An underwater concrete surface variable angle drilling and grouting integrated tool

Abstract

The application discloses an underwater concrete surface variable-angle drilling and grouting integrated tool. A suction anchoring base is fixed to the bottom of a three-dimensional outer frame, a translation mechanism is movably installed at the bottom of the three-dimensional outer frame, a rack assembly is fixedly connected with an inner frame, the bottom of the rack assembly is connected to the front end of the translation mechanism through an L-shaped hinge, the bottom of an underwater angle adjusting push rod is installed on the translation mechanism, the top of the underwater angle adjusting push rod is installed on the top of the rack assembly, a drill bit and the rack assembly are movably connected through a sliding block, a grouting nozzle is placed in a grouting nozzle filling clamp, the grouting nozzle filling clamp is fixedly connected to the bottom of the front end face of the inner frame, the top of an underwater feeding push rod is fixedly connected to the top of the front end face of the inner frame, and the bottom of the underwater feeding push rod is connected with the grouting nozzle through a grouting pipeline fixing ring. The application realizes automatic drilling and grouting integrated operation in the dam surface crack repairing process, can replace manual operation, improves operation efficiency, has wide application range, and is safe and reliable.

Description

Technical Field

[0001] This invention relates to an integrated underwater drilling and grouting tool in the field of underwater engineering, and in particular to an integrated underwater concrete surface drilling and grouting tool with variable angle. Background Technology

[0002] The development of underwater structures such as dams has a long history, with each technological advancement triggering a surge in dam construction. Since ancient times, humanity has struggled against the forces of nature, and dams are not only one of the most effective engineering measures for flood control and disaster reduction, but they also facilitate normal agricultural irrigation in rural areas and can be used to generate electricity for cities. Today, dams possess multiple functions, including irrigation, water supply and power generation, aquaculture, and ecological protection, and they help regulate the spatial and temporal distribution of water resources within a region, optimizing the allocation of water resources.

[0003] After prolonged service, dams typically develop hidden dangers and problems such as damage to flood discharge facilities, damage to anti-seepage facilities, and cracks in the dam body. The former represents a more serious safety issue, generally requiring large-scale reconstruction of the entire dam. The latter two can be addressed through localized repairs in an underwater environment. When encountering situations similar to the latter, underwater engineering is generally required for dam maintenance and repair. The main repair measures include: underwater inspection, underwater dredging, underwater crack repair, underwater leakage treatment, and underwater concrete repair. Underwater concrete repair technology primarily targets concrete leakage, erosion, and spalling on the dam body. Currently, commonly used underwater repair materials include PBM polymers, SR anti-seepage modules, and SXM underwater sealants. Repair and reinforcement are then achieved through underwater rebar installation and non-dispersible concrete pouring. Current technology lacks an integrated underwater adsorption drilling and grouting robot to replace manual underwater concrete dam repair. Summary of the Invention

[0004] In order to solve the problems existing in the background art, the purpose of this invention is to design an integrated tool for underwater concrete surface drilling and grouting with variable angle.

[0005] The technical solution of this invention is as follows:

[0006] The tool includes a three-dimensional outer frame, adsorption anchor bases, a variable angle drilling mechanism, a grouting nozzle insertion mechanism, and a translation mechanism. The top of the three-dimensional outer frame has a hoisting hole for lifting. Four adsorption anchor bases are fixedly installed at the four corners of the bottom of the three-dimensional outer frame. The adsorption anchor bases are adsorbed onto the surface of the underwater concrete. The variable angle drilling mechanism, the grouting nozzle insertion mechanism, and the translation mechanism are all located inside the three-dimensional outer frame. The translation mechanism is installed at the bottom of the three-dimensional outer frame and can move back and forth. The variable angle drilling mechanism is movably installed on the translation mechanism. The variable angle drilling mechanism is located behind the grouting nozzle insertion mechanism, and the variable angle drilling mechanism and the grouting nozzle insertion mechanism are fixedly connected.

