Movable sand blasting backfilling device and construction method thereof

Abstract

The invention provides a movable sand blasting backfilling device which comprises a mounting frame, a sand pumping part, a sand storage hopper, a sand blasting part, a self-adaptive tire assembly, a laser sensing assembly, a magnetic attraction part and a driving part, the sand storage hopper is mounted on the mounting frame, and the sand blasting part is mounted at the bottom of the sand storage hopper and communicates with the sand storage hopper; the sand pumping part is arranged on the side, away from the sand blasting part, of the sand storage hopper and located on the two opposite sides of the sand storage hopper, the self-adaptive tire assembly is arranged at the bottom of the sand storage hopper and extends in the direction of the pre-backfilling pipe, and the laser sensing assembly is arranged on the mounting frame and corresponds to the pre-backfilling pipe; the magnetic attraction part is mounted at the bottom of the mounting frame; the driving part is connected with the mounting frame and can drive the mounting frame to move in the length direction of the pre-backfilling pipe. The invention further provides a construction method of the movable sand blasting backfilling device. The common problems of high cost, low efficiency and the like in the backfilling construction process can be solved.

Description

Technical field

[0001] The invention relates to the technical field of water conservancy project construction, and in particular to a movable sandblasting backfilling device and a construction method thereof. [Background Technology]

[0002] In water conservancy projects, prestressed concrete cylinder pipe (PCCP) is widely used in long-distance water transmission projects due to its high strength, corrosion resistance, and long life. Traditional PCCP pipeline backfill construction faces challenges such as low efficiency, poor uniformity, and insufficient compaction. This is particularly true in narrow trenches and complex terrain (such as steep slopes and soft soil areas). Manual backfilling can easily lead to eccentric compression of the pipe body and sand and gravel segregation. Existing equipment suffers from shortcomings such as poor maneuverability and low adaptability (requiring frequent pipe diameter adjustments). Currently, key technical issues in backfilling include backfill material selection, layered compaction and density control, backfill symmetry and construction sequence, groundwater and drainage measures, and addressing unique geological conditions. However, these methods are often complex and costly, and often cannot completely prevent pipe buoyancy and joint leakage. During construction, limitations in construction technology and equipment make it difficult to effectively improve backfill efficiency, while remaining costly. This makes backfilling a persistent construction challenge.

[0003] Therefore, there is an urgent need to provide a simple and efficient backfill construction device and a construction method thereof to solve the problems existing in the prior art. [Summary of the invention]

[0004] The present invention aims to solve at least one of the above-mentioned technical problems and provide a movable sandblasting backfill device and a construction method thereof, which can solve the common problems of high cost and low efficiency in the backfill construction process.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A movable sandblasting and backfilling device comprises a mounting frame, a sand extraction component, a sand storage hopper, a sand blasting component, an adaptive tire assembly, a laser sensor assembly, a magnetic component and a driving component, wherein the sand storage hopper is mounted on the mounting frame, the sand blasting component is mounted at the bottom of the sand storage hopper and is connected to the sand storage hopper, the sand extraction component is mounted on the side of the sand storage hopper away from the sand blasting component and is located on opposite sides of the sand storage hopper, the adaptive tire assembly is mounted at the bottom of the sand storage hopper and extends toward a pre-backfilling pipe, the laser sensor assembly is mounted on the mounting frame and corresponds to the pre-backfilling pipe; the magnetic component is mounted at the bottom of the mounting frame; the driving component is connected to the mounting frame, and the driving component can drive the mounting frame to move along the length direction of the pre-backfilling pipe.

[0007] Further, the mounting frame includes a bottom mounting frame, a middle connecting steel, and a top mounting frame. The bottom mounting frame and the top mounting frame are parallel to each other and are spaced apart from low to high in the direction perpendicular to the ground. The middle connecting steel connects the bottom mounting frame and the top mounting frame. The sand storage hopper is connected to both the bottom mounting frame and the top mounting frame. The laser sensing assembly is installed on the bottom mounting frame. The magnetic attracting member is installed on the bottom mounting frame. The driving member is connected to the middle connecting steel.

