Grouting system and method capable of autonomously controlling grouting degree of mortar

Abstract

The invention discloses a grouting system and method capable of autonomously controlling the grouting degree of mortar. The grouting system comprises a grouting machine, a grouting pipe and a pushing device. One end of the grouting pipe is connected with the grouting machine, and the other end of the grouting pipe extends to a grouting hole; the pushing device is in transmission connection with the grouting pipe and used for driving the grouting pipe to retreat from the grouting hole, and the pipe retreating speed is adjustable. The device is applied to the field of tunnel construction, the pushing device is arranged to drive the grouting pipe, so that the grouting pipe can automatically retreat from the grouting hole in the grouting process, the pipe retreating speed is adjustable, the grouting speed and the pipe retreating speed are matched in real time, and the phenomena of cavities and non-fullness occurring during manual operation are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, in particular to a grouting system and method capable of autonomously controlling the mortar injection degree. Background Art

[0002] Currently, anchor bolting has become an indispensable process in tunnel construction. Mortar bolting is the most common method used in this process. Mortar bolting is achieved by injecting cement mortar into the anchor hole, inserting the anchor, and then allowing the mortar to solidify, securing the anchor in the hole. Therefore, the mortar fullness during grouting is a key indicator of anchor bolt quality.

[0003] Existing grouting construction generally relies on manual insertion of the grouting pipe into the bottom of the anchor hole, pumping mortar into the hole through a grouting machine, and then the worker slowly pulls out the grouting pipe, achieving grouting and pipe extraction at the same time. Once the grouting pipe is completely extracted, the grouting process is completed. Because the angles of the anchor holes in the tunnel are diverse and evenly distributed from horizontal to vertical directions, workers are affected by external factors such as gravity and friction on the hole wall during the process of pulling out the grouting pipe, resulting in uneven pipe extraction speed. When the pipe extraction speed is too fast, the grouting rate is lower than the pipe extraction speed, which can easily lead to incomplete grouting and voids. When the pipe extraction speed is too slow, the grouting rate is higher than the pipe extraction speed, which can easily lead to excessive grouting pressure, increasing the risk of pipe blockage while also reducing construction efficiency.

[0004] In addition, the current grouting construction requires manual mixing and other processes, so the mortar output flow of the grouting machine is unstable, further increasing the problem of mismatch between the grouting rate and the pipe withdrawal speed, resulting in uneven mortar injection degree at different positions in the same anchor hole, seriously affecting the quality of anchor construction. Summary of the Invention

[0005] In response to the above-mentioned deficiencies in the prior art, the present invention provides a grouting system and method that can autonomously control the mortar compaction degree, which can realize autonomous control of the mortar compaction degree, effectively ensure that no voids appear in the same grouting hole, and keep the mortar compaction degree at different positions of the grouting hole consistent.

[0006] To achieve the above-mentioned purpose, the present invention provides a grouting system capable of autonomously controlling the mortar injection degree, comprising a grouting machine, a grouting pipe and a pushing device; One end of the grouting pipe is connected to the grouting machine, and the other end extends to the grouting hole; The pushing device is transmission-connected to the grouting pipe and is used to drive the grouting pipe to withdraw from the grouting hole, and the withdrawal speed is adjustable.

[0007] In one embodiment, the pushing device includes a first pushing roller, a second pushing roller and a first driving assembly; The grouting pipe is clamped between the first pushing roller and the second pushing roller, and the first driving assembly is transmission-connected to the first pushing roller and the second pushing roller to drive the first pushing roller and the second pushing roller to rotate in opposite directions.

[0008] In one embodiment, the pushing device further includes a housing, a first base frame, a second base frame, a first spring, and a second spring; The first push roller is rotatably connected to the first end of the first base frame, the second push roller is rotatably connected to the first end of the second base frame, and the first base frame and the second base frame are slidably connected to the housing; The first spring is connected between the second end of the first base and the housing, and the second spring is connected between the second end of the second base and the housing.

