Mechanical device for grouting and grouting method

Abstract

The invention relates to a mechanical device for grouting and a grouting method. Comprising a grouting vehicle, a mechanical arm base, a driver, a mechanical arm arranged between the mechanical arm base and the driver, and a drilling and grouting integrated grouting device arranged at the tail end of the driver. The grouting device comprises a plurality of grouting pipes and water pumping pipes, each water pumping pipe is provided with a power device, and simultaneous grouting and water pumping are achieved through the grouting pipes and the water pumping pipes; the grouting vehicle is provided with a slurry stirrer and conveys slurry to the driver and the grouting pipe through a slurry conveying pipe, and grouting is achieved. And the grouting device and the mechanical arm can be folded and stored in the grouting vehicle. The device can be rotated and adjusted in multiple directions to reach a target grouting position, the number of the branch pipe supports and the number of the water pumping pipes can be selected according to the state of a grouting stratum and surrounding rock, and the device is convenient to disassemble and convenient to transport and construct; the underground water level is reduced through mutual cooperation of the water pumping pipe and the grouting pipe so that the slurry retention rate can be increased, grouting slurry can be diffused more evenly, and the expected grouting effect is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of island reef rock soil and underground engineering disaster management, and specifically relates to a mechanical device for grouting and a grouting method. Background Art

[0002] With the rapid development of economy and technology, there are more and more marine resource development and engineering construction nowadays, and a series of geological engineering problems of water-rich soft strata have emerged. During the construction period, the water-rich soft strata of islands and reefs have poor cementation ability, low strength, and extremely poor stratum stability. Due to the heavy rainfall, the islands and reefs are rich in groundwater, and the future engineering load requirements of the islands and reefs are high. The water content, high-load ground stress, and engineering excavation have a significant impact on the physical and mechanical properties of the water-rich soft strata of islands and reefs. Islands and reefs have become an important foothold in the development of marine resources and the protection of territorial waters. Accelerating the research on grouting reinforcement technology for water-rich soft strata of islands and reefs is conducive to the construction and operation and maintenance of underground projects on islands and reefs. The islands and reefs in some areas are mainly composed of coral reefs, sediments, etc., and the foundation soil layers are usually relatively weak and have insufficient bearing capacity. Under the influence of natural factors such as tides, wind and waves, these soft soil layers are prone to settlement and deformation, thus affecting the safety and stability of buildings and infrastructure.

[0003] Water-rich soft strata usually contain granular materials such as sand, silt, and clay, and have high permeability and water saturation, resulting in a high groundwater level. Such strata are easily affected by rainfall or groundwater recharge, forming abundant water sources. Water-rich soft strata have low compressive strength and usually show plastic deformation characteristics. When encountering external forces, they may undergo large settlement or deformation, reducing their bearing capacity as a foundation. Therefore, grouting is used to increase the bearing capacity of the soil, reduce settlement, and improve stability. However, when grouting water-rich soft foundations, groundwater can easily penetrate into the cast-in-place piles, causing the water-cement ratio of the grouting slurry to fail to meet the grouting requirements, affecting the grouting effect, and thus being unfavorable for the reinforcement of the foundation. Therefore, it is necessary to discharge the water inside it. Therefore, traditional grouting devices are not well suited for water-rich soft strata.

[0004] Fracture rock grouting refers to opening holes in rocks, soils and other geological bodies and injecting specific grouting liquid into the holes to fill the gaps and tightly combine with the geological body, thereby reinforcing and stabilizing the geological body, improving its bearing capacity, reducing water flow rate, etc. In underground projects, cracks in lanes and tunnels also need to be reinforced by grouting. Due to the uneven distribution and size of their cracks and pores, the grouting liquid cannot spread evenly during injection, affecting the reinforcement effect. At the same time, the grouting amount is also difficult to control. If the grouting amount is too much, the slurry will overflow, causing damage to the surrounding soil and rocks; if the grouting amount is insufficient, the expected reinforcement effect may not be achieved. Summary of the invention

