In-pipe grouting device and grouting control system

Abstract

The invention provides an in-pipe grouting device and a grouting control system.The in-pipe grouting device comprises an inner cylinder, an air bag capable of being expanded and contracted is arranged on the outer side of the inner cylinder, fixing supports are symmetrically arranged at the two ends of the air bag, a plurality of telescopic roller assemblies are arranged on the fixing supports, and the control system comprises a grouting pump and a clean water pump; the grouting pump and the clean water pump are connected with at least one grouting pipe through pipelines, the at least one grouting pipe and a waste water pool of an external system are connected with an air compressor and a negative pressure pump through pipelines, the air compressor and the negative pressure pump are connected with an air adding pipe through pipelines, and a PLC is electrically connected with all electromagnetic valves, pressure detectors and timers on the pipelines. According to the in-pipe injection device, through the design of the single integrated air bag, the leakage repairing efficiency and effect are remarkably improved, compared with a traditional double-air-bag system, gaps between the air bags are eliminated through the new scheme, it is ensured that slurry is evenly distributed and fully filled, the sealing performance is enhanced, and the service life is prolonged. The problem that grouting repair of the pipe wall is not facilitated in the running water environment is solved.

Description

Technical Field

[0001] The invention relates to the field of drainage pipe repair, and in particular to an in-pipe grouting device and a grouting control system. Background Art

[0002] Many urban rainwater and sewage pipes have fallen into disrepair over the years, and one of the more serious problems is leakage. Before repairing the leakage, it is generally necessary to stop the water by grouting. However, for level 3 and 4 leakage holes, due to the large leakage volume and fast groundwater flow rate, it is difficult to stop the water by injecting cement slurry on the outside. If chemical grouting outside the pipe is used, on the one hand, the cost is high, and on the other hand, it is difficult to locate the drilling hole.

[0003] In-pipe grouting can effectively solve the leakage problem, but the difficulty of in-pipe grouting at this stage is that there is water accumulation in rainwater pipes all year round, especially in seasons with abundant rainfall, the flow rate of drainage pipes is relatively large, and some sewage pipes run at high water levels with large flow rates. The slurry takes a long time to solidify after grouting (the in-pipe grouting equipment must be removed after the slurry solidifies). The drainage problem must be solved in advance, which is labor-intensive and time-consuming. In addition, some equipment is expensive, which is not conducive to large-scale promotion and use.

[0004] The method adopted in the in-pipe grouting device and grouting method of Chinese patent CN112196057B is that an auxiliary air bag is provided on the outer wall of the cylinder, and positioning air bags are provided at both ends of the auxiliary air bag; a grouting hole is provided on the outer surface of the auxiliary air bag, the grouting hole is connected to one end of the grouting hose, and the other end of the grouting hose is connected to the grouting introduction hole, the grouting hose is arranged in the auxiliary air bag, and the grouting introduction hole is arranged on the cylinder wall of the cylinder; a plurality of air supply holes are provided on the cylinder wall, the air supply holes are used to connect the gas input pipe, and the gas input pipe is used to supply air to the auxiliary air bag and the positioning air bag.

[0005] This solution requires the auxiliary airbag and the positioning airbags on both sides to complete the operation together, and after the positioning airbag and the auxiliary airbag are inflated, there is still a large gap between the two airbags, which is not conducive to the extrusion assistance of grouting. In this solution, only one airbag is needed to complete the operation in the above patent, and there is no gap problem. It is a more preferred solution with better construction effect. Summary of the invention

[0006] The main purpose of the present invention is to provide an in-pipe grouting device and a grouting control system, which solves the problem that grouting is not conducive to repairing the pipe wall in a flowing water environment. Compared with other patents, this solution does not have the problem of a gap between the positioning airbag and the auxiliary airbag.

[0007] To solve the above technical problems, the technical solution adopted by the present invention is: an in-pipe grouting device, comprising an inner tube, an expandable and contractible airbag is provided on the outer side of the inner tube, fixed brackets are symmetrically provided at both ends of the airbag, and a plurality of retractable roller assemblies are provided on the fixed brackets.

[0008] In a preferred embodiment, the airbag is an integral body, a recessed portion is provided in the middle of the airbag, and raised portions are symmetrically provided on both sides of the recessed portion, and the interior of the recessed portion is communicated with the raised portion.