[0009] In one embodiment, the first base frame and the second base frame are both C-shaped plate structures; The first push roller is rotatably connected to the C-shaped opening of the first base frame, and the first spring is connected between the outer side wall of the first base frame and the housing; The second pushing roller is rotatably connected to the C-shaped opening of the second base frame, and the second spring is connected between the outer side wall of the second base frame and the shell.

[0010] In one embodiment, the grouting pipe passes through the shell, and the portion of the grouting pipe located inside the shell is clamped between the first pushing roller and the second pushing roller; A guide pipe is provided on the shell at a position corresponding to the position where the grouting pipe passes through.

[0011] In one embodiment, the first drive assembly includes a first motor and a second motor; The first motor is arranged on the first base frame and is transmission-connected to the first push roller, and the second motor is arranged on the second base frame and is transmission-connected to the second push roller.

[0012] In one embodiment, the roller surfaces of the first push roller and the second push roller are both concave arc configurations with a radius matching the grouting pipe.

[0013] In one embodiment, the pushing device includes a pushing cylinder and a connecting piece; One end of the connecting piece is fixedly connected to the grouting pipe, and the other end is fixedly connected to the piston rod of the pushing oil cylinder.

[0014] In one embodiment, the grouting system further includes a grouting rate regulating device, and the grouting pipe is a hose; The grouting rate regulating device comprises a second driving assembly and two spaced-apart pressure rollers, and the grouting pipe is located between the two pressure rollers; The second driving assembly is connected to the two pressing rollers for driving the two pressing rollers to move toward or away from each other.

[0015] A mortar flow meter is provided on the grouting pipe.

[0016] To achieve the above object, the present invention further provides a grouting method, using the above grouting system, the grouting method comprises the following steps: Step 1: Get the diameter of the grouting hole , and obtain the instantaneous flow rate of mortar in the grouting pipe during the grouting process ; Step 2, based on the diameter With the instantaneous flow , calculate the instantaneous grouting speed ; Step 3: Control the pushing device to drive the grouting pipe at a speed of Exit the grouting hole.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects: 1. The present invention provides a pushing device to drive the grouting pipe, so that it can automatically withdraw from the grouting hole during the grouting process, and the withdrawal speed is adjustable, so that the grouting rate and withdrawal speed are matched in real time, effectively avoiding the voids and incompleteness that occur during manual operation; 2. In the preferred embodiment of the present invention, a first push roller and a second push roller are used to form a pushing device. By changing the rotation speed of the first push roller and the second push roller, the withdrawal speed of the grouting pipe can be adjusted. This has a simple structure and is easy to operate. 3. In the preferred embodiment of the present invention, the roller surfaces of the first and second push rollers are configured as concave arcs with a radius matching the grouting pipe, which can effectively increase the contact area between the first and second push rollers and the grouting pipe, preventing slippage during pushing. 4. In the preferred embodiment of the present invention, a pushing cylinder can be used as the pushing device, and the extension or retraction speed of the piston rod on the pushing cylinder can be changed to adjust the grouting pipe withdrawal speed, which has a simple structure and is easy to operate. 5. In the preferred embodiment of the present invention, the grouting pipe can also be set as a hose, and two pressure rollers are used to form a grouting rate adjustment device. By changing the distance between the two pressure rollers to squeeze the grouting pipe, it is deformed to adjust the flow cross-sectional area, thereby realizing the adjustment of the grouting rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1 Schematic diagram of the structure of the grouting system in Example 1 of the present invention; Figure 2 Schematic diagram of the overall structure of the pushing device in Example 1 of the present invention; Figure 3 Schematic diagram of the internal structure of the pushing device in Example 1 of the present invention; Figure 4 Schematic diagram of the installation of the first pushing roller or the second pushing roller on the pushing device in Example 1 of the present invention; Figure 5 Schematic diagram of another embodiment of the grouting system in Example 1 of the present invention Figure 6 Schematic diagram of the structure of the grouting system in Example 2 of the present invention; Figure 7 This is a schematic diagram of a first embodiment of the grouting system in Example 3 of the present invention; Figure 8 This is a schematic diagram of the second implementation of the grouting system in Example 3 of the present invention.