[0005] The purpose of the present invention is to provide a mechanical device and construction method for grouting in water-rich soft strata and fractured surrounding rocks such as islands and reefs. The device can be rotated and adjusted in multiple directions to reach the target grouting position. The number of appropriate branch pipe supports and pumping pipes can be selected according to the state of the grouting stratum and surrounding rock. The grouting liquid can be evenly diffused through the mutual cooperation of the grouting pipe and the pumping pipe to achieve the expected grouting effect. The device is easy to disassemble and convenient for transportation and construction.

[0006] The technical solution to achieve the purpose of the present invention is: a mechanical device for grouting, including a grouting vehicle, a rotatable mechanical arm base arranged on the grouting vehicle, a driver, a mechanical arm arranged between the mechanical arm base and the driver, and a drilling and injection integrated grouting device arranged at the end of the driver;

[0007] The grouting device includes multiple grouting pipes and water pumping pipes, each of which is equipped with a power device, so that simultaneous grouting and water pumping can be achieved through the grouting pipes and water pumping pipes; the grouting vehicle is equipped with a slurry agitator and the slurry is transported to the driver and the grouting pipe in sequence through a slurry transport pipe connected to the mechanical arm to achieve grouting; the grouting device and the mechanical arm can be folded and stored in the grouting vehicle.

[0008] Furthermore, the robot base is connected to the robot arm through the robot base and the robot arm rod connecting member, the robot arm rods of the robot arm are connected through the connecting member between the robot arm rods, and the robot arm and the driver are connected through the driver and the robot arm rod connecting member.

[0009] Furthermore, the slurry conveying pipe is connected to the mechanical arm rod through a pipe fixing ring.

[0010] Furthermore, the grouting device also includes a branch pipe bracket for connecting the grouting pipe and the pumping pipe, and the branch pipe bracket and the driver are detachably connected.

[0011] Further, the branch pipe support includes a water pumping pipe and a branch pipe connector, a branch pipe sliding sleeve, a sliding sleeve fixing bolt, a central axis sliding sleeve, a central axis and a branch pipe connecting rod, a branch pipe and a branch pipe angle adjustment device;

[0012] The angles between the branch pipes can be adjusted by means of the branch pipe angle adjustment device; a branch pipe sliding sleeve is sleeved on the branch pipe connected to the pumping pipe, and a central axis sliding sleeve is sleeved on the branch pipe connected to the grouting pipe; a central axis and branch pipe connecting rod are connected between the central axis sliding sleeve and the branch pipe sliding sleeve; each branch pipe sliding sleeve is equipped with a sliding sleeve fixing bolt to achieve relative fixation of the position of the branch pipe sliding sleeve.

[0013] Furthermore, the branch pipe support is provided with a pipe interface, and is detachably connected to a pumping pipe or a grouting pipe through the pipe interface.

[0014] Furthermore, the end of the grouting pipe is a drill bit, which has an external thread. The side wall of the grouting pipe is provided with a plurality of annular openings for grouting, each of which is equipped with a one-way expansion ring. A grouting steel pipe is provided inside the grouting pipe, and two connecting pieces are provided outside the grouting steel pipe. A grouting stop ring is provided between the connecting piece and the grouting pipe, and the annular opening on the side wall of the grouting pipe is located between the two connecting pieces.

[0015] Furthermore, a drill bit is provided at the end of the water pumping pipe, the drill bit is provided with threads on the outside, an inner water pumping pipe is provided inside the water pumping pipe, a plurality of annular openings are provided on the outer wall of the water pumping pipe, and the openings are equipped with a one-way expansion ring and a water pumping pipe filter layer.

