is arranged on the workbench and comprises a driving assembly, a grouting assembly and a drilling assembly; the driving assembly has a first output end and a second output end; the grouting assembly is connected with the first output end; the drilling assembly is connected with the second output end; the driving assembly drives the grouting assembly and the drilling assembly to move reversely synchronously; the drilling assembly is driven to move to a position to be drilled and then drills; and the grouting assembly is driven to move into a hole and then grouts. The buried pipeline in-pipe grouting device provided by the application drives the grouting assembly and the drilling assembly to move reversely synchronously, the drilling and grouting processes are independent of each other, the grouting efficiency is improved, and the blockage of a small grouting hole is avoided.

Description

Technical Field

[0001] This invention relates to the field of underground pipeline grouting technology, specifically to a buried pipeline grouting device and grouting method. Background Technology

[0002] In trenchless repair of buried tunnels, grouting is a commonly used auxiliary repair method, mainly used for sealing leaks and reinforcing the surrounding soil. Existing grouting techniques mainly include two methods: internal grouting and external grouting. Internal grouting typically involves manual entry into the pipe to drill holes from the inside out, and is generally used for pipes with a diameter of 800mm or greater. External grouting is usually used in two situations: firstly, when the pipe is shallow and external grouting is convenient; and secondly, when the pipe diameter is less than 800mm and manual entry is not possible.

[0003] For pipes with small diameters, pipe robots are currently used for operation. Generally, drilling equipment is used to drill holes in the pipe wall first, and then grouting equipment is used to inject grout into the drill holes. This requires two sets of equipment to operate alternately, which takes up a lot of space and reduces efficiency due to equipment changes. To solve this problem, integrated drilling and grouting equipment has emerged. It opens grouting holes at the head of the drill rod and uses the drill rod to complete the grouting process. However, because the grouting holes are small, this operation is prone to clogging and low grouting efficiency. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of existing integrated drilling and grouting equipment, which open grouting holes at the head of the drill rod, and the grouting holes are small, which easily cause blockage of the grouting holes and low grouting efficiency. The present invention provides a buried pipeline grouting device and grouting method.

[0005] To solve the above-mentioned technical problems, the present invention provides a buried pipeline internal grouting device, comprising:

[0006] Workbench;

[0007] A traveling mechanism is provided on the worktable, and the traveling mechanism drives the worktable to move;

[0008] A grouting mechanism is disposed on the workbench. The grouting mechanism includes a driving component, a grouting component, and a drilling component. The driving component has a first output end and a second output end. The grouting component is connected to the first output end, and the drilling component is connected to the second output end. The driving component drives the grouting component and the drilling component to move synchronously in opposite directions. The drilling component moves to the position to be drilled by the drive and then drills a hole. The grouting component moves into the hole by the drive and then grouts.

[0009] Optionally, the grouting mechanism further includes a mounting component, the drive assembly is disposed on the mounting component, and the grouting assembly and the drilling assembly are slidably disposed on the mounting component.

[0010] Optionally, the grouting mechanism further includes an adjustment component, which is disposed on the worktable and connected to the mounting component, and drives the mounting component to move.

[0011] Optionally, the adjustment component includes:

[0012] A rotating component is mounted on the worktable;

[0013] A height adjustment component is connected to the output end of the rotating component;

[0014] An angle adjustment component is connected to the output end of the height adjustment component, and the output end of the angle adjustment component is connected to the mounting component.

[0015] Optionally, the angle adjustment element includes:

[0016] The first lifting component and the second lifting component have their output ends hinged to the two ends of the mounting component, respectively.

[0017] Optionally, the driving component includes:

[0018] First driving component;

[0019] The transmission wheel has at least one set, the transmission wheel is connected to the first driving member, the grouting assembly and the drilling assembly are respectively connected to both sides of the transmission wheel, and the rotation of the transmission wheel drives the grouting assembly and the drilling assembly to move synchronously in opposite directions.

[0020] Optionally, the driving component further includes:

[0021] The synchronous belt has internal teeth on its inner sidewall. The transmission wheel has two sets, which are connected by the synchronous belt. The internal teeth mesh with the transmission wheel for transmission. One straight edge of the synchronous belt is the first output end, and the other straight edge of the synchronous belt is the second output end. The first driving member drives the first output end and the second output end to move synchronously in opposite directions.

[0022] Optionally, the outer sidewall of the synchronous belt has external teeth; the grouting assembly includes:

[0023] The grouting conduit is arranged parallel to the first output end. The side wall of the grouting conduit is provided with a first tooth, which meshes with the external tooth on the first output end. The grouting conduit is connected to the grouting equipment on the ground.

[0024] Optionally, the drilling assembly includes:

[0025] The drill pipe is positioned parallel to the second output end;

[0026] The second driving member is connected to the drill rod. The side wall of the second driving member is provided with a second tooth, which meshes with the external tooth on the second output end for transmission.