[0020] Figure numbers: grouting machine 1, grouting pipe 2, grouting hole 3, first push roller 4, second push roller 5, shell 6, first base frame 7, second base frame 8, first spring 9, second spring 10, slide rail 11, guide tube 12, first motor 13, second motor 14, pressure roller 15, telescopic cylinder 16, mortar flow meter 17, pushing cylinder 18, connecting part 19, power source 20, hydraulic pump 21, electric proportional control valve 22, controller 23.

[0021] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0022] 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0025] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, physical connection, or wireless communication connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0027] Example 1 like Figure 1 The present embodiment shows a grouting system capable of autonomously controlling the mortar compaction degree disclosed herein, which primarily comprises a grouting machine 1, a grouting pipe 2, and a pushing device. One end of the grouting pipe 2 is connected to the grouting machine 1, and the other end extends to the grouting hole 3, for injecting mortar into the grouting hole 3 from the bottom of the hole. The pushing device is connected to the grouting pipe 2 in a transmission manner and is used to drive the grouting pipe 2 to synchronously withdraw from the grouting hole 3 during the grouting process. The pushing device is adjustable for the withdrawal speed of the grouting pipe 2, thereby matching the grouting rate and withdrawal speed in real time, effectively avoiding the voids and incompleteness that occur during manual operation.

[0028] In this embodiment, the pushing device includes a first pushing roller 4, a second pushing roller 5, and a first driving assembly. The grouting pipe 2 is clamped between the first pushing roller 4 and the second pushing roller 5. The first driving assembly is connected to the first pushing roller 4 and the second pushing roller 5 to drive the first pushing roller 4 and the second pushing roller 5 to rotate at the same speed and in opposite directions, thereby driving the grouting pipe 2 to withdraw from the grouting hole 3 under the action of friction. At the same time, by changing the rotation speed of the first pushing roller 4 and the second pushing roller 5, the withdrawal speed of the grouting pipe 2 can be adjusted.

[0029] refer to Figures 2 to 4 The pushing device also includes a shell 6, a first base frame 7, a second base frame 8, a first spring 9 and a second spring 10. The shell 6 can be fixed on an external bracket, the first push roller 4 is rotatably connected to the first end of the first base frame 7 through a bearing, the second push roller 5 is rotatably connected to the first end of the second base frame 8 through a bearing, and the first base frame 7 and the second base frame 8 are slidably connected to the shell 6 through a slide rail 11 provided on the shell 6. The first spring 9 is connected between the second end of the first base frame 7 and the shell 6, and the second spring 10 is connected between the second end of the second base frame 8 and the shell 6, and the first spring 9 and the second spring 10 are both compression springs, so that the first base frame 7 and the second base frame 8 are subjected to spring force, and have a tendency to push the first push roller 4 and the second push roller 5 toward the grouting pipe 2, so that the first push roller 4 and the second push roller 5 can always clamp the grouting pipe 2, ensuring the stability of the pushing device driving the grouting pipe 2 to withdraw the pipe.

[0030] During the specific implementation process, the shell 6 is a square box structure as a whole, and the first base frame 7, the second base frame 8, the first spring 9, the second spring 10, the first push roller 4, and the second push roller 5 are all located inside the shell 6, thereby effectively preventing cement mortar from splashing onto the components and solidifying during construction and damaging the pushing device.

[0031] In the specific implementation process, the first base frame 7 and the second base frame 8 are both C-shaped plate structures. The first push roller 4 is rotatably connected to the C-shaped opening of the first base frame 7, and the roller body of the first push roller 4 is partially exposed from the C-shaped opening of the first base frame 7 to contact the grouting pipe. The first spring 9 is connected between the outer wall of the first base frame 7 and the shell 6. Similarly, the second push roller 5 is rotatably connected to the C-shaped opening of the second base frame 8, and the roller body of the second push roller 5 is partially exposed from the C-shaped opening of the second base frame 8 to contact the grouting pipe. The second spring 10 is connected between the outer wall of the second base frame 8 and the shell 6.