[0016] Furthermore, a sensing device is connected to the drill bit below the grouting pipe, which determines the density of the stratum or rock mass according to the rotation frequency and force of the drill bit, and configures the appropriate grouting liquid;

[0017] The outlet of the pumping pipe is equipped with an ion detection device to detect the ion composition of groundwater, and judge whether chemical reaction occurs with the grouting slurry according to the ion composition of groundwater.

[0018] A method for grouting using the above mechanical device is used for islands and reefs in water-rich soft strata, surrounding rock tunnels or underground tunnels; specifically comprising the following steps:

[0019] Step 1: Survey the stratum and surrounding rock, determine the grouting location, the location and number of pumping pipes, select branch pipe supports, and mark the hole positions;

[0020] Step 2: Determine the construction position by rotating the base of the mechanical arm and adjusting the mechanical arm, fix the mechanical arm, assemble the grouting pipe and the pumping pipe, and align the drill bits of the grouting pipe and the pumping pipe with the marked hole positions by sliding the sleeve;

[0021] Step 3: Drilling: Use a power device to drill the drill bit to a preset depth, and perform geological analysis on the grouting stratum or rock mass through feedback from the sensing device to select the slurry;

[0022] Step 4: The slurry is prepared by a slurry agitator of the engineering vehicle and transported through a slurry delivery pipe;

[0023] Step 5: Grouting: grouting to the predetermined depth of the pre-hole position, and simultaneously pumping water in the surrounding pumping holes;

[0024] Step 6: When the pumping pipe contains grouting slurry, stop grouting;

[0025] Step 7: Adjust the robotic arm, remove and retract the grouting pipe and pumping pipe.

[0026] Compared with the prior art, the present invention has the following significant advantages:

[0027] 1. The robot arm of the present invention can be rotated 360° to adjust and select the grouting position, and can be used for grouting reinforcement of water-rich soft foundations, broken and fissured rock masses, tunnels and lanes, etc. The grouting pressure provided by the grouting pipe and the suction provided by the pumping pipe can make the slurry diffuse more fully and the grouting effect more obvious.

[0028] 2. The drill bit part below the grouting pipe proposed by the present invention is connected with a sensing device, which can judge the density of the stratum or rock mass according to the rotation frequency and force of the drill bit, so as to configure a suitable grouting liquid for a specific stratum, which can save grouting materials and is economical and environmentally friendly.

[0029] 3. The device of the present invention can pump water within a given range around the target grouting position while grouting the target grouting position. On the one hand, it can ensure the normal water-cement ratio of the grouting slurry and meet the grouting requirements; on the other hand, it can accelerate the diffusion of the slurry to make the grouting more sufficient, and the grouting degree within the range can be judged by the liquid in the pumping pipe (if cement slurry is pumped out from all the pumping pipes, it means that the grouting within the given range around the grouting hole is sufficient and the grouting effect is achieved).

[0030] 4. When grouting surrounding rocks, the device of the present invention can accurately inject an appropriate amount of slurry according to the liquid in the pumping pipe to avoid slurry overflow when the grouting amount is too much, causing damage to the surrounding soil and rocks; when the grouting amount is insufficient, the expected reinforcement effect may not be achieved.

[0031] 5. The water outlet of the pumping pipe of the device of the present invention is also equipped with an ion detection device, which can detect many ion components in the groundwater, and can judge whether the ion components in the groundwater will chemically react with the grouting slurry to affect the grouting effect, which can effectively ensure the grouting quality and meet the engineering requirements.

[0032] 6. The branch pipe bracket of the device of the present invention is replaceable and detachable with the mechanical arm. Different branch pipe brackets can be selected according to different construction scenes to improve the efficiency of pumping and injection. It is also easy to disassemble and assemble, and convenient for construction.

[0033] 7. The device of the present invention can change the position of the groundwater level by pumping water, thereby affecting the grouting pressure required during the grouting process. Pumping water causes the groundwater level to drop, reduces the scouring and erosion of the grouting slurry by underground dynamic water, and increases the retention rate of the slurry, so that the slurry can effectively penetrate into the target stratum or rock mass. At the same time, too high grouting pressure is not required, and excessive grouting pressure may cause stratum damage or new cracks in the surrounding rock.