[0008] Further, three sand storage spaces are provided in the sand storage hopper, and the three sand storage spaces are arranged side by side in the sand storage hopper. One sand storage space is correspondingly installed with one sand blasting member.

[0009] Further, the sand pumping member includes a sand pump and a hose. The sand pumps are installed on opposite sides of the sand storage hopper, and the hose is connected to the sand pump and extends to the sand supply location.

[0010] Further, the adaptive tire assembly includes two outer tire groups and one intermediate tire group. The two outer tire groups are installed on opposite sides of the bottom mounting frame and are both inclined towards the midline of the sand storage hopper. The tire diameter of the outer tire group is parallel to the diameter of the pre-backfill pipe. The intermediate tire group is installed in the middle of the bottom mounting frame. The intermediate tire group includes two hydraulically adjustable rubber tires, and the diameters of the two hydraulically adjustable rubber tires extend in opposite directions. The centerlines of the hydraulically adjustable rubber tires of the outer tire group and the intermediate tire group are perpendicular to the centerline of the pre-backfill pipe.

[0011] Further, a compaction assembly is further included. The compaction assembly includes a high-frequency vibrator and a pre-pressing plate. The high-frequency vibrator is installed on the bottom mounting frame and is located at the bottom of the sand storage hopper. The pre-pressing plate is connected to the high-frequency vibrator.

[0012] Further, a backfill control system is further included. The backfill control system includes a dielectric constant sensor, a gamma ray densitometer, a pre-backfill pipe three-dimensional generation module, a saturation monitoring and analysis module, an alarm module, a host computer, and a control module.

[0013] The dielectric constant sensor is installed behind the movement of the mounting frame, and the gamma ray densitometer is connected to the dielectric constant sensor.

[0014] The pre-backfill pipe three-dimensional generation module is connected to the laser sensing assembly. The laser sensing assembly is used to scan the groove cross-section of the pre-backfill pipe. The pre-backfill pipe three-dimensional generation module generates a three-dimensional point cloud model through the scanning results of the laser sensing assembly.

[0015] The fullness monitoring and analysis module is connected to the laser sensing component, the dielectric constant sensor, and the gamma ray densitometer to analyze the moisture content and compactness data of the backfill layer after sandblasting backfill;

[0016] The host computer is connected to the fullness monitoring and analysis module, the three-dimensional generation module of the pre-backfill pipe, and the alarm module. The host computer is used to process the data of the fullness monitoring and analysis module, the three-dimensional generation module of the pre-backfill pipe, and the alarm module and generate control instructions;

[0017] The control module is connected to the host computer, the sandblasting component, the high-frequency vibrator, the magnetic attracting component, and the driving component. The control module is used to receive the control instructions from the host computer and control the host computer, the sandblasting component, the high-frequency vibrator, the magnetic attracting component, and the driving component to complete corresponding operations.

[0018] A construction method of a movable sandblasting backfill device is applicable to the above-mentioned movable sandblasting backfill device, and includes the following steps:

[0019] Step 1: Preparation work

[0020] S1. Gradation optimization: According to the pipe diameter of the pre-backfill pipe and the geological conditions, select sand and gravel materials to ensure fluidity and compaction. Among them, the particle size of the sand and gravel materials ≤ 20mm, and the mud content ≤ 3%;

[0021] S2. Positioning and calibration: The laser sensing component scans the cross-section of the pipe trench of the pre-backfill pipe, generates a three-dimensional point cloud model in the three-dimensional generation module of the pre-backfill pipe, and plans the equipment walking path and spraying parameters;

[0022] Step 2: Equipment installation and commissioning

[0023] S1. Cross-pipe positioning: Use a hoisting device to install the installation frame on the top of the pre-backfill pipe. The magnetic attracting component magnetizes on the surface of the pre-backfill pipe, and makes the adaptive tire assembly abut against the outer surface of the pre-backfill pipe;

[0024] S2. Pipeline connection: Lay a flexible sand transportation pipe from the slope top to the sand pumping component and connect the flexible sand transportation pipe to the hose. Start the sand pump for no-load commissioning. Among them, the hose uses a pipe with a pressure resistance ≥ 1.0 MPa;

