Multifunctional side slope reinforcement spraying and grouting machine for biological soil fixation and use method of multifunctional side slope reinforcement spraying and grouting machine

Abstract

The invention discloses a multifunctional slope reinforcement spraying and grouting machine for biological soil fixation and a use method, and relates to the technical field of civil engineering slope reinforcement, the multifunctional slope reinforcement spraying and grouting machine comprises an equipment main body, a power system, a multi-cavity liquid storage system, a spraying system, a mechanical arm, a control system and a urease activity detection system, and the mechanical arm is arranged at the top of the equipment main body. The multifunctional side slope reinforcing spraying and grouting machine is of a multi-cavity structure, compared with a single-cavity structure of a traditional spraying machine or grouting machine, soybean urease, urea and a calcium chloride solution can be independently stored according to the specified proportion, and the problems that due to the fact that a mixed solution reacts in advance, a liquid conveying pipe is blocked by crystals, enzyme activity is reduced, and the reinforcing effect is poor are solved; and through the structural design of the spraying and grouting machine, a liquid storage device with a larger size can be adopted, and long-time operation can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of civil engineering slope reinforcement, in particular to a multifunctional slope reinforcement spraying and grouting machine for biological soil fixation and a use method thereof. BACKGROUND

[0002] In the construction projects of civil engineering, a large amount of high slope excavation by manual work is inevitable, and the soil of the slope is mainly silt clay, clay, fill and unstable rock-soil layer. The safety factor of the slope is often less than the design safety factor due to construction and time loss, and therefore the slope must be reinforced to ensure its stability.

[0003] Slope reinforcement is a disaster prevention project with complex technology and difficult construction, and its support methods include grouting reinforcement, anti-slide pile, retaining wall, anchor rod, anchor cable and plant frame slope protection. The existing slope reinforcement methods have the disadvantages of high engineering cost, long construction period and environmental unfriendliness.

[0004] In order to overcome the above problems, the biological enzyme-induced calcium carbonate deposition technology (biological soil fixation technology) has emerged as the times require. The principle is to promote the hydrolysis of urea by urease solution to produce carbonate ions, and to react with calcium ions in the salt solution under alkaline environment to generate calcium carbonate crystals, thereby realizing the soil fixation effect by using the cementation and calcification effects. This technology has the advantages of significant reinforcement and anti-seepage effect, low cost, short construction period and environmental friendliness, and has been preliminarily applied in the fields of wind and sand prevention, foundation reinforcement and slope anti-seepage reinforcement.

[0005] The application of the above-mentioned biological soil fixation technology in the field of slope reinforcement still needs to rely on artificial spraying or spraying machines. The former is time-consuming and labor-intensive, and the cost is high. The latter is usually a single-cavity structure, and the mixed solution is easy to generate crystals and block the infusion tube and nozzle if stored for too long. In addition, the machine model is not well adapted to the mountain terrain, which is not conducive to moving and operating in the mountains.

[0006] Therefore, according to the actual operating conditions of the mountain slope and the principle of biological soil fixation, a multifunctional slope reinforcement spraying and grouting machine for biological soil fixation and a use method thereof are proposed. SUMMARY

[0007] The purpose of the present application is to provide a multifunctional slope reinforcement spraying and grouting machine based on biological soil fixation and a use method thereof, to solve the problems of the current traditional slope reinforcement, which not only destroys the original vegetation, but also has poor effect, is easy to cause slope instability and soil erosion, and has low spraying efficiency and high labor cost.

[0008] In order to achieve the above-mentioned purpose, the present application provides the technical scheme as follows:

[0009] The application discloses a multifunctional slope reinforcement spraying and grouting machine for bio-soil fixation, which comprises a device main body, a power system, a multi-chamber liquid storage system, a spraying system, a mechanical arm, a control system and a urease activity detection system.