[0034] 8. The device of the present invention can be integrated with a grouting vehicle to adapt to different engineering scenarios, such as water-rich soft strata, surrounding rock tunnels, underground tunnels, etc., which can reduce the amount of engineering work and facilitate operation and construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic structural diagram of the mechanical arm device of the present invention.

[0036] Figure 2 Schematic diagram of the folded state of the robot arm device of the present invention; (a) is a rear view, and (b) is a side view.

[0037] Figure 3 It is a front cross-sectional view of the coral sand foundation grouting of the present invention.

[0038] Figure 4 It is a schematic diagram of the grouting state of the present invention.

[0039] Figure 5 It is a top view of the branch pipe support structure at the end of the robot arm of the present invention; (a) is three water pumping pipes; (b) is four water pumping pipes.

[0040] Figure 6 The diagram is a cross-sectional view of the structure of the water pumping pipe and the grouting pipe of the present invention; wherein (a) is the grouting pipe and (b) is the water pumping pipe.

[0041] Description of reference numerals:

[0042] 1- grouting pipe, 2- pumping pipe, 3- grouting pipe hole, 4- grouting pipe drill bit, 5- pumping pipe filter layer, 6- pumping pipe drill bit, 7- pumping pipe and branch pipe connector, 8- branch pipe sliding sleeve, 9- sliding sleeve fixing bolt, 10- central axis sliding sleeve, 11- central axis and branch pipe connecting rod, 12- branch pipe, 13- branch pipe angle adjustment device, 14- driver, 15- driver and mechanical arm rod connecting member, 16- mechanical arm rod, 17- connecting member between mechanical arm rods, 18- mechanical arm base Components connected to the mechanical arm rod, 19-mechanical arm base, 20-power unit, 21-drainage pipe, 22-slurry agitator, 23-connecting parts, 24-grouting steel pipe, 25-slurry stop ring, 26-one-way expansion ring, 27-steel pipe opening, 28-drill bit thread, 29-pipe mouth thread, 30-slurry delivery pipe, 31-pipe fixing ring, 32-water pumping pipe joint, 2-1-water pumping pipe interface I, 2-2-water pumping pipe interface II, 2-3-water pumping pipe interface III, 2-4-water pumping pipe interface IV. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0044] A mechanical device and construction method for grouting in water-rich soft strata and fractured surrounding rocks such as islands and reefs, the mechanical device includes a mechanical arm base 19, the mechanical arm base 19 is used to support and fix the mechanical arm, and the angle of the mechanical arm can be adjusted by rotation; the mechanical arm base and the forefoot of the mechanical arm are connected by a mechanical arm rod 16; the end is connected to a grouting device composed of a grouting pipe 1 and a water pumping pipe 2, the number of branch pipes 12 is selected according to the construction scene, the range between the grouting pipe 1 and the water pumping pipe 2 is adjusted by a branch pipe sliding sleeve 8 and a central axis sliding sleeve 10, the angle between the grouting pipe 1 and the water pumping pipe 2 can be adjusted within 0° to 90°, and at the same time Grouting and pumping are performed. The pumping pipe 2 is powered by the power device 20 to discharge water from the drain pipe 21. The power device 20 is provided with a power drive system to provide power for the drill bit and a water pump to pump water. The grouting liquid is pre-treated by the slurry agitator 22, and then the driver 14 delivers the slurry to the grouting position through the slurry delivery pipe 30. After the construction is completed, it can be retracted by a mechanical arm. The branch pipe, pumping pipe and grouting pipe are also easy to disassemble. The grouting pipe 1 and the pumping pipe 2 can be disassembled by threaded connection, and the branch pipe bracket can also be separated from the driver 14 by threaded connection, which is convenient for construction.

