Automatic grouting device for bridge construction

Abstract

The invention discloses an automatic grouting device for bridge construction, and relates to the technical field of bridge construction equipment.The automatic grouting device comprises a base, a controller and an adjusting module, the adjusting module is connected with the controller through a signal line, the controller is installed on the front side of the outer wall of the base, and the adjusting module is installed on the upper side of the outer wall of the base; the adjusting module comprises an adjusting motor, a grouting assembly, a first rotating shaft, a speed reducer, a first telescopic rod and an environment sensing assembly, the adjusting motor and the environment sensing assembly are connected with the controller through signal lines, and the first rotating shaft, the speed reducer and the first telescopic rod are connected with the adjusting motor through connecting shafts. By installing the adjusting module, the function of automatically adjusting the injection angle is achieved, the problems of low flexibility, low adjusting efficiency and poor environmental adaptability are solved, dependence on manual operation can be reduced, the flexibility of the device is improved, the construction efficiency and quality are improved, and the maintenance time of the device is shortened.

Description

Technical Field

[0001] The invention relates to the technical field of bridge construction equipment, in particular to an automatic grouting device for bridge construction. Background Art

[0002] The development of bridge engineering towards longer spans and deeper water depths places higher demands on grouting technology. Traditional grouting relies on manual experience to adjust the slurry ratio, which is prone to excessive errors in the ratio of cement, water, and admixtures, resulting in material waste and uneven structural strength. Manual operation cannot monitor key parameters such as slurry temperature, density, and fluidity in real time, which increases construction risks. With the rise of automation technology and breakthroughs in its application, the integration of high-speed eddy current slurry making machines and computer control systems can achieve automatic adjustment of slurry ratios and real-time monitoring of grouting parameters, driving the evolution of grouting equipment towards the integrated direction of "intelligent perception, precise control, and multi-machine collaboration." Existing grouting equipment requires manual adjustment of parameters such as injection angle, injection point and slurry ratio when faced with complex environments and special-shaped bridge structures. During the injection process, injection angle deviation caused by factors such as vibration or ground displacement cannot be adjusted autonomously, which greatly delays the construction process.

[0003] Patent CN118223469B discloses a grouting device for bridge construction. The above patent avoids slurry overflow and waste, reduces the frequency of drilling, and improves work efficiency.

[0004] The above patent sets up a sealing mechanism so that before grouting the cracks in the bridge, the position and angle of the sealing plate are adjusted so that the sealing plate is moved to the top of the crack, and then the top of the crack is sealed by the sealing plate, thereby avoiding poor fluidity of the slurry, which causes the slurry to overflow from the gap during continuous grouting, resulting in waste of slurry. At the same time, a sealing plate is set to limit the slurry, thereby increasing the length of grouting in the gap, reducing the frequency of drilling, and improving work efficiency. There is room for optimization in the adjustment of the slurry injection angle.

[0005] To this end, the present application proposes an automatic grouting device for bridge construction that can autonomously adjust the slurry injection angle. Summary of the Invention

[0006] The object of the present invention is to provide an automatic grouting device for bridge construction to solve the technical problem of adjusting the slurry injection angle proposed in the above background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic grouting device for bridge construction, comprising a base, a controller and an adjustment module, wherein the adjustment module is connected to the controller via a signal line; A controller is installed on the front side of the outer wall of the base, and an adjustment module is installed on the upper side of the outer wall of the base; The adjustment module includes: an adjustment motor, a grouting assembly, a first rotating shaft, a reducer, a first telescopic rod and an environment sensing assembly, wherein the adjustment motor and the environment sensing assembly are connected to the controller via a signal line, and the first rotating shaft, the reducer and the first telescopic rod are connected to the adjustment motor via a connecting shaft; An adjusting motor is installed in the middle of the inner wall of the base, a first telescopic rod is installed on the upper side of the outer wall of the base, a first rotating shaft is installed on the upper side of the outer wall of the first telescopic rod, a reducer is installed on the upper side of the outer wall of the first rotating shaft, a grouting assembly is installed on the lower side of the outer wall of the reducer, and an environmental sensing assembly is installed on the left side of the outer wall of the grouting assembly.

[0008] Preferably, the environmental perception component includes: a visual sensor, a laser scanner and an infrared imaging unit; A visual sensor is installed on the left side of the outer wall of the grouting assembly, a laser scanner is installed on the rear side of the outer wall of the visual sensor, and an infrared imaging unit is installed on the front side of the outer wall of the visual sensor.

[0009] Preferably, a replacement module is installed on the left side of the outer wall of the adjustment component, and the replacement module is connected to the environment sensing component via a signal line; The replacement module includes: a replacement motor, a cleaning component, a slurry tank, a first stirring rod, a connecting valve and a blanking component. The replacement motor, the connecting valve and the blanking component are connected to the controller through a signal line. The cleaning component and the first stirring rod are connected to the replacement motor through a connecting shaft. The slurry tank is connected to the connecting port through a connecting valve and a pipeline. A slurry box is installed on the left side of the outer wall of the adjustment module, a cleaning assembly is installed on the rear side of the outer wall of the slurry box, a connecting valve is installed on the right side of the outer wall of the slurry box, a unloading assembly is installed on the upper side of the outer wall of the slurry box, a replacement motor is installed on the left side of the outer wall of the adjustment motor, and a first stirring rod is installed on the lower part of the inner wall of the slurry box.

[0010] Preferably, a recovery module is installed on the lower side of the outer wall of the cleaning component, and the recovery module is connected to the slurry tank through a recovery valve; The recovery module includes: a recovery motor, a recovery valve, a feeding valve, a recovery box, a filter, a second stirring rod and a discharge valve. The recovery box is connected to the slurry box through the recovery valve, the recovery box is connected to the storage box and the water tank through the feeding valve, the recovery box is connected to the connection port through the discharge valve and the pipeline, and the second stirring rod is connected to the recovery motor through the connecting shaft; A recovery box is installed on the rear side of the outer wall of the slurry box, a feeding valve is installed on the upper part of the inner wall of the recovery box, a second stirring rod is installed on the lower part of the inner wall of the recovery box, a filter is installed in the middle of the inner wall of the recovery box, a recovery valve is installed on the front side of the outer wall of the recovery box, a discharge valve is installed on the rear side of the outer wall of the recovery box, and a recovery motor is installed on the rear side of the outer wall of the replacement motor.

