Underwater grouting head and underwater grouting device

Abstract

The invention belongs to the technical field of underwater concrete grouting repair, and particularly relates to an underwater grouting head and an underwater grouting device.The underwater grouting head comprises a grouting nozzle, a first grouting connector and an elastic sleeve, the grouting nozzle and the first grouting connector are both arranged in an axial through mode so as to form a channel for grout to flow, and the elastic sleeve is arranged in the channel; one end of the grouting nozzle is axially arranged in the first grouting connector in a penetrating mode and is in axial sliding connection with the first grouting connector, the grouting nozzle is sleeved with the elastic sleeve, one end of the elastic sleeve is fixed to the grouting nozzle, and one end of the first grouting connector is axially arranged between the other end of the elastic sleeve and the grouting nozzle in a penetrating mode. A first conical surface with the outer diameter gradually increasing towards the direction where the other end of the first grouting connector is located is arranged on the outer side wall of the end of the first grouting connector, and a groove is formed in the side, away from the elastic sleeve, of the first conical surface on the outer side wall of the first grouting connector. And the underwater operation difficulty of the robot is reduced, the repair operation efficiency is improved, and the repair quality is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater concrete grouting repair, and in particular relates to an underwater grouting head and an underwater grouting device. Background Art

[0002] At present, concrete buildings will inevitably produce cracks under long-term operation due to defects in the early construction process and the influence of other uncontrollable factors during operation. In order to ensure the reliable operation of the building, grouting repair is required for the cracks. In the existing grouting repair method, a grouting hole connecting the cracks is generally opened on the concrete, a grouting head is set in the grouting hole, and a grouting pipe is connected to the grouting head to perform grouting operations through the grouting head. In order to prevent the grouting head from being pushed out of the grouting hole due to the slurry pressure, a fixed plate or other structure is generally added at the edge of the grouting hole to fix the grouting head and maintain its position in the grouting hole. However, the setting of the fixed plate is generally connected by bolt drilling, resulting in a large number of holes opened on the original concrete foundation during the repair process, which is easy to cause secondary damage to the original concrete. In addition, the method of fixing the grouting head with a fixed plate will undoubtedly increase the complexity of the grouting operation. For the repair of underwater concrete, underwater robots are generally used for the operation. However, the operating flexibility of robots is lower than that of manual labor. The above-mentioned method of fixing the grouting head by a fixed plate can be assisted by divers in shallow water environments. However, in deep water environments where divers cannot dive, the operation can only rely on robots. The robot operation is difficult and the operation requirements are high. Sometimes multiple robots are required to work simultaneously to complete the operation, which will not only reduce the efficiency of the repair operation, but also easily affect the quality of the repair. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an underwater grouting head and an underwater grouting device which reduce the difficulty of underwater concrete grouting repair operation, improve the repair operation efficiency and ensure the repair quality.

[0004] The present invention provides an underwater grouting head, comprising a grouting nozzle, a grouting joint and an elastic sleeve, wherein the grouting nozzle and the grouting joint are both axially through-arranged to form a channel for slurry flow, one end of the grouting nozzle is axially penetrated in the grouting joint and is axially slidably connected with the grouting joint, the elastic sleeve is sleeved on the outside of the grouting nozzle, and one end of the elastic sleeve is fixed to the grouting nozzle, one end of the grouting joint is axially penetrated between the other end of the elastic sleeve and the grouting nozzle, a conical surface whose outer diameter gradually increases toward the direction of the other end of the grouting joint is provided on the outer side wall of the grouting joint, and a groove for limiting the elastic sleeve is provided on the outer side wall of the grouting joint on the side of the conical surface away from the elastic sleeve.

[0005] Furthermore, there are more than two grooves, and the two or more grooves are spaced apart on the outer wall of the grouting joint one in a direction away from the conical surface one.

[0006] Furthermore, a region between two adjacent grooves on the grouting joint 1 is provided on its outer side wall with a conical surface 2 whose outer diameter gradually increases in a direction away from the conical surface 1.

[0007] Furthermore, a plurality of grooves are arranged on the outer side wall of the elastic sleeve.