[0007] The variable angle drilling mechanism includes a slider, an inner frame, a drill bit, an L-shaped hinge, a retractable underwater angle adjustment push rod, and a rack assembly. The inner frame and the underwater angle adjustment push rod are located in the middle and rear of the three-dimensional outer frame, respectively. The drill bit and the rack assembly are located in the front and rear of the inner frame, respectively. The upper and lower ends of the rack assembly are fixedly connected to the upper and lower end faces of the inner frame, respectively. The bottom of the rear end face of the rack assembly is rotatably connected to the front end of the translation mechanism via the L-shaped hinge. The bottom of the underwater angle adjustment push rod is installed on the rear end of the upper surface of the translation mechanism, and the top of the underwater angle adjustment push rod is installed on the top of the rear end face of the rack assembly.

[0008] A slider is provided between the drill bit and the rack assembly. The rear end of the slider is mounted on the rack assembly and can move up and down. The front end of the slider is fixedly connected to the middle of the drill bit. A feed motor sealing chamber is also fixedly connected to the slider, and a motor is installed in the feed motor sealing chamber.

[0009] The grouting nozzle insertion mechanism includes a grouting nozzle, a grouting nozzle filling clamp, a grouting pipe fixing ring, and a retractable underwater feed push rod. Several grouting nozzles are vertically placed in the grouting nozzle filling clamp. The grouting nozzle filling clamp and the underwater feed push rod are both located in front of the inner frame. The rear end face of the grouting nozzle filling clamp is fixedly connected to the bottom of the front end face of the inner frame through a fixing plate. The top of the underwater feed push rod is fixedly connected to the top of the front end face of the inner frame. The bottom of the underwater feed push rod is connected to the grouting nozzle through the grouting pipe fixing ring.

[0010] The translation mechanism includes a slide rail, a slider platform, and a translation motor sealed chamber. The two slide rails are fixedly installed at the left and right ends of the bottom of the three-dimensional outer frame, respectively. Each slide rail is set along the front and back direction of the tool. Two sliders are installed on the two slide rails and can be moved along the slide rail axis. A slider platform is fixedly connected between the two sliders. A translation motor sealed chamber is fixedly installed on the slider platform. A motor is installed in the translation motor sealed chamber.

[0011] The bottom of the rear end face of the rack assembly is movably connected to the front end of the slider platform via an L-shaped hinge, and the bottom of the underwater angle adjustment push rod is mounted on the rear end of the upper surface of the slider platform.

[0012] The grouting nozzle has an inlet and an outlet at its top and bottom, respectively, and the inlet is connected to an external grouting device through a grouting pipe.

[0013] The grouting nozzle is parallel to the drill bit, and the angle between the drill bit's axis and the horizontal plane is 60° to 90°.

[0014] The grouting nozzle is movable in the grouting nozzle filling clamp along the left and right direction of the tool.

[0015] The entire drilling and grouting integrated tool adopts a frame structure design, which can be mainly divided into two parts: the working module and the adsorption anchoring base. The working part mainly consists of two parts, the drill bit and the grouting nozzle insertion mechanism, which are connected together to meet the needs of integrated drilling and grouting during operation. At the same time, the drill bit and the grouting nozzle insertion mechanism are mounted on a slider to realize the feed operation. The slider is adjusted by an electric push rod to adjust the drilling and grouting angle. The overall working module is a three-degree-of-freedom platform. The adsorption anchoring base ensures that sufficient adsorption force and lateral friction force are provided during operation.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. The drilling and grouting integrated tool of the present invention can perform concrete drilling and grouting in an underwater dam environment. At the same time, the two-degree-of-freedom design allows the drilling and grouting integrated tool to adapt to drilling on inclined dam surfaces. After drilling, the grouting nozzle is aligned with the hole and inserted for grouting by moving the lower slide rail.

