Movable modular high-pressure jet grouting machine

Abstract

A main controller is arranged on a movable base, an intelligent control system is arranged in the main controller, the intelligent control system is used for controlling parameter adjustment operation of the whole device, a hinge frame is arranged at one end of the movable base through a hinge seat, a lifting plate is arranged on the hinge frame through a lifting driving mechanism, and a movable base is arranged on the lifting plate. A swing rotating mechanism is arranged between the lifting plate and the front end of the movable base, a hinged connecting pipe is arranged in the swing rotating mechanism, and a grouting pipe is arranged below the hinged connecting pipe. By designing a swinging and rotating structure, the grouting pipe can be driven to swing and rotate, and the upper end and the lower end of the grouting pipe draw a circle according to a certain proportion during swinging, so that the lower end of the grouting pipe can construct consolidated bodies with different diameters, different construction equipment does not need to be adopted, and meanwhile, through a built-in intelligent control system, the construction efficiency is improved. Intelligent and automatic regulation and control can be achieved according to detection of the sensor, the device is more accurate and rapid in response, and construction errors are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of jet grouting machines, and particularly to a movable modular high-pressure jet grouting machine. Background Art

[0002] With the advancement of major infrastructure projects such as urban subway tunnels and cross-sea bridges, the high-pressure jet grouting technology has become the mainstream process for foundation treatment due to its characteristics of large reinforcement depth (up to 60m) and wide applicable strata (clay / sand gravel / rock strata).

[0003] However, the current jet grouting machines need to use different types of construction equipment when constructing consolidated bodies with different diameters, such as single-tube, double-tube, and triple-tube types. The equipment cannot achieve universal construction. At the same time, the existing equipment cannot achieve intelligent control. For the regulation of equipment parameters, manual adjustment and control are still relied on manual experience. Therefore, the present invention proposes a movable modular high-pressure jet grouting machine to solve the problems existing in the prior art. Summary of the Invention

[0004] Aiming at the above problems, the purpose of the present invention is to propose a movable modular high-pressure jet grouting machine. The movable modular high-pressure jet grouting machine is designed with a swing and rotation structure, which can drive the grouting pipe to swing and rotate. When swinging, the upper and lower ends of the grouting pipe move in a circular motion at a certain ratio, so as to realize the construction of consolidated bodies with different diameters at the lower end of the grouting pipe without using different construction equipment. At the same time, through the built-in intelligent control system, intelligent automatic regulation can be realized according to the detection of sensors, which is more accurate and responsive, effectively avoiding the occurrence of construction errors.

[0005] To achieve the purpose of the present invention, the present invention is realized through the following technical solutions: A movable modular high-pressure jet grouting machine, including a mobile base, a main controller, a hinge seat, a hinge frame, a lifting drive mechanism, a lifting plate, a swing and rotation mechanism, a hinge connecting pipe, and a grouting pipe. The mobile base is provided with a main controller, and the main controller is built with an intelligent control system. The intelligent control system is used to control the parameter adjustment and operation of the whole device. One end of the mobile base is rotatably provided with a hinge frame through a hinge seat. The hinge frame is movably provided with a lifting plate through a lifting drive mechanism. A swing and rotation mechanism is arranged between the lifting plate and the front end of the mobile base. The swing and rotation mechanism is provided with a hinge connecting pipe, and a grouting pipe is installed below the hinge connecting pipe.

[0006] The further improvement lies in that: a moving crawler is arranged under the moving base, and the moving crawler is driven by a motor controlled by a main controller. Support oil cylinder pads are symmetrically arranged at the four corners of the moving base for the overall support and positioning of the device. The other end of the moving base is connected to a hinge frame through a multi-stage telescopic cylinder. Both ends of the multi-stage telescopic cylinder are hinged for the folding and storage of the hinge frame and the adjustment of the tilt angle. An infrared distance measuring sensor is arranged between the lower part inside the hinge frame and the lifting plate. The infrared distance measuring sensor is electrically connected to the main controller for detecting the moving distance of the lifting plate and the number of resets, so as to facilitate calculating the depth of the grouting pipe penetrating into the ground.