[0008] Furthermore, the grouting nozzle includes a nozzle and a grouting connector, and the nozzle and the grouting connector are both axially through-arranged, one end of the grouting connector is fixed and connected to the nozzle by a threaded connection, and the length of the threaded connection is adjustable, the other end of the grouting connector is axially penetrated into the grouting joint one and axially slidably connected to the grouting joint one, the elastic sleeve is sleeved on the outside of the grouting connector, and the end of the elastic sleeve facing away from the grouting joint one is fixed to the nozzle.

[0009] Furthermore, at least two notches are provided in the circumferential direction at one end of the nozzle for discharging slurry.

[0010] Furthermore, a protrusion is provided at one end of the grouting connector axially inserted into the grouting joint one, and a limit platform for cooperating with the protrusion is provided inside the grouting joint one to limit the position of the grouting joint one on the grouting connector.

[0011] The present invention also provides an underwater grouting device, comprising a grouting pipe assembly, a grouting joint 2 and an underwater grouting head as described in any one of claims 1 to 3, wherein one end of the grouting pipe assembly is used to connect to a slurry supply device, and the other end is connected to the grouting joint 2, and the grouting joint 2 is detachably connected to the grouting joint 1.

[0012] Furthermore, the grouting pipe assembly includes a grouting pipe body and two grouting adapters, each of the two ends of the grouting pipe body is provided with a pipe joint, and the two grouting adapters are correspondingly connected to the pipe joints at the two ends of the grouting pipe body, one of the grouting adapters is used to connect to the slurry supply device, and the other grouting adapter is directly or indirectly connected to grouting joint 2.

[0013] Furthermore, it also includes a placement rack for storing underwater grouting heads, and a plurality of placement slots are arranged on the placement rack. The end of the grouting joint facing away from the elastic sleeve is arranged in a wide-mouthed shape to form a truncated cone portion. When the underwater grouting head is located in the placement slot, the truncated cone portion is suspended on the edge of the placement slot.

[0014] The beneficial effect of the present invention is that when in use, the underwater grouting head is inserted into the grouting hole, and the grouting joint is axially pushed in the direction of the elastic sleeve. Under the blocking of the grouting nozzle by the front section of the grouting hole, the grouting joint moves axially relative to the grouting nozzle. During the movement, the conical surface squeezes the inner wall of the elastic sleeve and stretches it outward, so that the outer diameter of the elastic sleeve increases and expands. The expanded elastic sleeve can abut against the inner wall of the grouting hole to achieve the sealing of the grouting hole and the fixation of the underwater grouting head. At the same time, the elastic sleeve can be hooked on the side wall of the groove to achieve the fixation of the elastic sleeve after expansion, avoiding the elastic sleeve from shrinking and causing the underwater grouting head to withdraw from the grouting hole, and avoiding the need to additionally set a fixing plate on the concrete to fix the underwater grouting head. On the one hand, it can reduce drilling and reduce damage to the concrete, and on the other hand, it can reduce the operational difficulty of underwater operations.

[0015] Compared with the setting method of directly inserting the underwater grouting head into the grouting hole by making the outer diameter of the underwater grouting head and the inner diameter of the grouting hole just fit, the present invention uses the expansion of the elastic sleeve to abut against the inner wall of the grouting hole to achieve blocking and fixing, so the inner diameter of the grouting hole can allow a certain error range, and there is no need to accurately control the inner diameter size of the grouting hole during the grouting hole drilling process, which reduces the difficulty of underwater operation of the robot. In the present invention, to control the expansion of the outer diameter of the elastic sleeve, it is only necessary to axially push the grouting joint to make it move relative to the grouting nozzle, that is, the robot can achieve the fixation of the underwater grouting head and the grouting hole only by pushing, without other complex actions such as rotation and flipping, which reduces the difficulty of operation and improves the operation efficiency of underwater concrete repair. At the same time, the arrangement of the cone surface 1 and the groove in the present invention can not only enable the elastic sleeve to continue to expand during the axial movement of the grouting joint 1, but the cone surface 1 can also provide radial support and radial extrusion force for the expansion area of ​​the elastic sleeve, so that the elastic sleeve can be tightly attached to the inner wall of the grouting hole to achieve sealing and fixation, and when the elastic sleeve contacts the groove, the inner wall of the groove can hook the elastic sleeve, after the thrust of the grouting joint 1 is reduced or lost, the elastic sleeve will not retreat and cause the underwater grouting head to loosen, thereby ensuring the reliable grouting, and at the same time, after grouting, it can also ensure that the underwater grouting head is always located in the grouting hole to seal the slurry, thereby ensuring the repair quality of underwater concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the underwater grouting head of the present invention.