[0009] In the preferred embodiment, a plurality of grouting holes are evenly distributed on the outer circle of the recessed portion, and a grouting pipe is arranged inside the grouting hole, and the grouting pipe penetrates into the inner tube; A flexible tube is also provided between the grouting pipe and the grouting hole.

[0010] In the preferred embodiment, a front end cover is provided at one end of the inner tube, a rear end cover is provided at the other end, and a tension rod is provided between the front end cover and the rear end cover; The tension rod passes through the front cover and the rear cover, and a pull ring is provided on the top of one end of the tension rod close to the front cover; A gas filling pipe is also arranged on one side of the front end cover, and the gas filling pipe passes through the front end cover and the inner tube and is communicated with the air bag.

[0011] In the preferred embodiment, threaded sections are provided at both ends of the tension rod, nuts are provided on the threaded sections, and the nuts are used to clamp the front cover and the rear cover; A positioning device is also provided inside the tension rod. The positioning device is used to detect the position of the device in the pipeline during construction. The positioning device is a wireless radio frequency identification tag.

[0012] In a preferred embodiment, the fixed bracket includes a shell, the outer circle of the shell is provided with a plurality of guide cylinders, a roller assembly is provided inside the guide cylinders, and a clamping plate is provided on a side of the shell close to the airbag, and the clamping plate is in contact with the airbag.

[0013] In a preferred embodiment, the roller assembly includes a roller frame, a roller frame rod is provided on one side of the roller frame, the roller frame rod and the guide cylinder are arranged coaxially, and a roller is provided on the other side of the roller frame, and the roller is used to roll on the inner wall of the pipe; A sliding seat is arranged on the top of one end of the wheel frame rod away from the roller frame, a spring is arranged between the sliding seat and the wheel frame rod, and the sliding seat is slidably connected with the wheel frame rod.

[0014] In the preferred embodiment, a retractable brake rod is provided inside the wheel frame rod, a brake pad is provided at a section of the brake rod close to the roller, a pulley is provided at the tail of the other end of the brake rod, and a spring is provided between the brake rod and the wheel frame rod; A lifting plate is provided below the sliding seat and the pulley, and the lifting plate includes a lifting part and a brake part. The lifting plate is used to abut against the sliding seat, and the brake part is used to abut against the pulley; A guide rail is provided on one side of the jacking plate, and the jacking plate is slidably connected to the inside of the shell. A rack is provided on the bottom surface of the jacking plate, and a driving wheel is provided below the rack. The driving wheel is meshed with the rack. A worm gear is provided on one side of the driving wheel, and a worm is provided below the worm gear. The worm gear is meshed with the worm gear, and the worm gear is connected to the driving motor.

[0015] An in-pipe grouting control system comprises a grouting pump and a clean water pump, wherein the grouting pump and the clean water pump are connected to at least one grouting pipe through a pipeline, and the at least one grouting pipe is connected to a wastewater tank of an external system through a pipeline; The air compressor and the negative pressure pump are connected to the gas filling pipe through pipelines; The PLC controller is electrically connected to all solenoid valves, pressure detectors and timers on the pipeline.

[0016] In the preferred embodiment, a 6# solenoid valve, a 5# solenoid valve, a manual valve, an 8# pressure detector and a 7# timer are sequentially arranged between the grouting pump and the grouting pipe; A 4# solenoid valve is provided on the pipeline of the clean water pump, and the pipeline after the 4# solenoid valve is connected between the 6# solenoid valve and the 5# solenoid valve, and is connected to the grouting pump pipeline; A 3# solenoid valve and a manual valve are provided between the wastewater pool pipeline and the grouting pipe; There are 2# solenoid valve, manual valve and 9# solenoid valve in sequence between the air compressor and the gas filling pipe; The negative pressure pump is connected to the 1# solenoid valve, and the pipeline after the 1# solenoid valve is connected between the 2# solenoid valve and the manual valve.

[0017] The present invention provides a pipe grouting device and a grouting control system, which have the following beneficial effects: 1. The intra-tube injection device of the present invention significantly improves the efficiency and effect of leakage repair through the design of a single integrated airbag. Compared with the traditional double airbag system, the new solution eliminates the gap between the airbags, ensures uniform distribution and full filling of the slurry, and enhances the sealing performance.