[0025] Step 3: Sandblasting backfill and compaction

[0026] S1. Layered spraying: When backfilling the axil angle of the pre-backfill pipe, adjust the nozzle of the sandblasting component to 45° downward. The control module controls the driving component, the sandblasting component, and the compaction component to operate, and high-speed sprays sand and gravel to fill the bottom gap of the pre-backfill pipe. The laser sensing component monitors the filling fullness in real time;

[0027] S2. Synchronous compaction: The compaction component pre-compacts the backfill layer. The frequency of the high-frequency vibrator is 30 Hz. After the compactness ≥ 93%, the next layer of backfill operation is entered.

[0028] Step Four: Movement and continuous operation

[0029] S1. Automatic cruise: After the backfill of the current section is completed, the magnetic attraction member is released, and the equipment moves along the axis of the pre-backfill pipe to the next working station, and the cyclic operation is carried out until the whole line is completed.

[0030] Step Five: Quality closed-loop control

[0031] S1. Online detection: The dielectric constant sensor and the γ-ray density meter are used to real-time feedback the moisture content and compactness data of the backfill layer. The alarm module detects the results of the moisture content and compactness data, automatically alarms when exceeding the limit, and the upper computer generates an instruction to control the sandblasting member and the driving member to act through the control module for re-compaction.

[0032] Further, in Step Three, when symmetrically backfilling on the side of the pre-backfill pipe, the nozzle of the sandblasting member is switched to the horizontal direction, the equipment moves at a uniform speed of 0.8 m / min, and sand and gravel are synchronously sprayed on both sides to a height of 30 cm above the pipe top.

[0033] Due to the adoption of the above technical solutions, the present invention has the following beneficial effects:

[0034] Through this device and construction method, the quality of the backfill construction can be effectively controlled, the quality problems caused by slow backfill speed, uneven backfill, etc. can be reduced, thereby improving the stability and safety of the backfill, reducing the construction cost and construction period, and ensuring the continuous operation of the pipeline project. Reduce construction risks, reduce maintenance costs, and extend the service life of underground projects.

Description of the drawings

[0035] Figure 1 It is a schematic structural diagram of the movable sandblasting backfill device in the present invention.

[0036] Figure 2 It is Figure 1 The rear structural schematic diagram of

[0037] Figure 3 It is a schematic diagram of the backfill control system.

[0038] In the accompanying drawings, 1-mounting frame, 11-bottom mounting frame, 12-middle connecting steel, 13-top mounting frame, 2-sand extraction parts, 21-sand extraction pump, 22-hose, 3-sand storage hopper, 4-sand blasting parts, 5-adaptive tire assembly, 51-outer tire group, 52-interval tire group, 6-laser sensor assembly, 7-compacting assembly, 71-high frequency vibrator, 72-pre-compression plate, 81-pre-backfill pipe three-dimensional generation module, 82-fullness monitoring and analysis module, 83-alarm module, 84-host computer, 85-control module, 9-magnetic suction parts, 100-pre-backfill pipe. [Specific implementation method]

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a central component. When a component is referred to as being "disposed on" another component, it may be directly on the other component or there may be a central component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] like Figures 1 to 3 As shown, a preferred embodiment of the present invention provides a movable sandblasting backfilling device, including a mounting frame 1, a sand extraction component 2, a sand storage hopper 3, a sand blasting component 4, an adaptive tire assembly 5, a laser sensor assembly 6, a magnetic component 9 and a driving component. The sand storage hopper 3 is mounted on the mounting frame 1, the sand blasting component 4 is mounted at the bottom of the sand storage hopper 3 and is connected to the sand storage hopper 3, the sand extraction component 2 is mounted on the side of the sand storage hopper 3 away from the sand blasting component 4 and is located on the opposite sides of the sand storage hopper 3, the adaptive tire assembly 5 is mounted on the bottom of the sand storage hopper 3 and extends toward the direction of the pre-backfilling pipe 100, the laser sensor assembly 6 is mounted on the mounting frame 1 and corresponds to the pre-backfilling pipe 100; the magnetic component 9 is mounted at the bottom of the mounting frame 1; the driving component is connected to the mounting frame 1, and the driving component can drive the mounting frame 1 to move along the length direction of the pre-backfilling pipe 100.