[0017] Figure 2 It is a schematic structural diagram of the underwater grouting device of the present invention.

[0018] Figure 3 It is a schematic diagram of the matching structure of the grouting joint 2 and the grouting adapter of the present invention.

[0019] Figure 4It is a schematic diagram of the matching structure of the pipe clamp and the grouting pipe of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the placement rack of the present invention.

[0021] Figure 6 It is a schematic diagram of the longitudinal section structure of the placement rack of the present invention.

[0022] In the figure: 1. nozzle; 11. notch; 2. grouting connector; 21. bump; 3. grouting joint one; 31. cone one; 32. groove; 33. cone two; 34. frustum; 4. elastic sleeve; 41. groove; 5. grouting joint two; 51. sealing ring; 6. grouting pipe assembly; 61. grouting pipe body; 62. grouting adapter; 63. pipe joint; 64. connector; 7. one-way valve; 8. pipe clamp; 81. handle; 9. placement rack; 91. bottom plate; 92. placement plate one; 921. positioning hole one; 93. placement plate two; 931. positioning hole two; 94. placement plate three; 941. positioning hole three. DETAILED DESCRIPTION

[0023] like Figure 1 and Figure 2 As shown, the present invention provides an underwater grouting head, which includes a grouting nozzle, a grouting joint 3 and an elastic sleeve 4. The grouting nozzle and the grouting joint 3 are both axially through-set, that is, the inside of the grouting nozzle and the grouting joint 3 are both hollow, and the hollow area axially penetrates the grouting nozzle and the grouting joint 3 to form a channel for axial flow of slurry inside the grouting nozzle and the grouting joint 3. One end of the grouting nozzle is axially inserted into the grouting joint 3 and axially slidably connected with the grouting joint 3. The elastic sleeve 4 is sleeved on the outside of the grouting nozzle, and one end of the elastic sleeve 4 is fixed to the grouting nozzle to limit the position of the elastic sleeve 4 on the grouting nozzle. One end of the grouting joint 3 is axially inserted between the other end of the elastic sleeve 4 and the grouting nozzle. A conical surface 31 is provided on the outer wall of the end of the grouting joint 3. The outer diameter of the conical surface 31 gradually increases toward the direction of the other end of the grouting joint 3. A groove 32 is provided on the outer wall of the grouting joint 3 on the side of the conical surface 31 away from the elastic sleeve 4. The groove 32 is used to limit the position of the elastic sleeve 4 on the grouting joint 3 to prevent it from retracting. Among them, the material of the elastic sleeve 4 is rubber, which has the ability to be deformed by external force and has good wear resistance. The specific material can be nitrile rubber or other materials that meet the requirements.

[0024] When the underwater grouting head provided by the present invention is in use, the underwater grouting head is inserted into the grouting hole, and the grouting joint 3 is axially pushed in the direction of the elastic sleeve 4. Under the blocking of the grouting nozzle by the front section of the grouting hole, the grouting joint 3 moves axially relative to the grouting nozzle. During the movement, the conical surface 31 squeezes the inner wall of the elastic sleeve 4 and stretches it outward, so that the outer diameter of the elastic sleeve 4 increases and expands. The expanded elastic sleeve 4 can abut against the inner wall of the grouting hole to achieve the blocking of the grouting hole and the fixation of the underwater grouting head. At the same time, the elastic sleeve 4 can be hooked on the side wall of the groove 32 to achieve the fixation of the elastic sleeve 4 after expansion, so as to avoid the elastic sleeve 4 shrinking and causing the underwater grouting head to withdraw from the grouting hole, and can avoid the need to set an additional fixing plate on the concrete to fix the underwater grouting head. On the one hand, it can reduce drilling and reduce damage to the concrete, and on the other hand, it can reduce the difficulty of underwater operation.