[0027] Optionally, the first tooth and the second tooth are racks.

[0028] Optionally, it also includes a fixing mechanism, which includes an upper telescopic support and a lower telescopic support. The upper telescopic support is disposed on the top surface of the workbench, and the top end of the upper telescopic support is provided with an upper top plate for abutting against the top of the tube. The lower telescopic support is disposed on the bottom surface of the workbench, and the bottom end of the lower telescopic support is provided with a lower top plate for abutting against the bottom of the tube.

[0029] Optionally, the top surface of the upper top plate and the bottom surface of the lower top plate are curved surfaces to adapt to the internal structure of the tube.

[0030] Optionally, pressure detection elements are provided on the top surface of the upper top plate and the bottom surface of the lower top plate.

[0031] Optionally, it also includes:

[0032] A camera device is mounted on the workbench;

[0033] A supplementary lighting component, disposed on the worktable, is used to provide supplementary lighting for the camera device;

[0034] The controller is electrically connected to the camera device, the walking mechanism, and the grouting mechanism.

[0035] Optionally, the camera device is mounted on the worktable via an adjusting member, which is used to adjust the position of the camera device.

[0036] Optionally, the walking mechanism includes:

[0037] The third driving component is disposed on the worktable;

[0038] The workbench has four sets of wheels, which are respectively located at the front and rear ends of the workbench, and the wheels are connected to the third drive unit.

[0039] Optionally, the traveling wheels are Mecanum wheels.

[0040] This invention provides a method for grouting inside buried pipelines, using any of the above-described grouting devices for buried pipelines, comprising the following steps:

[0041] The grouting device for buried pipelines is placed inside the pipeline to be grouted through the inspection well;

[0042] The traveling mechanism drives the worktable to the position where grouting is to be performed;

[0043] The drive component drives the drilling component to move to the hole to be drilled in the pipe wall;

[0044] After drilling is completed, the drive component drives the drilling component to move backward and simultaneously drives the grouting component to move forward to the drilling position, and the grouting component injects grout into the borehole.

[0045] After grouting is completed, the grouting assembly is removed, and the traveling mechanism drives the worktable to move out of the pipeline.

[0046] The technical solution of this invention has the following advantages:

[0047] 1. The buried pipeline grouting device provided by the present invention includes a workbench, a traveling mechanism, and a grouting mechanism. The grouting mechanism includes a driving component, a grouting component, and a drilling component. The driving component has a first output end and a second output end. The grouting component is connected to the first output end, and the drilling component is connected to the second output end. The driving component drives the grouting component and the drilling component to move synchronously in opposite directions. The drilling component moves to the position to be drilled by the drive and then drills. The grouting component moves into the hole by the drive and then grouts. The drilling and grouting processes are independent of each other and are driven by the same driving component. Both are set on the workbench, eliminating the need for two sets of equipment. The driving component automatically realizes the alternation of the drilling component and the grouting component, improving the grouting efficiency and avoiding clogging caused by small grouting holes.

[0048] 2. The buried pipeline grouting device provided by the present invention further includes an installation component, a drive component disposed on the installation component, and a grouting component and a drilling component slidably disposed on the installation component. The installation component provides support for the grouting component and the drilling component, making the movement of the grouting component and the drilling component more stable.

[0049] 3. The buried pipeline grouting device provided by the present invention further includes an adjustment component, which is used to drive the installation component to move. The angle and height of the installation component can be adjusted according to the position of the hole to be drilled, and it has strong versatility.

[0050] 4. The buried pipeline grouting device provided by the present invention includes a rotating component, a height adjusting component, and an angle adjusting component. The rotating component is used to adjust the direction of the installation component. When the location to be drilled is on the side wall, the overall direction of the installation component can be adjusted by the rotating component. The height adjusting component is used to adjust the height of the installation component. The angle adjusting component is used to adjust the pitch of the installation component, which facilitates grouting to the top and bottom of the pipe.

[0051] 5. The buried pipeline grouting device provided by the present invention includes an angle adjustment component comprising a first lifting member and a second lifting member. The output ends of the first lifting member and the second lifting member are respectively hinged to the two ends of the mounting member. By moving the first lifting member and the second lifting member at different heights, the angle of the mounting member can be adjusted. The structure is simple and the angle adjustment is convenient.

[0052] 6. The buried pipeline grouting device provided by the present invention includes a driving component comprising a first driving member and a transmission wheel. The transmission wheel has at least one set. The first driving member drives the transmission wheel to rotate. The grouting component and the drilling component are respectively connected to both sides of the transmission wheel. The rotation of the transmission wheel drives the grouting component and the drilling component to move synchronously in opposite directions. The driving structure is simple. Through a single first driving member, the driving of the grouting component and the drilling component is realized simultaneously. The structure is compact and automatically realizes the alternation of the drilling component and the grouting component, thereby improving work efficiency.