[0018] 2. The working module of the present invention combines drilling and grouting tools, and connects them to the same slide rail in a fixed manner to achieve feeding, while the lateral displacement is adjusted by the lower slide rail;

[0019] 3. The working module of the present invention realizes the angle adjustment and feeding of drilling and grouting tools through rack and pinion assembly and push rod. At the same time, the gear assembly has strong anti-vibration capability and can withstand the vibration and reaction force during the drilling process.

[0020] 4. This invention realizes the integrated automation of drilling and grouting in the process of repairing cracks on the dam surface, which can replace manual operation, improve work efficiency, and has the ability to operate in complex water flow environments. It has a wide range of applications and is safe and reliable. Attached Figure Description

[0021] Figure 1 This is an isometric view of the drilling and grouting integrated tool of the present invention;

[0022] Figure 2 This is a side view of the drilling and grouting integrated tool of the present invention;

[0023] Figure 3 This is a detailed enlarged view of the integrated drilling and grouting tool of the present invention;

[0024] Figure 4 This is a schematic diagram of the operation of a drilling and grouting integrated tool.

[0025] In the diagram: 1. Lifting hole; 2. Three-dimensional outer frame; 3. Grouting nozzle; 4. Grouting nozzle filling clamp; 5. Grouting pipe fixing ring; 6. Adsorption anchoring base; 7. Slide rail; 8. Sliding block platform; 9. Translation motor sealing chamber; 10. Feed motor sealing chamber; 11. Sliding block; 12. Inner frame; 13. Underwater feed push rod; 14. Drill bit; 15. Hinge; 16. Underwater angle adjustment push rod; 17. Rack assembly; 18. Grouting pipe. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments. The implementation process of the embodiments of the present invention is as follows:

[0027] like Figure 1 As shown, the tool includes a rectangular three-dimensional outer frame 2, an adsorption anchoring base 6, a variable angle drilling mechanism, a grouting nozzle insertion mechanism, and a translation mechanism. The top of the three-dimensional outer frame 2 has a lifting hole 1 for hoisting the integrated tool. Four adsorption anchoring bases 6 are fixedly installed at the four corners of the bottom of the three-dimensional outer frame 2. The adsorption anchoring bases 6 are adsorbed onto the surface of the underwater concrete. The variable angle drilling mechanism, the grouting nozzle insertion mechanism, and the translation mechanism are all located inside the three-dimensional outer frame 2. The translation mechanism is installed at the bottom of the three-dimensional outer frame 2 and can move back and forth. The variable angle drilling mechanism is movably installed on the translation mechanism. The variable angle drilling mechanism is located behind the grouting nozzle insertion mechanism, and the variable angle drilling mechanism and the grouting nozzle insertion mechanism are fixedly connected.

[0028] The forward direction of the integrated tool is closer to the grouting nozzle insertion mechanism, the rear direction of the tool is closer to the translation mechanism, and the left and right directions of the tool are perpendicular to the forward and backward directions.

[0029] The translation mechanism includes a slide rail 7, a slider platform 8, and a translation motor sealed chamber 9. The two slide rails 7 are fixedly installed at the left and right ends of the bottom of the three-dimensional outer frame 2, respectively. Each slide rail 7 is set along the front-back direction of the tool. Two sliders are installed on the two slide rails 7 and can be moved axially along the slide rail 7. The slider platform 8 is fixedly connected between the two sliders, so that the slider platform 8 can move back and forth along the axis of the slide rail 7 (i.e., the front-back direction of the tool). The translation motor sealed chamber 9 is fixedly installed on the slider platform 8. The translation motor sealed chamber 9 is equipped with a motor, which is used to drive the slider to move back and forth.