[0032] In a specific application process, the grouting pipe 2 passes through the shell 6, and the portion of the grouting pipe 2 located inside the shell 6 is clamped between the first push roller 4 and the second push roller 5. Preferably, the grouting pipe 2 passes through the shell 6 along the front and rear shell walls of the shell 6. At the same time, guide tubes 12 are provided on the front and rear of the shell 6, and the two guide tubes 12 are coaxial. The grouting pipe 2 passes through the two guide tubes 12 in sequence, ensuring that the inner section of the grouting pipe 2 in the shell 6 is in a straight state, so that the first push roller 4 and the second push roller 5 are evenly stressed, avoiding lateral force interference caused by bending, and improving the reliability of pushing force transmission and the accuracy of speed control.

[0033] In this embodiment, the first drive assembly includes a first motor 13 and a second motor 14. The first motor 13 is fixed to the top of the first base frame 7 by fasteners such as bolts, and the output end of the first motor 13 passes through the top plate of the first base frame 7 and is connected to the first push roller 4 through a spline. The second motor 14 is fixed to the top of the second base frame 8 by fasteners such as bolts, and the output end of the second motor 14 passes through the top plate of the second base frame 8 and is connected to the second push roller 5 through a spline. At the same time, the main parts of the first motor 13 and the second motor 14 are both located outside the shell 6 through the shell 6 for connecting to an external circuit system or hydraulic system. It is worth noting that in specific applications, a group of motors and a transmission mechanism can also be used as the first drive assembly.

[0034] As a preferred embodiment, the roller surfaces of the first push roller 4 and the second push roller 5 are both concave arc configurations with a radius matching the outer circumference of the grouting pipe 2, and the sector angle corresponding to the concave arc on the first push roller 4 and the second push roller 5 is less than 180°, which can effectively increase the contact area between the first push roller 4, the second push roller 5 and the grouting pipe 2, and prevent signs of slipping during pushing.

[0035] In this embodiment, the grouting pipe 2 is a hose, and the grouting system is also provided with a grouting rate regulating device for regulating the real-time grouting speed of the grouting pipe 2. Specifically, the grouting rate regulating device comprises a second driving assembly and two spaced-apart pressure rollers 15, the grouting pipe 2 is located between the two pressure rollers 15, and the second driving assembly is connected to the two pressure rollers 15 in a transmission manner to drive the two pressure rollers 15 to move in opposite directions or opposite directions, i.e. Figure 5 The two pressing rollers 15 compress the grouting pipe 2 to cause it to undergo plastic deformation, and the second drive assembly adjusts the distance between the two pressing rollers 15 to control the flow cross-sectional area of the grouting pipe 2, thereby achieving adjustment of the grouting rate.

[0036] In the specific implementation process, the second drive assembly includes two telescopic cylinders 16, corresponding to the two pressure rollers 15 respectively. The cylinder body of the telescopic cylinder 16 is fixed to an external bracket. In addition, the pressure roller 15 is rotatably connected to a third base frame with the same structure as the first base frame 7 through a bearing, and the third base frame is then fixed to the piston rod of the telescopic cylinder 16. The two telescopic cylinders 16 are arranged symmetrically along the grouting pipe. By synchronously extending and retracting the two telescopic cylinders 16, the flow cross-sectional area of the grouting pipe 2 can be controlled. Among them, the telescopic cylinder 16 can also be replaced with a linear drive component such as a screw nut pair or a linear module.

[0037] As a preferred embodiment, the pressure roller 15 is a rotating body structure, and the roller surface of the pressure roller 15 is a concave arc configuration with a radius matching the outer circumference of the grouting pipe 2. At the same time, the sector angle corresponding to the concave arc is less than 90°, thereby achieving surface contact between the pressure roller 15 and the grouting pipe 2 while avoiding local mutations in the grouting pipe 2 during the deformation process, thereby improving its service life.