[0053] 7. The buried pipeline grouting device provided by the present invention includes a synchronous belt in the drive assembly. Two sets of transmission wheels are connected by the synchronous belt, and the synchronous belt and the transmission wheels mesh and transmit power. One straight edge of the synchronous belt is the first output end, and the other straight edge of the synchronous belt is the second output end. The first output end is connected to the grouting assembly, and the second output end is connected to the drilling assembly. The synchronous belt improves the stability of the grouting assembly and the drilling assembly during transmission, and increases the moving distance of the grouting assembly and the drilling assembly, thus providing better adaptability.

[0054] 8. The buried pipeline grouting device provided by the present invention has an outer toothed part on the outer side wall of the synchronous belt, and the first toothed part on the grouting conduit meshes with the outer toothed part. The grouting conduit is connected to the grouting equipment on the ground. The movement of the grouting conduit is realized through the meshing of the teeth, and the grouting is realized by the pumping of the grouting equipment on the ground.

[0055] 9. The buried pipeline grouting device provided by the present invention includes a drilling assembly comprising a drill rod and a second driving member. The second tooth on the second driving member meshes with the outer tooth. Through the meshing of the teeth, the drill rod can be moved to the location to be drilled. At the same time, the second driving member is activated, and the drilling process is realized during the movement. The drilling process is fast and stable.

[0056] 10. The buried pipeline grouting device provided by the present invention has a first tooth and a second tooth as a rack, and the rack maximizes the movement distance of the grouting component and the drilling component.

[0057] 11. The buried pipeline grouting device provided by the present invention further includes a fixing mechanism, wherein the upper telescopic support abuts against the top of the pipe and the lower telescopic support abuts against the bottom of the pipe. Through the pushing force of the upper and lower telescopic support, the upper and lower top plates are tightly attached to the inner wall of the pipe, which on the one hand maintains the stability of the device, and on the other hand provides the reaction force required during the drilling process through the friction between the top plate and the pipe wall.

[0058] 12. The buried pipeline grouting device provided by the present invention has an upper top plate and a lower top plate with curved surfaces that are adapted to the pipe wall, which can achieve a better tight fit and further improve stability.

[0059] 13. The buried pipeline grouting device provided by the present invention has pressure detection elements on the top surface of the upper top plate and the bottom surface of the lower top plate to monitor the pressure between the top plate and the pipe wall, so as to prevent the pipe from being ruptured due to excessive pressure.

[0060] 14. The buried pipeline grouting device provided by the present invention further includes a camera device, a supplementary lighting component, and a controller. The camera device is used to observe the situation inside the pipe wall, transmit the image signal to the controller, and drive the walking mechanism to the designated position. The supplementary lighting component is used to supplement the light of the camera device to facilitate the shooting of the camera device. According to the real-time shooting of the camera device, the controller drives the walking mechanism and the grouting mechanism to work.

[0061] 15. The buried pipeline grouting device provided by the present invention has a camera device mounted on the worktable via an adjusting component, which is used to adjust the position of the camera device, thereby increasing the shooting range and improving the shooting accuracy.

[0062] 16. The buried pipeline grouting device provided by the present invention includes a walking mechanism comprising a third driving component and walking wheels. The third driving component drives the walking wheels to work and move to a designated position. The walking wheels are Mecanum wheels, which can realize omnidirectional movement such as forward, backward, translation, and rotation, and can adapt well to the walking environment inside the pipe.

[0063] 17. The buried pipeline grouting method provided by the present invention uses a buried pipeline grouting device for grouting, which eliminates the need for workers to enter confined spaces, thus avoiding safety accidents. The grouting process is automatically realized through the operation of the walking mechanism, drilling assembly, and grouting assembly. The operation is simple and quick, effectively solving the problem that small-diameter pipelines cannot be grouted. Attached Figure Description

[0064] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0065] Figure 1 This is a schematic diagram of a specific embodiment of the buried pipeline grouting device provided in an embodiment of the present invention;

[0066] Figure 2 for Figure 1 Top view;

[0067] Figure 3 for Figure 1 Schematic diagram of the drive assembly, grouting assembly and drilling assembly;

[0068] Figure 4 for Figure 1 A schematic diagram of a structure for drilling holes in the top of a pipe;

[0069] Figure 5 for Figure 1 A schematic diagram of the structure for grouting the top of the pipe inside the pipe;

[0070] Figure 6 for Figure 1 A schematic diagram of drilling holes in the bottom of the pipe;

[0071] Figure 7 for Figure 1 A schematic diagram of the structure for grouting the bottom of the pipe inside the pipe.