[0025] Compared with the setting method of directly inserting the underwater grouting head into the grouting hole by making the outer diameter of the underwater grouting head and the inner diameter of the grouting hole just fit, the present invention uses the expansion of the elastic sleeve 4 to abut against the inner wall of the grouting hole to achieve blocking and fixing, so the inner diameter of the grouting hole can allow a certain error range, and there is no need to accurately control the inner diameter size of the grouting hole during the grouting hole drilling process, which reduces the difficulty of underwater operation of the robot. In the present invention, to control the expansion of the outer diameter of the elastic sleeve 4, it is only necessary to axially push the grouting joint 13 to make it move relative to the grouting nozzle, that is, the robot can fix the underwater grouting head and the grouting hole only by pushing, without other complex actions such as rotation and flipping, which reduces the difficulty of operation and improves the operation efficiency of underwater concrete repair. At the same time, the arrangement of the conical surface 31 and the groove 32 in the present invention can not only enable the elastic sleeve 4 to continue to expand during the axial movement of the grouting joint 3, but the conical surface 31 can also provide radial support and radial extrusion force for the expansion area of ​​the elastic sleeve 4, so that the elastic sleeve 4 can be tightly attached to the inner wall of the grouting hole to achieve sealing and fixation, and when the elastic sleeve 4 contacts the groove 32, the inner wall of the groove 32 can hook the elastic sleeve 4, after the thrust of the grouting joint 3 is reduced or lost, the elastic sleeve 4 will not retreat and cause the underwater grouting head to loosen, thereby ensuring the reliable grouting, and at the same time, after grouting, it can also ensure that the underwater grouting head is always located in the grouting hole to seal the slurry, thereby ensuring the repair quality of underwater concrete.

[0026] In the present invention, there are more than two grooves 32, and the two or more grooves 32 are arranged at intervals on the outer wall of the grouting joint 3 in a direction away from the conical surface 31. The specific number of the grooves 32 can be three, and other numbers can also be used in other embodiments. When the area of ​​the expansion region on the elastic sleeve 4 is the same, the two or more grooves 32 can provide greater resistance to the movement of the elastic sleeve 4, and can more reliably limit the position of the elastic sleeve 4 on the grouting joint 3.

[0027] The area between two adjacent grooves 32 on the grouting joint 3 is provided with a conical surface 2 33 on its outer side wall, the outer diameter of which gradually increases in the direction away from the conical surface 1 31. The setting of the conical surface 2 33 can facilitate the elastic sleeve 4 to move from one groove 32 to another groove 32. At the same time, the conical surface 2 33 enables the area of ​​the elastic sleeve 4 located between the two grooves 32 to expand effectively, thereby ensuring the area size of the expansion area, and providing effective radial support to the area, thereby ensuring that it is in close contact with the inner wall of the grouting hole, thereby ensuring the contact area between the elastic sleeve 4 and the inner wall of the grouting hole.

[0028] Among them, it is preferred that the angle of the conical surface 1 31 relative to the axis of the grouting joint 3 is 10°~15°, such as 10°, 12° or 15°, and the angle of the conical surface 2 33 relative to the axis of the grouting joint 3 is less than or equal to the angle of the conical surface 1 31 relative to the axis of the grouting joint 3. For example, when the angle of the conical surface 1 31 relative to the axis of the grouting joint 3 is 15°, the angle of the conical surface 2 33 relative to the axis of the grouting joint 3 is 10°. The above-mentioned angle setting can ensure that the axial movement of the grouting joint 3 can drive the elastic sleeve 4 to undergo effective deformation and expansion within the deformation range of the elastic sleeve 4, and at the same time ensure that the thrust required for the grouting joint 3 to overcome the elastic force of the elastic sleeve 4 is not too small, so that the elastic sleeve 4 will not easily return to its original shape, thereby ensuring the reliability of the underwater grouting head when in use.

[0029] A plurality of grooves 41 are arranged on the outer wall of the elastic sleeve 4. Specifically, the grooves 41 are arranged circumferentially on the outer wall of the elastic sleeve 4, and more than two grooves 41 are arranged axially at intervals on the outer wall of the elastic sleeve 4. This can improve the outer diameter expansion capacity of the elastic sleeve 4 while increasing the friction between the outer wall of the elastic sleeve 4 and the inner wall of the grouting hole, thereby further improving the reliability of sealing and fixing.