[0011] Preferably, a stabilization module is installed on the lower side of the outer wall of the base, and the stabilization module is connected to the controller via a signal line; The stabilization module includes: a stabilization motor, a moving wheel, a second telescopic rod, a support block, a second rotation axis and a vibration sensor. The moving wheel, the second telescopic rod and the second rotation axis are connected to the stabilization motor through a connecting shaft. The stabilization motor is connected to the controller through a signal line. The vibration sensor is connected to the controller through a signal line. A moving wheel is installed on the lower side of the outer wall of the base, a support block is installed on the lower side of the outer wall of the base, a second rotating shaft is installed on the right side of the outer wall of the support block, a second telescopic rod is installed on the right side of the outer wall of the second rotating shaft, a stabilizing motor is installed in the middle of the inner wall of the base, and a vibration sensor is installed on the upper side of the outer wall of the base.

[0012] Preferably, the grouting assembly includes: a grouting pipe, a fixture, a connecting port, a pushing rod and a grouting port, the grouting pipe is connected to the replacement module through the connecting port, the pushing rod is connected to the adjustment motor through a connecting shaft, and the grouting pipe is connected to the base and the grouting port respectively through the fixture; A grouting pipe is installed on the lower side of the outer wall of the reducer, a fixer is installed in the middle of the outer wall of the grouting pipe, a connecting port is installed on the lower side of the outer wall of the fixer, a pushing rod is installed in the middle of the inner wall of the grouting pipe, and a grouting port is installed on the lower side of the outer wall of the grouting pipe.

[0013] Preferably, the cleaning assembly comprises: a water tank, a pressure nozzle, a circulation pump, an addition valve and a storage box, the water tank is connected to the storage box through the circulation pump and the addition valve, and the pressure nozzle is connected to the water tank through the circulation pump; A pressure nozzle is installed on the rear side of the outer wall of the slurry box, a circulation pump is installed on the rear side of the outer wall of the pressure nozzle, a water tank is installed on the rear side of the outer wall of the circulation pump, a storage box is installed on the upper side of the outer wall of the circulation pump, and an adding valve is installed on the lower side of the outer wall of the storage box.

[0014] Preferably, the unloading assembly includes: a weight sensor, an opening and closing valve and a storage box, the opening and closing valve is connected to the weight sensor and the controller through a signal line, and the storage box is connected to the slurry box through the opening and closing valve; A material storage box is installed on the upper side of the outer wall of the slurry box, a weight sensor is installed on the lower part of the inner wall of the material storage box, and an opening and closing valve is installed on the right side of the outer wall of the weight sensor.

[0015] Preferably, a detection component is installed in the middle of the inner wall of the slurry tank, and the detection component includes: a temperature sensor, a liquid level sensor, a pressure sensor and a viscosity sensor. The temperature sensor is connected to the controller through a signal line, the liquid level sensor and the pressure sensor are connected to the injection component through a signal line, and the viscosity sensor is connected to the cleaning module through a signal line. A temperature sensor is installed on the upper side of the outer wall of the connecting valve, a pressure sensor is installed on the front side of the outer wall of the temperature sensor, a viscosity sensor is installed on the lower side of the outer wall of the connecting valve, and a liquid level sensor is installed on the upper part of the inner wall of the slurry box.

[0016] Preferably, the grouting port includes: a regulating valve, a flow meter and a guide plate, and the regulating valve and the flow meter are connected to the controller via a signal line; A regulating valve is installed on the lower side of the outer wall of the grouting pipe, a flow meter is installed on the lower side of the outer wall of the regulating valve, and a guide plate is installed on the lower side of the outer wall of the flow meter.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the function of autonomously adjusting the injection angle by installing an adjustment module, solving the problems of low flexibility, low adjustment efficiency and poor environmental adaptability, reducing dependence on manual operation, improving the flexibility of the device, improving construction efficiency and quality, and shortening the maintenance time of the device; 2. The present invention realizes the function of automatically adjusting the slurry ratio by installing a visual sensor and a replacement module, solving the problems of poor environmental adaptability, reliance on manual adjustment, and inappropriate ratio adjustment. It can adjust the slurry ratio in real time, improve construction quality, reduce manual errors, and improve the environmental performance of the device. 3. The present invention realizes the secondary utilization of waste slurry by installing a recovery module and a grouting assembly, solving the problems of resource waste, high environmental pressure and low construction efficiency. It can reduce raw material costs, alleviate environmental pressure, improve the construction efficiency of the device, and optimize resource utilization. 4. The present invention eliminates the influence of shaking on grouting stability by installing a stabilizing module, solves the problems of slurry diffusion path deviation, grouting body structural defects, equipment stability reduction and slurry leakage risk, can suppress the displacement of the device caused by vibration, ensures the uniformity of grouting body solidification, improves the safety performance of the device, and improves the grouting efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the front structure of the present invention; Figure 3 This is a schematic diagram of the structure of the environment perception component of the present invention; Figure 4 This is a schematic structural diagram of the recovery module of the present invention; Figure 5 This is a schematic diagram of the stabilization module structure of the present invention; Figure 6 This is a schematic structural diagram of the cleaning component of the present invention; Figure 7 This is a schematic diagram of the replacement module structure of the present invention; Figure 8 It is a schematic diagram of the grouting port structure of the present invention.

[0019] In the figure: 1. base; 2. controller; 3. slurry tank; 4. storage box; 5. grouting pipe; 6. support block; 7. moving wheel; 8. adjustment motor; 9. first rotating shaft; 10. reducer; 11. first telescopic rod; 12. visual sensor; 13. laser scanner; 14. infrared imaging unit; 15. replacement motor; 16. first stirring rod; 17. connecting valve; 18. recovery motor; 19. recovery valve; 20. feeding valve; 21. recovery box; 22. filter screen; 23. second stirring rod; 24. Discharge valve; 25. Stabilizing motor; 26. Second telescopic rod; 27. Grouting port; 28. Second rotating axis; 29. Vibration sensor; 30. Fixer; 31. Connecting port; 32. Push rod; 33. Water tank; 34. Pressurized nozzle; 35. Circulation pump; 36. Adding valve; 37. Storage box; 38. Weight sensor; 39. Opening and closing valve; 40. Temperature sensor; 41. Liquid level sensor; 42. Pressure sensor; 43. Viscosity sensor; 44. Control valve; 45. Flow meter; 46. Guide vane. DETAILED DESCRIPTION

[0020] 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.