[0043] In this embodiment, the mounting frame 1 includes a bottom mounting frame 11, a middle connecting steel 12 and a top mounting frame 13. The bottom mounting frame 11 and the top mounting frame 13 are parallel to each other and are spaced apart from low to high in the direction perpendicular to the ground. The middle connecting steel 12 connects the bottom mounting frame 11 and the top mounting frame 13. The sand storage hopper 3 is welded to both the bottom mounting frame 11 and the top mounting frame 13. Specifically, the mounting frame 1 is a truss structure, and the sand storage hopper 3 is welded in the truss. The laser sensing assembly 6 is installed on the bottom mounting frame 11. The magnetic attracting member 9 is installed on the bottom mounting frame 11. Since a large number of steel bars are buried in the PCCP pipe as a skeleton, the magnetic attracting member 9 uses a steel plate lifting strong electro-permanent magnetic chuck of the brand Lici Electric and the model EPML-3080. When the bottom mounting frame 11 is erected on the pre-backfilled pipe 100, the magnetic attracting member 9 can be adsorbed on the surface of the pre-backfilled pipe 100 after being activated. The driving member is connected to the middle connecting steel 12. Specifically, the driving member is a winch in the prior art. The winches are respectively arranged at opposite ends of the pre-backfilled pipe 100 and are connected to the middle connecting steel 12 before and after the mounting frame 1 to pull the mounting frame 1 to move along the length direction of the pre-backfilled pipe 100.

[0044] In this embodiment, three sand storage spaces are provided in the sand storage hopper 3, and the three sand storage spaces are arranged side by side in the sand storage hopper 3; a sand blasting member 4 is correspondingly installed in one sand storage space, and the sand blasting member 4 uses a rotary adjustable angle sand blasting nozzle in the prior art. The sand pumping member 2 pumps the sand and gravel into the sand storage hopper 3 and then sprays it out by the sand blasting member 4. Since the sand storage hopper 3 is funnel-shaped and the nozzle diameter of the sand blasting member 4 is much smaller than that of the sand storage hopper 3, a Venturi tube is formed between the sand storage hopper 3 and the sand blasting member 4, which can accelerate the spraying of the sand and gravel and improve the sand blasting efficiency. In addition, the three sand blasting members 4 can correspond to both sides and the interval of two side-by-side pre-backfilled pipes 100. When the device operates, the corresponding positions can be sand blasted simultaneously, which can effectively avoid the situation that the pipeline tilts to one side or floats up.

[0045] In this embodiment, the sand pumping member 2 includes a sand pump 21 and a hose 22. Sand pumps 21 are installed on opposite sides of the sand storage hopper 3. The sand pump 21 uses a high-power centrifugal sand pump in the prior art, and its flow rate ≥ 50m 3 / h. The hose 22 is connected to the sand pump 21 and extends to the sand and gravel supply place. When the sand pump 21 operates, the sand and gravel can be sucked into the sand storage hopper 3 through the hose 22. In the foregoing process, since the sand storage hopper 3 is closed during operation and the open end of the hose 22 extends into the sand and gravel, a closed pneumatic conveying is formed during the sand pumping process, which has the effect of reducing sand and gravel dust and reducing the PM10 emission by 90%.