[0045] The construction method includes the following steps:

[0046] Step 1: First, conduct a preliminary survey of the stratum and surrounding rock, determine the location of the grouting, and determine the location and number of the pumping pipes around it, select the branch pipe bracket (the bracket with different numbers of pumping pipes can be selected according to the needs of the grouting location), and mark the hole position;

[0047] Step 2: Determine the construction position by rotating the base of the mechanical arm and adjusting the mechanical arm, fix the mechanical arm through the connecting member, and then assemble the grouting pipe 1 and the pumping pipe 2 according to the selected branch pipe bracket, align the grouting pipe drill bit and the pumping pipe drill bit with the marked hole position through the sliding sleeve, check each part, and fix the device;

[0048] Step 3: Drilling: Use a power device to drill the drill bit to the expected depth. During the process, the drill bit rotates and pressurizes. The feedback from the sensing device is used to conduct a preliminary geological analysis of the grouting formation or rock mass to select the appropriate slurry.

[0049] Step 4: The slurry is prepared by the slurry agitator of the engineering vehicle and transported through the slurry delivery pipe to facilitate slurry storage and transportation;

[0050] Step 5: Grouting: grouting is performed at the predetermined depth of the pre-hole position, and water is pumped out from the surrounding pumping holes at the same time. The water in the stratum or surrounding rock is discharged from the drainage pipe through the power device. The discharge of water can make the slurry diffuse more fully, and the reduction of water will also enhance the solidification effect of the slurry;

[0051] Step 6: When there is grouting slurry in the pumping pipe, it means that the target range has been fully grouted and the expected grouting effect has been achieved. At this time, the grouting can be stopped;

[0052] Step 7: Adjust the robotic arm, remove and retract the grouting pipe and pumping pipe to prepare for grouting at the next location.

[0053] In step 1, the branch pipe bracket and the robotic arm are replaceable and disassembled, and different branch pipe brackets can be selected according to different construction scenarios. They are also easy to disassemble and assemble, making them convenient for construction.

[0054] In step 2, the robotic arm can rotate 360° to adjust and select the grouting position to adapt to various engineering scenarios. It can be used to grout and reinforce water-rich soft foundations, broken and fractured rock masses, tunnels and lanes, etc. The grouting pressure provided by the grouting pipe and the suction provided by the pumping pipe can be used to make the grouting more sufficient.

[0055] In step 3, a sensing device is connected to the drill bit below the grouting pipe, which can judge the density of the stratum or rock mass according to the rotation frequency and force of the drill bit, so as to configure a suitable grouting liquid for a specific stratum, thereby saving grouting materials, being economical and environmentally friendly.

[0056] In step 5, the device can pump water within a given range around the target grouting hole while grouting the target grouting hole. On the one hand, it can ensure the normal water-cement ratio of the grouting slurry and meet the grouting requirements; on the other hand, the grouting degree within the range can be judged by the liquid in the pumping pipe (if cement slurry is pumped out of all the pumping pipes, it means that the grouting within the given range around the grouting hole is sufficient and the grouting effect is achieved).

[0057] In step 5, when grouting the surrounding rock, the appropriate amount of slurry can be accurately injected according to the pumping pipe to avoid slurry overflow when the grouting amount is too much, causing damage to the surrounding soil and rock; if the grouting amount is insufficient, the expected reinforcement effect may not be achieved;

[0058] In step 5, the change of groundwater level will affect the grouting pressure required during the grouting process. If the groundwater level drops due to pumping, there is no need for excessive grouting pressure, and the slurry can effectively penetrate into the target stratum or rock mass, avoiding excessive grouting pressure that may cause stratum damage or new cracks in the surrounding rock.