[0030] In the present invention, the grouting nozzle includes a nozzle 1 and a grouting connector 2, and the nozzle 1 and the grouting connector 2 are both axially through-arranged, that is, the inside of the nozzle 1 and the grouting connector 2 are both hollow, and the hollow area axially penetrates the nozzle 1 and the grouting connector 2, one end of the grouting connector 2 is fixed and connected with the nozzle 1 by a threaded connection to form an axially through-arranged grouting nozzle, the length of the threaded connection is adjustable, the other end of the grouting connector 2 is axially penetrated in the grouting joint 3 and axially slidably connected with the grouting joint 3, the elastic sleeve 4 is sleeved on the outside of the grouting connector 2, and the end of the elastic sleeve 4 away from the grouting joint 3 is fixed to the nozzle 1. In specific use, the maximum outer diameter of the nozzle 1 should be less than or equal to the outer diameter of the elastic sleeve 4 in the natural state, and the outer diameter of the elastic sleeve 4 in the natural state should be slightly smaller than the inner diameter of the grouting hole, for example, about 2 mm smaller, to ensure that the front section of the grouting nozzle can be normally penetrated in the grouting hole. Considering that the inner diameters of holes drilled by different drilling rigs may be different, by adjusting the threaded connection length between the grouting connector 2 and the nozzle 1, the distance between the nozzle 1 and the grouting joint 3 can be shortened, thereby adjusting the pre-expansion amount of the elastic sleeve 4 to adapt to different grouting holes within a certain inner diameter range and improve versatility.

[0031] The end of the nozzle 1 for discharging slurry is provided with two or more slots 11 in the circumferential direction, so that during grouting, the slurry can be sprayed outward from the end of the nozzle 1 in multiple directions for grouting. Figure 1 As shown, a one-way valve 7 is also provided inside the nozzle 1, so that the slurry can only enter the grouting hole through the nozzle 1 without backflow to reduce the concentration of the slurry, while ensuring that the pressure of the slurry inside the concrete after grouting meets the corresponding requirements.

[0032] like Figure 1 As shown, a protrusion 21 is provided at one end of the grouting connector 2 axially inserted into the grouting joint 3, and a limit platform for cooperating with the protrusion 21 is provided inside the grouting joint 3 to limit the position of the grouting joint 3 on the grouting connector 2 to prevent the grouting joint 3 from falling off from the grouting connector 2 in a natural state.

[0033] In the natural state of the underwater grouting head, the end portion of the grouting joint 3 provided with a conical surface 31 is inserted into the elastic sleeve 4, that is, Figure 1In the state shown, in this state, the distance between the end of the grouting joint 3 facing the nozzle 1 and the nozzle 1 is greater than the distance between the end of the elastic sleeve 4 away from the nozzle 1 and the groove 32 farthest from the conical surface 31, so as to ensure that the groove 32 farthest from the conical surface 31 can play an effective role on the elastic sleeve 4; and the distance between the end of the elastic sleeve 4 away from the nozzle 1 and the groove 32 closest to the conical surface 31 is less than the distance between the groove 32 closest to the conical surface 31 and the end face of the grouting joint 3 facing the nozzle 1, so as to ensure that when the grouting joint 3 moves axially toward the nozzle 1, it can generate enough compression to drive the outer diameter of the elastic sleeve 4 to expand. In order to facilitate the movement of the elastic sleeve 4 along the conical surface 31, it is preferred that the inner wall of the end of the elastic sleeve 4 away from the nozzle 1 is provided with an inclined surface corresponding to the inclination of the conical surface 31.

[0034] like Figure 2-Figure 6 As shown, the present invention also provides an underwater grouting device, which includes a grouting pipe assembly 6, a grouting joint 2 5 and the underwater grouting head as described above. One end of the grouting pipe assembly 6 is used to connect with the slurry supply device, and the other end is connected with the grouting joint 2 5. The grouting joint 2 5 is detachably connected with the grouting joint 1 3 to connect the underwater grouting head and the grouting pipe assembly 6 to perform grouting operations. When the grouting joint 2 5 is connected with the grouting joint 1 3, the end of the grouting joint 2 5 away from the grouting pipe assembly 6 is inserted along the end of the grouting joint 1 3 away from the nozzle 1, and a sealing ring 51 is provided on the side of the end of the grouting joint 2 5 used for inserting the grouting joint 1 3 to ensure the sealing of the grouting joint 2 5 and the grouting joint 1 3 after plugging. Since the underwater grouting head is provided, the underwater grouting device can reduce the difficulty of the robot's underwater operation, improve the repair efficiency of underwater concrete and ensure the repair quality.