[0046] In this embodiment, the adaptive tire assembly includes two sets of outer tire groups 51 and one set of spaced tire groups 52. Both the outer tire groups 51 and the spaced tire groups 52 are hydraulic adjustable rubber tires in the prior art. The two outer tire groups 51 are installed on opposite sides of the bottom mounting frame 11 and are inclined towards the midline of the sand storage hopper 3. The tire diameter of the outer tire group 51 is parallel to the diameter of the pre-backfill pipe 100, so that the tire surface of the outer tire group 51 can abut against the pre-backfill pipe 100. The spaced tire group 52 is installed in the middle of the bottom mounting frame 11. The spaced tire group 52 includes two hydraulic adjustable rubber tires that extend in opposite directions. The diameter of each hydraulic adjustable rubber tire is parallel to the diameter of the corresponding pre-backfill pipe 100, so that the tire surface of the spaced tire group 52 can abut against the corresponding pre-backfill pipe 100. The centerlines of the adaptive tires of the outer tire groups 51 and the spaced tire groups 52 are perpendicular to the centerline of the pre-backfill pipe 100. When the mounting frame 1 moves, the abutting tire 56 can roll along the outer surface of the pre-backfill pipe 100 in the length direction, and the setting of the socket spring 53 can keep the abutting tire 56 in contact with the pre-backfill pipe 100.

[0047] In this embodiment, the movable sandblasting and backfilling device further includes a compaction assembly 7. The compaction assembly 7 includes a high-frequency vibrator 71 and a pre-pressing plate 72. The high-frequency vibrator 71 is installed on the bottom mounting frame 11 and is located on both sides and in the middle of the bottom of the sand storage hopper 3. The pre-pressing plate 72 is connected to the high-frequency vibrator 71. During the backfilling operation, the high-frequency vibrator 71 is started, and the pre-pressing plate 72 reciprocates up and down towards the ground direction, so that the pre-pressing plate 72 can compact the backfilled area.

[0048] In this embodiment, the movable sandblasting and backfilling device further includes a backfilling control system. The backfilling control system includes a dielectric constant sensor, a gamma ray densitometer, a pre-backfill pipe three-dimensional generation module 81, a saturation monitoring and analysis module 82, an alarm module 83, a host computer 84, and a control module 85;

[0049] The dielectric constant sensor is installed behind the movement of the mounting frame 1, and the gamma ray densitometer is connected to the dielectric constant sensor;

[0050] The pre-backfill pipe three-dimensional generation module 81 is connected to the laser sensing assembly 6. The laser sensing assembly 6 is used to scan the groove cross-section of the pre-backfill pipe 100 and the depth of sand and gravel backfilling. The pre-backfill pipe three-dimensional generation module 81 generates a three-dimensional point cloud model based on the scanning results of the laser sensing assembly 6;

[0051] The saturation monitoring and analysis module 82 is connected to the laser sensing assembly 6, the dielectric constant sensor, and the gamma ray densitometer to analyze the moisture content and density data of the backfilled layer after sandblasting and backfilling;

[0052] The host computer 84 is connected to the fullness monitoring and analysis module 82, the three-dimensional generation module 81 of the pre-backfill pipe, and the alarm module 83. The host computer 84 is used to process the data of the fullness monitoring and analysis module 82, the three-dimensional generation module 81 of the pre-backfill pipe, and the alarm module 83 and generate control instructions.

[0053] The control module 85 is connected to the host computer 84, the sandblasting part 4, the high-frequency vibrator 71, the magnetic attracting part 9, and the driving part. The control module 85 is used to receive the control instructions from the host computer 84 and control the host computer 84, the sandblasting part 4, the high-frequency vibrator 71, the magnetic attracting part 9, and the driving part to complete the corresponding operations.

[0054] This embodiment also provides a construction method for a movable sandblasting and backfilling device, which is used for the above-mentioned movable sandblasting and backfilling device, and includes the following steps:

[0055] Step 1: Preparation work

[0056] S1. Gradation optimization: According to the pipe diameter of the pre-backfill pipe 100 and the geological conditions, select sand and gravel materials to ensure fluidity and compaction. Among them, the particle size of the sand and gravel materials is ≤20 mm, and the mud content is ≤3%.

[0057] S2. Positioning and calibration: The laser sensing component 6 scans the pipe trench section of the pre-backfill pipe 100 to generate a three-dimensional point cloud model in the three-dimensional generation module 81 of the pre-backfill pipe, and plan the equipment walking path and spraying parameters.