[0010] The power system comprises a caterpillar track arranged at the bottom of the device main body and an engine arranged in the device main body, wherein the engine output end drives the caterpillar track.

[0011] The multi-chamber liquid storage system is arranged in the device main body and comprises a three-chamber liquid storage tank, a mixed liquid cabin and a liquid outlet cabin which are sequentially connected from top to bottom.

[0012] The spraying system comprises a water pump, a spray head, a grouting pipe and a sixth flow guide pipe, wherein one end of the water pump is connected with the liquid outlet cabin, the other end of the water pump is connected with the sixth flow guide pipe, the spray head and the grouting pipe are connected on the mechanical arm, and the sixth flow guide pipe is connected with the spray head and the grouting pipe.

[0013] The three-chamber liquid storage tank comprises a calcium ion solution chamber, a urease solution chamber and a urea chamber from left to right, the urease solution chamber and the urea chamber are connected with the mixed liquid cabin through a first flow guide pipe and a second flow guide pipe respectively, the first flow guide pipe and the second flow guide pipe are merged before being connected with the mixed liquid cabin, a first mixed liquid valve is arranged at the merging section, the mixed liquid cabin is connected with the liquid outlet cabin through a third flow guide pipe and a fourth flow guide pipe, the calcium ion solution chamber is connected with the liquid outlet cabin through a fifth flow guide pipe, the third flow guide pipe, the fourth flow guide pipe and the fifth flow guide pipe are merged before being connected with the liquid outlet cabin, a second mixed liquid valve is arranged at the merging section, and first, second and third electronic intercept valves are arranged on the first, second and fifth flow guide pipes respectively.

[0014] Optionally, the chamber top of the calcium ion solution chamber, the urease solution chamber and the urea chamber of the three-chamber liquid storage tank is provided with an air pressure equalizer, the air pressure equalizer comprises a tubular shell fixed at the chamber top of the three-chamber liquid storage tank, a filter screen is arranged at the top of the tubular shell, a valve assembly is arranged in the tubular shell, the valve assembly comprises a telescopic part fixed at the lower end of the chamber top and a movable part arranged at the top of the telescopic part, a spring is sleeved on the outer wall of the telescopic part, the top of the spring is connected with the bottom of the movable part, and a gas hole is arranged in the side wall of the tubular shell and is located below the movable part under normal pressure.

[0015] Based on the above technical features, under normal pressure, the movable part and the telescopic part jointly seal the tubular shell, so that the valve assembly is closed under normal pressure, when the spraying liquid in the three-chamber liquid tank is pumped out by the water pump, the negative pressure formed in the tank pulls down the spring and drives the movable part to move downward, the movable part moves to the lower side of the air hole, and the valve assembly reaches the open state, and the air hole is used to balance the air pressure in the three-chamber liquid tank.

[0016] Optionally, the control system comprises a control panel, a remote control device and a flow meter, the control panel is arranged on the outer wall of the device body, the remote control device is arranged on the inner wall of the device body, the flow meter comprises a first flow meter, a second flow meter and a third flow meter arranged on the first guide pipe, the second guide pipe and the fifth guide pipe respectively, and the flow meter, the first electronic intercepting valve, the second electronic intercepting valve, the third electronic intercepting valve, the track, the water pump and the mechanical arm are connected with the remote control device and the power supply in the power system through wiring.

[0017] Based on the above technical features, the first flow meter, the second flow meter and the third flow meter are used to monitor the flow in the first guide pipe, the second guide pipe and the fifth guide pipe.

[0018] Optionally, the spray head and the grouting pipe are detachably connected with the mechanical arm.

[0019] Based on the above technical features, the spray head and the grouting pipe can be replaced with each other, and flexible use in different scenes can be realized.

[0020] Optionally, the mechanical arm comprises a mechanical arm base fixedly installed on the top of the device body, and a movable joint is arranged on the top of the mechanical arm base.

[0021] Optionally, the surface of the spray head is densely covered with fine water mist nozzles.