[0007] The further improvement lies in that: the lifting drive mechanism includes a guiding slide rail, a sliding side plate, a connecting seat, a telescopic oil cylinder, a moving sprocket, a fixed sprocket and a transmission chain. Guiding slide rails are symmetrically arranged on both sides of the hinge frame. Sliding side plates are symmetrically arranged on both sides of the lifting plate and are slidably adapted to the guiding slide rails. The side of the sliding side plate close to the guiding slide rail is a sliding seat structure and is slidably adapted to the guiding slide rail. A connecting seat is fixedly arranged on the outer side of the sliding side plate. Telescopic oil cylinders are symmetrically and fixedly installed on both sides of the hinge frame. Moving sprockets are arranged at the telescopic ends of the telescopic oil cylinders. Fixed sprockets are symmetrically arranged above and below on both sides of the hinge frame. Transmission chains are wound between the upper and lower sides of the connecting seat and the hinge frame.

[0008] The further improvement lies in that: two groups of moving sprockets are arranged. One end of the transmission chain on the upper side of the connecting seat is fixedly connected to it, and the other end respectively bypasses the fixed sprocket above the side of the hinge frame and a group of the moving sprockets at the telescopic end of the telescopic oil cylinder and is fixed to the upper side of the side of the hinge frame. One end of the transmission chain on the lower side of the connecting seat is fixedly connected to it, and the other end respectively bypasses the fixed sprocket below the side of the hinge frame and the other group of the moving sprockets at the telescopic end of the telescopic oil cylinder and is fixed to the lower side of the side of the hinge frame, which is convenient for driving the lifting and lowering adjustment of the lifting plate through the telescopic oil cylinder.

[0009] A further improvement lies in that: the swinging and rotating mechanism includes a rotating disk, an adjusting square groove, an adjusting electric rod, an adjusting square tube, a driving mechanism, a quick-release plate, a positioning box, positioning holes, and a visual detection head. A rotating disk is provided at the front end of the lifting plate. The rotating disk and the lifting plate are rotationally adapted through bearing steel balls. An adjusting square groove is provided on the rotating disk. An adjusting square tube is arranged in the adjusting square groove through an adjusting electric rod. The adjusting square tube is slidably adapted to the adjusting square groove, and after resetting, the center point of the adjusting square tube coincides with the center point of the rotating disk. A driving mechanism is arranged between the articulated frame and the rotating disk. A positioning box is provided at the front side of the moving base through a quick-release plate for easy disassembly. Positioning holes are provided on the bottom surface of the positioning box, which can accurately position the construction position of the grouting pipe and guide it at the same time. A visual detection head is provided on the side wall of the positioning box to detect the swinging form and the included angle of the swinging orthographic projection of the grouting pipe in real time during the swinging construction of the grouting pipe, so as to facilitate the intelligent control system to calculate the diameter of the swinging form at the lowest end of the grouting pipe.

[0010] A further improvement lies in that: the driving mechanism includes an external gear ring, a driving gear, a sliding square groove, a rotating square shaft, and a driving motor. External gear rings are provided on the upper and lower sides of the rotating disk. A driving gear is provided on one side of the rotating disk on the lifting plate. The driving gear is meshed with the external gear ring for transmission. A sliding square groove is provided at the center of the driving gear. A rotating square shaft is rotatably arranged in the articulated frame. The rotating square shaft passes through the sliding square groove and is in transmission with the driving gear. The driving gear is in bearing connection and transmission with the lifting plate. A driving motor is provided at the upper end of the articulated frame. The output end of the driving motor is connected to the rotating square shaft for transmission. By driving the rotating square shaft with the driving motor, the driving gear is driven to rotate, realizing the rotation of the rotating plate.