[0058] Step 2: Equipment installation and commissioning

[0059] S1. Cross-pipe positioning: Use a hoisting device to install the mounting frame 1 on the top of the pre-backfill pipe 100. The magnetic attracting part 9 is magnetically attracted to the surface of the pre-backfill pipe 100, and the tire surfaces of the hydraulic adjustable rubber tires of the outer tire group 51 and the spaced tire group 52 are in contact with the outer surface of the pre-backfill pipe 100.

[0060] S2. Pipeline connection: Lay a flexible sand delivery pipe from the top of the slope to the sand pumping part 2 and connect the flexible sand delivery pipe to the hose 22. Start the sand pump 21 for no-load trial operation. Among them, the hose 22 uses a pipe with a pressure resistance ≥1.0 MPa.

[0061] Step 3: Sandblasting backfill and compaction

[0062] S1. Layered spraying: When backfilling the axillary angle of the pre-backfill pipe 100, adjust the nozzle of the sandblasting part 4 to 45° downward. The control module 85 controls the driving part, the sandblasting part 4, and the compaction component 7 to operate, and fills the bottom gap of the pre-backfill pipe 100 with high-speed sprayed sand and gravel. The laser sensing component 6 monitors the filling fullness in real time.

[0063] S2. Synchronous compaction: The compaction component 7 pre-compacts the backfill layer. The frequency of the high-frequency vibrator 71 is 30 Hz. After the compactness ≥ 93%, the next layer of backfill operation is entered.

[0064] Step Four: Movement and continuous operation

[0065] S1. Automatic cruise: After the backfill of the current section is completed, the magnetic attraction part 9 is released, and the equipment moves along the axis of the pre-backfill pipe 100 to the next working station, and circulates until the whole line is completed.

[0066] Step Five: Quality closed-loop control

[0067] S1. Online detection: The water content and compactness data of the backfill layer are real-time fed back through the dielectric constant sensor and the γ-ray densitometer. The alarm module 83 detects the results of the water content and compactness data. When it exceeds the limit, it automatically alarms, and the upper computer 84 generates an instruction to control the sandblasting part 4 and the driving part through the control module 85 to perform recompaction.

[0068] In this embodiment, in Step Three, when symmetrically backfilling the side of the pre-backfill pipe 100, the nozzle of the sandblasting part 4 is switched to the horizontal direction, the equipment moves at a uniform speed of 0.8 m / min, and sand and gravel are synchronously sprayed to a height of 30 cm above the pipe top on both sides.

[0069] Adopting the device and method of this embodiment can achieve the following technical effects:

[0070] 1. High-efficiency mobility: The cross-pipe walking design breaks through the terrain limit, without the need to build additional construction access roads, and the efficiency is more than 3 times higher than that of traditional hoisting and manual backfilling.

[0071] 2. Precise and uniform control: The combination of double-pump symmetric spraying and laser guiding technology makes the deviation of the uniform degree of sand and gravel falling ≤ 5%, significantly reducing the difference in soil pressure on the pipe side.

[0072] 3. Intelligent closed-loop system: Relying on the technology of the integration of PLC and sensors, the whole process of "spraying - detecting - adjusting" is automated, meeting the strict requirements of GB50268 for backfill compactness.

[0073] 4. Environmental protection and energy consumption reduction: Since the sand and gravel are sucked through the hose 22 and sprayed out through the sandblasting part 4, the closed pneumatic conveying of sand and gravel is realized. The closed pneumatic conveying reduces the dust of sand and gravel, and reduces the PM10 emission by 90% compared with the open dumping process.

[0074] The above description is a detailed description of the preferred and feasible embodiment of the present invention, but the embodiment is not used to limit the scope of the patent application of the present invention. Any equivalent changes or modifications completed under the technical spirit prompted by the present invention should fall within the scope of the patent covered by the present invention.