[0018] 2. The single airbag structure simplifies the operating steps, reduces equipment costs and construction time, and has obvious advantages under complex working conditions of high water level and large flow. No additional drainage measures are required, which reduces the difficulty of construction. The compact design is conducive to increasing the grouting speed and shortening the waiting time for the slurry to solidify, thereby accelerating the repair process and providing a more economical and efficient technical means for the leakage control of urban rainwater and sewage pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 is an axonometric view of a grouting device of the present invention; Figure 2 is a front view of the grouting device of the present invention; Figure 3 is an exploded view of the grouting device of the present invention; Figure 4 is a cross-sectional view of a grouting device of the present invention; Figure 5 is a schematic structural diagram of a roller assembly of the present invention; Figure 6 It is a schematic diagram of the use of the grouting device of the present invention; Figure 7 It is a control schematic diagram of the grouting system of the present invention.

[0020] In the figure: inner tube 1; front end cover 101; rear end cover 102; tension rod 103; pull ring 104; air filling pipe 105; nut 106; positioning device 107; airbag 2; recessed part 201; raised part 202; grouting hole 203; grouting pipe 204; flexible pipe 205; fixed bracket 3; outer shell 301; guide cylinder 302; clamping plate 303; roller assembly 4; roller frame 401; roller 402; wheel frame rod 403; brake pad 404; brake rod 405; sliding seat 406; lifting plate 407; lifting part 408; brake part 409; guide rail 410; worm gear 411; driving wheel 412; worm 413; pulley 414; pipeline 5; reader 6; manual valve 7. DETAILED DESCRIPTION

[0021] Example 1 like Figure 1-7 As shown, an in-pipe grouting device comprises an inner tube 1, an expandable and contractible air bag 2 is arranged on the outer side of the inner tube 1, fixed brackets 3 are symmetrically arranged at both ends of the air bag 2, and a plurality of retractable roller assemblies 4 are arranged on the fixed brackets 3.

[0022] In the preferred embodiment, the airbag 2 is a whole, a recessed portion 201 is provided in the middle of the airbag 2, and raised portions 202 are symmetrically provided on both sides of the recessed portion 201. The recessed portion 201 is communicated with the interior of the raised portion 202. The airbag 2 can be a customized airbag made of polyurethane material, such as an airbag made of an elastomeric material of model EPDM or NBR. In the preferred embodiment, a plurality of grouting holes 203 are evenly distributed on the outer circle of the recessed portion 201, and a grouting pipe 204 is provided inside the grouting hole 203, and the grouting pipe 204 penetrates into the inner tube 1; A flexible tube 205 is also provided between the grouting pipe 204 and the grouting hole 203 .

[0023] In the preferred embodiment, a front end cover 101 is provided at one end of the inner tube 1, and a rear end cover 102 is provided at the other end, and a tension rod 103 is provided between the front end cover 101 and the rear end cover 102; The tension rod 103 passes through the front cover 101 and the rear cover 102, and a pull ring 104 is provided on the top of one end of the tension rod 103 close to the front cover 101; An air filling pipe 105 is also provided on one side of the front end cover 101 . The air filling pipe 105 passes through the front end cover 101 and the inner tube 1 and communicates with the airbag 2 .

[0024] In the preferred embodiment, threaded sections are provided at both ends of the tension rod 103, and nuts 106 are provided on the threaded sections. The nuts 106 are used to clamp the front end cover 101 and the rear end cover 102; A positioning device 107 is also provided inside the tension rod 103. The positioning device 107 is used to detect the position of the device in the pipeline during construction. The positioning device 107 is a wireless radio frequency identification tag.

[0025] In the preferred embodiment, the fixed bracket 3 includes a shell 301, the outer circle of the shell 301 is provided with multiple guide cylinders 302, the guide cylinders 302 are provided with roller assemblies 4, and the side of the shell 301 close to the airbag 2 is provided with a clamping plate 303, and the clamping plate 303 is in contact with the airbag 2.

[0026] In the preferred embodiment, the roller assembly 4 includes a roller frame 401, a roller frame rod 403 is provided on one side of the roller frame 401, the roller frame rod 403 is coaxially arranged with the guide cylinder 302, and a roller 402 is provided on the other side of the roller frame 401, and the roller 402 is used to roll on the inner wall of the pipe 5; A sliding seat 406 is provided at the top of one end of the wheel frame rod 403 away from the roller frame 401 , a spring is provided between the sliding seat 406 and the wheel frame rod 403 , and the sliding seat 406 is slidably connected to the wheel frame rod 403 .