[0021] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0023] Example 1: Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 8 , an automatic injection device for bridge construction, comprising a base 1, a controller 2 and an adjustment module, wherein the adjustment module is connected to the controller 2 via a signal line; The controller 2 is installed on the front side of the outer wall of the base 1, and the adjustment module is installed on the upper side of the outer wall of the base 1; The adjustment module includes: an adjustment motor 8, a grouting assembly, a first rotating shaft 9, a reducer 10, a first telescopic rod 11 and an environment sensing assembly. The adjustment motor 8 and the environment sensing assembly are connected to the controller 2 via a signal line, and the first rotating shaft 9, the reducer 10 and the first telescopic rod 11 are connected to the adjustment motor 8 via a connecting shaft; An adjusting motor 8 is installed in the middle of the inner wall of the base 1, a first telescopic rod 11 is installed on the upper side of the outer wall of the base 1, a first rotating shaft 9 is installed on the upper side of the outer wall of the first telescopic rod 11, a reducer 10 is installed on the upper side of the outer wall of the first rotating shaft 9, a grouting component is installed on the lower side of the outer wall of the reducer 10, and an environmental sensing component is installed on the left side of the outer wall of the grouting component; The environmental perception component includes: a visual sensor 12, a laser scanner 13 and an infrared imaging unit 14; A visual sensor 12 is installed on the left side of the outer wall of the grouting assembly, a laser scanner 13 is installed on the rear side of the outer wall of the visual sensor 12, and an infrared imaging unit 14 is installed on the front side of the outer wall of the visual sensor 12; The grouting assembly includes: a grouting pipe 5, a fixture 30, a connection port 31, a push rod 32 and a grouting port 27, the grouting pipe 5 is connected to the replacement module through the connection port 31, the push rod 32 is connected to the adjustment motor 8 through the connecting shaft, and the grouting pipe 5 is connected to the base 1 and the grouting port 27 respectively through the fixture 30; A grouting pipe 5 is installed on the lower side of the outer wall of the reducer 10, a fixture 30 is installed in the middle of the outer wall of the grouting pipe 5, a connecting port 31 is installed on the lower side of the outer wall of the fixture 30, a push rod 32 is installed in the middle of the inner wall of the grouting pipe 5, and a grouting port 27 is installed on the lower side of the outer wall of the grouting pipe 5; The grouting port 27 includes: a regulating valve 44, a flow meter 45 and a guide plate 46, and the regulating valve 44 and the flow meter 45 are connected to the controller 2 through a signal line; A regulating valve 44 is installed on the lower side of the outer wall of the grouting pipe 5, a flow meter 45 is installed on the lower side of the outer wall of the regulating valve 44, and a guide plate 46 is installed on the lower side of the outer wall of the flow meter 45; Furthermore, the operator controls the automatic grouting equipment through the controller 2 to work. Before grouting the bridge, the visual sensor 12 located on the left side of the outer wall of the grouting assembly collects information about the grouting area and transmits the information to the controller 2. The controller 2 analyzes the received grouting area information and confirms the grouting angle of the grouting assembly according to the environmental information of the grouting area, the distribution of grouting holes and the slurry concentration of the grouting in the area. After determining the grouting angle, the controller 2 controls the adjustment motor 8 to drive the first telescopic rod 11 to adjust the position of the first rotating shaft 9, the reducer 10 and the grouting assembly to the vicinity of the grouting hole. After arriving at the grouting hole, the adjustment motor 8 drives the first rotating shaft 9 to adjust the grouting assembly. The angle of the component is adjusted. During the adjustment process, the motor 8 is adjusted to provide power to the reducer 10 to slow down the rotation rate of the first rotating shaft 9, so that the angle adjustment is more accurate. During the angle adjustment process, the visual sensor 12 is used to capture the position of the grouting hole to identify the grouting port 27 and the central axis of the grouting hole to achieve initial angle positioning. Subsequently, the laser scanner 13 is used to generate three-dimensional point cloud data of the grouting hole, and the deviation between the angle between the grouting port 27 and the axis of the grouting hole and the preset angle is calculated. The first rotating shaft 9 is driven by the adjusting motor 8 to adjust the angle between the grouting port 27 and the grouting hole. After the angle adjustment is completed, the controller 2 controls the adjusting motor 8 to stop giving the first rotating shaft 9 And the speed reducer 10 power, then control the regulating motor 8 to drive the push rod 32 to move the slurry in the grouting pipe 5 from the grouting port 27 to the grouting hole, and in the process of the slurry being injected into the grouting hole through the grouting port 27, the guide plate 46 is used to assist the slurry injection to avoid blockage, the controller 2 detects the slurry flow according to the flow meter 45, and then controls the regulating valve 44 to adjust the slurry flow of the grouting port 27 to complete the grouting. During the grouting process, the environmental sensing component always detects the angle between the grouting port 27 and the grouting hole. If the angle deviates due to external interference, after receiving the information, the controller 2 controls the regulating motor 8 not to give power to the push rod 32, and at the same time The first telescopic rod 11, the first rotating shaft 9 and the reducer 10 are controlled to readjust the position and angle of the grouting assembly to ensure that the grouting angle is within the allowable error range. In addition, when performing injection, if it is necessary to replace grouting pipes 5 of different sizes, the operator can cancel the fixation of the grouting pipe 5 by the fixer 30 through the controller 2, replace the grouting pipe 5 that needs to be replaced, and then restore the fixation of the grouting pipe 5 by the fixer 30, thereby realizing the function of autonomously adjusting the injection angle, solving the problems of low flexibility, low adjustment efficiency and poor environmental adaptability, reducing dependence on manual operation, improving the flexibility of the device, improving construction efficiency and quality, and shortening the maintenance time of the device.

