Methods for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining

Abstract

This invention discloses a method for the installation, dismantling, cleaning, and storage of modular continuous longitudinal grouting straight pipes for tunnel lining, comprising the following steps: Step S1, firstly, grouting is performed on the left and right sidewalls of the tunnel lining template using a top-rush grouting method; several sections of grouting straight pipes are installed by threaded connection of the grouting straight pipe dismantling and assembly module using a grouting straight pipe lifting robotic arm, and grouting is then performed; Step S3, the grouting straight pipes are extracted and dismantled section by section using the grouting straight pipe dismantling and assembly module; Step S4, the dismantled grouting straight pipes are then moved to the grouting straight pipe cleaning module using the grouting straight pipe lifting robotic arm for cleaning, and after cleaning, they are stored in the grouting straight pipe storage module; Step S5, following steps S2 to S4, the installation, dismantling, cleaning, and storage of grouting pipes are performed sequentially on one of the grouting holes on the left and right sides and the grouting hole located at the top center. This method has the advantages of effectively avoiding voids behind the secondary lining, reasonable structural layout, simple operation, and saving time and labor.

Description

Technical Field

[0001] This invention belongs to the field of tunnel lining grouting technology, specifically relating to a method for the installation, dismantling, cleaning, and storage of modular continuous longitudinal grouting straight pipes for tunnel lining. Background Technology

[0002] Traditional tunnel lining construction methods involve layer-by-layer pouring using a fully hydraulic lining trolley and a bottom-up grouting process. However, this method struggles to achieve ideal concrete fluidity, and air cannot be completely expelled between grouting holes. Consequently, traditional tunnel lining construction is limited by the vertical grouting process, making it unavoidable for the lining to detach behind the lining. Current longitudinal grouting techniques typically involve inserting a single long grouting pipe into the top center of the tunnel lining arch for a single grouting operation, followed by removal of the entire pipe. This severely impacts the workspace for other processes, such as waterproofing membrane installation, support protection, and excavation, all of which require work in front of the lining trolley, leading to delays in the overall construction schedule. Summary of the Invention

[0003] This invention aims to provide a method for the installation, dismantling, cleaning, and storage of modular continuous longitudinal grouting straight pipes for tunnel lining. The operation is automatic and quick, and the installation, dismantling, cleaning, and storage of grouting straight pipes are fully automated. This solves the problem that traditional tunnel secondary lining construction methods inevitably lead to voids behind the secondary lining, and that current longitudinal grouting processes use a single long grouting pipe for both entry and exit, which affects the working space of other processes.

[0004] Therefore, the technical solution adopted by this invention is: a method for the installation, dismantling, cleaning, and storage of modular continuous longitudinal grouting straight pipes for tunnel lining, comprising the following steps:

[0005] Step S1: Three grouting holes are symmetrically reserved on the left, middle and right sides of the top of the tunnel lining casting formwork arch for the straight grouting pipe to pass through. Grouting is first carried out on the left and right sidewalls of the tunnel lining formwork using the top grouting method.

[0006] Step S2: A modular system for the installation, dismantling, cleaning, and storage of longitudinal grouting pipes for tunnel lining is adopted. The modular system includes a grouting straight pipe dismantling and assembly module, a grouting straight pipe lifting robot arm, a grouting straight pipe storage module, and a grouting straight pipe cleaning module. When the concrete is poured to the arc-shaped arch of the adjacent tunnel lining formwork, the grouting straight pipe is installed by threading several sections of grouting straight pipe through the grouting straight pipe dismantling and assembly module. At the same time, each section of grouting straight pipe is pushed into the grouting hole located at the top of the tunnel lining casting formwork. After several sections of grouting straight pipe are installed and completely placed inside the tunnel lining formwork, grouting is performed.

[0007] Step S3: When the grouting height reaches the design height, the grouting straight pipe is pulled out section by section and removed through the grouting straight pipe disassembly module. When the last section of the grouting straight pipe is pulled out of the tunnel lining template, the corresponding grouting hole is sealed in time.

[0008] Step S4: Then, the dismantled grouting straight pipe is moved to the grouting straight pipe cleaning module by the grouting straight pipe lifting robot arm for cleaning. After cleaning, the grouting straight pipe is picked up by the grouting straight pipe lifting robot arm and stored in the grouting straight pipe storage module.

[0009] Step S5: Following steps S2 to S4, install, dismantle, clean, and store the grouting pipes for one of the grouting holes on the left and right sides and the grouting hole located at the top center.

[0010] As a preferred embodiment of the above scheme, in step S2, 12 sections of grouting straight pipe are installed with threaded connections at both ends, and the length of each grouting straight pipe section is 2m to 2.5m; in step S3, when grouting is performed on one of the grouting holes on the left or right side, the design height is 0m to 0.5m higher than the grouting holes on the left and right sides, and when grouting is performed on the grouting hole located at the top of the middle, the design height is the top of the tunnel lining. The grouting holes are all in a closed state when not in use.

[0011] The beneficial effects of this invention are:

[0012] (1) Compared with the traditional construction method of tunnel secondary lining, which inevitably leads to the phenomenon of voids behind the secondary lining, the current longitudinal grouting process uses a whole grouting pipe to enter and exit, which affects the working space of other processes. This solution uses a longitudinal grouting pipe installation and dismantling system to install multiple grouting pipes to form a whole long pipe, or to disassemble the whole long pipe into several grouting pipes, which greatly reduces the working space of the grouting pipes, thereby avoiding the long pipe occupying too much working space and affecting the overall construction period. The design fits the actual needs and the concept is novel.

[0013] (2) The tunnel lining formwork is reserved with three grouting holes on the left, middle and right. It can be convenient to rotate one of the grouting holes on the left or right side for grouting according to the actual site conditions, and then grouting is performed on the grouting hole in the middle at the top, thus forming a layered pouring, which results in good concrete pouring effect and effectively avoids the situation of insufficient subsequent concrete pouring pressure when only pouring on the left or right side. The design concept is ingenious and highly flexible.

[0014] In summary, it has the advantages of effectively avoiding the phenomenon of voids behind the secondary lining, reasonable structural layout, simple operation, and saving time and effort. Attached Figure Description

[0015] Figure 1 This is a front view of the invention (during operation of a grouting hole located in the middle of the tunnel arch).

[0016] Figure 2 for Figure 1 Side view.

[0017] Figure 3 A schematic diagram of a modular system for the installation, dismantling, cleaning, and storage of longitudinal grouting pipelines for tunnel lining.

[0018] Figure 4 A schematic diagram of the structure for disassembly and assembly of the clearance device.

[0019] Figure 5 This is a schematic diagram of the pipe clamping device.

[0020] Figure 6 This is a schematic diagram of the pipe-tightening device.

[0021] Figure 7 for Figure 6 Exploded view of the parts.

[0022] Figure 8 This is a schematic diagram of the spiral tube device.

[0023] Figure 9 for Figure 8 Exploded view of the parts.

[0024] Figure 10 This is a structural schematic diagram of the connecting pipeline moving assembly.

[0025] Figure 11 This is a schematic diagram of the longitudinal movement device for connecting pipelines.

[0026] Figure 12 This is a structural schematic diagram of a pipe lifting device.

[0027] Figure 13 This is a partial schematic diagram of the top of a pipe lifting device equipped with a pipe clamping device.

[0028] Figure 14 This is a schematic diagram of the pipe clamping mechanism.

[0029] Figure 15 This is a schematic diagram of the side-rolling hydraulic cylinder device installed in the pipe clamping device.

[0030] Figure 16 This is a schematic diagram of the structure of the grouting pipe hatch opening and closing device mounted on the grouting straight pipe.

[0031] Figure 17 This is a schematic diagram of the opening and closing device for the grouting pipe hatch.

[0032] Figure 18 for Figure 17 A schematic diagram of the exploded parts.