[0059] In step 5, the outlet of the pumping pipe is also equipped with an ion detection device, which can detect many ion components in the groundwater, and can judge whether the ion components in the groundwater will chemically react with the grouting slurry and affect the grouting effect, which can effectively ensure the grouting quality and meet the engineering requirements.

[0060] The device and the grouting vehicle are integrated into one to adapt to different engineering scenarios, such as water-rich soft strata such as islands and reefs, surrounding rock tunnels, underground tunnels, etc., which can reduce the amount of engineering work and facilitate construction.

[0061] The mechanical arm part connected to the grouting pipe and the pumping pipe can be freely extended and adjusted to control the pumping range of the target grouting position to achieve a better grouting effect.

[0062] Both the pumping pipe and the grouting pipe are drilled and injected in one structure to avoid frequent replacement. There are one-way expansion rings at the ends to allow the liquid to flow out in one direction. There is also a filter layer at the end of the pumping pipe, which has a better pumping effect.

[0063] The grouting position is determined by adjusting the central shaft sliding sleeve and the branch pipe sliding sleeve, and then fixed by bolts.

[0064] Grouting pipes, pumping pipes and branch pipe supports can be freely assembled and disassembled, making construction easy.

[0065] The storage, preparation and transportation of slurry can all be achieved through this device.

[0066] Example 1

[0067] See also Figure 3 First, conduct a preliminary survey of the water-rich and soft strata on the islands and reefs, determine the location of grouting, and determine the location and number of pumping pipes around them, select appropriate branch pipe supports, and mark the hole positions.

[0068] By adjusting the mechanical arm, the device is brought close to the grouting position, and the mechanical arm is fixed by the connecting component. Then, the pumping pipe 2 and the grouting pipe 1 are assembled according to the selected branch pipe bracket. First, the grouting pipe 1 is aligned with the grouting hole, and then the position of the surrounding pumping holes is aligned by adjusting the branch pipe angle adjustment device 13, the central axis sliding sleeve 10 and the branch pipe sliding sleeve 8. After determination, the predetermined position is achieved by fixing the sleeve bolts 9 and the bolts 7 at the connection between the pumping pipe and the branch pipe.

[0069] The grouting pipe and the pumping pipe drill are sent to the pre-position by the mechanical arm. The grouting pipe drill is equipped with a sensing device. The grouting pipe drill can judge the density of the formation according to the rotation frequency and force of the drill, so as to configure the appropriate grouting liquid for the specific formation. Stop drilling when the drill reaches the specified depth.

[0070] At the same time, the grouting and pumping devices are started, and the ion detection device at the outlet of the pumping pipe is used to detect the numerous ion components in the groundwater. In this way, it is judged based on the ion components in the groundwater whether a chemical reaction will occur with the grouting slurry and affect the grouting effect, which can effectively ensure the grouting quality.

[0071] like Figure 6As shown, a filter layer 5 is provided at the bottom of the pumping pipe to prevent particulate impurities from being drawn out and clogging the pipe hole of the pumping pipe. The slurry flows to the end of the grouting steel pipe 24 through the slurry stop ring 25 and the connecting piece 23, and is pressurized to reach the target formation through the one-way expansion ring 26 for grouting reinforcement.

[0072] When water is pumped through the pumping pipe, the water level in the pumping hole will decrease, resulting in a water level difference with the aquifer near the surrounding grouting holes, causing the water around the grouting holes to flow to the vicinity of the pre-designated pumping holes, thereby lowering the water level around the grouting holes, which is beneficial to the diffusion and solidification of the slurry. With the continuous grouting of the grouting pipe and the continuous pumping of the pumping pipe, the grouting of the water-rich and soft strata of the islands and reefs is gradually completed. When the water pumped out of the pumping pipe contains cement slurry, it means that the target grouting position is fully grouted. When cement slurry flows out of all the pumping pipes, the grouting and pumping can be stopped. At this time, the slurry has been fully diffused in the target formation, thereby completing the grouting operation.