[0024] Example 2: Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 7, an automatic grouting device for bridge construction, the environmental perception component includes: a visual sensor 12, a laser scanner 13 and an infrared imaging unit 14; A visual sensor 12 is installed on the left side of the outer wall of the grouting assembly, a laser scanner 13 is installed on the rear side of the outer wall of the visual sensor 12, and an infrared imaging unit 14 is installed on the front side of the outer wall of the visual sensor 12; A replacement module is installed on the left side of the outer wall of the adjustment component, and the replacement module is connected to the environmental sensing component through a signal line; The replacement module includes: a replacement motor 15, a cleaning component, a slurry tank 3, a first stirring rod 16, a connecting valve 17 and a blanking component. The replacement motor 15, the connecting valve 17 and the blanking component are connected to the controller 2 via a signal line. The cleaning component and the first stirring rod 16 are connected to the replacement motor 15 via a connecting shaft. The slurry tank 3 is connected to the connecting port 31 via the connecting valve 17 and the pipeline. A slurry box 3 is installed on the left side of the outer wall of the regulating module, a cleaning assembly is installed on the rear side of the outer wall of the slurry box 3, a connecting valve 17 is installed on the right side of the outer wall of the slurry box 3, a blanking assembly is installed on the upper side of the outer wall of the slurry box 3, a replacement motor 15 is installed on the left side of the outer wall of the regulating motor 8, and a first stirring rod 16 is installed on the lower part of the inner wall of the slurry box 3; The cleaning assembly includes: a water tank 33, a pressurized nozzle 34, a circulating pump 35, an addition valve 36 and a storage box 37. The water tank 33 is connected to the storage box 37 through the circulating pump 35 and the addition valve 36, and the pressurized nozzle 34 is connected to the water tank 33 through the circulating pump 35. A pressurizing nozzle 34 is installed on the rear side of the outer wall of the slurry tank 3, a circulating pump 35 is installed on the rear side of the outer wall of the pressurizing nozzle 34, a water tank 33 is installed on the rear side of the outer wall of the circulating pump 35, a storage box 37 is installed on the upper side of the outer wall of the circulating pump 35, and an adding valve 36 is installed on the lower side of the outer wall of the storage box 37; The unloading assembly includes: a weight sensor 38, an opening and closing valve 39 and a storage box 4, the opening and closing valve 39 is connected to the weight sensor 38 and the controller 2 through a signal line, and the storage box 4 is connected to the slurry box 3 through the opening and closing valve 39; A storage box 4 is installed on the upper side of the outer wall of the slurry box 3, a weight sensor 38 is installed on the lower part of the inner wall of the storage box 4, and an opening and closing valve 39 is installed on the right side of the outer wall of the weight sensor 38; A detection component is installed in the middle of the inner wall of the slurry box 3, and the detection component includes: a temperature sensor 40, a liquid level sensor 41, a pressure sensor 42 and a viscosity sensor 43. The temperature sensor 40 is connected to the controller 2 through a signal line, the liquid level sensor 41 and the pressure sensor 42 are connected to the injection assembly through a signal line, and the viscosity sensor 43 is connected to the cleaning module through a signal line; A temperature sensor 40 is installed on the upper side of the outer wall of the connecting valve 17, a pressure sensor 42 is installed on the front side of the outer wall of the temperature sensor 40, a viscosity sensor 43 is installed on the lower side of the outer wall of the connecting valve 17, and a liquid level sensor 41 is installed on the upper part of the inner wall of the slurry tank 3; Furthermore, during the grouting process, information about the grouting process is collected through the environmental sensing component, and parameters such as the formation slope and hole depth deviation are obtained through the laser scanner 13. After the slurry is injected, the infrared imaging unit 14 detects the slurry diffusion trajectory through thermal radiation and transmits the information to the controller 2. The controller 2 confirms whether the slurry ratio needs to be adjusted based on the slurry flow information. When the slurry ratio needs to be fine-tuned, the controller 2 controls the feeding component to open the on-off valve 39 according to the specific slurry demand, and adds the raw materials stored in the storage box 4 to the slurry box 3 to prepare the slurry. During the injection process, the weight of the remaining raw materials in the storage box 4 is detected by the weight sensor 38. After reaching the specified amount, the opening and closing valve 39 is controlled to close, and the weight of the raw materials added to the slurry box 3 is accurately controlled. Then, the motor 15 is replaced to drive the first stirring rod 16 to complete the slurry preparation. When it is necessary to make a major adjustment to the slurry ratio, that is, to clear the original slurry and reconfigure the slurry, the controller 2 controls the connecting valve 17 to disconnect the connection between the slurry box 3 and the grouting pipe 5. The controller 2 controls the adding valve 36 to connect the storage box 37, the water tank 33 and the circulating pump 35, and the cleaning agent stored in the storage box 37 is added to the pipeline. After pressurized spraying, the cleaning agent is added to the pipeline. After the head 34 is pressurized, the slurry remaining in the slurry tank 3 is flushed. During the flushing process, the motor 15 is replaced to drive the first stirring rod 16 to stir the mixed liquid in the slurry tank 3 to assist in cleaning. Then the adding valve 36 is closed and the slurry tank 3 is flushed with pure water. After the cleaning is completed, the waste slurry flows into the recovery module. At the same time, the blanking component is controlled to add slurry raw materials to the slurry tank 3 according to the new slurry ratio to prepare the slurry. After the slurry preparation is completed, the temperature sensor 40 detects the temperature of the slurry to ensure that the slurry temperature is within the set range during the grouting process. The viscosity sensor 43 is used to detect the slurry consistency and retrograde. Ensure that the viscosity and fluidity of the slurry can meet the grouting requirements. During the grouting process, the pressure sensor 42 detects the grouting pressure to avoid insufficient pressure causing loose filling or excessive pressure causing equipment failure and structural safety hazards. The liquid level sensor 41 is used to monitor the slurry level in the slurry tank 3 to avoid the liquid level being too low to cause slurry supply interruption and the liquid level being too high to overflow. It realizes the function of automatically adjusting the slurry ratio, solves the problems of poor environmental adaptability, reliance on manual adjustment and incompatibility of ratio adjustment, can adjust the slurry ratio in real time, improves construction quality, reduces manual errors, and improves the environmental performance of the device.