[0033] Figure 19A partial sectional view of the grouting pipe hatch opening and closing device mounted on the grouting straight pipe.

[0034] Figure 20 This is a schematic diagram of the structure of the front baffle for opening and closing the hatch.

[0035] Figure 21 A schematic diagram of the grouting straight pipe storage module for the grouting straight pipe gripping robotic arm.

[0036] Figure 22 This is a schematic diagram of the structure of a linear motion track.

[0037] Figure 23 This is a schematic diagram of a horizontal turntable structure with a mounting base.

[0038] Figure 24 This is a schematic diagram of the tilting mechanism of a robotic arm.

[0039] Figure 25 This is a schematic diagram of the telescopic mechanism.

[0040] Figure 26 This is a schematic diagram of the structure of the omnidirectional rotating base.

[0041] Figure 27 This is a schematic diagram of a mechanical straight pipe clamp.

[0042] Figure 28 This is a schematic diagram of the straight pipe limiting assembly.

[0043] Figure 29 A schematic diagram of the structure of a robotic arm system for gripping, positioning, and storing straight pipes (with four arc-shaped grooves).

[0044] Figure 30 This is a structural schematic diagram of the grouting straight pipe cleaning module.

[0045] Figure 31 This is a schematic diagram of the straight pipe cleaning outlet mechanism.

[0046] Figure 32 This is a schematic diagram of the gas-liquid three-way inlet mechanism.

[0047] Figure 33 This is a schematic diagram of the longitudinal guide rail structure located at the front end of the straight pipe cleaning base.

[0048] Figure 34 This is a schematic diagram of the straight pipe clamping and positioning seat. Detailed Implementation

[0049] The present invention will be further described below with reference to the embodiments and accompanying drawings:

[0050] Combination Figure 1 — Figure 34As shown, a method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining is described, with the following specific implementation steps:

[0051] Step S1: Three grouting holes B are symmetrically reserved on the left, middle and right sides of the top of the tunnel lining casting formwork arch for the grouting straight pipe A to pass through. The left and right sidewalls of the tunnel lining formwork are grouted using the top grouting method.

[0052] Step S2: A modular system for the installation, dismantling, cleaning, and storage of longitudinal grouting pipes for tunnel lining is adopted. The modular system includes a grouting straight pipe dismantling module, a grouting straight pipe lifting robot arm e, a grouting straight pipe storage module c, and a grouting straight pipe cleaning module d. When the concrete is poured to the arc-shaped arch of the adjacent tunnel lining template, the grouting straight pipe A is installed by connecting the first and last threads of the grouting straight pipe A through the grouting straight pipe dismantling module using the grouting straight pipe lifting robot arm e. At the same time, each section of the grouting straight pipe A that has been connected and installed is pushed into the grouting hole B located at the top of the tunnel lining casting template. After the connection and installation of several sections of grouting straight pipe A are completed and completely placed inside the tunnel lining template, grouting is performed.

[0053] Step S3: When the grouting height reaches the design height, the grouting straight pipe A is pulled out section by section and removed through the grouting straight pipe disassembly module. When the last section of grouting straight pipe A is pulled out of the tunnel lining template, the corresponding grouting hole B is sealed in time.

[0054] Step S4: Then, simultaneously move the dismantled grouting straight pipe A to the grouting straight pipe cleaning module d using the grouting straight pipe lifting robot arm e for cleaning. After cleaning, use the grouting straight pipe lifting robot arm e to grab the grouting straight pipe A and store it in the grouting straight pipe storage module c.

[0055] Step S5: Following steps S2 to S4, install, dismantle, clean, and store the grouting pipes for one of the grouting holes B on the left and right sides and the grouting hole B located at the top center.

[0056] In step S2, 12 sections of grouting straight pipe A are installed by threaded connection at both ends, and the length of each section of grouting straight pipe A is 2m to 2.5m. In step S3, when grouting is performed on one of the grouting holes B on the left or right side, the design height is 0m to 0.5m higher than the grouting holes B on the left and right sides. When grouting is performed on the grouting hole B located at the top of the middle, the design height is the top of the tunnel lining. The grouting holes B are all in a closed state when not in use.

[0057] The grouting straight pipe disassembly and assembly module consists of a connecting pipe moving assembly, a grouting pipe disassembly and assembly assembly that longitudinally limits and clamps the grouting straight pipe A, a disassembly and assembly clearance device 6 that drives the grouting pipe disassembly and assembly assembly to move laterally, and a grouting pipe hatch opening and closing device 7 installed on the casting template.

[0058] The docking pipe moving assembly consists of a docking pipe longitudinal moving device 4 and a docking pipe lifting device 5 installed at the moving end of the docking pipe longitudinal moving device 4.

[0059] The top of the connecting pipe lifting device 5 is equipped with a pipe clamping device 8.

[0060] When the disassembly and relocation device 6 drives the grouting pipe disassembly and relocation assembly to descend and move laterally to make room, the pipe clamping and dragging device 8 moves forward to clamp the grouting straight pipe A and drags it back into position through the docking pipe moving assembly.

[0061] The disassembly and assembly clearance device 6 consists of a support frame 61, a transverse slide rail 62 mounted on the support frame 61, a disassembly and assembly lifting column 63 that moves along the transverse slide rail 62, and a transverse drive motor reducer 64 that provides transverse movement force for the disassembly and assembly lifting column 63.

[0062] The grouting pipe assembly consists of a pipe clamping device 1, a pipe tightening device 2, and a pipe rotating device 3, which are installed in parallel from back to front on the top of the disassembly and lifting column 63.

[0063] The pipe clamping mechanism of the pipe tightening device is mounted on a tiltable and rotatable base, thereby achieving a small range of tilting and rotation. This allows for enhanced tightening or initial loosening in conjunction with the pipe tightening device, resulting in a reasonable structural layout.

[0064] The pipe lifting device is used to adjust the docking height, the pipe longitudinal movement device is used to adjust the longitudinal orientation of the docking, and the pipe clamping device can clamp the end of the grouting straight pipe for initial docking and fixation, realizing flexible adjustment of the up, down, front and back orientation. The drive equipment uses a hydraulic cylinder to realize automatic control docking, followed by grouting. The operation is simple, time-saving and labor-saving.

[0065] The pipe clamping device 1 mainly consists of a support base 11 and a pipe clamping mechanism b installed on the support base 11.

[0066] The pipe clamping device 8 consists of a pipe clamping mounting frame 81 that extends rearward from the top of the docking pipe lifting device 5, a clamping slide rail 82 that is laid longitudinally above the pipe clamping mounting frame 81, a pipe clamping mechanism b that moves along the clamping slide rail 82, and a clamping hydraulic cylinder 83 that provides the driving force for movement.

[0067] The pipe tightening device 2 consists of a tiltable and rotatable base 21 and a pipe clamping mechanism b mounted on the tiltable and rotatable base 21.

[0068] The pipe clamping mechanism b consists of a transverse base b4, a pipe clamping slide rail b1 mounted transversely on the transverse base b4, a clamping moving block b2 that slides along the pipe clamping slide rail b1, and an arc-shaped clamping seat b3 mounted on the clamping moving block b2 in a left-right mirror image.

[0069] The swirl device 3 consists of a swirl fixing base 31, a swirl transverse moving assembly 32 that slides longitudinally along the swirl fixing base 31, and a pipe rotating assembly 33 mounted on the swirl transverse moving assembly 32.

[0070] The swivel tube transverse movement assembly 32 consists of a transverse base b4, a tube clamping slide rail b1 transversely mounted on the transverse base b4, and a clamping moving block b2 that slides along the tube clamping slide rail b1.

[0071] The pipe rotation assembly 33 is mounted on the clamping moving block b2 of the pipe lateral movement assembly 32 in a mirror image.

[0072] When the disassembly and assembly lifting column 63 drives the grouting pipe disassembly and assembly assembly to descend and move laterally to make room, the pipe clamping and dragging device 8 moves forward to clamp the grouting straight pipe A and drags it back to its original position through the docking pipe moving assembly.