[0011] A further improvement lies in that: the visual detection head is electrically connected to the main controller. The quick-release plate is inserted into the front end of the moving base and locked and fastened by bolts. A quick-release rotating head is provided at the upper end of the adjusting square tube. The articulated connecting pipe is hingedly connected to the lower end of the adjusting square tube, and the hinged rotation direction is towards the direction of the adjusting electric rod. The upper end of the adjusting square tube is connected to the lower end of the quick-release rotating head through a hose passing through the inner side of the adjusting square tube. The upper end of the quick-release rotating head is connected to an external material conveying pipe to realize grouting construction.

[0012] A further improvement lies in that: the intelligent control system includes an intelligent detection module, a calculation and simulation module, and an adjustment and control module. The intelligent detection module obtains the rotation and swing data of the grouting pipe and the depth data of the grouting pipe in real time based on sensors. The calculation and simulation module calculates and conducts real-time three-dimensional simulation of the depth and rotation form of the grouting pipe based on the obtained data. The adjustment and control module controls the swinging and rotating mechanism based on the calculated data to adjust the swinging amplitude of the grouting pipe to obtain consolidated bodies with different diameters.

[0013] A further improvement lies in that: the calculation and simulation module includes a data calculation sub-module and a three-dimensional simulation sub-module. The data calculation sub-module calculates the swing diameter at the lowest end based on the depth data detected in real time and the swing angle data of the grouting pipe. The three-dimensional simulation sub-module simulates the motion form of the grouting pipe based on three-dimensional software and in combination with the real-time data obtained.

[0014] A further improvement lies in that: the adjustment and control module includes an instruction generation sub-module and a control sub-module. The instruction generation sub-module generates a compensation adjustment instruction based on the data deviation calculated by the calculation and simulation module. The control sub-module automatically adjusts the operating parameters of the equipment based on the compensation adjustment instruction.

[0015] The beneficial effects of the present invention are as follows: By designing a swing and rotation structure, the present invention can drive the grouting pipe to swing and rotate. When swinging, the upper and lower ends of the grouting pipe draw circles in a certain proportion, so as to realize the construction of consolidated bodies with different diameters at the lower end of the grouting pipe without the need to use different construction equipment. At the same time, through the built-in intelligent control system, intelligent automatic control can be realized according to the detection of sensors. Compared with the traditional manual experience control, it is more accurate and responsive, effectively avoiding the occurrence of construction errors and is worthy of promotion. Description of the Drawings

[0016] Figure 1 It is the front view of the present invention.

[0017] Figure 2 It is the front sectional structure diagram of the present invention.

[0018] Figure 3 It is the sectional structure diagram of the swing and rotation mechanism of the present invention.

[0019] Figure 4 It is the top view structure diagram of the lifting plate of the present invention.

[0020] Figure 5 It is the construction swing schematic diagram of the swing and rotation mechanism of the present invention.

[0021] Among them: 1. Mobile base; 2. Main controller; 3. Hinge seat; 4. Hinge frame; 5. Lifting plate; 6. Hinge connecting pipe; 7. Grouting pipe; 8. Mobile crawler; 9. Support oil cylinder cushion plate; 10. Multi-stage telescopic cylinder; 11. Infrared distance measuring sensor; 12. Guide slide rail; 13. Sliding side plate; 14. Connecting seat; 15. Telescopic oil cylinder; 16. Mobile sprocket; 17. Fixed sprocket; 18. Transmission chain; 19. Rotating disk; 20. Adjusting square groove; 21. Adjusting electric rod; 22. Adjusting square tube; 23. Quick-release plate; 24. Positioning box; 25. Positioning hole; 26. Visual detection head; 27. External tooth ring; 28. Driving gear; 29. Sliding square groove; 30. Rotating square shaft; 31. Driving motor; 32. Quick-release rotating head. Detailed implementation mode

[0022] To deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation to the protection scope of the present invention.