[0030] like Figure 2 As shown, the variable angle drilling mechanism includes a slider 11, an inner frame 12, a drill bit 14, an L-shaped hinge 15, a retractable underwater angle adjustment push rod 16, and a rack assembly 17. The inner frame 12 and the underwater angle adjustment push rod 16 are located in the middle and rear of the three-dimensional outer frame 2, respectively. The drill bit 14 and the rack assembly 17 are located in the front and rear of the inner frame 12, respectively. That is, the drill bit 14, the rack assembly 17, and the underwater angle adjustment push rod 16 are installed inside the three-dimensional outer frame 2 in a front-to-back order, and the upper and lower ends of the rack assembly 17 are respectively... The rack assembly 17 is fixedly connected to the upper and lower ends of the inner frame 12. The bottom of the rear end face of the rack assembly 17 is rotatably connected to the front end of the translation mechanism via an L-shaped hinge 15. The axis of the L-shaped hinge 15 is parallel to the left and right direction of the tool. The bottom of the underwater angle adjustment push rod 16 is installed on the rear end of the upper surface of the translation mechanism, and the top of the underwater angle adjustment push rod 16 is installed on the top of the rear end face of the rack assembly 17. That is, the top of the rack assembly 17 is movably connected to the rear end of the slider platform 8 via the retractable underwater angle adjustment push rod 16.

[0031] A slider 11 is provided between the drill bit 14 and the rack assembly 17. The rear end of the slider 11 is mounted on the rack assembly 17 and can move up and down. The front end of the slider 11 is fixedly connected to the middle part of the drill bit 14, so that the drill bit 14 can be moved up and down on the rack assembly 17. A feed motor sealing chamber 10 is also fixedly connected to the slider 11. A motor is provided in the feed motor sealing chamber 10, and the motor in the feed motor sealing chamber 10 is used to drive the slider 11 to move up and down.

[0032] like Figure 3 and Figure 4As shown, the grouting nozzle insertion mechanism includes a grouting nozzle 3, a grouting nozzle filling clamp 4, a grouting pipe fixing ring 5, and a retractable underwater feed push rod 13; several grouting nozzles 3 are vertically placed in the grouting nozzle filling clamp 4. The grouting nozzle filling clamp 4 and the underwater feed push rod 13 are both located in front of the inner frame 12. The rear end face of the grouting nozzle filling clamp 4 is fixedly connected to the bottom of the front end face of the inner frame 12 through a fixing plate. The top of the underwater feed push rod 13 is fixedly connected to the top of the front end face of the inner frame 12. The bottom of the underwater feed push rod 13 is connected to the grouting nozzle 3 through the grouting pipe fixing ring 5.

[0033] The bottom of the rear end face of the rack assembly 17 is movably connected to the front end of the slider platform 8 via an L-shaped hinge 15, and the bottom of the underwater angle adjustment push rod 16 is mounted on the rear end of the upper surface of the slider platform 8.

[0034] The grouting nozzle 3 has an inlet and an outlet at the top and bottom, respectively. The inlet is connected to an external grouting device through the grouting pipe 18. The grouting device is used to deliver cement grout into the grouting nozzle 3, and the outlet is used to fill the borehole with cement grout.

[0035] The axial direction of the grouting nozzle 3 is parallel to the axial direction of the drill bit 14, and the angle between the axial direction of the drill bit 14 and the horizontal plane is 60° to 90°.

[0036] The grouting nozzle 3 is movable in the grouting nozzle filling clamp 4 along the left and right direction of the tool.

[0037] The grouting nozzle filling clamp 4 has a strip-shaped through hole that matches the shape of the grouting nozzle 3. The axis of the strip-shaped through hole is parallel to the axis of the grouting nozzle 3. When using this tool, the grouting nozzle 3 moves to the strip-shaped through hole and is connected to the bottom of the underwater feed push rod 13 through the grouting pipe fixing ring 5. The telescopic underwater feed push rod 13 drives the grouting nozzle 3 to move up and down. The cement grout in the grouting nozzle 3 is injected into the drilling position, and the grouting nozzle 3 remains at the drilling position. At this time, the grouting nozzle 3 and the underwater feed push rod 13 separate, and the next grouting nozzle 3 is pushed to the strip-shaped through hole. The above operation is repeated to achieve grouting at the drilling position.