[0025] Example 3: Please refer to Figure 1 、 Figure 2 and Figure 4, an automatic grouting device for bridge construction, a recovery module is installed on the lower side of the outer wall of the cleaning component, and the recovery module is connected to the slurry tank 3 through a recovery valve 19; The recovery module includes: a recovery motor 18, a recovery valve 19, a feeding valve 20, a recovery box 21, a filter screen 22, a second stirring rod 23 and a discharge valve 24. The recovery box 21 is connected to the slurry tank 3 through the recovery valve 19, and the recovery box 21 is connected to the storage box 4 and the water tank 33 through the feeding valve 20. The recovery box 21 is connected to the connecting port 31 through the discharge valve 24 and the pipeline. The second stirring rod 23 is connected to the recovery motor 18 through a connecting shaft. A recovery box 21 is installed on the rear side of the outer wall of the slurry box 3, a feeding valve 20 is installed on the upper part of the inner wall of the recovery box 21, a second stirring rod 23 is installed on the lower part of the inner wall of the recovery box 21, a filter screen 22 is installed in the middle part of the inner wall of the recovery box 21, a recovery valve 19 is installed on the front side of the outer wall of the recovery box 21, a discharge valve 24 is installed on the rear side of the outer wall of the recovery box 21, and a recovery motor 18 is installed on the rear side of the outer wall of the replacement motor 15; The grouting assembly includes: a grouting pipe 5, a fixture 30, a connection port 31, a push rod 32 and a grouting port 27, the grouting pipe 5 is connected to the replacement module through the connection port 31, the push rod 32 is connected to the adjustment motor 8 through the connecting shaft, and the grouting pipe 5 is connected to the base 1 and the grouting port 27 respectively through the fixture 30; A grouting pipe 5 is installed on the lower side of the outer wall of the reducer 10, a fixture 30 is installed in the middle of the outer wall of the grouting pipe 5, a connecting port 31 is installed on the lower side of the outer wall of the fixture 30, a push rod 32 is installed in the middle of the inner wall of the grouting pipe 5, and a grouting port 27 is installed on the lower side of the outer wall of the grouting pipe 5; Furthermore, after the grouting process is completed, the cleaning module cleans the residual slurry in the slurry tank 3 and the grouting assembly, and the controller 2 controls the recovery valve 19 to connect the recovery tank 21 and the slurry tank 3 to flow the waste slurry into the recovery tank 21. The slurry is filtered by the filter screen 22 in the recovery tank 21. The controller 2 confirms the performance of the waste slurry according to the ratio of the slurry before cleaning and the cleaning process. For example, the feeding valve 20 is then controlled to connect the water tank 33 and the storage box 4 as needed, and slurry raw materials and water are added to the recovery tank 21. After the recovery motor 18 drives the second stirring rod 23 to reprocess the waste slurry, the controller 2 controls the discharge valve 24 to connect the connection port 31 and the recovery tank 21. The slurry after secondary treatment is drawn into the grouting pipe 5 by the push rod 32 driven by the regulating motor 8. The controller 2 adjusts the position of the grouting component in the regulating module according to specific construction requirements, and then the regulating motor 8 drives the push rod 32 to discharge the secondary slurry in the grouting pipe 5 from the grouting port 27. The secondary slurry is used for pile foundation reinforcement, defect repair and prefabricated beam support installation and other operations. The operator only needs to regularly clean the impurities filtered by the filter screen 22 in the recovery box 21, thereby realizing the function of secondary utilization of waste slurry, solving the problems of resource waste, high environmental pressure and low construction efficiency, reducing raw material costs, alleviating environmental pressure, improving the construction efficiency of the device, and optimizing resource utilization.

[0026] Example 4: Please refer to Figure 1 、 Figure 2 and Figure 5 , an automatic grouting device for bridge construction, a stabilizing module is installed on the lower side of the outer wall of the base 1, and the stabilizing module is connected to the controller 2 through a signal line; The stabilization module includes: a stabilization motor 25, a moving wheel 7, a second telescopic rod 26, a support block 6, a second rotating shaft 28 and a vibration sensor 29. The moving wheel 7, the second telescopic rod 26 and the second rotating shaft 28 are connected to the stabilization motor 25 via a connecting shaft. The stabilization motor 25 is connected to the controller 2 via a signal line. The vibration sensor 29 is connected to the controller 2 via a signal line. A moving wheel 7 is installed on the lower side of the outer wall of the base 1, a support block 6 is installed on the lower side of the outer wall of the base 1, a second rotating shaft 28 is installed on the right side of the outer wall of the support block 6, a second telescopic rod 26 is installed on the right side of the outer wall of the second rotating shaft 28, a stabilizing motor 25 is installed in the middle of the inner wall of the base 1, and a vibration sensor 29 is installed on the upper side of the outer wall of the base 1; Furthermore, during the operation of the automatic grouting device, after the grouting in the current area is completed, the operator can control the stabilizing motor 25 through the controller 2 to drive the moving wheel 7 to move the automatic grouting device to the next grouting area to continue the work. During the grouting process, the vibration sensor 29 detects the stability of the automatic grouting equipment and transmits the information to the controller 2. The controller 2 compares the received vibration frequency information with the preset vibration range of 50Hz to 250Hz. When injecting high-viscosity slurry, the vibration range is 50Hz to 100Hz, and when injecting low-viscosity slurry, the vibration range is 100Hz to 250Hz. When the set vibration range is exceeded, the controller 2 controls the stabilizing motor 25 to drive the second telescopic rod 26 to extend the support block 6 and the second rotating shaft 28. The visual sensor 12 collects the grouting area environment, and the controller 2 controls the second rotating shaft 28 to adjust the angle of the support block 6 so that it can fit the grouting area and provide support for the automatic grouting device. After the second rotating shaft 28 has adjusted the angle of the support block 6, the controller 2 controls the second telescopic rod 26 to extend the second rotating shaft 28 and the support block 6 to fit the grouting area and provide support for the automatic grouting device, thereby achieving the function of eliminating the influence of shaking on the grouting stability, solving the problems of slurry diffusion path deviation, grouting body structural defects, equipment stability reduction and slurry leakage risk, and can suppress the device displacement caused by vibration, ensure the uniformity of grouting body solidification, improve the safety performance of the device, and improve the grouting efficiency of the device.