[0022] Based on the above technical features, the fine water mist nozzles can realize rapid and uniform spraying.

[0023] Optionally, the urease activity detection system comprises a detection chamber and an electric conductivity meter, the detection chamber is located between the mixing cabin and the liquid outlet cabin, the third guide pipe passes through the detection chamber, and the measurement end of the electric conductivity meter extends into the inner cavity of the detection chamber.

[0024] Based on the above technical features, by using the principle that urease and urea mixed together can decompose non-conductive urea into conductive carbonate ions and ammonium ions to make the solution conductive, the change of electric conductivity after mixing is monitored by the electric conductivity meter to determine the urease activity. The detection chamber is opened and closed regularly, the urea and urea mixture flow into the detection chamber when it is opened, and the electric conductivity meter monitors the change of electric conductivity when it is closed, so that the real-time monitoring of enzyme activity is realized.

[0025] The application further discloses a spraying operation of the multifunctional slope reinforcement spraying and grouting machine for biological soil fixation, which comprises the following steps:

[0026] S11, equal amounts of calcium ion solution, urease and urea are respectively added into a calcium ion solution cavity, a urease solution cavity and a urea cavity of a three-cavity liquid storage tank, and the liquid storage tank is closed and sealed;

[0027] S12, the spraying and grouting machine is moved to a spraying operation area to be sprayed by a remote control device, and a spraying head is controlled to be parallel to and close to the slope;

[0028] S13, the first, second and third electronic intercept valves are remotely controlled to be opened, a water pump is opened, the first and second mixed liquid valves are adjusted, and the readings of the first, second and third flow meters are monitored through a control panel, so that the liquid discharging amounts of the three cavities reach predetermined values, and the calcium ion solution cavity, the urease solution cavity and the urea cavity are mixed to form a soybean urease reinforcement liquid;

[0029] S14, the angle and position of a mechanical arm are adjusted, and the spraying and grouting machine is driven back and forth, so that the soybean urease reinforcement liquid is fully and uniformly sprayed on the slope, and the slope reinforcement work is completed after the above steps are repeated 2-4 times.

[0030] The application further discloses a grouting operation of the multifunctional slope reinforcement spraying and grouting machine for biological soil fixation, which comprises the following steps:

[0031] S21, equal amounts of calcium ion solution, urease and urea are respectively added into a calcium ion solution cavity, a urease solution cavity and a urea cavity of a three-cavity liquid storage tank, and the liquid storage tank is closed and sealed;

[0032] S22, the spraying and grouting machine is moved to a spraying operation area to be sprayed by a remote control device, and a spraying head is controlled to be parallel to and close to the slope;

[0033] S23, the first, second and third electronic intercept valves are remotely controlled to be opened, a water pump is opened, the first and second mixed liquid valves are adjusted, and the readings of the first, second and third flow meters are monitored through a control panel, so that the liquid discharging amounts of the three cavities reach predetermined values, and the calcium ion solution cavity, the urease solution cavity and the urea cavity are mixed to form a soybean urease reinforcement liquid;

[0034] S24, the grouting pipe is accurately moved to the reinforcement area by controlling the mechanical arm, then the grouting pipe is pressed into the determined depth, the grouting program is started, the soybean urease reinforcement liquid is fully poured into the soil pores under the action of pressure, after the grouting is completed, the grouting pipe is slowly pulled out, then the grouting pipe is moved to the next reinforcement point, the above grouting process is repeated, and the whole area is reinforced until the reinforcement is completed.

[0035] In conclusion, the application has the following beneficial effects:

[0036] 1. The multifunctional slope reinforcement spraying and grouting machine of the present application adopts a multi-chamber structure, which can independently store soybean urease, urea and calcium chloride solution according to specified proportions respectively, compared with the single-chamber structure of traditional spraying machines or grouting machines, thereby avoiding problems such as crystallization blockage of the liquid delivery pipe, reduction of enzyme activity and poor reinforcement effect caused by early reaction of the mixed solution; and the spraying and grouting machine structure design of the present application can adopt a larger volume of liquid storage device, thereby enabling long-time operation.