[0072] Explanation of reference numerals in the attached figures:

[0073] 1. Workbench; 2. Walking mechanism; 3. Drive assembly; 4. Walking wheels; 5. Drilling assembly; 6. First output end; 7. Second output end; 8. Mounting component; 9. Adjustment assembly; 10. Rotating component; 11. Height adjustment component; 12. Angle adjustment component; 13. First lifting component; 14. Second lifting component; 15. First drive component; 16. Transmission wheel; 17. Synchronous belt; 18. Internal toothed part; 19. External toothed part; 20. Grouting conduit; 21. First toothed part; 22. Drill rod; 23. Second drive component; 24. Second toothed part; 25. Fixing mechanism; 26. Upper telescopic support component; 27. Lower telescopic support component; 28. Upper top plate; 29. ​​Lower top plate; 30. Camera device; 31. Lighting component; 32. Adjustment component; 33. Third drive component. Detailed Implementation

[0074] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0076] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0077] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0078] The buried pipeline grouting device provided in this embodiment can replace manual entry into small-diameter pipelines for grouting, realizing unmanned operation and effectively reducing the occurrence of safety accidents.

[0079] like Figure 1 and Figure 2The diagram illustrates a specific embodiment of the buried pipeline grouting device provided in this example. It includes a workbench 1, a traveling mechanism 2, and a grouting mechanism. The traveling mechanism 2 is mounted on the workbench 1 and drives the workbench 1 to move. The grouting mechanism is mounted on the workbench 1 and includes a driving component 3, a grouting component, and a drilling component 5. The driving component 3 has a first output end 6 and a second output end 7. The grouting component is connected to the first output end 6, and the drilling component 5 is connected to the second output end 7. The driving component 3 drives the grouting component and the drilling component 5 to move synchronously in opposite directions. The drilling component 5 moves to the position to be drilled and then drills a hole. The grouting component moves into the hole to perform grouting.

[0080] The drilling and grouting processes are independent of each other and are driven by the same drive component 3. Both are set on the workbench 1, eliminating the need for two sets of equipment. Driven by the drive component 3, the drilling component 5 and the grouting component are automatically alternated, which improves the grouting efficiency and avoids clogging caused by small grouting holes.

[0081] like Figure 1 and Figure 2 As shown in the figure, the buried pipeline grouting device provided in this embodiment includes a mounting component 8 for the grouting mechanism. The driving component 3 is disposed on the mounting component 8, and the grouting component and the drilling component 5 are slidably disposed on the mounting component 8. The mounting component 8 provides support for the grouting component and the drilling component 5, making their sliding more stable. Specifically, the mounting component 8 can be composed of a mounting base plate and a mounting side plate. The mounting side plate is provided with a sliding groove or a sliding rail. Both the grouting component and the drilling component 5 are provided with corresponding sliding rails or grooves. The sliding rails and grooves make the sliding process more stable. In addition, as an alternative embodiment, the mounting component 8 can be omitted, the driving component 3 can be directly mounted on the workbench 1, and the grouting component and the drilling component 5 can be slidably disposed on different sliding rail structures.

[0082] like Figure 1 As shown, the buried pipeline grouting device provided in this embodiment includes an adjusting component 9. The adjusting component 9 is mounted on the workbench 1 and connected to the mounting component 8. The adjusting component 9 drives the mounting component 8 to move. The adjusting component 9 can adjust the angle and height of the mounting component 8 according to the position of the borehole to be drilled, offering strong versatility and adaptability to grouting operations with different pipe diameters. Alternatively, as an alternative implementation, the adjusting component 9 can be omitted, and the grouting component and the drilling component 5 can be set to a fixed height and angle.

[0083] like Figure 1As shown, the buried pipeline grouting device provided in this embodiment includes an adjusting component 9 comprising a rotating component 10, a height adjusting component 11, and an angle adjusting component 12. The rotating component 10 is mounted on the workbench 1. The height adjusting component 11 is connected to the output end of the rotating component 10. The angle adjusting component 12 is connected to the output end of the height adjusting component 11, and the output end of the angle adjusting component 12 is connected to the mounting component 8. The rotating component 10 is used to adjust the direction of the mounting component 8. When the drilling location is on the side wall, the overall direction of the mounting component 8 can be adjusted by the rotating component 10. The height adjusting component 11 is used to adjust the height of the mounting component 8, and the angle adjusting component 12 is used to adjust the pitch of the mounting component, facilitating grouting to the top and bottom of the pipe. Specifically, the rotating component 10 can be a motor, an electric rotary disk, etc., and the height adjusting component 11 can be an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder, etc. The output end of the height adjusting component 11 is provided with a mounting plate, and the angle adjusting component 12 is mounted on the mounting plate.

[0084] like Figure 1 As shown, the buried pipeline grouting device provided in this embodiment includes an angle adjusting component 12 comprising a first lifting component 13 and a second lifting component 14. The output ends of the first lifting component 13 and the second lifting component 14 are respectively hinged to both ends of the mounting component 8. By moving the first lifting component 13 and the second lifting component 14 at different heights, the angle of the mounting component 8 can be adjusted. The structure is simple and the angle adjustment is convenient. The first lifting component 13 and the second lifting component 14 are hydraulic cylinders, pneumatic cylinders, or electric cylinders.