[0027] Example 5: Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 7 , an automatic grouting device for bridge construction, the environmental perception component includes: a visual sensor 12, a laser scanner 13 and an infrared imaging unit 14; A visual sensor 12 is installed on the left side of the outer wall of the grouting assembly, a laser scanner 13 is installed on the rear side of the outer wall of the visual sensor 12, and an infrared imaging unit 14 is installed on the front side of the outer wall of the visual sensor 12; A replacement module is installed on the left side of the outer wall of the adjustment component, and the replacement module is connected to the environmental sensing component through a signal line; The replacement module includes: a replacement motor 15, a cleaning component, a slurry tank 3, a first stirring rod 16, a connecting valve 17 and a blanking component. The replacement motor 15, the connecting valve 17 and the blanking component are connected to the controller 2 via a signal line. The cleaning component and the first stirring rod 16 are connected to the replacement motor 15 via a connecting shaft. The slurry tank 3 is connected to the connecting port 31 via the connecting valve 17 and the pipeline. A slurry box 3 is installed on the left side of the outer wall of the regulating module, a cleaning assembly is installed on the rear side of the outer wall of the slurry box 3, a connecting valve 17 is installed on the right side of the outer wall of the slurry box 3, a blanking assembly is installed on the upper side of the outer wall of the slurry box 3, a replacement motor 15 is installed on the left side of the outer wall of the regulating motor 8, and a first stirring rod 16 is installed on the lower part of the inner wall of the slurry box 3; The grouting assembly includes: a grouting pipe 5, a fixture 30, a connection port 31, a push rod 32 and a grouting port 27, the grouting pipe 5 is connected to the replacement module through the connection port 31, the push rod 32 is connected to the adjustment motor 8 through the connecting shaft, and the grouting pipe 5 is connected to the base 1 and the grouting port 27 respectively through the fixture 30; A grouting pipe 5 is installed on the lower side of the outer wall of the reducer 10, a fixture 30 is installed in the middle of the outer wall of the grouting pipe 5, a connecting port 31 is installed on the lower side of the outer wall of the fixture 30, a push rod 32 is installed in the middle of the inner wall of the grouting pipe 5, and a grouting port 27 is installed on the lower side of the outer wall of the grouting pipe 5; Furthermore, after the grouting is completed, if there is still residual slurry in the slurry tank 3, the controller 2 controls the feeding component to add admixtures to the slurry tank 3 according to the ratio of the slurry to adjust the fluidity and setting time of the slurry, and performs secondary treatment on the slurry. Subsequently, the surface information of the road surface in the construction area is collected through the visual sensor 12, and the prepared slurry is injected into the damaged part of the ground through the grouting component for repair. If there is no residual slurry in the slurry tank 3, the controller 2 cleans the slurry tank 3 through the cleaning component. During the preliminary cleaning, the cleaning module uses a cleaning agent to clean the slurry tank 3. The mixed liquid after cleaning does not enter the recovery module through the recovery valve 19. The controller 2 controls the regulating motor 8 to drive the pushing rod 32 to draw the mixed liquid from the connecting port 31 into the grouting pipe 5, and then squeezes and discharges the mixed liquid in the grouting pipe 5 through the pushing rod 32 to clean the grouting pipe 5. After the preliminary cleaning, the cleaning component uses pure water to clean the slurry tank 3 without using a cleaning agent. The grouting component repeats the operation until the grouting component discharges clean water to avoid damage to the device caused by slurry residue.