[0038] In actual operation, drill bit 14 is first used to drill a hole at the location to be repaired. Then, the translation mechanism is moved so that the grouting nozzle 3 moves to the position where drill bit 14 was previously located. The variable angle drilling mechanism and the grouting nozzle insertion mechanism move back and forth on the slide rail 7, realizing the integrated operation of drilling and grouting at the same position.

[0039] The drilling angle can be adjusted by using the underwater angle adjustment push rod 16 to adapt to different inclined hole requirements in underwater operations.

[0040] The drill bit 14 is fed by the rack assembly 17 at an adjustable speed, and the variable angle drilling mechanism can provide sufficient drilling force.

[0041] The grouting nozzle insertion mechanism is installed on the variable angle drilling mechanism. The grouting nozzle 3 feed insertion direction is consistent with the drilling feed direction, which realizes the grouting nozzle insertion process directly after drilling, without the need to readjust the direction of the grouting nozzle 3 for hole positioning.

[0042] The grouting nozzle insertion mechanism carries multiple grouting nozzles 3. After one operation, there is no need for manual replenishment of the grouting nozzles 3. The grouting nozzles 3 can be automatically filled by the grouting nozzle 3 filling clamp.

[0043] Grouting nozzle filling clamp 4 is used to load multiple grouting nozzles 3. During the insertion of the grouting nozzles 3, the grouting pipe 18 is fixed by the grouting pipe fixing ring 5. The lower part of the grouting pipe fixing ring 5 has a U-shaped notch to ensure that the grouting pipe 18 can smoothly bypass the tool body. Detailed design drawing is shown below. Figure 3 As shown;

[0044] The adsorption anchoring base 6 combines a vortex suction cup and micro-needle anchoring technology to provide sufficient adsorption and friction to resist the reaction force and vibration during the drilling process;

[0045] The slide rail 7, combined with the slider platform 8, provides horizontal freedom for the drilling and grouting tools. It is driven by a motor in the translational waterproof motor sealed chamber 9. The grouting process after drilling is combined through translation. The motor in the feed motor sealed chamber 10 can be used to drive the feed of the drill bit 14.

[0046] The underwater feed push rod 13 realizes the feed movement of the grouting nozzle insertion mechanism, thereby realizing the process operation of inserting the grouting nozzle 3. The drill bit 14 is used for drilling concrete holes.

[0047] The rack assembly 17 and the motor in the feed motor sealed chamber 10 drive the drill bit 14 to perform feed motion in the drilling direction; the underwater angle adjustment push rod 16 cooperates with the hinge 15 to adjust the platform angle of the drill bit 14 to achieve inclined angle drilling.

[0048] like Figure 4 As shown, by using the drilling and grouting integrated tool described in this article, diagonal holes are drilled on both sides of the crack on the concrete surface and grouting nozzles 3 are inserted. After the surface is sealed, pressure grouting is performed to complete the repair of underwater concrete surface cracks.