[0073] The clamping moving block b2 consists of a main block b21, a fixed slider seat b22 fixed at both ends of the main block b21 and sliding along the clamping tube slide rail b1, and a movable slider seat b23 movably installed in the middle of the main block b21 and sliding along the clamping tube slide rail b1.

[0074] The fixed slider seat b22 located at the left end is equipped with a return spring assembly b5 that is fixed to the transverse base b4.

[0075] The left end of the horizontal base b4 is provided with a return spring mounting seat b41.

[0076] The return spring assembly b5 consists of a spring b51, a spring guide shaft b52, a spring adjusting nut b53 located at the left end of the spring b51, and a spring buffer washer b54 located at the right end of the spring b51.

[0077] The spring guide shaft b52 is threaded, and its right end passes through the fixed slider seat b22 and is fixed by a nut, while its left end passes through the return spring mounting seat b41 and is fixed.

[0078] The spring adjusting nut b53 is threadedly matched with the spring guide shaft b52, thereby adjusting the length of the spring b51 by rotating along the thread of the spring guide shaft b52.

[0079] The arc-shaped clamping seat b3 located on the right is fixedly installed on the fixed slider seat b22 at the right end, and the arc-shaped clamping seat b3 located on the left is installed on the movable slider seat b23.

[0080] A hydraulic push rod b6 is installed between the fixed slider seat b22 on the left and the arc-shaped clamping seat b3 on the left. The hydraulic push rod b6 can push the arc-shaped clamping seat b3 on the left to move along the pipe clamping slide rail b1 and approach the arc-shaped clamping seat b3 on the right to clamp the grouting straight pipe A.

[0081] The tiltable and rotatable base 21 consists of a base 211 and a clamping mechanism mounting base 212 that is tiltable and rotatable and mounted on the base 211.

[0082] The top of the base 211 is provided with a sliding channel for an arc-shaped sliding path.

[0083] The bottom of the clamping mechanism mounting base 212 is provided with an arc-shaped slide 213 that passes through the sliding channel.

[0084] The sliding passage has a symmetrical groove structure.

[0085] The arc-shaped slide block 213 is symmetrically equipped with guide sliders 215 that match the slots of the sliding channel.

[0086] A pipe-tightening hydraulic rod 214 is hinged between the base 211 and the transverse base b4 of the pipe clamping mechanism b.

[0087] When the hydraulic rod 214 extends or retracts, the guide slider 215 slides along the sliding channel, driving the pipe clamping mechanism b to rotate left and right. The structure is ingeniously designed, and the clamping mechanism mounting base rotates left and right along the base, thereby achieving further tightening or initial loosening of the grouting straight pipe, making disassembly and assembly more convenient.

[0088] The rotating tube fixing base 31 has a vertical spring shaft mounting plate centered on the front and rear sides.

[0089] The bottom of the swivel tube transverse movement assembly 32 is provided with support plates corresponding to the front and rear of the spring shaft mounting plate.

[0090] A horizontal longitudinal spring mounting shaft 311 is installed between the spring shaft mounting plate and the bottom support plate of the swivel tube transverse moving assembly 32, and each spring mounting shaft 311 is equipped with a return spring.

[0091] The return spring has a rubber pad installed at one end near the bottom support plate of the swivel tube transverse component 32, and an adjusting nut installed at the other end.

[0092] The top of the rotating tube fixing base 31 is symmetrically provided with longitudinal rails 312 on the left and right sides.

[0093] The bottom of the swivel tube transverse moving assembly 32 is provided with a movable slider 321 that moves along the longitudinal track 312, and the longitudinal reset of the swivel tube transverse moving assembly 32 is achieved by a reset spring.

[0094] The pipe rotation assembly 33 located on the right is fixedly mounted on the fixed slider seat b22 at the right end, and the pipe rotation assembly 33 located on the left is mounted on the movable slider seat b23.

[0095] A hydraulic push rod b6 is installed between the left fixed slider seat b22 and the left pipe rotating assembly 33. The hydraulic push rod b6 can push the left pipe rotating assembly 33 to move along the pipe clamping slide rail b1 and approach the right pipe rotating assembly 33 until it clamps the grouting straight pipe A.

[0096] The pipe rotation assembly 33 consists of a mounting frame 335, a drive motor reducer 332, a drive gear 333 mounted on the shaft of the drive motor reducer 332, two driven gears 334 meshing with the drive gear 333, and a rotating pipe drum 331 coaxially rotating with the driven gear 334. The drive motor reducer of the pipe rotation assembly drives the four rotating pipe drums on the left and right to rotate in the same direction synchronously, thereby tightening the grouting straight pipe. The design is ingenious.

[0097] The longitudinal movement device 4 for connecting pipelines consists of a retractable longitudinal grouting sleeve 44, a longitudinal telescopic hydraulic cylinder 46, a fixed base 41, a longitudinal sliding rail 42 mounted on the fixed base 41, and a moving platform 43 that slides along the longitudinal sliding rail 42.

[0098] The front ends of the telescopic longitudinal grouting sleeve 44 and the longitudinal telescopic hydraulic cylinder 46 are fixedly installed on the mobile platform 43, and the rear ends are installed on the ground through the pipe mounting bracket 45.

[0099] When the longitudinal telescopic hydraulic cylinder 46 extends or retracts, it drives the telescopic longitudinal grouting sleeve 44 to extend or retract synchronously, while simultaneously driving the mobile platform 43 to slide along the longitudinal slide rail 42.

[0100] The rear end of the retractable longitudinal grouting sleeve 44 is slidably mounted on the longitudinal slide rail 42 via the transverse mounting base 441.

[0101] The docking pipe lifting device 5 consists of a docking lifting column 52 that can be rotatably installed on a mobile platform 43 and a retractable vertical grouting sleeve 51 installed on the docking lifting column 52.

[0102] The telescopic vertical grouting sleeve 51 has bent sections at both the upper and lower ends.

[0103] The bottom bend of the retractable vertical grouting sleeve 51 is connected to the front end of the retractable longitudinal grouting sleeve 44, and the top bend is connected to the front end of the grouting straight pipe A.

[0104] The lifting column 52 is provided with sleeve installation supports for fixed and retractable vertical grouting sleeves 51 at intervals on the upper and lower sides.

[0105] The disassembly and assembly of the lifting column 63 and the docking of the lifting column 52 both include a square inner column c1, a square outer shell c2 fitted onto the square inner column c1, and a vertical hydraulic lifting rod c3 that provides lifting drive.

[0106] The upper and lower ends of the vertical hydraulic lifting rod c3 are hinged to the square outer shell c2 and the square inner column c1, respectively.

[0107] The top of the disassembly and assembly lifting column 63 is provided with a base 631 for installing the pipe clamping device 1, the pipe twisting device 2, and the pipe rotating device 3, so that the grouting straight pipe A clamped by the pipe clamping device 1, the pipe twisting device 2, and the pipe rotating device 3 is in a longitudinal horizontal state.

[0108] A longitudinal rack 65 is provided between the transverse slide rails 62.

[0109] The transverse drive motor reducer 64 is fixed on the right side of the disassembly and assembly lifting column 63, and the rotating shaft is equipped with a gear that meshes with the longitudinal rack 65. Thus, when the transverse drive motor reducer 64 drives the rotating shaft to move laterally along the longitudinal rack 65, it drives the disassembly and assembly lifting column 63 to move laterally.

[0110] The grouting pipe hatch opening and closing device 7 consists of a hatch fixing seat 71 fitted on the grouting straight pipe A, a hatch opening and closing baffle 72 passing through the hatch fixing seat 71, and a hatch drive hydraulic rod 73 hinged to the casting template and pushing the hatch opening and closing baffle 72.