[0073] By adjusting the mechanical arm, the grouting pipe and the pumping pipe are retracted to prepare for grouting at the next location.

[0074] Example 2

[0075] See also Figure 4 First, find the cracks and fissures in the surrounding rock, lanes, and tunnels, determine the grouting position, and at the same time determine the surrounding locations that need to be pumped, select appropriate branch pipe supports, determine the number of pumping pipes, and mark the hole positions.

[0076] By adjusting the mechanical arm, the device is brought close to the grouting position, and the mechanical arm is fixed by the connecting component. Then, the pumping pipe 2 and the grouting pipe 1 are assembled according to the selected branch pipe bracket. First, the grouting pipe 1 is aligned with the grouting hole, and then the position of the surrounding pumping holes is aligned by adjusting the branch pipe angle adjustment device 13, the central axis sliding sleeve 10 and the branch pipe sliding sleeve 8. After determination, the predetermined position is achieved by fixing the sleeve bolts 9 and the bolts 7 at the connection between the pumping pipe and the branch pipe.

[0077] The grouting pipe and the pumping pipe drill are sent to the preset position by a robotic arm. While drilling the cracks, the injectability of the surrounding rock, laneway and tunnel is judged through feedback from the drill bit sensing device, and the appropriate slurry is selected according to the rock characteristics.

[0078] After the drilling is completed, water is pumped out and grouting is performed. Figure 6As shown, the bottom of the pumping pipe is provided with a filter layer 5 to prevent particulate impurities from being drawn out and blocking the pipe hole of the pumping pipe. The slurry flows to the end of the grouting steel pipe 24 through the grouting ring 25 and the connector 23, and is pressurized to reach the target rock mass through the one-way expansion ring 26 for grouting reinforcement. The grouting ring 25 is made of rubber material to ensure its airtightness and prevent the slurry from seeping out. It is nested on the connector. The connector 23 is a circular sleeve, which is movable relative to the grouting steel pipe. Grouting and pumping are carried out simultaneously. At this time, the role of the pumping pipe is to allow the slurry to be injected more fully and enhance the grouting effect.

[0079] When the grouting liquid is pumped out from the pump pipe, it means that the target grouting position is fully grouted. Too much grouting may cause the slurry to overflow and cause damage to the surrounding soil and rock; insufficient grouting may not achieve the expected reinforcement effect.

[0080] Stop grouting, adjust the robotic arm, retract the grouting pipe and pumping pipe to prepare for grouting at the next location.

Claims

1. A mechanical device for grouting, characterized in that: It comprises a grouting vehicle, a rotatable mechanical arm base (19) arranged on the grouting vehicle, a driver (14), a mechanical arm arranged between the mechanical arm base (19) and the driver (14), and a drilling and injection integrated grouting device arranged at the end of the driver (14); The grouting device comprises a plurality of grouting pipes (1) and water pumping pipes (2), each water pumping pipe (2) being equipped with a power device (20), and grouting and water pumping are realized simultaneously through the grouting pipes and the water pumping pipes; the grouting vehicle is equipped with a slurry agitator (22) and the slurry is sequentially transported to the driver and the grouting pipes through a slurry transport pipe (30) connected to a mechanical arm, so as to realize grouting; the grouting device and the mechanical arm can be folded and stored in the grouting vehicle.

2. The mechanical device according to claim 1, characterized in that: The mechanical arm base (19) is connected to the mechanical arm through the mechanical arm base and the mechanical arm rod connecting component (18) and the mechanical arm, the mechanical arm rods of the mechanical arm are connected through the mechanical arm rod connecting component (17), and the mechanical arm and the driver (14) are connected through the driver and mechanical arm rod connecting component (15).

3. The mechanical device according to claim 2, characterized in that: The slurry delivery pipe (30) is connected to the mechanical arm (16) via a pipe fixing ring (31).