[0027] In the preferred embodiment, a retractable brake rod 405 is provided inside the wheel frame rod 403, a brake pad 404 is provided at a section of the brake rod 405 close to the roller 402, a pulley 414 is provided at the other end of the brake rod 405, and a spring is provided between the brake rod 405 and the wheel frame rod 403; A lifting plate 407 is provided below the sliding seat 406 and the pulley 414. The lifting plate 407 includes a lifting portion 408 and a brake portion 409. The lifting plate 407 is used to abut against the sliding seat 406, and the brake portion 409 is used to abut against the pulley 414. A guide rail 410 is provided on one side of the lifting plate 407, and the lifting plate 407 is slidably connected to the inside of the shell 301. A rack is provided on the bottom surface of the lifting plate 407, and a driving wheel 412 is provided below the rack. The driving wheel 412 is meshed with the rack. A worm gear 411 is provided on one side of the driving wheel 412, and a worm 413 is provided below the worm gear 411. The worm 413 is meshed with the worm gear 411, and the worm 413 is connected to the driving motor.

[0028] An in-pipe grouting control system includes a grouting pump and a clean water pump, wherein the grouting pump and the clean water pump are connected to at least one grouting pipe 204 through a pipeline, and the at least one grouting pipe 204 is connected to a wastewater tank of an external system through a pipeline; The air compressor and the negative pressure pump are connected to the gas filling pipe 105 through a pipeline; The PLC controller is electrically connected to all solenoid valves, pressure detectors and timers on the pipeline.