[0085] like Figures 1 to 3 As shown, the buried pipeline grouting device provided in this embodiment includes a drive assembly 3 comprising a first drive member 15 and a transmission wheel 16. The transmission wheel 16 has at least one set and is connected to the first drive member 15. The grouting assembly and the drilling assembly 5 are respectively connected to both sides of the transmission wheel 16. The rotation of the transmission wheel 16 drives the grouting assembly and the drilling assembly 5 to move synchronously in opposite directions. The drive structure is simple, simultaneously driving the grouting assembly and the drilling assembly 5 through a single first drive member 15. The structure is compact, automatically achieving the alternation of the drilling assembly 5 and the grouting assembly, improving work efficiency. The transmission wheel 16 is a gear. The first drive member 15 is fixed to the mounting member 8, and the transmission wheel 16 is coaxially fixed at the output end of the first drive member 15. The first drive member 15 can be a motor. The first drive member 15 can directly drive the rotation of the transmission wheel 16, or indirectly drive the rotation of the transmission wheel 16 through the transmission member. Alternatively, as an alternative implementation, the drive assembly 3 can also be other structures. For example, a cylinder can drive a connecting rod to make the two ends of the connecting rod move synchronously in opposite directions, connecting the grouting assembly and the drilling assembly to the two ends of the connecting rod respectively, thus achieving the alternating operation of the drilling assembly 5 and the grouting assembly through a single cylinder.

[0086] like Figure 1 and Figure 3 As shown, the buried pipeline grouting device provided in this embodiment includes a synchronous belt 17 in the drive assembly 3. The inner wall of the synchronous belt 17 has internal teeth 18. There are two sets of transmission wheels 16, which are connected by the synchronous belt 17. The internal teeth 18 mesh with the transmission wheels 16 for transmission. One straight edge of the synchronous belt 17 is the first output end 6, and the other straight edge of the synchronous belt 17 is the second output end 7. The first drive member 15 drives the first output end 6 and the second output end 7 to move synchronously in opposite directions. The first output end 6 is connected to the grouting assembly, and the second output end 7 is connected to the drilling assembly 5. The synchronous belt 17 improves the stability of the grouting assembly and the drilling assembly 5 during transmission and increases the moving distance of the grouting assembly and the drilling assembly 5, resulting in better adaptability. The first drive member 15 only needs to drive one set of transmission wheels 16.

[0087] like Figure 1 and Figure 3 As shown, the buried pipeline grouting device provided in this embodiment has an external toothed portion 19 on the outer wall of the synchronous belt 17. The grouting assembly includes a grouting conduit 20, which is arranged parallel to the first output end 6. A first toothed portion 21 is provided on the side wall of the grouting conduit 20. The first toothed portion 21 engages with the external toothed portion 19 on the first output end 6 for transmission. The grouting conduit 20 is connected to grouting equipment on the ground. The movement of the grouting conduit 20 is realized through tooth engagement, and grouting is achieved in the borehole through pumping by the grouting equipment on the ground.

[0088] like Figure 1 and Figure 3 As shown, the buried pipeline grouting device provided in this embodiment includes a drilling assembly 5 comprising a drill rod 22 and a second driving member 23. The drill rod 22 is arranged parallel to the second output end 7. The second driving member 23 is connected to the drill rod 22, and a second tooth 24 is provided on the side wall of the second driving member 23. The second tooth 24 meshes with the external tooth 19 on the second output end 7. Through the meshing of the teeth, the drill rod 22 can be moved to the drilling location, and at the same time, the second driving member 23 is activated, realizing the drilling process during the movement. The drilling process is fast and stable. The second driving member 23 is a motor, which drives the rotation of the drill rod 22 to realize drilling.

[0089] like Figure 1 and Figure 3As shown, in the buried pipeline grouting device provided in this embodiment, the first tooth 21 and the second tooth 24 are racks. The rack configuration maximizes the movement distance of the grouting assembly and the drilling assembly 5. In addition, as an alternative implementation, the first tooth 21 and the second tooth 24 can also be discontinuous rack structures.

[0090] like Figure 1 As shown, the buried pipeline grouting device provided in this embodiment also includes a fixing mechanism 25. The fixing mechanism 25 includes an upper telescopic support 26 and a lower telescopic support 27. The upper telescopic support 26 is disposed on the top surface of the workbench 1, and an upper top plate 28 is provided at the top of the upper telescopic support 26 for abutting against the top of the pipe. The lower telescopic support 27 is disposed on the bottom surface of the workbench 1, and a lower top plate 29 is provided at the bottom of the lower telescopic support 27 for abutting against the bottom of the pipe. Through the pushing force of the upper telescopic support 26 and the lower telescopic support 27, the upper top plate 28 and the lower top plate 29 are tightly attached to the inner wall of the pipeline, which maintains the stability of the device on the one hand, and provides the reaction force required during the drilling process through the friction between the top plate and the pipe wall on the other hand. Specifically, the upper telescopic support 26 and the lower telescopic support 27 can be hydraulic cylinders, electric cylinders, pneumatic cylinders, or other structures.