[0035] The grouting pipe assembly 6 includes a grouting pipe body 61 and two grouting adapters 62. A pipe joint 63 is provided at each end of the grouting pipe body 61. The two grouting adapters 62 are correspondingly connected to the pipe joints 63 at both ends of the grouting pipe body 61. One of the grouting adapters 62 is used to connect to a slurry supply device. In one embodiment of the present invention, the grouting adapter 62 is directly connected to the grouting adapter 5. In another embodiment of the present invention, the grouting adapter 62 is indirectly connected to the grouting adapter 5. Figure 3 As shown, the grouting adapter 62 and the grouting joint 25 are both standard parts. The grouting adapter 62 and the grouting joint 25 are connected by a connector 64, so that a one-way valve 7 is set between the grouting adapter 62 and the grouting joint 25. The one-way valve 7 is specifically set in the connector 64, which can reliably prevent other liquids from flowing back into the grouting pipe assembly 6 in an underwater environment to reduce the slurry concentration. It can be used for grouting slurry that is easily deteriorated by water in an underwater environment, thereby increasing the applicable range of slurry for underwater grouting.

[0036] The present invention further comprises a pipe clamp 8 for clamping the grouting pipe body 61 , and a handle 81 is fixedly provided on the pipe clamp 8 to facilitate the robot to hold and move the grouting pipe assembly 6 as a whole.

[0037] like Figure 5 and Figure 6 As shown, the present invention also includes a placement rack 9 for storing underwater grouting heads. The placement rack 9 is provided with a plurality of placement slots. Before repair, the number of underwater grouting heads can be increased or decreased as needed to ensure that the robot can repair multiple crack surfaces in one operation, reduce the number of floating times, and further improve the efficiency of underwater repair. The end of the grouting joint 3 away from the elastic sleeve 4 is arranged in a wide-mouthed shape to form a truncated cone portion 34. When the underwater grouting head is located in the placement slot, the truncated cone portion 34 is suspended at the edge of the placement slot to facilitate the storage and positioning of each underwater grouting head. At the same time, the wide-mouthed truncated cone portion 34 can also facilitate the insertion of the grouting joint 2 5 into the grouting joint 1 3.

[0038] In one embodiment of the present invention, the specific structure of the placement rack 9 includes a base plate 91 and a placement plate three 94 elevated on the base plate 91. The base plate 91 is used to fix the placement rack 9 as a whole in a position that is convenient for the robot to pick up. The placement plate three 94 is provided with a plurality of positioning holes three 941. The area where the positioning holes three 941 are located forms a placement groove. The underwater grouting head is inverted and inserted into the positioning hole three 941. The frustum portion 34 is suspended at the edge of the positioning hole three 941 to realize the storage of the underwater grouting head.

[0039] In another embodiment of the present invention, the specific structure of the placement rack 9 includes a bottom plate 91 and a placement plate 1 92, a placement plate 2 93, and a placement plate 3 94 which are sequentially arranged in a height direction of the bottom plate 91. The bottom plate 91 is used to fix the placement rack 9 as a whole in a position where it is convenient for the robot to pick up. The placement plate 1 92 is provided with a plurality of positioning holes 1 921, the placement plate 2 93 is provided with a plurality of positioning holes 2 931, and the placement plate 3 94 is provided with a plurality of positioning holes 3 941. The number and position of the plurality of positioning holes 1 921, the positioning holes 2 931, and the positioning holes 3 941 correspond to each other. A group of positioning holes 1 921, 931 and 941 corresponding in position in the height direction form a single placement slot, in which the underwater grouting head is inverted and inserted, and the frustum portion 34 is suspended at the edge of the positioning hole 3 941 to achieve the storage of the underwater grouting head. In this embodiment, the setting of the positioning hole 1 921 can support the nozzle 1, and the positioning holes 1 921, 931 and 941 can play a role in positioning and guiding the stored underwater grouting head, ensuring that its posture relative to the placement rack 9 is fixed, so as to facilitate the robot to take it out of the placement rack 9.