[0028] Working principle: The operator controls the automatic grouting equipment through the controller 2. Before grouting the bridge, the visual sensor 12 located on the left side of the outer wall of the grouting assembly collects information about the grouting area and transmits the information to the controller 2. The controller 2 analyzes the received grouting area information and confirms the grouting angle of the grouting assembly based on the environmental information of the grouting area, the distribution of grouting holes and the slurry concentration of the grouting in the area. After determining the grouting angle, the controller 2 controls the adjustment motor 8 to drive the first telescopic rod 11 to adjust the position of the first rotating shaft 9, the reducer 10 and the grouting assembly to the vicinity of the grouting hole. After arriving, the angle of the grouting assembly is adjusted by adjusting the motor 8 to drive the first rotating shaft 9. During the adjustment process, the motor 8 is adjusted to provide power to the reducer 10 to slow down the rotation rate of the first rotating shaft 9, so that the angle adjustment is more accurate. During the angle adjustment process, the visual sensor 12 is used to capture the position of the grouting hole to identify the grouting port 27 and the central axis of the grouting hole to achieve initial angle positioning. Subsequently, the laser scanner 13 is used to generate three-dimensional point cloud data of the grouting hole, and the deviation between the angle of the grouting port 27 and the axis of the grouting hole and the preset angle is calculated. The motor 8 is adjusted to drive the first rotating shaft 9 to adjust the grouting port 27. The angle with the grouting hole is adjusted. After the angle adjustment is completed, the controller 2 controls the regulating motor 8 to stop giving power to the first rotating shaft 9 and the reducer 10, and then controls the regulating motor 8 to drive the push rod 32 to move the slurry in the grouting pipe 5 to be injected into the grouting hole from the grouting port 27. In the process of the slurry being injected into the grouting hole through the grouting port 27, the guide plate 46 assists the slurry injection to avoid blockage. The controller 2 detects the slurry flow according to the flow meter 45 and then controls the regulating valve 44 to adjust the slurry flow of the grouting port 27 to complete the grouting. During the grouting process, the environmental sensing component always detects If the angle between the grouting port 27 and the grouting hole is offset due to interference from external factors, the controller 2 will control the regulating motor 8 to not give power to the push rod 32 after receiving the information, and at the same time control the first telescopic rod 11, the first rotating shaft 9 and the reducer 10 to readjust the position and angle of the grouting assembly to ensure that the grouting angle is within the allowable error range. In addition, during injection, if it is necessary to replace a grouting pipe 5 of a different size, the operator can cancel the fixation of the grouting pipe 5 by the holder 30 through the controller 2, replace the grouting pipe 5 that needs to be replaced, and then restore the fixation of the grouting pipe 5 by the holder 30; During the grouting process, the environmental sensing component collects information about the grouting process, and the laser scanner 13 obtains parameters such as the formation slope and hole depth deviation. After the slurry is injected, the infrared imaging unit 14 detects the slurry diffusion trajectory through thermal radiation and transmits the information to the controller 2. The controller 2 confirms whether the slurry ratio needs to be adjusted based on the slurry flow information. When the slurry ratio needs to be fine-tuned, the controller 2 controls the unloading component to open the opening and closing valve 39 according to the specific slurry demand, and adds the raw materials stored in the storage box 4 to the slurry container 4. In the slurry tank 3, slurry preparation is carried out. During the process of adding raw materials, the weight of the remaining raw materials in the storage box 4 is detected by the weight sensor 38. After reaching the specified amount, the opening and closing valve 39 is controlled to close, and the weight of the raw materials added to the slurry tank 3 is accurately controlled. Then, the motor 15 is replaced to drive the first stirring rod 16 to complete the slurry preparation. When it is necessary to make a major adjustment to the slurry ratio, that is, to clear the original slurry and reconfigure the slurry, the controller 2 controls the connecting valve 17 to disconnect the connection between the slurry tank 3 and the grouting pipe 5, and the controller 2 controls the adding valve 36 to connect the storage tank 3. The cleaning agent stored in the storage box 37 is added to the pipeline, and after being pressurized by the pressure nozzle 34, the residual slurry in the slurry box 3 is flushed. During the flushing process, the motor 15 is replaced to drive the first stirring rod 16 to stir the mixed liquid in the slurry box 3 to assist in cleaning. Then the adding valve 36 is closed and the slurry box 3 is flushed with pure water. After the cleaning is completed, the waste slurry flows into the recovery module. At the same time, the feeding component is controlled to add slurry raw materials to the slurry box 3 according to the new slurry ratio to prepare the slurry. Afterwards, the temperature sensor 40 detects the temperature of the slurry to ensure that the slurry temperature is within the set range during the grouting process. The viscosity sensor 43 detects the consistency and retrograde of the slurry to ensure that the slurry adhesion and fluidity can meet the grouting requirements. During the grouting process, the pressure sensor 42 detects the grouting pressure to avoid insufficient pressure causing loose filling or excessive pressure causing equipment failure and structural safety hazards. The liquid level sensor 41 is used to monitor the slurry level in the slurry tank 3 to avoid the liquid level being too low to cause slurry supply interruption and the liquid level being too high to overflow; During the operation of the automatic grouting device, after the grouting in the current area is completed, the operator can control the stabilizing motor 25 through the controller 2 to drive the moving wheel 7 to move the automatic grouting device to the next grouting area to continue the work. During the grouting process, the vibration sensor 29 detects the stability of the automatic grouting equipment and transmits the information to the controller 2. The controller 2 compares the received vibration frequency information with the preset vibration range of 50Hz to 250Hz. When injecting high-viscosity slurry, the vibration range is 50Hz to 100Hz, and when injecting low-viscosity slurry, the vibration range is 100Hz to 250Hz. Hz, when the set vibration range is exceeded, the controller 2 controls the stabilizing motor 25 to drive the second telescopic rod 26 to extend the support block 6 and the second rotating shaft 28. According to the grouting area environment collected by the visual sensor 12, the controller 2 controls the second rotating shaft 28 to adjust the angle of the support block 6 so that it can fit the grouting area and provide support for the automatic grouting device. After the second rotating shaft 28 has adjusted the angle of the support block 6, the controller 2 controls the second telescopic rod 26 to extend the second rotating shaft 28 and the support block 6 to fit the grouting area and provide support for the automatic grouting device. After the grouting process is completed, the cleaning module cleans the residual slurry in the slurry tank 3 and the grouting assembly, and the controller 2 controls the recovery valve 19 to connect the recovery tank 21 and the slurry tank 3 to flow the waste slurry into the recovery tank 21. The slurry filtered by the filter screen 22 in the recovery tank 21, the controller 2 confirms the performance of the waste slurry according to the ratio of the slurry before cleaning and the cleaning process, such as, then controls the feeding valve 20 to connect the water tank 33 and the storage box 4 as needed, adds slurry raw materials and water to the recovery tank 21, and the slurry is filtered by the filter screen 22 in the recovery tank 21. After the second stirring rod 23 is driven to reprocess the waste slurry, the controller 2 controls the discharge valve 24 to connect the connection port 31 and the recovery box 21, and the secondary processed slurry is extracted into the grouting pipe 5 by the regulating motor 8 to drive the push rod 32. The controller 2 adjusts the position of the grouting component in the regulating module according to the specific construction requirements, and the regulating motor 8 drives the push rod 32 to discharge the secondary slurry in the grouting pipe 5 from the grouting port 27. The secondary slurry is used for pile foundation reinforcement, defect repair and prefabricated beam support installation. The operator only needs to regularly Clean the impurities filtered by the filter 22 in the recovery box 21. If there is still residual slurry in the slurry box 3, the controller 2 controls the feeding component to add admixtures to the slurry box 3 according to the ratio of the slurry to adjust the fluidity and coagulation time of the slurry, and performs secondary treatment on the slurry. Subsequently, the surface information of the road surface in the construction area is collected through the visual sensor 12, and the slurry after preparation is injected into the damaged part of the ground through the grouting component for repair. If there is no residual slurry in the slurry box 3, the controller 2 cleans the slurry box 3 through the cleaning component. The initial cleaning is cleaned. The washing module uses a cleaning agent to clean the slurry tank 3. The mixed liquid after cleaning does not enter the recovery module through the recovery valve 19. The controller 2 controls the regulating motor 8 to drive the pushing rod 32 to draw the mixed liquid from the connecting port 31 into the grouting pipe 5. The mixed liquid in the grouting pipe 5 is then squeezed out by the pushing rod 32 to clean the grouting pipe 5. After the preliminary cleaning, the cleaning component uses pure water to clean the slurry tank 3 without using a cleaning agent. The grouting component repeats the operation until the grouting component discharges clean water to avoid damage to the device caused by slurry residue.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An automatic grouting device for bridge construction, characterized in that: It comprises a base (1), a controller (2) and an adjustment module, wherein the adjustment module is connected to the controller (2) via a signal line; A controller (2) is installed on the front side of the outer wall of the base (1), and an adjustment module is installed on the upper side of the outer wall of the base (1); The regulating module comprises: an regulating motor (8), a grouting assembly, a first rotating shaft (9), a speed reducer (10), a first telescopic rod (11) and an environment sensing assembly, wherein the regulating motor (8) and the environment sensing assembly are connected to the controller (2) via a signal line, and the first rotating shaft (9), the speed reducer (10) and the first telescopic rod (11) are connected to the regulating motor (8) via a connecting shaft; An adjusting motor (8) is installed in the middle of the inner wall of the base (1), a first telescopic rod (11) is installed on the upper side of the outer wall of the base (1), a first rotating shaft (9) is installed on the upper side of the outer wall of the first telescopic rod (11), a reducer (10) is installed on the upper side of the outer wall of the first rotating shaft (9), a grouting component is installed on the lower side of the outer wall of the reducer (10), and an environmental sensing component is installed on the left side of the outer wall of the grouting component.

2. The automatic grouting device for bridge construction according to claim 1, characterized in that: The environmental perception component includes: a visual sensor (12), a laser scanner (13) and an infrared imaging unit (14); A visual sensor (12) is installed on the left side of the outer wall of the grouting component, a laser scanner (13) is installed on the rear side of the outer wall of the visual sensor (12), and an infrared imaging unit (14) is installed on the front side of the outer wall of the visual sensor (12).

3. The automatic grouting device for bridge construction according to claim 1, characterized in that: A replacement module is installed on the left side of the outer wall of the adjustment component, and the replacement module is connected to the environmental sensing component through a signal line; The replacement module includes: a replacement motor (15), a cleaning component, a slurry tank (3), a first stirring rod (16), a connecting valve (17) and a blanking component, wherein the replacement motor (15), the connecting valve (17) and the blanking component are connected to the controller (2) via a signal line, the cleaning component and the first stirring rod (16) are connected to the replacement motor (15) via a connecting shaft, and the slurry tank (3) is connected to the connecting port (31) via the connecting valve (17) and the pipeline; A slurry box (3) is installed on the left side of the outer wall of the regulating module, a cleaning component is installed on the rear side of the outer wall of the slurry box (3), a connecting valve (17) is installed on the right side of the outer wall of the slurry box (3), a feeding component is installed on the upper side of the outer wall of the slurry box (3), a replacement motor (15) is installed on the left side of the outer wall of the regulating motor (8), and a first stirring rod (16) is installed on the lower part of the inner wall of the slurry box (3).