Claims

1. A movable sandblasting and backfilling device, characterized in that: The invention comprises a mounting frame (1), a sand pumping component (2), a sand storage hopper (3), a sand blasting component (4), an adaptive tire assembly (5), a laser sensor assembly (6), a magnetic attraction component (9) and a driving component, wherein the sand storage hopper (3) is mounted on the mounting frame (1), the sand blasting component (4) is mounted on the bottom of the sand storage hopper (3) and is in communication with the sand storage hopper (3), the sand pumping component (2) is mounted on a side of the sand storage hopper (3) away from the sand blasting component (4) and is located on the side of the sand storage hopper (3) On opposite sides of the sand storage hopper (3), the adaptive tire assembly (5) is installed at the bottom of the sand storage hopper (3) and extends in the direction of the pre-backfilling pipe (100); the laser sensor assembly (6) is installed on the mounting frame (1) and corresponds to the pre-backfilling pipe (100); the magnetic attraction member (9) is installed at the bottom of the mounting frame (1); the driving member is connected to the mounting frame (1), and the driving member can drive the mounting frame (1) to move along the length direction of the pre-backfilling pipe (100).

2. The mobile sandblasting and backfilling device according to claim 1, wherein: The mounting frame (1) comprises a bottom mounting frame (11), a middle connecting steel (12) and a top mounting frame (13); the bottom mounting frame (11) and the top mounting frame (13) are parallel to each other and spaced from low to high in a direction perpendicular to the ground; the middle connecting steel (12) connects the bottom mounting frame (11) and the top mounting frame (13); the sand storage hopper (3) is connected to both the bottom mounting frame (11) and the top mounting frame (13); the laser sensor assembly (6) is mounted on the bottom mounting frame (11); the magnetic attraction component (9) is mounted on the bottom mounting frame (11); and the driving component is connected to the middle connecting steel (12).

3. The mobile sandblasting and backfilling device according to claim 2, wherein: Three sand storage spaces are provided in the sand storage hopper (3), and the three sand storage spaces are located side by side in the sand storage hopper (3); and one sand blasting component (4) is correspondingly installed in each sand storage space.

4. The mobile sandblasting and backfilling device according to claim 3, characterized in that: The sand pumping unit (2) comprises a sand pump (21) and a hose (22). The sand pumps (21) are installed on opposite sides of the sand storage hopper (3). The hose (22) is connected to the sand pump (21) and extends to a sand and gravel supply location.

5. The mobile sandblasting and backfilling device according to claim 4, wherein: The adaptive tire assembly comprises two outer tire groups (51) and one spacer tire group (52), the two outer tire groups (51) are mounted on opposite sides of the bottom mounting frame (11) and are both inclined toward the center line of the sand storage hopper (3), the tire diameter of the outer tire group (51) is parallel to the diameter of the pre-backfilling pipe (100); the spacer tire group (52) is mounted in the middle of the bottom mounting frame (11), the spacer tire group (52) comprises two hydraulically adjustable rubber tires, and the diameters of the two hydraulically adjustable rubber tires extend in directions away from each other; the center lines of the hydraulically adjustable rubber tires of the outer tire group (51) and the spacer tire group (52) are perpendicular to the center line of the pre-backfilling pipe (100).

6. The mobile sandblasting and backfilling device according to claim 4, wherein: It further includes a compaction component (7), and the compaction component (7) includes a high-frequency vibrator (71) and a pre-pressing plate (72). The high-frequency vibrator (71) is installed on the bottom mounting frame (11) and is located at the bottom of the sand storage hopper (3), and the pre-pressing plate (72) is connected to the high-frequency vibrator (71).