[0111] The hatch fixing seat 71 consists of a loading and unloading guide sleeve 712, a hatch door clamping reaction seat 711 threaded onto the rear of the loading and unloading guide sleeve 712, and a "T"-shaped sealing pressure ring baffle 713 abutting against the front end of the loading and unloading guide sleeve 712.

[0112] The hatch door clamping reaction seat 711 has symmetrical sliding grooves 714 for the hatch door opening and closing baffle 72 to move laterally, located on the upper and lower sides of its front side.

[0113] The rear end face of the baffle movable slide 714 is fixedly installed on the casting template and is flush with the rear end face of the hatch opening and closing baffle 72.

[0114] The loading and unloading guide sleeve 712 has a ring platform in the middle, and a hatch tightening handle 715 is installed on the front end face of the ring platform.

[0115] One end of the hatch drive hydraulic rod 73 is hinged to the grouting template, and the other end is hinged to the hatch opening and closing baffle 72.

[0116] The hatch opening and closing baffle 72 is provided with through holes 721 at intervals on the left and right sides, which match the inner diameter of the grouting straight pipe A. The left through hole 721 is equipped with a hatch top tightening cover plate 722, and the right through hole 721 is equipped with a through hole top tightening ring plate 726.

[0117] When the grouting of the last section is completed and the end of pipe A passes through the right through hole 721, the hatch drive hydraulic rod 73 is activated, pushing the left through hole 721 close to the grouting straight pipe A until the hatch top cover plate 722 seals the grouting port on the casting template, and can be tightened by rotating the hatch tightening handle 715.

[0118] The hatch top cover 722 is installed on the left through hole 721 via the hatch sealing gasket 723.

[0119] The through-hole tightening ring plate 726 is installed in the right through-hole 721 through the through-hole sealing gasket 727.

[0120] The hatch opening and closing baffle 72 is assembled from the front hatch opening and closing baffle 724 and the rear hatch opening and closing baffle 725.

[0121] The left end of the hatch opening and closing front baffle 724 is provided with a support that is hinged to the telescopic end of the hatch drive hydraulic rod 73, and the rear side of the hatch opening and closing front baffle 724 is provided with a mounting groove 728 that matches the size of the hatch opening and closing rear baffle 725.

[0122] The through hole 721 has a rearwardly extending flange 729 along its edge. The opening diameter of the baffle 725 corresponding to the through hole 721 after the hatch is opened and closed matches the outer wall of the flange 729, and the thickness of the baffle 725 after the hatch is opened and closed is greater than the width of the flange 729.

[0123] After the hatch is opened and closed, the rear end face of the baffle 725 is attached to the casting template.

[0124] After the hatch opening and closing front baffle 724 and hatch opening and closing rear baffle 725 are assembled, they can form an installation step, thereby allowing the hatch sealing gasket 723 and the through hole sealing gasket 727 to be installed in the corresponding through hole 721 respectively.

[0125] The loading and unloading guide sleeve 712 and the "T"-shaped sealing pressure ring baffle 713 are equipped with a V-ring, a support ring, a nylon spacer ring, a nylon liner, and a pressure ring.

[0126] The front baffle 724 and the rear baffle 725 of the hatch opening and closing are connected by bolts.

[0127] The “T”-shaped sealing pressure ring baffle 713 is installed on the front end face of the loading and unloading guide sleeve 712 by bolts.

[0128] The front baffle 724 of the hatch opening and closing is preferably made of steel, and the rear baffle 725 of the hatch opening and closing is preferably made of nylon.

[0129] A side roller cylinder device 9 is installed on the right side of the pipe lifting device 5, which is used to rotate the pipe lifting device 5 to adjust the connection angle of the tunnel grouting straight pipe.

[0130] The side-rolling cylinder device 9 consists of a cylinder push end mounting seat 91 installed at the bottom right side of the docking lifting column 52 and a side-rolling cylinder 92.

[0131] The bottom end of the side roller cylinder 92 is hinged to the mobile platform 43, and the top end is hinged to the cylinder push end mounting seat 91, so that it can push and connect the lifting column 52 to rotate.

[0132] When installing multiple grouting straight pipe sections, the next grouting straight pipe section is clamped by a pipe clamping device, and the front end of the previous grouting straight pipe section is clamped by the pipe clamping and dragging device of the connecting pipe moving assembly. Then, the previous grouting straight pipe section is screwed into the next grouting straight pipe section by a pipe screwing device, and then tightened with the pipe screwing device. Then, the grouting pipe disassembly and assembly assembly releases the grouting straight pipe, and the disassembly and assembly clearance device lowers and moves laterally to make room. Meanwhile, the connecting pipe moving assembly pushes the grouting straight pipe into the tunnel lining along the grouting hole. Then, the grouting straight pipe is released, and the assembly moves backward to install the next pipe section in sequence.

[0133] When multiple sections of grouting straight pipe need to be disassembled, the disassembly and relocation device lowers and moves laterally to make way. The pipe clamping and dragging device of the connecting pipe moving assembly clamps the front end of the grouting straight pipe and then drags it back to its original position. Then, the clamping device clamps the next adjacent section of grouting straight pipe, the screwing device loosens it, and the rotating device completely unscrews the grouting straight pipe. This process is repeated until all grouting straight pipes are removed. When the last section of grouting straight pipe is pulled out, the grouting pipe hatch opening and closing device 7 automatically closes the grouting hole.

[0134] Following the steps of installing and dismantling the grouting straight pipe described above, grout the left and right grouting holes in sequence, and then adjust the grouting hole at the middle arch using the side roller cylinder device 9 for grouting.

[0135] The grouting straight pipe gripping robotic arm e consists of a linear motion track e1, a horizontal turntable e2 that slides along the linear motion track e1, a robotic arm pitching mechanism e3 with its bottom end mounted on the horizontal turntable e2, a telescopic mechanism e4 connected to the top of the robotic arm pitching mechanism e3, and a mechanical straight pipe clamp e5 mounted at the front end of the telescopic mechanism e4.

[0136] The linear motion track e1 consists of a base e11, slide rails e12 symmetrically mounted on the base e11, a horizontal slide table e13 that moves along the slide rails e12, and a reducer motor e14 that drives the horizontal slide table e13 to move.

[0137] The reducer motor e14 uses a screw drive mechanism to drive the horizontal slide table e13 to move.

[0138] The horizontal rotary table e2 is mounted on the horizontal slide table e13.

[0139] The horizontal rotary table e2 adopts a worm gear mechanism and is equipped with a piston motor to drive the rotation.

[0140] The robotic arm pitch mechanism e3 consists of a mounting base e35, a longitudinal drive cylinder e31, a pitch arm e32, a long pitch link e33, an arc-shaped short pitch link e34, and a pitch lifting cylinder e36.

[0141] Mounting base e35 is installed on top of horizontal turntable e2.

[0142] The bottom end of the longitudinal drive cylinder e31 is hinged to the mounting base e35, and the top end is hinged to the upper part of the pitch arm e32.

[0143] The front of the pitch arm e32 is hinged to the rear of the pitch link e33.

[0144] The front middle part of the pitch link e33 is hinged to the arc-shaped pitch link e34.

[0145] The upper and lower ends of the pitching and lifting cylinder e36 are respectively hinged to the front end of the telescopic mechanism e4 and the front end of the pitching long connecting rod e33.

[0146] The top ends of the pitch arm e32 and the arc-shaped pitch short link e34 are both hinged to the bottom of the telescopic mechanism e4.

[0147] When the longitudinal drive cylinder e31 extends or retracts, it drives the pitch arm e32 to rotate around the bottom hinge point. The top of the pitch arm e32 drives the telescopic mechanism e4 to make forward and backward translational movements. When the pitch lifting cylinder e36 extends or retracts, it can drive the front end of the telescopic mechanism e4 to make pitching movements.

[0148] The telescopic mechanism e4 consists of two telescopic booms and a telescopic hydraulic cylinder e41 that drives the two telescopic booms to extend and retract.