4. The automatic grouting device for bridge construction according to claim 3, characterized in that: A recovery module is installed on the lower side of the outer wall of the cleaning component, and the recovery module is connected to the slurry tank (3) through a recovery valve (19); The recovery module comprises: a recovery motor (18), a recovery valve (19), a feeding valve (20), a recovery box (21), a filter screen (22), a second stirring rod (23) and a discharge valve (24); the recovery box (21) is connected to the slurry box (3) through the recovery valve (19); the recovery box (21) is connected to the storage box (4) and the water tank (33) through the feeding valve (20); the recovery box (21) is connected to the connection port (31) through the discharge valve (24) and the pipeline; the second stirring rod (23) is connected to the recovery motor (18) through a connecting shaft; A recovery box (21) is installed on the rear side of the outer wall of the slurry box (3), a feeding valve (20) is installed on the upper part of the inner wall of the recovery box (21), a second stirring rod (23) is installed on the lower part of the inner wall of the recovery box (21), a filter screen (22) is installed in the middle part of the inner wall of the recovery box (21), a recovery valve (19) is installed on the front side of the outer wall of the recovery box (21), a discharge valve (24) is installed on the rear side of the outer wall of the recovery box (21), and a recovery motor (18) is installed on the rear side of the outer wall of the replacement motor (15).

5. The automatic grouting device for bridge construction according to claim 1, characterized in that: A stabilization module is installed on the lower side of the outer wall of the base (1), and the stabilization module is connected to the controller (2) via a signal line; The stabilization module comprises: a stabilization motor (25), a moving wheel (7), a second telescopic rod (26), a support block (6), a second rotation axis (28) and a vibration sensor (29); the moving wheel (7), the second telescopic rod (26) and the second rotation axis (28) are connected to the stabilization motor (25) via a connecting shaft; the stabilization motor (25) is connected to the controller (2) via a signal line; and the vibration sensor (29) is connected to the controller (2) via a signal line. A moving wheel (7) is installed on the lower side of the outer wall of the base (1), a support block (6) is installed on the lower side of the outer wall of the base (1), a second rotating shaft (28) is installed on the right side of the outer wall of the support block (6), a second telescopic rod (26) is installed on the right side of the outer wall of the second rotating shaft (28), a stabilizing motor (25) is installed in the middle of the inner wall of the base (1), and a vibration sensor (29) is installed on the upper side of the outer wall of the base (1).

6. The automatic grouting device for bridge construction according to claim 1, characterized in that: The grouting assembly comprises: a grouting pipe (5), a fixer (30), a connecting port (31), a push rod (32) and a grouting port (27); the grouting pipe (5) is connected to the replacement module via the connecting port (31); the push rod (32) is connected to the adjustment motor (8) via a connecting shaft; and the grouting pipe (5) is connected to the base (1) and the grouting port (27) respectively via the fixer (30); A grouting pipe (5) is installed on the lower side of the outer wall of the speed reducer (10), a fixer (30) is installed in the middle of the outer wall of the grouting pipe (5), a connecting port (31) is installed on the lower side of the outer wall of the fixer (30), a pushing rod (32) is installed in the middle of the inner wall of the grouting pipe (5), and a grouting port (27) is installed on the lower side of the outer wall of the grouting pipe (5).

7. The automatic grouting device for bridge construction according to claim 3, characterized in that: The cleaning assembly comprises: a water tank (33), a pressure nozzle (34), a circulation pump (35), an addition valve (36) and a storage box (37); the water tank (33) is connected to the storage box (37) via the circulation pump (35) and the addition valve (36); and the pressure nozzle (34) is connected to the water tank (33) via the circulation pump (35); A pressurizing nozzle (34) is installed on the rear side of the outer wall of the slurry tank (3), a circulating pump (35) is installed on the rear side of the outer wall of the pressurizing nozzle (34), a water tank (33) is installed on the rear side of the outer wall of the circulating pump (35), a storage box (37) is installed on the upper side of the outer wall of the circulating pump (35), and an adding valve (36) is installed on the lower side of the outer wall of the storage box (37).

8. The automatic grouting device for bridge construction according to claim 3, characterized in that: The unloading assembly comprises: a weight sensor (38), an opening and closing valve (39) and a storage box (4); the opening and closing valve (39) is connected to the weight sensor (38) and the controller (2) via a signal line; and the storage box (4) is connected to the slurry box (3) via the opening and closing valve (39); A material storage box (4) is installed on the upper side of the outer wall of the slurry box (3), a weight sensor (38) is installed on the lower part of the inner wall of the material storage box (4), and an opening and closing valve (39) is installed on the right side of the outer wall of the weight sensor (38).

9. The automatic grouting device for bridge construction according to claim 3, characterized in that: A detection assembly is installed in the middle of the inner wall of the slurry tank (3), and the detection assembly includes: a temperature sensor (40), a liquid level sensor (41), a pressure sensor (42) and a viscosity sensor (43); the temperature sensor (40) is connected to the controller (2) via a signal line, the liquid level sensor (41) and the pressure sensor (42) are connected to the injection assembly via a signal line, and the viscosity sensor (43) is connected to the cleaning module via a signal line; A temperature sensor (40) is installed on the upper side of the outer wall of the communication valve (17), a pressure sensor (42) is installed on the front side of the outer wall of the temperature sensor (40), a viscosity sensor (43) is installed on the lower side of the outer wall of the communication valve (17), and a liquid level sensor (41) is installed on the upper part of the inner wall of the slurry tank (3).

10. The automatic grouting device for bridge construction according to claim 6, characterized in that: The grouting port (27) comprises: a regulating valve (44), a flow meter (45) and a guide plate (46); the regulating valve (44) and the flow meter (45) are connected to the controller (2) via a signal line; A regulating valve (44) is installed on the lower side of the outer wall of the grouting pipe (5), a flow meter (45) is installed on the lower side of the outer wall of the regulating valve (44), and a guide plate (46) is installed on the lower side of the outer wall of the flow meter (45).

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