[0037] 2. The multifunctional slope reinforcement spraying and grouting machine of the present application is provided with a urease activity detection system, which can realize real-time monitoring of urease activity while spraying or grouting operation is being performed.

[0038] 3. The soybean used as the raw material of soybean urease of the present application widely exists in nature, and has low acquisition cost and is green and pollution-free; and the soybean urease reinforcement solution used in the present application has lower cost and better reinforcement and anti-seepage effect than traditional engineering protection slope reinforcement schemes, and the engineering quality is easy to control.

[0039] 4. The multifunctional slope reinforcement spraying and grouting machine of the present application adopts a track as the movement mode, which is convenient for walking in mountainous areas; the three-chamber liquid storage tank is arranged inside the spraying and grouting machine, which is beneficial to reduce the overall center of gravity and increase stability; the above-mentioned mechanism arrangement enables the spraying and grouting machine to have the ability to operate under actual conditions of mountainous slopes. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is an embodiment of the front view of the multifunctional slope reinforcement spraying and grouting machine of the present application (spraying mode);

[0041] Figure 2 It is an embodiment of the rear view of the multifunctional slope reinforcement spraying and grouting machine of the present application (spraying mode);

[0042] Figure 3 It is an embodiment of the front view of the multifunctional slope reinforcement spraying and grouting machine of the present application (grouting mode);

[0043] Figure 4 It is an internal view of the equipment main body of the multifunctional slope reinforcement spraying and grouting machine of the present application;

[0044] Figure 5 It is a schematic view of the liquid storage cabin, liquid mixing cabin, detection cabin and liquid outlet cabin of the multifunctional slope reinforcement spraying and grouting machine of the present application;

[0045] Figure 6 It is an internal detail view of the liquid storage cabin and liquid mixing cabin of the multifunctional slope reinforcement spraying and grouting machine of the present application;

[0046] Figure 7The urease activity detection system schematic diagram of the multifunctional slope reinforcement spraying and grouting machine of the application;

[0047] Figure 8 The air pressure balancer structure schematic diagram of the multifunctional slope reinforcement spraying and grouting machine of the application;

[0048] Figure 9 The air pressure balancer sectional view of the multifunctional slope reinforcement spraying and grouting machine of the application.

[0049] In the figure:

[0050] 1, equipment main body;

[0051] 2, power system; 21, engine; 22, track;

[0052] 3, multi-chamber liquid storage system; 31, three-chamber liquid storage tank; 311, calcium ion solution chamber; 312, urease solution chamber; 313, urea chamber; 32, mixed liquid cabin; 33, liquid outlet cabin; 341, first flow guide pipe; 342, second flow guide pipe; 343, third flow guide pipe; 344, fourth flow guide pipe; 345, fifth flow guide pipe; 351, first mixed liquid valve; 352, second mixed liquid valve; 36, air pressure balancer; 361, spring; 362, valve assembly; 3621, telescopic part; 3622, movable part; 363, filter screen; 364, tubular shell; 3641, air hole; 371, first electronic check valve; 372, second electronic check valve; 373, third electronic check valve;

[0053] 4, spraying system; 41, water pump; 42, spray head; 421, fine water mist nozzle; 43, grouting pipe; 44, sixth flow guide pipe;

[0054] 5, mechanical arm; 51, mechanical arm base; 52, movable joint;

[0055] 6, control system; 61, control panel; 62, remote control device; 631, first flow meter; 632, second flow meter; 633, third flow meter;

[0056] 7, urease activity detection system; 71, detection chamber; 72, conductivity meter. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0058] Embodiment one: asFigures 1-2 、 Figures 4-9 As shown in FIGS. 1-7, a multifunctional slope reinforcement spraying and grouting machine for bio-soil fixation comprises a device main body 1, a power system 2, a multi-chamber liquid storage system 3, a spraying system 4, a mechanical arm 5, a control system 6, and a urease activity detection system 7. The mechanical arm 5 is arranged on the top of the device main body 1.