[0091] like Figure 1 As shown, the buried pipeline grouting device provided in this embodiment has an arc-shaped top surface on the top surface of the upper plate 28 and a curved bottom surface on the lower plate 29 to adapt to the internal structure of the pipe, which can better achieve a tight fit and further improve stability.

[0092] The buried pipeline grouting device provided in this embodiment has pressure detection elements on the top surface of the upper top plate 28 and the bottom surface of the lower top plate 29, which are used to monitor the pressure between the top plate and the pipe wall to prevent the pipe from being ruptured due to excessive pressure. Specifically, the pressure detection element is a thin-film pressure sensor, which does not take up space and can accurately monitor the pressure.

[0093] like Figure 1 As shown, the buried pipeline grouting device provided in this embodiment also includes a camera device 30, a supplementary lighting component 31, and a controller. The camera device 30 is mounted on the workbench 1; the supplementary lighting component 31 is mounted on the workbench 1 and is used to provide supplementary lighting for the camera device 30; the controller is electrically connected to the camera device 30, the walking mechanism 2, and the grouting mechanism. The camera device 30 is used to observe the situation inside the pipe wall and transmit the image signal to the controller, driving the walking mechanism 2 to a designated position. The supplementary lighting component 31 is used to provide supplementary lighting for the camera device 30, facilitating its shooting. Based on the real-time shooting of the camera device 30, the controller drives the walking mechanism 2 and the grouting mechanism. The supplementary lighting component 31 can be located around the camera device 30 and can be an LED light.

[0094] like Figure 1 As shown, in this embodiment, the buried pipeline grouting device includes a camera device 30 mounted on the workbench 1 via an adjusting member 32. The adjusting member 32 is used to adjust the position of the camera device 30, thereby increasing the shooting range and accuracy. Specifically, the adjusting member 32 consists of multiple wall rods and a telescopic cylinder, enabling the camera device 30 to move up and down. The telescopic bracket is hinged to the camera device 30 via the telescopic cylinder, ensuring that the camera device 30 can perform a 90° pitch movement. The bottom wall rod of the telescopic bracket is connected to the workbench 1 via a ball joint, ensuring that the telescopic bracket can rotate within a 360° range. The telescopic bracket is installed on the side of the top surface of the workbench 1, and the grouting mechanism is located on the other side of the top surface of the workbench 1.

[0095] like Figure 1 and Figure 2 As shown, the buried pipeline grouting device provided in this embodiment includes a walking mechanism 2 comprising a third drive component 33 and walking wheels 4. The third drive component 33 is mounted on the workbench 1. Four sets of walking wheels 4 are respectively located at the front and rear ends of the workbench 1. The walking wheels 4 are connected to the third drive component 33 and are Mecanum wheels. The third drive component 33 can be a motor, which drives the walking wheels 4 to move to a designated position. The Mecanum wheels 4 enable omnidirectional movement, including forward, backward, translational, and rotational movements, and can adapt well to the walking environment inside the pipeline.

[0096] This embodiment also provides a method for grouting inside buried pipelines, using the grouting device for buried pipelines described in any of the above embodiments, including the following steps:

[0097] The grouting device for buried pipelines is placed inside the pipeline to be grouted through the inspection well;

[0098] The traveling mechanism 2 drives the worktable 1 to the position to be grouted;

[0099] Drive component 3 drives drilling component 5 to move to the position where drilling is needed to drill a hole in the pipe wall;

[0100] After drilling is completed, drive component 3 drives drilling component 5 to move backward and simultaneously drives grouting component to move forward to the drilling position, and grouting component injects grout into the borehole.

[0101] After grouting is completed, the grouting assembly is removed, and the traveling mechanism 2 drives the workbench 1 to move out of the pipeline.

[0102] Without requiring staff to enter confined spaces, thus avoiding safety accidents, the grouting process is automatically achieved through the operation of the walking mechanism 2, drilling assembly 5, and grouting assembly. The operation is simple and quick, effectively solving the problem of grouting inside small-diameter pipes.

[0103] Specifically, such as Figure 4 and Figure 5 As shown, the method for grouting the top of a buried pipeline using an internal grouting device includes:

[0104] The device is placed inside the pipe to be grouted through the inspection well;

[0105] Control the walking mechanism 2 to drive the device to move inside the pipeline, and observe the situation inside the pipeline through the camera device 30, and reach the position where grouting is required;

[0106] The upper telescopic support 26 and the lower telescopic support 27 begin to push forward, so that the upper top plate 28 and the lower top plate 29 are tightly fitted to the inner wall of the pipe. The pressure at the upper top plate 28 and the lower top plate 29 is monitored by the pressure detection device. When the pressure approaches the compressive strength of the pipe wall, the pushing forward is stopped and the pushing force is kept still.