7. The mobile sandblasting and backfilling device according to claim 6, characterized in that: It further includes a backfill control system, and the backfill control system includes a dielectric constant sensor, a gamma ray densitometer, a three-dimensional generation module (81) for the pre-backfill pipe, a saturation monitoring and analysis module (82), an alarm module (83), a host computer (84), and a control module (85); The dielectric constant sensor is installed behind the movement of the mounting frame (1), and the gamma ray densitometer is connected to the dielectric constant sensor; The three-dimensional generation module (81) for the pre-backfill pipe is connected to the laser sensing component (6). The laser sensing component (6) is used to scan the groove cross-section of the pre-backfill pipe (100), and the three-dimensional generation module (81) for the pre-backfill pipe generates a three-dimensional point cloud model through the scanning result of the laser sensing component (6); The saturation monitoring and analysis module (82) is connected to the laser sensing component (6), the dielectric constant sensor, and the gamma ray densitometer to analyze the moisture content and density data of the backfill layer after sandblasting backfill; The host computer (84) is connected to the saturation monitoring and analysis module (82), the three-dimensional generation module (81) for the pre-backfill pipe, and the alarm module (83). The host computer (84) is used for the data of the saturation monitoring and analysis module (82), the three-dimensional generation module (81) for the pre-backfill pipe, and the alarm module (83) and generates control instructions; The control module (85) is connected to the host computer (84), the sandblasting component (4), the high-frequency vibrator (71), the magnetic attraction component (9), and the driving component. The control module (85) is used to receive the control instructions from the host computer (84) and control the host computer (84), the sandblasting component (4), the high-frequency vibrator (71), the magnetic attraction component (9), and the driving component to complete corresponding operations.

8. Construction method of a movable sandblasting and backfilling device, characterized in that, It is applicable to a movable sandblasting backfill device as claimed in claim 7, including the following steps: Step 1: Preparation work S1. Gradation optimization: According to the pipe diameter of the pre-backfill pipe (100) and the geological conditions, select sand and gravel materials to ensure fluidity and compaction. Among them, the particle size of the sand and gravel materials ≤ 20 mm, and the mud content ≤ 3%; S2. Positioning and calibration: The laser sensing component (6) scans the pipe groove cross-section of the pre-backfill pipe (100), generates a three-dimensional point cloud model in the three-dimensional generation module (81) for the pre-backfill pipe, and plans the equipment walking path and spraying parameters; Step 2: Equipment installation and commissioning S1. Cross-pipe positioning: Use a hoisting device to place the mounting frame (1) on the top of the pre-backfill pipe (100), the magnetic attraction component (9) magnetically adheres to the surface of the pre-backfill pipe (100), and make the adaptive tire assembly abut against the outer surface of the pre-backfill pipe (100); S2. Pipeline connection: Lay a flexible sand conveying pipe from the slope top to the sand pumping component (2) and connect the flexible sand conveying pipe to the hose (22). Start the sand pump (21) for no-load commissioning. Among them, the hose (22) uses a pipeline with a pressure resistance ≥ 1.0 MPa; Step Three: Sandblasting Backfilling and Compaction S1. Layered spraying: When backfilling the armpit angle of the pre-backfilling pipe (100), adjust the nozzle of the sandblasting component (4) to 45° downward. The control module (85) controls the operation of the driving component, the sandblasting component (4) and the compaction component (7). High-speed spray sand and gravel to fill the bottom gap of the pre-backfilling pipe (100), and the laser sensing component (6) monitors the filling saturation in real time; S2. Synchronous compaction: The compaction component (7) pre-compacts the backfill layer. The frequency of the high-frequency vibrator (71) is 30 Hz. When the compactness ≥ 93%, enter the next layer of backfilling operation; Step Four: Movement and Continuous Operation S1. Automatic cruise: After the backfilling of the current section is completed, the magnetic attraction component (9) releases, and the equipment moves along the axis of the pre-backfilling pipe (100) to the next working station, and cycles until the whole line is completed; Step Five: Quality Closed-loop Control S1. Online detection: The dielectric constant sensor and the γ-ray densitometer are used to real-time feedback the moisture content and compactness data of the backfill layer. The alarm module (83) detects the results of the moisture content and compactness data. When it exceeds the limit, it automatically alarms, and the upper computer (84) generates an instruction to control the sandblasting component (4) and the driving component to act through the control module (85) for recompression.

9. The construction method of a movable sandblasting and backfilling device according to claim 8, characterized in that: In Step Three, when symmetrically backfilling the sides of the pre-backfilling pipe (100), switch the nozzle of the sandblasting component (4) to the horizontal direction. The equipment moves at a uniform speed of 0.8 m / min, and sprays sand and gravel on both sides synchronously to a height of 30 cm above the pipe top.

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