[0029] In the preferred embodiment, a 6# solenoid valve, a 5# solenoid valve, a manual valve 7, an 8# pressure detector and a 7# timer are sequentially arranged between the grouting pump and the grouting pipe 204. The 7# timer is used to close at a fixed time during grouting or water injection, so that maintenance personnel can temporarily leave the site during grouting or water injection; A 4# solenoid valve is provided on the pipeline of the clean water pump, and the pipeline after the 4# solenoid valve is connected between the 6# solenoid valve and the 5# solenoid valve, and is connected to the grouting pump pipeline; A 3# solenoid valve and a manual valve 7 are provided in sequence between the wastewater pool pipeline and the grouting pipe 204; A 2# solenoid valve, a manual valve 7 and a 9# solenoid valve are provided in sequence between the air compressor and the gas filling pipe 105; The negative pressure pump is connected to the 1# solenoid valve, and the pipeline after the 1# solenoid valve is connected between the 2# solenoid valve and the manual valve 7. A method of using and controlling a grouting device in a pipe is as follows: the device is placed in a pipe that needs to be repaired, a CCTV pipe robot is connected in front of one end of the device that moves forward, a gas pipe 105 and a grouting pipe 204 are connected, and a traction rope is connected to the pull ring 104, and at the same time, a driving motor is started to rotate a worm 413, the worm 413 drives a worm wheel 411 to rotate, a driving wheel 412 drives a jacking plate to move horizontally, and a jacking part 408 contacts a sliding seat 406 first, and the sliding seat 406 is pushed upward, so that the outer roller 402 contacts the inner wall of the pipe 5, and when the wheel frame rods 403 in at least four directions are raised to the same height, the driving motor stops and remains stationary; The pipeline robot moves the device to the location that needs maintenance. The maintenance personnel first confirm the location through the pipeline robot, and then use a handheld wireless radio frequency identification (RFID) tag reader to sense the location closest to the wireless radio frequency identification (RFID) tag deployed in the device on the outside of the pipeline to confirm the construction. This solution uses low-frequency (LF) RFID, with a frequency range of 30 kHz to 300 kHz, a typical operating frequency of 125 kHz or 134.2 kHz, and a sensing range of usually less than 10 cm (about 4 inches), sometimes up to 30 cm (about 12 inches). The sensing range is short, but the penetration is good, and it is suitable for metal and liquid environments; After confirmation, the driving motor continues to rotate the worm 413, and the brake part 409 will push up the brake rod 405, so that the brake pad 404 is close to the roller 402, so that the whole device can no longer slide, and then the airbag 2 is inflated, and the protrusion 202 first bulges and presses against the inner wall of the pipe 5. At this time, the concave part 201 is an annular area, that is, the area that needs grouting repair. The grouting method is the same as the grouting device and grouting method in the pipe of Chinese patent CN112196057B; The logic of the grouting control system of this device is as follows: 1. Gas circuit logic of grouting device: 1. Negative pressure of air bag: 1# solenoid valve is opened, and the negative pressure pump is turned on with a signal. The negative pressure pump starts to work and runs for about 5 minutes. The required time is determined according to the actual length of the pipeline. See the negative pressure pump pressure gauge. The negative pressure is about -100Pa. The negative pressure pump is turned off with a signal. The negative pressure pump stops pumping and the 1# line solenoid valve is closed at the same time; 2. Airbag charging: Open the 2# solenoid valve, and the compressed air starts to charge. When the pressure reaches the value set by the 9# pressure detector, such as 0.15MPa, the 2# solenoid valve is closed; 3. Airbag pressure increase: Open the 2# solenoid valve and inflate with compressed air. When the pressure reaches the maximum pressure value set by the 9# pressure detector, such as the maximum pressure set to 0.2MPa, the 2# solenoid valve will automatically close and the pressure cannot be increased further; 4. Airbag depressurization: Open the 1# solenoid valve to allow compressed air to leak out. When the pressure reaches the value set by the 9# pressure detector, such as 0.1MPa, close the 1# solenoid valve to maintain this pressure. 5. Airbag pressure relief: Open the 1# solenoid valve, the compressed air leaks out, and the airbag is at normal pressure; 2. Logic of the grouting device liquid circuit: 1. Grouting replacement: 6# solenoid valve and 5# solenoid valve are opened, the manual valve 7 on the front side of the working airbag is all in the open state, 4# solenoid valve is closed, and the grouting pump is turned on with a signal, and the grouting pump works; at the same time, 3# solenoid valve is opened to replace the waste water in the sewage pipe, etc., until the cement slurry is discharged normally, then 3# solenoid valve is closed to give the grouting pump a signal to turn off, and the duration can be freely set, such as 5 minutes; 2. Grouting pressure increase and maintenance: 6# solenoid valve and 5# solenoid valve are open, 3# solenoid valve is in closed state; give the grouting pump an opening signal, and when the 8# pressure sensor detects that the pressure rises to the set value, such as 0.2MPA, give the grouting pump a closing signal, and close the 6# solenoid valve and 5# solenoid valve; after 10 minutes, the time is adjustable, open the 3# solenoid valve for about 2 minutes, the time is adjustable, and the cycle starts; 3. Rubber bag clean water replacement: 4# solenoid valve and 5# solenoid valve are opened, the manual valve 7 on the front side of the working airbag is all in the open state, 6# solenoid valve is closed, the clean water pump is turned on with a signal, and the clean water pump works; at the same time, 3# solenoid valve is opened to replace the cement slurry in the sewage pipe until the discharged water is clear and normal, and then the clean water pump is turned off with a signal, and the duration can be freely set, such as 10 minutes; 4. Replacement of clean water in the pipeline at the grouting pump: 4# solenoid valve and 6# solenoid valve are opened, 5# solenoid valve is closed, a signal to start the clean water pump is given, and the clean water pump works; the cement slurry in the discharge pipe is replaced until the discharge water is normal, and then a signal to close the clean water pump is given. The duration can be freely set, such as 2 minutes.

[0030] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A pipe grouting device, characterized in that: The invention comprises an inner cylinder (1), an expandable and contractible air bag (2) is arranged on the outer side of the inner cylinder (1), fixed brackets (3) are symmetrically arranged at both ends of the air bag (2), and a plurality of retractable roller assemblies (4) are arranged on the fixed brackets (3).

2. According to claim 1, a pipe grouting device is characterized in that: The airbag (2) is a whole, a recessed portion (201) is provided in the middle of the airbag (2), raised portions (202) are symmetrically provided on both sides of the recessed portion (201), and the interiors of the recessed portion (201) and the raised portions (202) are communicated with each other.

3. According to claim 2, a pipe grouting device is characterized in that: A plurality of grouting holes (203) are evenly distributed on the outer circle of the recessed portion (201), and a grouting pipe (204) is provided inside the grouting hole (203), and the grouting pipe (204) penetrates into the interior of the inner tube (1); A flexible tube (205) is also provided between the grouting pipe (204) and the grouting hole (203).