[0107] The position of the mounting component 8 can be adjusted by rotating component 10 and height adjusting component 11;

[0108] The second lifting component 14 extends and retracts, adjusting the inclination of the mounting component 8 so that the axis of the drill rod 22 of the drilling assembly 5 passes through the pipe wall at the position where drilling is required.

[0109] Open the second drive component 23 and the first drive component 15, and the synchronous belt 17 rotates clockwise, driving the drill rod 22 to drill into the pipe wall;

[0110] When the first drive component 15 is closed, the second lifting component 14 is finely adjusted, which drives the drill rod 22 to expand the hole.

[0111] Turn on the first drive unit 15, and the synchronous belt 17 rotates counterclockwise, causing the drill rod 22 of the drilling assembly 5 to exit from the pipe hole. Then turn off the first drive unit 15 and the second drive unit 23.

[0112] Adjust the extension and retraction of the second lifting component 14 and adjust the inclination of the mounting component 8 so that the axis of the grouting guide pipe 20 passes through the center of the borehole;

[0113] Open the first drive component 15, and the synchronous belt 17 rotates counterclockwise, driving the grouting guide pipe 20 into the borehole;

[0114] Close the first drive unit 15, turn on the grouting pump of the grouting equipment, and start grouting.

[0115] After grouting is completed, the grouting conduit 20 is withdrawn, all adjustment components are restored, and the device is taken out of the pipeline by the walking mechanism 2.

[0116] like Figure 6 and Figure 7 As shown, the method for grouting the bottom of buried pipelines using an internal grouting device includes:

[0117] The device is placed inside the pipe to be grouted through the inspection well;

[0118] Control the walking mechanism 2 to drive the device to move inside the pipeline, and observe the situation inside the pipeline through the camera device 30, and reach the position where grouting is required;

[0119] The upper telescopic support 26 and the lower telescopic support 27 begin to push forward, so that the upper top plate 28 and the lower top plate 29 are tightly fitted to the inner wall of the pipe. The pressure at the upper top plate 28 and the lower top plate 29 is monitored by the pressure detection device. When the pressure approaches the compressive strength of the pipe wall, the pushing forward is stopped and the pushing force is kept still.

[0120] The position of the mounting component 8 can be adjusted by rotating component 10 and height adjusting component 11;

[0121] The first lifting component 13 extends and retracts, adjusting the inclination of the mounting component 8 so that the axis of the drill rod 22 of the drilling assembly 5 passes through the pipe wall at the position where drilling is required.

[0122] Open the second drive component 23 and the first drive component 15, and the synchronous belt 17 rotates clockwise, driving the drill rod 22 to drill into the pipe wall;

[0123] When the first drive component 15 is closed, the first lifting component 13 is finely adjusted, which drives the drill rod 22 to expand the hole.

[0124] Turn on the first drive unit 15, and the synchronous belt 17 rotates counterclockwise, causing the drill rod 22 of the drilling assembly 5 to exit from the pipe hole. Then turn off the first drive unit 15 and the second drive unit 23.

[0125] Adjust the extension and retraction of the first lifting component 13 and adjust the inclination of the mounting component 8 so that the axis of the grouting guide pipe 20 passes through the center of the borehole;

[0126] Open the first drive component 15, and the synchronous belt 17 rotates counterclockwise, driving the grouting guide pipe 20 into the borehole;

[0127] Close the first drive unit 15, turn on the grouting pump of the grouting equipment, and start grouting.

[0128] After grouting is completed, the grouting conduit 20 is withdrawn, all adjustment components are restored, and the device is taken out of the pipeline by the walking mechanism 2.

[0129] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A grouting device for buried pipelines, characterized in that, include: Workbench (1); A walking mechanism (2) is provided on the workbench (1), and the walking mechanism (2) drives the workbench (1) to move; The grouting mechanism is set on the workbench (1). The grouting mechanism includes a drive assembly (3), a grouting assembly, and a drilling assembly (5). The drive assembly (3) has a first output end (6) and a second output end (7). The grouting assembly is connected to the first output end (6), and the drilling assembly (5) is connected to the second output end (7). The drive assembly (3) drives the grouting assembly and the drilling assembly (5) to move synchronously in opposite directions. The drilling assembly (5) moves to the position to be drilled by the drive and then drills. The grouting assembly moves into the hole by the drive and then grouts. The driving component (3) includes: First driving component (15); The transmission wheel (16) has at least one set. The transmission wheel (16) is connected to the first driving member (15). The grouting assembly and the drilling assembly (5) are respectively connected to both sides of the transmission wheel (16). The rotation of the transmission wheel (16) drives the grouting assembly and the drilling assembly (5) to move synchronously in opposite directions. The driving component (3) also includes: The synchronous belt (17) has an internal toothed portion (18) on its inner sidewall. The transmission wheel (16) has two sets, which are connected by the synchronous belt (17). The internal toothed portion (18) meshes with the transmission wheel (16) for transmission. One straight edge of the synchronous belt (17) is the first output end (6), and the other straight edge of the synchronous belt (17) is the second output end (7). The first driving member (15) drives the first output end (6) and the second output end (7) to move synchronously in opposite directions.