[0023] According to Figures 1 - 5 As shown in the figure, this embodiment provides a movable modular high-pressure jet grouting machine, which includes a mobile base 1, a main controller 2, a hinge seat 3, a hinge frame 4, a lifting drive mechanism, a lifting plate 5, a swinging and rotating mechanism, a hinge connecting pipe 6 and a grouting pipe 7. A main controller 2 is arranged on the mobile base 1. The main controller 2 is built-in with an intelligent control system, and the intelligent control system is used to control the parameter adjustment and operation of the whole device. One end of the mobile base 1 is rotatably provided with a hinge frame 4 through a hinge seat 3. A lifting plate 5 is movably arranged on the hinge frame 4 through a lifting drive mechanism. A swinging and rotating mechanism is arranged between the lifting plate 5 and the front end of the mobile base 1. A hinge connecting pipe 6 is arranged in the swinging and rotating mechanism, and a grouting pipe 7 is installed below the hinge connecting pipe 6.

[0024] A hydraulic system can also be arranged on the mobile base to control the telescopic movement of different hydraulic rods in the device, and is generally adjusted and controlled by the main controller.

[0025] Mobile crawlers 8 are arranged below the mobile base 1. The mobile crawlers are driven by a motor controlled by the main controller. Support oil cylinder pads 9 are symmetrically arranged at the four corners of the mobile base 1 for the overall support and positioning of the device. The other end of the mobile base 1 is connected to the hinge frame 4 through a multi-stage telescopic cylinder 10. Both ends of the multi-stage telescopic cylinder 10 are hinged connections, which are used for the folding and storage of the hinge frame and the adjustment of the tilt angle. An infrared ranging sensor 11 is arranged between the lower part inside the hinge frame 4 and the lifting plate 5. The infrared ranging sensor 11 is electrically connected to the main controller 2 and is used to detect the moving distance of the lifting plate and the number of times of reset, so as to facilitate calculating the depth of the grouting pipe penetrating into the ground.

[0026] The lifting drive mechanism includes a guiding slide rail 12, sliding side plates 13, connecting seats 14, telescopic oil cylinders 15, moving sprockets 16, fixed sprockets 17 and transmission chains 18. Guiding slide rails 12 are symmetrically arranged on both sides of the hinge frame 4. Sliding side plates 13 are symmetrically arranged on both sides of the lifting plate 5 and are slidably matched with the guiding slide rails 12. The side of the sliding side plate close to the guiding slide rail is a sliding seat structure and is slidably matched with the guiding slide rail. Connecting seats 14 are fixedly arranged on the outer sides of the sliding side plates 13. Telescopic oil cylinders 15 are symmetrically and fixedly installed on both sides of the hinge frame 4. Moving sprockets 16 are arranged at the telescopic ends of the telescopic oil cylinders 15. Fixed sprockets 17 are symmetrically arranged up and down on both sides of the hinge frame 4. Transmission chains 18 are wound between the upper and lower sides of the connecting seats 14 and the hinge frame 4.

[0027] There are two sets of moving sprockets 16. One end of the drive chain 18 on the upper side of the connecting seat 14 is fixedly connected thereto, and the other end respectively bypasses the fixed sprocket 17 above the side of the articulated frame 4 and a set of moving sprockets 16 at the telescopic end of the telescopic oil cylinder 15 and is fixed above the side of the articulated frame 4. One end of the drive chain 18 on the lower side of the connecting seat 14 is fixedly connected thereto, and the other end respectively bypasses the fixed sprocket 17 below the side of the articulated frame 4 and the other set of moving sprockets 16 at the telescopic end of the telescopic oil cylinder 15 and is fixed below the side of the articulated frame 4, which is convenient for adjusting the lifting of the lifting plate by driving the telescopic oil cylinder.