[0149] The two-section telescopic boom consists of a basic boom e42 and an extension boom e43 nested within the basic boom e42.

[0150] The inner wall of the basic arm e42 and the outer wall of the extension arm e43 are both provided with sliders that slide against each other. The fixed end of the telescopic hydraulic cylinder e41 is installed on the basic arm e42, and the telescopic end is fixedly installed on the extension arm e43.

[0151] The bottom left and right sides of the basic arm e42 are symmetrically provided with mounting brackets e44 that are hinged to the top of the pitch arm e32 and the arc-shaped pitch short link e34.

[0152] The mechanical straight pipe clamp e5 can be rotatably mounted on the front end of the telescopic mechanism e4 via the omnidirectional rotating seat e6.

[0153] The omnidirectional rotating base e6 consists of a rotating mounting bracket e63, a clamping position adjusting rotating disk e61 and a clamping angle adjusting rotating disk e62, all mounted on the rotating mounting bracket e63.

[0154] The rotating mounting bracket e63 has an overall "L" structure, with the top of the vertical end being arc-shaped and connected to the clamping position adjustment rotating disk e61, and the horizontal end being connected to the top of the clamping angle adjustment rotating disk e62.

[0155] Both the clamping position adjustment rotary disk e61 and the clamping angle adjustment rotary disk e62 are equipped with a drive motor e64 that provides rotational power.

[0156] Both the clamping position adjustment rotary disk e61 and the clamping angle adjustment rotary disk e62 adopt worm gear mechanism.

[0157] The mechanical straight pipe clamp e5 consists of a clamp mounting main frame e51 installed at the bottom of the clamping angle adjusting rotary disk e62, a single-sided clamping seat e52 symmetrically installed on the clamp mounting main frame e51, and a clamping hydraulic cylinder e53 that drives the left and right single-sided clamping seats e52 to move closer or further away.

[0158] The telescopic ends of the clamping hydraulic cylinder e53 are symmetrically equipped with linkage clamping components e54.

[0159] The linkage clamping component e54 is formed by hinged e4 straight strip connecting plates in sequence to form a "W" shape structure. The bottom turning hinge point is hinged to the top of the corresponding single-sided clamping seat e52 on the left and right, and the top left and right ends are hinged to the main frame e51 of the fixture mounting.

[0160] A reinforcing connecting plate e55, parallel to the left and right side connecting plates of the linkage clamping component e54, is hinged between the main frame e51 of the clamping fixture and the single-sided clamping seat e52.

[0161] When the clamping hydraulic cylinder e53 extends or retracts, it drives the left and right clamping seats e52 to move away from or towards each other via the connecting plate.

[0162] The main frame e51 of the fixture installation has vertical support plates e511 symmetrically arranged on the left and right sides at the bottom, which are used to hinge with the top left and right ends of the linkage clamping component e54 and the top of the reinforcing connecting plate e55.

[0163] First, adjust the longitudinal position of the entire robotic arm pitch mechanism e3 through the linear motion track e1. Then, adjust the pitch angle of the telescopic mechanism e4 through the robotic arm pitch mechanism e3. Finally, adjust the position of the mechanical straight pipe clamp e5 through the telescopic mechanism e4 so that it can be aligned with the grouting straight pipe to be gripped.

[0164] The mechanical straight pipe clamp e5 achieves omnidirectional rotation through the omnidirectional rotating seat e6, thereby accurately aligning and gripping the grouting straight pipe. After gripping, the placement position and angle of the grouting straight pipe can be flexibly adjusted so that the grouting straight pipe can be smoothly placed into the next process equipment.

[0165] The grouting straight pipe positioning and temporary storage mechanism c consists of a supporting base frame c1, four symmetrical supporting columns c2 located at the top four corners of the supporting base frame c1, a grouting straight pipe mounting plate c3 connecting the front and rear supporting columns c2, and a straight pipe limiting component c4 installed symmetrically on the left and right sides below the grouting straight pipe mounting plate c3.

[0166] When both the left and right sides of the grouting straight pipe A are placed on the grouting straight pipe mounting plate c3, the straight pipe limiting component c4 can abut against the end of the grouting straight pipe A to limit its movement.

[0167] The supporting base frame c1 is preferably constructed using I-beams to form a square frame structure, and the frame is reinforced with I-beams.

[0168] The grouting straight pipe mounting plate c3 has two or more even numbers of arc-shaped grooves c31 that fit the outer wall of the grouting straight pipe A, so that a corresponding number of grouting straight pipes A can be mounted.

[0169] The grouting straight pipe mounting plate c3 is provided with reinforcing ribs c32 at intervals on the left and right sides and front and back.

[0170] For every two arc-shaped grooves c31, a straight pipe limiting component c4 is installed.

[0171] The straight pipe limiting assembly c4 consists of a limiting mounting plate c44 installed below two adjacent arc-shaped grooves c31, a cylinder mounting seat c41 with a horizontal "U"-shaped opening facing outward installed below the limiting mounting plate c44, a hydraulic cylinder c42 with its fixed end installed on the cylinder mounting seat c41, and a limiting baffle c43 connected to the telescopic end of the hydraulic cylinder c42.

[0172] The inner walls of the front and rear side plates of the cylinder mounting base c41 are horizontally provided with strip-shaped guide bosses c411.

[0173] The fixed end and telescopic end of the hydraulic cylinder c42 are connected to the cylinder mounting base c41 and the limit baffle c43 respectively via the transverse pin c421.

[0174] The limiting baffle c43 has a vertical opening facing upward in a "U" shape, and the front and rear support plates are respectively aligned with the ends of the two grouting straight pipes A located on the adjacent arc groove c31.

[0175] The inner side of the limiting baffle c43 is provided with a sliding groove c431 that slides along the strip guide boss c411, thereby realizing the horizontal left and right movement of the limiting baffle c43.

[0176] The inner side of the limiting baffle c43 is horizontally provided with a sliding groove mounting support plate c432 for mounting the sliding groove c431. The telescopic end of the hydraulic cylinder c42 is connected to the sliding groove mounting support plate c432.

[0177] The length of the strip guide boss c411 is longer than the length of the sliding groove c431, and the extension length of the hydraulic cylinder c42 is less than the length of the sliding groove c431.

[0178] When both ends of the grouting straight pipe A are placed on the grouting straight pipe mounting plate c3, the limiting baffle c43 moves to abut the end of the grouting straight pipe A through the hydraulic cylinder c42.

[0179] First, design the corresponding number of arc-shaped grooves based on the width of the working space on site and the number of straight grouting pipes to be installed.

[0180] First, the grouting straight pipe A is lifted and placed on the arc-shaped groove c31 by the robotic arm. Then, the hydraulic cylinder c42 is activated to retract, and the limiting baffle c43 presses against both ends of the grouting straight pipe A inward, thereby limiting the grouting straight pipe.

[0181] The grouting straight pipe cleaning module d consists of a straight pipe cleaning base d1, a straight pipe cleaning outlet mechanism d2, a gas-liquid tee inlet mechanism d3, and a straight pipe positioning and moving mechanism d4.

[0182] The straight pipe cleaning outlet mechanism d2 and the gas-liquid tee inlet mechanism d3 are respectively installed at the front and rear ends of the straight pipe cleaning base d1.

[0183] The straight pipe cleaning outlet mechanism d2 consists of a cleaning outlet mounting base d21 fixed on the straight pipe cleaning base d1, a horizontal pipe joint d22 installed on the cleaning outlet mounting base d21 and connected forward in sequence, a downward bending pipe d23, and a vertical pipe joint d24.

[0184] The horizontal pipe joint d22 can be connected to the grouting straight pipe A.