2. The buried pipeline grouting device according to claim 1, characterized in that, The grouting mechanism also includes an installation component (8), the driving component (3) is disposed on the installation component (8), and the grouting component and the drilling component (5) are slidably disposed on the installation component (8).

3. The buried pipeline grouting device according to claim 2, characterized in that, The grouting mechanism further includes an adjustment component (9), which is disposed on the workbench (1). The adjustment component (9) is connected to the mounting component (8), and the adjustment component (9) drives the mounting component (8) to move.

4. The buried pipeline grouting device according to claim 3, characterized in that, The adjustment component (9) includes: A rotating component (10) is disposed on the worktable (1); The height adjustment component (11) is connected to the output end of the rotating component (10); An angle adjustment component (12) is connected to the output end of the height adjustment component (11), and the output end of the angle adjustment component (12) is connected to the mounting component (8).

5. The buried pipeline grouting device according to claim 4, characterized in that, The angle adjustment component (12) includes: The first lifting member (13) and the second lifting member (14) are respectively hinged to the two ends of the mounting member (8).

6. The grouting device for buried pipelines according to claim 1, characterized in that, The outer wall of the synchronous belt (17) has an external toothed portion (19); the grouting assembly includes: The grouting conduit (20) is arranged parallel to the first output end (6). The side wall of the grouting conduit (20) is provided with a first tooth (21). The first tooth (21) meshes with the external tooth (19) on the first output end (6). The grouting conduit (20) is connected to the grouting equipment on the ground.

7. The buried pipeline grouting device according to claim 6, characterized in that, The drilling assembly (5) includes: The drill rod (22) is set parallel to the second output end (7); The second drive member (23) is connected to the drill rod (22). The second drive member (23) has a second tooth (24) on its side wall. The second tooth (24) meshes with the external tooth (19) on the second output end (7) for transmission.

8. The buried pipeline grouting device according to claim 7, characterized in that, The first tooth (21) and the second tooth (24) are racks.

9. The grouting device for buried pipelines according to claim 1, characterized in that, It also includes a fixing mechanism (25), which includes an upper telescopic support (26) and a lower telescopic support (27). The upper telescopic support (26) is disposed on the top surface of the workbench (1), and the top end of the upper telescopic support (26) is provided with an upper top plate (28) for abutting against the top of the tube. The lower telescopic support (27) is disposed on the bottom surface of the workbench (1), and the bottom end of the lower telescopic support (27) is provided with a lower top plate (29) for abutting against the bottom of the tube.

10. The buried pipeline grouting device according to claim 9, characterized in that, The top surface of the upper top plate (28) and the bottom surface of the lower top plate (29) are curved surfaces to adapt to the internal structure of the tube.

11. The buried pipeline grouting device according to claim 10, characterized in that, Pressure detection elements are provided on the top surface of the upper top plate (28) and the bottom surface of the lower top plate (29).

12. The buried pipeline grouting device according to claim 1, characterized in that, Also includes: A camera device (30) is mounted on the workbench (1); A supplementary lighting component (31) is disposed on the worktable (1) and is used to provide supplementary lighting for the camera device (30); The controller is electrically connected to the camera device (30), the walking mechanism (2), and the grouting mechanism.

13. The buried pipeline grouting device according to claim 12, characterized in that, The camera device (30) is mounted on the workbench (1) via an adjusting member (32), which is used to adjust the position of the camera device (30).

14. The buried pipeline grouting device according to claim 1, characterized in that, The walking mechanism (2) includes: The third driving component (33) is disposed on the worktable (1); The walking wheels (4) have four sets, which are respectively set at the front and rear ends of the workbench (1). The walking wheels (4) are connected to the third drive unit (33).

15. The buried pipeline grouting device according to claim 14, characterized in that, The walking wheel (4) is a Mecanum wheel.

16. A method for grouting inside buried pipelines, characterized in that: The buried pipeline grouting device according to any one of claims 1-15 includes the following steps: The grouting device for buried pipelines is placed inside the pipeline to be grouted through the inspection well; The traveling mechanism (2) drives the worktable (1) to the position to be grouted; The drive assembly (3) drives the drilling assembly (5) to move to the drilling position to drill a hole in the pipe wall; After drilling is completed, the drive assembly (3) drives the drilling assembly (5) to move backward and simultaneously drives the grouting assembly to move forward to the drilling position, and the grouting assembly grouts the borehole. After grouting is completed, the grouting assembly is removed, and the walking mechanism (2) drives the workbench (1) to move out of the pipeline.

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