[0028] The swing rotation mechanism includes a rotating disk 19, an adjusting square groove 20, an adjusting electric rod 21, an adjusting square cylinder 22, a driving mechanism, a quick-release plate 23, a positioning box 24, a positioning hole 25 and a visual detection head 26. A rotating disk 19 is provided at the front end of the lifting plate 5. The rotating disk and the lifting plate are rotationally adapted through bearing steel balls. An adjusting square groove 20 is provided on the rotating disk 19. An adjusting square cylinder 22 is provided in the adjusting square groove 20 through an adjusting electric rod 21. The adjusting square cylinder is slidably adapted to the adjusting square groove and the center point of the adjusting square cylinder coincides with the center point of the rotating disk after resetting. A driving mechanism is provided between the articulated frame 4 and the rotating disk 19. A positioning box 24 is provided at the front side of the moving base 1 through a quick-release plate 23 for easy disassembly. A positioning hole 25 is provided on the bottom surface of the positioning box 24. The positioning hole can accurately position the construction position of the grouting pipe and guide it at the same time. A visual detection head 26 is provided on the side wall of the positioning box 24 to detect the swinging form and the included angle of the swinging orthographic projection of the grouting pipe in real time during the swinging construction of the grouting pipe, which is convenient for the intelligent control system to calculate the diameter of the swinging form at the lowest end of the grouting pipe.

[0029] The driving mechanism includes an external gear ring 27, a driving gear 28, a sliding square groove 29, a rotating square shaft 30 and a driving motor 31. External gear rings 27 are provided on the upper and lower sides of the rotating disk 19. A driving gear 28 is provided on one side of the rotating disk 19 on the lifting plate 5. The driving gear 28 is meshed with the external gear ring 27 for transmission. A sliding square groove 29 is provided at the center of the driving gear 28. A rotating square shaft 30 is rotatably provided in the articulated frame 4. The rotating square shaft 30 passes through the sliding square groove 29 and is in transmission with the driving gear 28. The driving gear 28 is in bearing connection with the lifting plate 5 for transmission. A driving motor 31 is provided at the upper end of the articulated frame 4. The output end of the driving motor 31 is connected to the rotating square shaft 30 for transmission. The rotating square shaft is driven by the driving motor to drive the driving gear to rotate, realizing the rotation of the rotating plate.

[0030] The visual detection head 26 is electrically connected to the main controller 2. The quick-release plate 23 is inserted into the front end of the moving base 1 and locked and fastened by bolts. The upper end of the adjusting square tube 22 is provided with a quick-release rotating head 32. The articulated connecting pipe 6 is articulated and connected to the lower end of the adjusting square tube 22, and the articulated rotation direction is towards the direction of the adjusting electric rod. The upper end of the adjusting square tube 22 is connected to the lower end of the quick-release rotating head 32 through a hose passing through the inside of the adjusting square tube 22. The upper end of the quick-release rotating head 32 is connected to the external material feeding pipe to realize grouting construction.

[0031] The intelligent control system includes an intelligent detection module, a calculation and simulation module, and an adjustment and control module. The intelligent detection module obtains the rotation and swing data of the grouting pipe 7 and the depth data of the grouting pipe 7 in real time based on sensors. Specifically, it is detected by a visual detection head and an infrared distance sensor. The calculation and simulation module calculates and performs real-time three-dimensional simulation of the depth and rotation form of the grouting pipe 7 based on the obtained data. The adjustment and control module controls the swing mechanism to adjust the swing amplitude of the grouting pipe 7 based on the calculated data to obtain consolidated bodies with different diameters.

[0032] The calculation and simulation module includes a data calculation sub-module and a three-dimensional simulation sub-module. The data calculation sub-module calculates the swing diameter at the lowermost end based on the depth data and the swing angle data of the grouting pipe 7 detected in real time. The three-dimensional simulation sub-module simulates the motion form of the grouting pipe 7 based on three-dimensional software and in combination with the real-time data obtained.

[0033] Regarding the calculation of the swing diameter, the orthographic projection graph of the swing of the grouting pipe is obtained through the visual detection head, and two intersecting "lines", that is, the axis of the grouting pipe, form two isosceles triangles with equal vertex angles. Then, combined with the length data of the grouting pipe, which is equivalent to the waist length of the isosceles triangle, the bottom side is calculated through the sine theorem or the cosine theorem. The bottom side is the upper and lower end diameters of the swing of the grouting pipe.