[0185] The gas-liquid tee inlet mechanism d3 consists of a gas-liquid tee mounting base d31 installed on the longitudinal guide rail d41 at the rear of the straight pipe cleaning base d1, a tee pipe d32 installed on the gas-liquid tee mounting base d31, and a feed screw transmission assembly d33 that drives the gas-liquid tee mounting base d31 to move.

[0186] The gas-liquid tee mounting base d31 slides along the longitudinal guide rail d41 located at the rear of the straight pipe cleaning base d1 via the feed screw drive assembly d33.

[0187] The upper part of the tee pipe d32 is provided with a gas inlet d321 and a liquid inlet d322 from front to back.

[0188] The rear end of the tee pipe d32 is equipped with a gas-liquid mixing interface d323.

[0189] The tee pipe d32 is installed on the gas-liquid tee mounting base d31 via the fixed guide sleeve d34.

[0190] The straight pipe positioning and moving mechanism d4 consists of longitudinal guide rails d41 installed at intervals on the straight pipe cleaning base d1, straight pipe clamping and positioning seats d42 that slide along the corresponding longitudinal guide rails d41 and clamp the front and rear ends of the grouting straight pipe A respectively, connecting rods d43 that connect the two straight pipe clamping and positioning seats d42, pipe feeding screw transmission assembly d44 that drives the straight pipe clamping and positioning seat d42 located at the front end to slide, and support rollers d45 that are installed on the straight pipe clamping and positioning seats d42 to initially support the front and rear ends of the grouting straight pipe A.

[0191] The straight pipe clamping and positioning seat d42 consists of a clamping seat base plate d421 that slides along the corresponding longitudinal guide rail d41, a transverse guide rail d422 mounted on the clamping seat base plate d421, two clamping seats d423 that move symmetrically along the transverse guide rail d422, and a clamping screw transmission assembly d424 that drives the clamping seats d423 to move.

[0192] The clamping seat d423 can slide towards or away from the transverse guide rail d422 to clamp or release the grouting straight pipe A.

[0193] The bottom of the clamping seat d423 is provided with a horizontal slider that moves along the horizontal guide rail d422.

[0194] The pipe feeding screw drive assembly d44, the clamping screw drive assembly d424, and the feed screw drive assembly d33 are all composed of a mounting support db4, a transmission screw db1 with both ends overlapping the corresponding mounting supports db4, a horizontal moving table db2 that moves along the transmission screw db1, and a reducer motor db3 that is connected to one end of the screw db1 via a coupling.

[0195] Both the lead screw db1 of the pipe feeding screw drive assembly d44 and the feed screw drive assembly d33 are unidirectional threaded.

[0196] The horizontal moving stage db2 of the clamping screw drive assembly d424 is made of two pieces and is integrally connected to the bottom of the two clamping seats d423 respectively.

[0197] The left and right threads of the transmission screw db1 of the clamping screw drive assembly d424 are opposite, and the two horizontal moving stages db2 are located on threads with opposite directions, thereby driving the clamping seat d423 to move in opposite directions or in opposite directions.

[0198] The clamping base plate is bolted with symmetrical mounting brackets d426.

[0199] The two ends of the connecting rod d43 are fixedly installed on the corresponding side mounting brackets d426, and the support roller d45 is installed between the left and right mounting brackets d426.

[0200] The clamping seat d423 has an arc surface on the side facing the grouting straight pipe A that fits with the outer wall of the grouting straight pipe A.

[0201] The bottom of the gas-liquid tee mounting base d31 and the clamping base base plate d421 are each provided with four horizontal sliders dc1 that move symmetrically along the longitudinal guide rail d41.

[0202] When the grouting straight pipe A is fixedly installed on the straight pipe cleaning base d1 by the straight pipe clamping positioning seat d42, the grouting straight pipe A is driven by the pipe feeding screw drive assembly d44 and the feed screw drive assembly d33 to connect its front and rear ends with the straight pipe cleaning outlet mechanism d2 and the gas-liquid tee inlet mechanism d3, respectively.

[0203] First, the grouting straight pipe A is placed on the straight pipe cleaning base d1 by the robotic arm. Then, the clamping screw transmission assembly d424 of the straight pipe positioning and moving mechanism d4 located at the front and rear ends is activated, and the clamping seat d423 moves in opposite directions to clamp the front and rear parts of the grouting straight pipe A.

[0204] Insert the pipe cleaning ball into the rear end of the grouting straight pipe A, and then start the pipe feeding screw drive assembly d44 and the feed screw drive assembly d33 so that the front and rear ends of the grouting straight pipe A are respectively connected to the straight pipe cleaning outlet mechanism d2 and the gas-liquid tee inlet mechanism d3.

[0205] Finally, a gas-liquid mixture is injected through the gas input interface d321, the liquid input interface d322, or the gas-liquid mixing interface d323, which pushes the pipe cleaning ball to roll along the inside of the grouting straight pipe A, thereby achieving the cleaning of the grouting straight pipe A.

Claims

1. A method for the installation, dismantling, cleaning, and storage of modular continuous longitudinal grouting straight pipes for tunnel lining, characterized in that, Includes the following steps: Step S1: Pre-reserve three grouting holes (B) symmetrically on the left, middle and right sides of the top of the tunnel lining casting formwork arch for the straight grouting pipe (A) to pass through. First, use the top grouting method to grout the left and right sidewalls of the tunnel lining formwork. Step S2: A modular system for the installation, dismantling, cleaning, and storage of longitudinal grouting pipes for tunnel lining is adopted. The modular system includes a grouting straight pipe dismantling module, a grouting straight pipe lifting robot arm (e), a grouting straight pipe storage module (c), and a grouting straight pipe cleaning module (d). When the concrete is poured to the arc-shaped arch of the adjacent tunnel lining template, the grouting straight pipe (A) is installed by connecting several sections of grouting straight pipe (A) through the threaded connection of the grouting straight pipe dismantling module via the grouting straight pipe lifting robot arm (e). At the same time, each section of grouting straight pipe (A) that has been connected and installed is pushed into the grouting hole (B) located at the top of the tunnel lining casting template. After several sections of grouting straight pipe (A) have been connected and installed and completely placed inside the tunnel lining template, grouting is performed. Step S3: When the grouting height reaches the design height, the grouting straight pipe (A) is pulled out section by section through the grouting straight pipe disassembly module and removed. When the last section of the grouting straight pipe (A) is pulled out of the tunnel lining template, the corresponding grouting hole (B) is sealed in time. Step S4: Then, simultaneously move the dismantled grouting straight pipe (A) to the grouting straight pipe cleaning module (d) via the grouting straight pipe lifting robot arm (e) for cleaning. After cleaning, the grouting straight pipe (A) is picked up by the grouting straight pipe lifting robot arm (e) and stored in the grouting straight pipe storage module (c). Step S5: Following steps S2 to S4, install, dismantle, clean, and store the grouting pipes for one of the grouting holes (B) on the left and right sides and the grouting hole (B) located at the top center. The grouting straight pipe disassembly and assembly module includes a docking pipe moving assembly, a grouting pipe disassembly and assembly assembly for longitudinally limiting and clamping the grouting straight pipe (A), a disassembly and assembly clearance device (6) for driving the grouting pipe disassembly and assembly assembly to move laterally, and a grouting pipe hatch opening and closing device (7) installed on the casting template. The docking pipe moving assembly includes a docking pipe longitudinal moving device (4) and a docking pipe lifting device (5) installed at the moving end of the docking pipe longitudinal moving device (4). A pipe clamping and dragging device (8) is installed on the top of the docking pipe lifting device (5). A side roller cylinder device (9) is installed on the right side of the docking pipe lifting device (5) for rotating the docking pipe lifting device (5) to adjust the docking angle of the tunnel grouting straight pipe. When the disassembly and assembly clearance device (6) drives the grouting pipe disassembly and assembly assembly to descend and move laterally to make room, the pipe clamping and dragging device (8) is moved forward by the docking pipe moving assembly to clamp the grouting straight pipe (A) and drag it back to its original position. The grouting straight pipe gripping robotic arm (e) includes a linear motion track (e1), a horizontal turntable (e2) that slides along the linear motion track (e1), a robotic arm pitching mechanism (e3) with its bottom end mounted on the horizontal turntable (e2), a telescopic mechanism (e4) connected to the top end of the robotic arm pitching mechanism (e3), and a mechanical straight pipe clamp (e5) mounted at the front end of the telescopic mechanism (e4). The mechanical straight pipe clamp (e5) is rotatably mounted at the front end of the telescopic mechanism (e4) via an all-around rotating seat (e6). The grouting straight pipe storage module (c) includes a supporting base frame (c1), four symmetrical supporting columns (c2) located at the top four corners of the supporting base frame (c1), a grouting straight pipe mounting plate (c3) connecting the front and rear supporting columns (c2), and straight pipe limiting components (c4) installed symmetrically on the left and right sides below the grouting straight pipe mounting plate (c3). The grouting straight pipe mounting plate (c3) is provided with two or more even numbers of arc grooves (c31) that fit with the outer wall of the grouting straight pipe (A), so as to accommodate a corresponding number of grouting straight pipes (A). A straight pipe limiting component (c4) is installed for every two arc grooves (c31). When both ends of the grouting straight pipe (A) are placed on the grouting straight pipe mounting plate (c3), the straight pipe limiting component (c4) can abut against the end of the grouting straight pipe (A) to limit its movement. The grouting straight pipe cleaning module (d) includes a straight pipe cleaning base (d1), a straight pipe cleaning outlet mechanism (d2), a gas-liquid tee inlet mechanism (d3), and a straight pipe positioning and moving mechanism (d4). The straight pipe cleaning outlet mechanism (d2) and the gas-liquid tee inlet mechanism (d3) are respectively installed at the front and rear ends of the straight pipe cleaning base (d1). When the grouting straight pipe (A) is fixedly installed at the front and rear ends of the straight pipe cleaning base (d1), the front and rear ends of the grouting straight pipe (A) can be connected to the straight pipe cleaning outlet mechanism (d2) and the gas-liquid tee inlet mechanism (d3) respectively.

2. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 1, characterized in that: In step S2, 12 sections of grouting straight pipe (A) are installed by threaded connection at both ends, and the length of each section of grouting straight pipe (A) is 2m to 2.5m. In step S3, when grouting is performed on one of the grouting holes (B) on the left or right side, the design height is 0m to 0.5m higher than the grouting holes (B) on the left and right sides. When grouting is performed on the grouting hole (B) located at the top of the middle, the design height is the top of the tunnel lining. The grouting holes (B) are all in a closed state when not in use.

3. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 1, characterized in that: The disassembly and assembly clearance device (6) includes a support frame (61), a transverse slide rail (62) mounted on the support frame (61), a disassembly and assembly lifting column (63) that moves along the transverse slide rail (62), and a transverse drive motor reducer (64) that provides transverse movement force for the disassembly and assembly lifting column (63); the grouting pipe disassembly and assembly assembly includes a pipe clamping device (1), a pipe screwing device (2), and a pipe rotating device (3) installed in parallel from back to front on the top of the disassembly and assembly lifting column (63), the pipe clamping device (1) including a support The base frame (11) and the pipe clamping mechanism (b) mounted on the supporting base frame (11), the pipe clamping device (8) includes a pipe clamping mounting frame (81) extending rearward from the top of the docking pipe lifting device (5), a clamping slide rail (82) laid longitudinally above the pipe clamping mounting frame (81), a pipe clamping mechanism (b) that moves along the clamping slide rail (82), and a clamping hydraulic cylinder (83) that provides the driving force for movement, the pipe tightening device (2) includes a tiltable and rotatable base (21) and a mounting plate. A pipe clamping mechanism (b) is mounted on a tiltable and rotatable base (21). The pipe clamping mechanism (b) includes a transverse base (b4), a pipe clamping slide rail (b1) mounted transversely on the transverse base (b4), a clamping moving block (b2) that slides along the pipe clamping slide rail (b1), and an arc-shaped clamping seat (b3) mounted mirror-on the clamping moving block (b2). The pipe rotating device (3) includes a pipe rotating fixed base (31) and a pipe rotating transverse moving assembly (32) that slides longitudinally along the pipe rotating fixed base (31). The grouting pipe assembly (32) includes a horizontal base (b4), a pipe clamping slide rail (b1) mounted horizontally on the horizontal base (b4), and a clamping moving block (b2) that slides along the pipe clamping slide rail (b1). The pipe rotating assembly (33) is mirror-mounted on the clamping moving block (b2) of the grouting pipe assembly (32). The disassembly and assembly lifting column (63) can drive the grouting pipe disassembly and assembly assembly to descend and move horizontally to make room.

4. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 3, characterized in that: The clamping moving block (b2) includes a main block (b21), fixed slider seats (b22) fixed at both ends of the main block (b21) and sliding along the clamping tube slide rail (b1), and movable slider seats (b23) movably installed in the middle of the main block (b21) and sliding along the clamping tube slide rail (b1). The fixed slider seat (b22) at the left end is equipped with a return spring assembly (b5) fixed on the transverse base (b4). The left end of the horizontal base (b4) is provided with a return spring mounting seat (b41). The return spring assembly (b5) includes a spring (b51), a spring guide shaft (b52), a spring adjusting nut (b53) located at the left end of the spring (b51), and a spring buffer pad (b54) located at the right end of the spring (b51). The spring guide shaft (b52) is threaded, and its right end passes through the fixed slider seat (b22) and is fixed by a nut. Its left end passes through the return spring mounting seat (b41) and is fixed. The spring adjusting nut (b53) is threaded to match the spring guide shaft (b52), thereby allowing the spring to return to its original position. The length of the adjusting spring (b51) is moved by rotating along the thread of the spring guide shaft (b52); the arc-shaped clamping seat (b3) located on the right is fixedly installed on the fixed slider seat (b22) at the right end, and the arc-shaped clamping seat (b3) located on the left is installed on the movable slider seat (b23). A hydraulic push rod (b6) is installed between the fixed slider seat (b22) on the left and the arc-shaped clamping seat (b3) on the left, and can push the arc-shaped clamping seat (b3) on the left along the clamping slide rail (b1) to move closer to the arc-shaped clamping seat (b3) on the right until it clamps the grouting straight pipe (A).

5. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 4, characterized in that: The tiltable and rotatable base (21) includes a base (211) and a clamping mechanism mounting seat (212) that is tiltable and rotatable on the base (211). The top of the base (211) is provided with a sliding channel with an arc sliding path. The bottom of the clamping mechanism mounting seat (212) is provided with an arc-shaped slide seat (213) that passes through the sliding channel. The sliding channel has a symmetrical groove structure. The arc-shaped slide seat (213) is symmetrically installed with guide sliders (215) that match the groove of the sliding channel. A pipe-tightening hydraulic rod (214) is hinged between the base (211) and the transverse base (b4) of the pipe clamping mechanism (b). When the pipe-tightening hydraulic rod (214) extends or retracts, the guide slider (215) slides along the sliding channel, driving the pipe clamping mechanism (b) to tilt and rotate left and right.

6. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 3, characterized in that: The rotating tube fixing base (31) has a vertical spring shaft mounting plate centered on the front and rear sides. The bottom of the rotating tube transverse moving assembly (32) has a support plate corresponding to the front and rear of the spring shaft mounting plate. A horizontal longitudinal spring mounting shaft (311) is installed between the spring shaft mounting plate and the bottom support plate of the rotating tube transverse moving assembly (32), and each spring mounting shaft (311) is equipped with a return spring. The return spring has a rubber pad installed at one end near the bottom support plate of the rotating tube transverse moving assembly (32) and an adjusting nut installed at the other end. The top of the rotating tube fixing base (31) has longitudinal rails (312) symmetrically arranged on the left and right sides. The bottom of the rotating tube transverse moving assembly (32) has a movable slider (321) that moves along the longitudinal rails (312). The longitudinal reset of the rotating tube transverse moving assembly (32) is achieved by the return spring. The pipe rotation assembly (33) located on the right is fixedly installed on the fixed slider seat (b22) at the right end, and the pipe rotation assembly (33) located on the left is installed on the movable slider seat (b23). A hydraulic push rod (b6) is installed between the fixed slider seat (b22) at the left end and the pipe rotation assembly (33) on the left, and can push the pipe rotation assembly (33) on the left along the pipe clamping slide rail (b1) to move closer to the pipe rotation assembly (33) until it clamps the grouting straight pipe (A). The pipe rotation assembly (33) includes a mounting frame (335), a drive motor reducer (332), a drive gear (333) installed on the shaft of the drive motor reducer (332), two driven gears (334) meshing with the drive gear (333) and a rotating pipe drum (331) coaxial with the driven gear (334).

7. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 1, characterized in that: The straight pipe limiting assembly (c4) includes a limiting mounting plate (c44) installed below two adjacent arc-shaped grooves (c31), a cylinder mounting seat (c41) with a horizontal "U"-shaped opening facing outward installed below the limiting mounting plate (c44), a hydraulic cylinder (c42) with its fixed end installed on the cylinder mounting seat (c41), and a limiting baffle (c43) connected to the telescopic end of the hydraulic cylinder (c42). The inner walls of the front and rear side plates of the cylinder mounting seat (c41) are horizontally provided with strip-shaped guide bosses (c411). The limiting baffle (c43)... 43) has a sliding groove (c431) on the inner side, which slides along the strip guide boss (c411) to realize the horizontal left and right movement of the limiting baffle (c43); the limiting baffle (c43) has a vertical opening facing upward "U" shape structure, and the front and rear support plates are respectively aligned with the ends of the two grouting straight pipes (A) located on the adjacent arc groove (c31). When the left and right parts of the grouting straight pipe (A) are both placed on the grouting straight pipe mounting plate (c3), the limiting baffle (c43) moves to abut the end of the grouting straight pipe (A) through the hydraulic cylinder (c42).

8. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 1, characterized in that: The robotic arm pitch mechanism (e3) includes a mounting base (e35), a longitudinal drive cylinder (e31), a pitch arm (e32), a long pitch link (e33), an arc-shaped short pitch link (e34), and a pitch lifting cylinder (e36). The mounting base (e35) is mounted on the top of the horizontal turntable (e2). The bottom end of the longitudinal drive cylinder (e31) is hinged to the mounting base (e35), and its top end is hinged to the upper part of the pitch arm (e32). The front side of the pitch arm (e32) is hinged to the rear end of the long pitch link (e33). The middle front part of the long pitch link (e33) is... The pitch lifting cylinder (e36) is hinged to the arc-shaped pitch short link (e34). The upper and lower ends of the pitch lifting cylinder (e36) are respectively hinged to the front end of the telescopic mechanism (e4) and the front end of the pitch long link (e33). The top ends of the pitch arm (e32) and the arc-shaped pitch short link (e34) are hinged to the bottom of the telescopic mechanism (e4). When the longitudinal drive cylinder (e31) extends or retracts, it drives the pitch arm (e32) to rotate around the bottom hinge point. The top end of the pitch arm (e32) drives the telescopic mechanism (e4) to make a forward and backward translational movement. When the pitch lifting cylinder (e36) extends or retracts, it can drive the front end of the telescopic mechanism (e4) to make a pitching movement. The telescopic mechanism (e4) includes a two-section telescopic arm and a telescopic hydraulic cylinder (e41) for driving the two-section telescopic arm to extend and retract. The omnidirectional rotating seat (e6) includes a rotating mounting bracket (e63), a clamping position adjusting rotating disk (e61) and a clamping angle adjusting rotating disk (e62) both mounted on the rotating mounting bracket (e63). The mechanical straight pipe clamp (e5) includes a clamping mounting main frame (e51) mounted at the bottom of the clamping angle adjusting rotating disk (e62), symmetrically mounted single-sided clamping seats (e52) facing downwards on the clamping mounting main frame (e51), and clamping hydraulic cylinders (e53) for driving the left and right single-sided clamping seats (e52) to move closer or further away. The telescopic ends of the clamping hydraulic cylinders (e53) are symmetrically equipped with linkage clamping elements (e54). The linkage clamping component (e54) is formed by hinged four straight connecting plates in sequence to form a "W" shape. The bottom turning hinge point is hinged to the top of the corresponding left and right single-sided clamping seats (e52), and the top left and right ends are hinged to the clamp mounting main frame (e51). The clamp mounting main frame (e51) and the single-sided clamping seats (e52) are hinged with a reinforcing connecting plate (e55) parallel to the left and right side connecting plates of the linkage clamping component (e54). When the clamping hydraulic cylinder (e53) extends or retracts, the connecting plate drives the left and right single-sided clamping seats (e52) to move away from or towards each other. The bottom of the clamp mounting main frame (e51) is provided with vertical support plates (e511) symmetrically arranged on the left and right sides for hinged to the top left and right ends of the linkage clamping component (e54) and the top of the reinforcing connecting plate (e55). The linear motion track (e1) includes a base (e11), slide rails (e12) symmetrically mounted on the base (e11), a horizontal slide table (e13) that moves along the slide rails (e12), and a linear drive reducer motor (e14) that drives the horizontal slide table (e13) to move. The linear drive reducer motor (e14) uses a screw transmission mechanism to drive the horizontal slide table (e13) to move. The horizontal turntable (e2) is mounted on the horizontal slide table (e13). The horizontal turntable (e2) uses a worm gear mechanism and is equipped with a plunger motor to drive its rotation.

9. The method for installing, dismantling, cleaning, and storing modular continuous longitudinal grouting straight pipes for tunnel lining according to claim 1, characterized in that: The straight pipe positioning and moving mechanism (d4) includes longitudinal guide rails (d41) installed at intervals on the straight pipe cleaning base (d1), straight pipe clamping and positioning seats (d42) that slide along the corresponding longitudinal guide rails (d41) and clamp the front and rear ends of the grouting straight pipe (A) respectively, connecting rods (d43) connecting the two straight pipe clamping and positioning seats (d42), pipe feeding screw transmission assembly (d44) that drives the straight pipe clamping and positioning seat (d42) located at the front end to slide, and support rollers (d45) installed on the straight pipe clamping and positioning seat (d42) to initially support the front and rear ends of the grouting straight pipe (A). The gas-liquid tee inlet mechanism (d3) includes a gas-liquid tee mounting seat (d31) installed on a longitudinal guide rail (d41) at the rear of the straight pipe cleaning base (d1), a tee pipe (d32) installed on the gas-liquid tee mounting seat (d31), and a feed screw drive assembly (d33) for driving the gas-liquid tee mounting seat (d31) to move. The gas-liquid tee mounting seat (d31) slides along the longitudinal guide rail (d41) at the rear of the straight pipe cleaning base (d1) through the feed screw drive assembly (d33). When the grouting straight pipe (A) is fixedly installed on the straight pipe cleaning base (d1) at the front and rear through the straight pipe clamping positioning seat (d42), the grouting straight pipe (A) is driven by the pipe feeding screw drive assembly (d44) and the feed screw drive assembly (d33) to make its front and rear ends dock with the straight pipe cleaning outlet mechanism (d2) and the gas-liquid tee inlet mechanism (d3) respectively. The upper part of the three-way pipe (d32) is provided with a gas input interface (d321) and a liquid input interface (d322) from front to back. The rear end of the three-way pipe (d32) is provided with a gas-liquid mixing interface (d323). The three-way pipe (d32) is installed on the gas-liquid three-way mounting base (d31) through a fixed guide sleeve (d34).

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