4. The in-pipe grouting device according to claim 1, characterized in that: A front end cover (101) is provided at one end of the inner cylinder (1), and a rear end cover (102) is provided at the other end; a tension rod (103) is provided between the front end cover (101) and the rear end cover (102); The tension rod (103) passes through the front end cover (101) and the rear end cover (102), and a pull ring (104) is provided at the top of one end of the tension rod (103) close to the front end cover (101); A gas filling pipe (105) is also provided on one side of the front end cover (101), and the gas filling pipe (105) passes through the front end cover (101) and the inner tube (1) and is in communication with the air bag (2).

5. The in-pipe grouting device according to claim 4, characterized in that: Both ends of the tension rod (103) are provided with threaded sections, and nuts (106) are provided on the threaded sections. The nuts (106) are used to clamp the front end cover (101) and the rear end cover (102). A positioning device (107) is also provided inside the tension rod (103). The positioning device (107) is used to detect the position of the device in the pipeline during construction. The positioning device (107) is a wireless radio frequency identification tag.

6. The in-pipe grouting device according to claim 1, characterized in that: The fixed bracket (3) comprises a shell (301), the outer circumference of the shell (301) is provided with a plurality of guide cylinders (302), a roller assembly (4) is provided inside the guide cylinders (302), and a clamping plate (303) is provided on a side of the shell (301) close to the airbag (2), the clamping plate (303) being in contact with the airbag (2).

7. The in-pipe grouting device according to claim 6, characterized in that: The roller assembly (4) comprises a roller frame (401), a roller frame rod (403) is provided on one side of the roller frame (401), the roller frame rod (403) and the guide cylinder (302) are arranged coaxially, and a roller (402) is provided on the other side of the roller frame (401), and the roller (402) is used to roll on the inner wall of the pipe (5); A sliding seat (406) is provided at the top of one end of the wheel frame rod (403) away from the roller frame (401), a spring is provided between the sliding seat (406) and the wheel frame rod (403), and the sliding seat (406) is slidably connected to the wheel frame rod (403).

8. The in-pipe grouting device according to claim 7, characterized in that: A retractable brake rod (405) is provided inside the wheel frame rod (403); a section of the brake rod (405) close to the roller (402) is provided with a brake pad (404); a pulley (414) is provided at the tail of the other end of the brake rod (405); and a spring is provided between the brake rod (405) and the wheel frame rod (403); A lifting plate (407) is provided below the sliding seat (406) and the pulley (414), and the lifting plate (407) includes a lifting portion (408) and a brake portion (409). The lifting plate (407) is used to abut against the sliding seat (406), and the brake portion (409) is used to abut against the pulley (414); A guide rail (410) is provided on one side of the lifting plate (407), the lifting plate (407) is slidably connected to the inside of the housing (301), a rack is provided on the bottom surface of the lifting plate (407), a driving wheel (412) is provided below the rack, the driving wheel (412) is meshed with the rack, a worm wheel (411) is provided on one side of the driving wheel (412), a worm (413) is provided below the worm wheel (411), the worm (413) is meshed with the worm wheel (411), and the worm (413) is connected to a driving motor.

9. An in-pipe grouting control system, characterized by: It comprises a grouting pump and a clean water pump, the grouting pump and the clean water pump are connected to at least one grouting pipe (204) through a pipeline, and the at least one grouting pipe (204) is connected to a wastewater pool of an external system through a pipeline; The air compressor and the negative pressure pump are connected to the gas filling pipe (105) through a pipeline; The PLC controller is electrically connected to all solenoid valves, pressure detectors and timers on the pipeline.

10. The in-pipe grouting control system according to claim 9, characterized in that: A 6# solenoid valve, a 5# solenoid valve, a manual valve (7), an 8# pressure detector and a 7# timer are sequentially arranged between the grouting pump and the grouting pipe (204); A 4# solenoid valve is provided on the pipeline of the clean water pump, and the pipeline after the 4# solenoid valve is connected between the 6# solenoid valve and the 5# solenoid valve, and is connected to the grouting pump pipeline; A 3# solenoid valve and a manual valve (7) are provided in sequence between the wastewater pool pipeline and the grouting pipe (204); A 2# solenoid valve, a manual valve (7) and a 9# solenoid valve are provided in sequence between the air compressor and the gas filling pipe (105); The negative pressure pump is connected to the 1# solenoid valve, and the pipeline after the 1# solenoid valve is connected between the 2# solenoid valve and the manual valve (7).

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