[0038] It is worth noting that since the first push roller 4 and the second push roller 5 drive the grouting pipe 2 to withdraw the pipe by friction, there is also friction between the pressure roller 15 and the grouting pipe 2 in the process of pressing the grouting pipe 2. In order to ensure that the first push roller 4 and the second push roller 5 can stably drive the grouting pipe 2, it is necessary to ensure that the friction between the grouting pipe 2 and the first push roller 4 and the second push roller 5 is greater than the friction between the grouting pipe 2 and the pressure roller 15. Therefore, in this embodiment, a smooth layer with a reduced friction coefficient, such as a graphite coating, is provided on the concave arc where the pressure roller 15 contacts the grouting pipe 2; at the same time, a number of serrated or spherical protrusions are provided on the concave arc of the first push roller 4 and the second push roller 5 to increase friction.

[0039] In the specific implementation process, a mortar flow meter 17 is provided on the grouting pipe 2 to measure the instantaneous flow of the mortar in the grouting pipe 2 during the grouting process. It is worth noting that the mortar flow meter 17 should be as close to the grouting port as possible without affecting the grouting construction.

[0040] Example 2 This embodiment discloses a grouting method, which is mainly used to control the grouting system in Example 1 so that the grouting rate matches the pipe withdrawal speed in real time, effectively avoiding the voids and incompleteness that occur during manual operation. The grouting method specifically includes the following steps: Step 1: Get the diameter of the grouting hole 3 (Unit: mm), and obtain the instantaneous flow rate of mortar in grouting pipe 2 during the grouting process (Unit: L / min); Step 2, based on diameter With instantaneous flow , calculate the instantaneous grouting speed (Unit: m / min); Step 3: Control the pushing device to drive the grouting pipe 2 at a speed of Exit grouting hole 3.

[0041] In this embodiment, the first motor 13 and the second motor 14 in the grouting system are both hydraulic motors and are equipped with a hydraulic system. The hydraulic system includes a power source 20, a hydraulic pump 21, an electric proportional control valve 22 and a controller 23, that is, Figure 6 shown.

[0042] When the grouting system is working, the hydraulic pump 21, driven by the power source 20, provides an oil source for the entire hydraulic system, and the electric proportional control valve 22 controls the working flow and on-off of the entire hydraulic system. The first motor 13 and the second motor 14 are driven to rotate by the hydraulic system, and the grouting pipe 2 is pushed to the bottom of the grouting hole 3 at a uniform speed. The grouting machine 1 pumps the cement mortar into the grouting hole 3 through the grouting pipe 2, and the grouting pipe 2 slowly retreats while grouting. During this process, the mortar flowmeter 17 monitors the instantaneous flow of the mortar in the grouting pipe 2 in real time, and outputs the corresponding current value signal to the controller 23. The controller 23 adjusts the valve core opening of the electric proportional control valve 22 in real time according to the received current value signal, thereby controlling the rotation speed of the first motor 13 and the second motor 14, thereby further controlling the withdrawal speed of the grouting pipe 2. Its specific control logic is: when the withdrawal speed of the grouting pipe 2 is and instantaneous grouting speed The grouting effect is best when the two are equal, so the retraction speed of the grouting pipe 2 needs to be adjusted in real time. , so that it is always with Stay consistent, i.e. .

[0043] Assume that the diameters of the first push roller 4 and the second push roller 5 are (Unit: mm), displacement is Therefore, the instantaneous speed of the first push roller 4 and the second push roller 5 is With instantaneous flow The relationship is , then the hydraulic oil flow required by the first motor 13 and the second motor 14 (Unit: L / min). Assuming that the control current range of the electric proportional control valve 22 valve core from closed to fully open is 200-600mA, and different control current values correspond to different output hydraulic oil flow rates, so according to the measured instantaneous flow rate Adjust the valve core opening to control the hydraulic system working flow to meet , thereby ensuring that the withdrawal speed of the grouting pipe 2 matches the grouting rate in real time, ensuring the mortar injection density.

[0044] Example 3 like Figure 7 、 Figure 8 This embodiment discloses a grouting system capable of autonomously controlling the mortar injection degree. Its implementation is basically the same as that of Example 1, with the only difference being that the pushing device in this embodiment includes a pushing cylinder 18 and a connecting member 19. One end of the connecting member 19 is fixedly connected to the grouting pipe 2, and the other end is fixedly connected to the piston rod of the pushing cylinder 18. Both ends of the connecting member 19 can be configured as buckles, so that they can be fixedly mounted on the grouting pipe 2 and the piston rod.