[0034] The adjustment and control module includes an instruction generation sub-module and a control sub-module. The instruction generation sub-module generates a compensation adjustment instruction based on the data deviation calculated by the calculation and simulation module. The control sub-module automatically adjusts the operating parameters of the device based on the compensation adjustment instruction.

[0035] When the movable modular high-pressure jet grouting machine is used, the device is moved to the designated position, and then the positioning box is installed. The position of the device is adjusted through the precise positioning of the positioning holes, and then the construction can be carried out by unfolding the multi-section telescopic rod;

[0036] During construction, the intelligent control system is used to detect the device in real time and adjust the operating parameters of the device. The position of the adjusting square tube is controlled by the adjusting electric rod, so as to control the swing of the grouting pipe and realize the construction of consolidated bodies with different diameters.

[0037] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A movable modular high-pressure jet grouting machine, characterized in that: It includes a mobile base (1), a main controller (2), a hinge seat (3), a hinge frame (4), a lifting drive mechanism, a lifting plate (5), a swinging and rotating mechanism, a hinge connecting pipe (6) and a grouting pipe (7). A main controller (2) is provided on the mobile base (1), and an intelligent control system is built in the main controller (2). The intelligent control system is used to control the parameter adjustment and operation of the whole device. One end of the mobile base (1) is provided with a hinge frame (4) through a hinge seat (3). A lifting plate (5) is provided on the hinge frame (4) through a lifting drive mechanism. A swinging and rotating mechanism is provided between the lifting plate (5) and the front end of the mobile base (1). A hinge connecting pipe (6) is provided in the swinging and rotating mechanism, and a grouting pipe (7) is provided below the hinge connecting pipe (6).

2. The movable modular high-pressure jet grouting machine according to claim 1, characterized in that: Mobile tracks (8) are provided below the mobile base (1). Support oil cylinder pads (9) are symmetrically provided at the four corners of the mobile base (1). The other end of the mobile base (1) is connected to the hinge frame (4) through a multi-stage telescopic cylinder (10). Both ends of the multi-stage telescopic cylinder (10) are hinged. An infrared distance measuring sensor (11) is provided between the lower part inside the hinge frame (4) and the lifting plate (5). The infrared distance measuring sensor (11) is electrically connected to the main controller (2).

3. A movable modular high-pressure jet grouting machine according to claim 1, characterized in that: The lifting drive mechanism includes a guiding slide rail (12), sliding side plates (13), connecting seats (14), telescopic oil cylinders (15), moving sprockets (16), fixed sprockets (17) and transmission chains (18). Guiding slide rails (12) are symmetrically provided on both sides of the hinge frame (4). Sliding side plates (13) are symmetrically provided on both sides of the lifting plate (5) and are slidably adapted to the guiding slide rails (12). Connecting seats (14) are provided on the outer sides of the sliding side plates (13). Telescopic oil cylinders (15) are symmetrically provided on both sides of the hinge frame (4). Moving sprockets (16) are provided at the telescopic ends of the telescopic oil cylinders (15). Fixed sprockets (17) are symmetrically provided on the upper and lower sides of both sides of the hinge frame (4). Transmission chains (18) are wound between the upper and lower sides of the connecting seats (14) and the hinge frame (4).

4. The mobile modular high-pressure jet grouting machine according to claim 3, characterized in that: There are two groups of moving sprockets (16). One end of the transmission chain (18) on the upper side of the connecting seat (14) is fixedly connected to it, and the other end respectively bypasses the fixed sprocket (17) above the side of the hinge frame (4) and a group of the moving sprockets (16) at the telescopic end of the telescopic oil cylinder (15) and is fixed to the upper side of the side of the hinge frame (4). One end of the transmission chain (18) on the lower side of the connecting seat (14) is fixedly connected to it, and the other end respectively bypasses the fixed sprocket (17) below the side of the hinge frame (4) and the other group of the moving sprockets (16) at the telescopic end of the telescopic oil cylinder (15) and is fixed to the lower side of the side of the hinge frame (4).