Claims

1. A tool for underwater concrete surface drilling and grouting at variable angles, characterized in that: The three-dimensional outer frame (2), the adsorption anchor base (6), the variable angle drilling mechanism, the grouting nozzle insertion mechanism and the translation mechanism are included. The top of the three-dimensional outer frame (2) is provided with a hoisting hole (1) for hoisting. Four adsorption anchor bases (6) are fixedly installed on the four corners of the bottom of the three-dimensional outer frame (2). The adsorption anchor bases (6) are adsorbed on the surface of the underwater concrete. The variable angle drilling mechanism, the grouting nozzle insertion mechanism and the translation mechanism are all set inside the three-dimensional outer frame (2). The translation mechanism is installed at the bottom of the three-dimensional outer frame (2) and can move back and forth. The variable angle drilling mechanism is movably installed on the translation mechanism. The variable angle drilling mechanism is located behind the grouting nozzle insertion mechanism and the variable angle drilling mechanism and the grouting nozzle insertion mechanism are fixedly connected. The variable angle drilling mechanism includes a slider (11), an inner frame (12), a drill bit (14), an L-shaped hinge (15), a retractable underwater angle adjustment push rod (16), and a rack assembly (17). The inner frame (12) and the underwater angle adjustment push rod (16) are located in the middle and rear of the three-dimensional outer frame (2), respectively. The drill bit (14) and the rack assembly (17) are located in the front and rear of the inner frame (12), respectively. The upper and lower ends of the rack assembly (17) are fixedly connected to the upper and lower ends of the inner frame (12), respectively. The bottom of the rear end face of the rack assembly (17) can be rotatably connected to the front end of the translation mechanism along the axis of the L-shaped hinge (15) through the L-shaped hinge (15). The bottom of the underwater angle adjustment push rod (16) is installed on the rear end of the upper surface of the translation mechanism, and the top of the underwater angle adjustment push rod (16) is installed on the top of the rear end face of the rack assembly (17). A slider (11) is provided between the drill bit (14) and the rack assembly (17). The rear end of the slider (11) is mounted on the rack assembly (17) and can move up and down. The front end of the slider (11) is fixedly connected to the middle part of the drill bit (14). A feed motor sealing chamber (10) is also fixedly connected to the slider (11), and a motor is provided in the feed motor sealing chamber (10).

2. The underwater concrete surface variable angle drilling and grouting integrated tool according to claim 1, characterized in that: The grouting nozzle insertion mechanism includes a grouting nozzle (3), a grouting nozzle filling clamp (4), a grouting pipe fixing ring (5), and a retractable underwater feed push rod (13). Several grouting nozzles (3) are vertically placed in the grouting nozzle filling clamp (4). The grouting nozzle filling clamp (4) and the underwater feed push rod (13) are both located in front of the inner frame (12). The rear end face of the grouting nozzle filling clamp (4) is fixedly connected to the bottom of the front end face of the inner frame (12) through a fixing plate. The top of the underwater feed push rod (13) is fixedly connected to the top of the front end face of the inner frame (12). The bottom of the underwater feed push rod (13) is connected to the grouting nozzle (3) through the grouting pipe fixing ring (5).

3. The underwater concrete surface variable angle drilling and grouting integrated tool according to claim 1, characterized in that: The translation mechanism includes a slide rail (7), a slider platform (8), and a translation motor sealed chamber (9). The two slide rails (7) are fixedly installed at the left and right ends of the bottom of the three-dimensional outer frame (2). Each slide rail (7) is set along the front and rear direction of the tool. Two sliders are movably installed on the two slide rails (7) along the axis of the slide rail (7). The slider platform (8) is fixedly connected between the two sliders. The translation motor sealed chamber (9) is fixedly installed on the slider platform (8). The translation motor sealed chamber (9) is equipped with a motor. The bottom of the rear end face of the rack assembly (17) is movably connected to the front end of the slider platform (8) through an L-shaped hinge (15). The bottom of the underwater angle adjustment push rod (16) is installed on the rear end of the upper surface of the slider platform (8).

4. The underwater concrete surface variable angle drilling and grouting integrated tool according to claim 2, characterized in that: The grouting nozzle (3) is provided with an inlet and an outlet at the top and bottom, respectively. The inlet is connected to an external grouting device through a grouting pipe (18).

5. The underwater concrete surface variable angle drilling and grouting integrated tool according to claim 2, characterized in that: The axial direction of the grouting nozzle (3) is parallel to the axial direction of the drill bit (14), and the included angle between the axial direction of the drill bit (14) and the horizontal plane is 60°~90°.

6. The underwater concrete surface variable angle drilling and grouting integrated tool according to claim 2, characterized in that: The grouting nozzle (3) is movable in the grouting nozzle filling clamp (4) along the left and right directions of the tool.

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