4. The mechanical device according to claim 3, characterized in that: The grouting device also includes a branch pipe bracket used to connect the grouting pipe (1) and the pumping pipe (2), and the branch pipe bracket and the driver (14) are detachably connected.

5. The mechanical device according to claim 4, characterized in that: The branch pipe bracket comprises a water pumping pipe and branch pipe connecting piece (7), a branch pipe sliding sleeve (8), a sliding sleeve fixing bolt (9), a central axis sliding sleeve (10), a central axis and branch pipe connecting rod (11), a branch pipe (12) and a branch pipe angle adjustment device (13); The angles between the branch pipes (12) are adjustable by means of a branch pipe angle adjustment device (13); a branch pipe sliding sleeve (8) is sleeved on the branch pipe (12) connected to the water pumping pipe; a central axis sliding sleeve (10) is sleeved on the branch pipe connected to the grouting pipe; a central axis and branch pipe connecting rod (11) is connected between the central axis sliding sleeve (10) and the branch pipe sliding sleeve (8); and each branch pipe sliding sleeve (8) is provided with a sliding sleeve fixing bolt (9) to achieve relative fixation of the position of the branch pipe sliding sleeve (8).

6. The mechanical device according to claim 5, characterized in that: The branch pipe bracket is provided with a pipe interface and is detachably connected to a pumping pipe or a grouting pipe through the pipe interface.

7. The mechanical device according to claim 1, characterized in that: The end of the grouting pipe (1) is a drill bit, which is provided with threads on the outside. The side wall of the grouting pipe (1) is provided with a plurality of annular openings for grouting, each of which is provided with a one-way expansion ring (26). A grouting steel pipe (24) is provided inside the grouting pipe, and two connecting pieces (23) are provided outside the grouting steel pipe (24). A grouting stop ring (25) is provided between the connecting piece (23) and the grouting pipe (1), and the annular opening on the side wall of the grouting pipe is located between the two connecting pieces.

8. The mechanical device according to claim 1, characterized in that: The end of the water pumping pipe is provided with a drill bit, the drill bit is provided with threads on the outside, the water pumping pipe is provided with a water pumping inner pipe inside, the outer wall of the water pumping pipe is provided with a plurality of annular openings, and the openings are provided with a one-way expansion ring and a water pumping pipe filter layer (5).

9. The mechanical device according to claim 1, characterized in that: The drill bit under the grouting pipe is connected to a sensing device, which determines the density of the stratum or rock mass according to the rotation frequency and force of the drill bit, and configures the appropriate grouting liquid; The outlet of the pumping pipe is equipped with an ion detection device to detect the ion composition of groundwater, and judge whether chemical reaction occurs with the grouting slurry according to the ion composition of groundwater.

10. A method for grouting using the mechanical device according to any one of claims 1 to 9, characterized in that: It is used for islands and reefs in water-rich soft strata, surrounding rock tunnels or underground tunnels; it specifically includes the following steps: Step 1: Survey the stratum and surrounding rock, determine the grouting location, the location and number of pumping pipes, select branch pipe supports, and mark the hole positions; Step 2: Determine the construction position by rotating the base of the mechanical arm and adjusting the mechanical arm, fix the mechanical arm, assemble the grouting pipe and the pumping pipe, and align the drill bits of the grouting pipe and the pumping pipe with the marked hole positions by sliding the sleeve; Step 3: Drilling: Use a power device to drill the drill bit to a preset depth, and perform geological analysis on the grouting stratum or rock mass through feedback from the sensing device to select the slurry; Step 4: The slurry is prepared by a slurry agitator of the engineering vehicle and transported through a slurry delivery pipe; Step 5: Grouting: grouting to the predetermined depth of the pre-hole position, and simultaneously pumping water in the surrounding pumping holes; Step 6: When the pumping pipe contains grouting slurry, stop grouting; Step 7: Adjust the robotic arm, remove and retract the grouting pipe and pumping pipe.

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