5. The movable modular high-pressure jet grouting machine according to claim 1, characterized in that: The swing and rotation mechanism includes a rotating disk (19), an adjusting square groove (20), an adjusting electric rod (21), an adjusting square cylinder (22), a driving mechanism, a quick-release plate (23), a positioning box (24), a positioning hole (25), and a vision detection head (26). A rotating disk (19) is provided at the front end of the lifting plate (5). An adjusting square groove (20) is provided on the rotating disk (19). An adjusting square cylinder (22) is provided in the adjusting square groove (20) through an adjusting electric rod (21). A driving mechanism is provided between the articulated frame (4) and the rotating disk (19). A positioning box (24) is provided on the front side of the moving base (1) through a quick-release plate (23). A positioning hole (25) is provided on the bottom surface of the positioning box (24). A vision detection head (26) is provided on the side wall of the positioning box (24).

6. The movable modular high-pressure jet grouting machine according to claim 5, wherein: The driving mechanism includes an external gear ring (27), a driving gear (28), a sliding square groove (29), a rotating square shaft (30), and a driving motor (31). External gear rings (27) are provided on the upper and lower sides of the rotating disk (19). A driving gear (28) is provided on one side of the rotating disk (19) on the lifting plate (5). The driving gear (28) is meshed with the external gear ring (27) for transmission. A sliding square groove (29) is provided at the center of the driving gear (28). A rotating square shaft (30) is provided inside the articulated frame (4). The rotating square shaft (30) passes through the sliding square groove (29) to be in transmission with the driving gear (28). The driving gear (28) is in bearing connection and transmission with the lifting plate (5). A driving motor (31) is provided at the upper end of the articulated frame (4). The output end of the driving motor (31) is connected to the rotating square shaft (30) for transmission.

7. A movable modular high-pressure jet grouting machine according to claim 5, characterized in that: The vision detection head (26) is electrically connected to the main controller (2). The quick-release plate (23) is inserted into the front end of the moving base (1) and locked and fastened by bolts. A quick-release rotating head (32) is provided at the upper end of the adjusting square cylinder (22). The articulated connecting pipe (6) is hinged to the lower end of the adjusting square cylinder (22). The upper end of the adjusting square cylinder (22) is connected to the lower end of the quick-release rotating head (32) through a hose passing through the inside of the adjusting square cylinder (22). The upper end of the quick-release rotating head (32) is connected to an external feeding pipe.

8. A movable modular high-pressure jet grouting machine according to claim 1, characterized in that: The intelligent control system includes an intelligent detection module, a calculation and simulation module, and an adjustment and control module. The intelligent detection module obtains the rotation and swing data of the grouting pipe (7) and the depth data of the grouting pipe (7) in real time based on sensors. The calculation and simulation module calculates and performs real-time three-dimensional simulation of the depth and rotation form of the grouting pipe (7) based on the obtained data. The adjustment and control module controls the swing and rotation mechanism to adjust the swing amplitude of the grouting pipe (7) based on the calculated data to obtain consolidated bodies with different diameters.

9. The movable modular high-pressure jet grouting machine according to claim 8, wherein: The calculation and simulation module includes a data calculation sub-module and a three-dimensional simulation sub-module. The data calculation sub-module calculates the swing diameter at the lowermost end based on the real-time detected depth data and the swing angle data of the grouting pipe (7). The three-dimensional simulation sub-module simulates the motion form of the grouting pipe (7) based on three-dimensional software and in combination with the obtained real-time data.

10. A movable modular high-pressure jet grouting machine according to claim 8, characterized in that: The adjustment control module includes an instruction generation sub-module and a control sub-module. The instruction generation sub-module generates a compensation adjustment instruction based on the data deviation calculated by the computational simulation module, and the control sub-module automatically adjusts the operating parameters of the device based on the compensation adjustment instruction.

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