[0045] The grouting method corresponding to the grouting system in this embodiment is basically the same as that in Example 2, that is, the extension or retraction speed of the piston rod on the push cylinder 18 is made equal to the instantaneous grouting speed through the hydraulic system, which will not be described in detail in this embodiment.

[0046] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A grouting system capable of autonomously controlling the mortar compaction degree, characterized in that: Including grouting machine, grouting pipe and pushing device; One end of the grouting pipe is connected to the grouting machine, and the other end extends to the grouting hole; The pushing device is transmission-connected to the grouting pipe and is used to drive the grouting pipe to withdraw from the grouting hole, and the withdrawal speed is adjustable.

2. The grouting system capable of autonomously controlling mortar compaction according to claim 1, characterized in that: The pushing device includes a first pushing roller, a second pushing roller and a first driving assembly; The grouting pipe is clamped between the first pushing roller and the second pushing roller, and the first driving assembly is transmission-connected to the first pushing roller and the second pushing roller to drive the first pushing roller and the second pushing roller to rotate in opposite directions.

3. The grouting system capable of autonomously controlling mortar compaction according to claim 2, characterized in that: The pushing device further includes a housing, a first base frame, a second base frame, a first spring and a second spring; The first push roller is rotatably connected to the first end of the first base frame, the second push roller is rotatably connected to the first end of the second base frame, and the first base frame and the second base frame are slidably connected to the housing; The first spring is connected between the second end of the first base and the housing, and the second spring is connected between the second end of the second base and the housing.

4. The grouting system capable of autonomously controlling mortar compaction according to claim 3, characterized in that: The first base frame and the second base frame are both C-shaped plate structures; The first push roller is rotatably connected to the C-shaped opening of the first base frame, and the first spring is connected between the outer side wall of the first base frame and the housing; The second pushing roller is rotatably connected to the C-shaped opening of the second base frame, and the second spring is connected between the outer side wall of the second base frame and the shell.

5. The grouting system capable of autonomously controlling mortar compaction according to claim 3, characterized in that: The grouting pipe passes through the shell, and the portion of the grouting pipe located inside the shell is clamped between the first pushing roller and the second pushing roller; A guide pipe is provided on the shell at a position corresponding to the position where the grouting pipe passes through.

6. The grouting system capable of autonomously controlling mortar compaction according to any one of claims 3 to 5, characterized in that: The first driving assembly includes a first motor and a second motor; The first motor is arranged on the first base frame and is transmission-connected to the first push roller, and the second motor is arranged on the second base frame and is transmission-connected to the second push roller.

7. The grouting system capable of autonomously controlling mortar compaction according to any one of claims 2 to 5, characterized in that: The roller surfaces of the first push roller and the second push roller are both in the shape of an inwardly concave arc with a radius matching the grouting pipe.

8. The grouting system capable of autonomously controlling mortar compaction according to claim 1, characterized in that: The pushing device includes a pushing cylinder and a connecting piece; One end of the connecting piece is fixedly connected to the grouting pipe, and the other end is fixedly connected to the piston rod of the pushing oil cylinder.

9. The grouting system capable of autonomously controlling mortar compaction according to any one of claims 1 to 5 and 8, characterized in that: It also includes a grouting rate regulating device, and the grouting pipe is a hose; The grouting rate regulating device comprises a second driving assembly and two spaced-apart pressure rollers, and the grouting pipe is located between the two pressure rollers; The second driving assembly is connected to the two pressing rollers for driving the two pressing rollers to move toward or away from each other. A mortar flow meter is provided on the grouting pipe.

10. A grouting method, characterized in that: Using the grouting system according to any one of claims 1 to 9, the grouting method comprises the following steps: Step 1: Get the diameter of the grouting hole , and obtain the instantaneous flow rate of mortar in the grouting pipe during the grouting process ; Step 2, based on the diameter With the instantaneous flow , calculate the instantaneous grouting speed ; Step 3: Control the pushing device to drive the grouting pipe at a speed of Exit the grouting hole.

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