[0040] In the above two embodiments, the specific way for the robot to take out the underwater grouting head is that after the robot holds the handle 81, it drives the grouting pipe assembly 6 and the grouting joint 2 5 to move, so that the front section of the grouting joint 2 5 is inserted into the grouting joint 1 3, and the underwater grouting head is taken out by utilizing the cooperation between the grouting joint 2 5 and the grouting joint 1 3, and then the subsequent corresponding operations can be carried out.

[0041] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0042] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. An underwater grouting head, characterized in that: The invention comprises a grouting nozzle, a grouting joint (3) and an elastic sleeve (4), wherein the grouting nozzle and the grouting joint (3) are both axially through-arranged to form a channel for slurry to flow, one end of the grouting nozzle is axially inserted into the grouting joint (3) and is axially slidably connected to the grouting joint (3), the elastic sleeve (4) is sleeved outside the grouting nozzle, and one end of the elastic sleeve (4) is fixed to the grouting nozzle, one end of the grouting joint (3) is axially inserted between the other end of the elastic sleeve (4) and the grouting nozzle, and the outer wall of the end of the grouting joint (3) is provided with a conical surface (31) whose outer diameter gradually increases toward the direction where the other end of the grouting joint (3) is located, and a groove (32) for limiting the elastic sleeve (4) is provided on the outer wall of the grouting joint (3) on the side of the conical surface (31) away from the elastic sleeve (4).

2. The underwater grouting head according to claim 1, characterized in that: More than two grooves (32) are provided, and the more than two grooves (32) are arranged at intervals on the outer side wall of the grouting joint one (3) in a direction away from the conical surface one (31).

3. The underwater grouting head according to claim 2, characterized in that: The area between two adjacent grooves (32) on the grouting joint (3) is provided with a second conical surface (33) on its outer side wall, the outer diameter of which gradually increases in a direction away from the first conical surface (31).

4. The underwater grouting head according to any one of claims 1 to 3, characterized in that: A plurality of grooves (41) are provided on the outer side wall of the elastic sleeve (4).

5. The underwater grouting head according to any one of claims 1 to 3, characterized in that: The grouting nozzle comprises a nozzle (1) and a grouting connector (2), wherein the nozzle (1) and the grouting connector (2) are both axially through-arranged, one end of the grouting connector (2) is fixed and connected to the nozzle (1) by a threaded connection, and the length of the threaded connection is adjustable, the other end of the grouting connector (2) is axially inserted into a grouting joint (3) and axially slidably connected to the grouting joint (3), the elastic sleeve (4) is sleeved on the outside of the grouting connector (2), and the end of the elastic sleeve (4) facing away from the grouting joint (3) is fixed to the nozzle (1).

6. The underwater grouting head according to claim 5, characterized in that: The nozzle (1) has at least two notches (11) circumferentially formed at one end portion used for discharging slurry.

7. The underwater grouting head according to claim 5, characterized in that: A protrusion (21) is provided at one end of the grouting connector (2) axially inserted into the grouting joint one (3), and a limiting platform for cooperating with the protrusion (21) is provided inside the grouting joint one (3) to limit the position of the grouting joint one (3) on the grouting connector (2).

8. An underwater grouting device, characterized in that: It comprises a grouting pipe assembly (6), a second grouting joint (5) and an underwater grouting head as claimed in any one of claims 1 to 7, wherein one end of the grouting pipe assembly (6) is used to be connected to a slurry supply device, and the other end is connected to the second grouting joint (5), and the second grouting joint (5) is detachably connected to the first grouting joint (3).

9. The underwater grouting device according to claim 8, characterized in that: The grouting pipe assembly (6) comprises a grouting pipe body (61) and two grouting adapters (62), wherein a pipe joint (63) is provided at each end of the grouting pipe body (61), and the two grouting adapters (62) are correspondingly connected to the pipe joints (63) at the two ends of the grouting pipe body (61), wherein one of the grouting adapters (62) is used to connect to a slurry supply device, and the other grouting adapter (62) is directly or indirectly connected to the second grouting adapter (5).

10. The underwater grouting device according to claim 8, characterized in that: It also includes a placement rack (9) for storing underwater grouting heads, wherein the placement rack (9) is provided with a plurality of placement slots, and the end of the grouting joint (3) facing away from the elastic sleeve (4) is arranged in a wide-mouthed shape to form a truncated cone portion (34), and when the underwater grouting head is located in the placement slot, the truncated cone portion (34) is suspended on the edge of the placement slot.

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