[0059] The power system 2 comprises a caterpillar 21 and an engine 22. The caterpillar 22 is arranged at the bottom of the device main body 1, and the engine 22 is arranged inside the device main body 1. The engine 22 drives the caterpillar 22 to move. The spraying and grouting machine adopts the caterpillar 22 as the walking mode, which can better adapt to the mountain slope.

[0060] The multi-chamber liquid storage system 3 comprises three-chamber liquid storage tanks 31, a mixed liquid cabin 32, and a liquid outlet cabin 33 arranged in sequence from top to bottom and inside the device main body 1, which is conducive to reducing the center of gravity and suitable for mountain operation.

[0061] The spraying system 4 comprises a water pump 41, a spray head 42, a grouting pipe 43, and a sixth flow guide pipe 44. One end of the water pump 41 is connected with the liquid outlet cabin 33, and the other end of the water pump 41 is connected with the sixth flow guide pipe 44. The spray head 42 is connected with the mechanical arm 5, and the sixth flow guide pipe 44 is connected with the spray head 42.

[0062] The three-chamber liquid storage tanks 31 comprise a calcium ion solution chamber 311, a urease solution chamber 312, and a urea chamber 313 arranged in sequence from left to right. The calcium ion solution chamber 311, the urease solution chamber 312, and the urea chamber 313 respectively contain calcium ion solution, urease solution, and urea. The urease solution adopts soybean urease with a material-liquid ratio of 1:25. The urease solution chamber 312 and the urea chamber 313 are respectively connected with the mixed liquid cabin 32 through the first flow guide pipe 341 and the second flow guide pipe 342. The first flow guide pipe 341 and the second flow guide pipe 342 are merged before being connected with the mixed liquid cabin 32, and a first mixed liquid valve 351 is arranged at the merging section. The mixed liquid cabin 32 is connected with the liquid outlet cabin 33 through the third flow guide pipe 343 and the fourth flow guide pipe 344. The calcium ion solution chamber 311 is connected with the liquid outlet cabin 33 through the fifth flow guide pipe 345. The third flow guide pipe 343, the fourth flow guide pipe 344, and the fifth flow guide pipe 345 are merged before being connected with the liquid outlet cabin 33, and a second mixed liquid valve 352 is arranged at the merging section. The first mixed liquid valve 351 and the second mixed liquid valve 352 play a role in mixing different spraying liquids. The first electronic cut-off valve 371, the second electronic cut-off valve 372, and the third electronic cut-off valve 373 are respectively arranged on the first flow guide pipe 341, the second flow guide pipe 342, and the fifth flow guide pipe 345.

[0063] The chamber top of the calcium ion solution chamber 311, urease solution chamber 312 and urea chamber 313 of the three-chamber liquid tank 31 is provided with an air pressure equalizer 36, which comprises a tubular shell 364 fixed on the chamber top of the three-chamber liquid tank 31, a filter screen 363 provided on the top of the tubular shell 364, a valve assembly 362 provided inside the tubular shell 364, the valve assembly 362 comprising an extension part 3621 fixed at the lower end of the chamber top and a movable part 3622 located on the top of the extension part 3621, the outer wall of the extension part 3621 is sleeved with a spring 361, the top of the spring 361 is connected with the bottom of the movable part 3622, the side wall of the tubular shell 364 is provided with an air hole 3641, and the air hole 3641 is located below the movable part 3622 under normal pressure. Under normal pressure, the movable part 3622 and the extension part 3621 jointly close the tubular shell 364, that is, the valve assembly 362 is closed under normal pressure, when the spraying liquid in the three-chamber liquid tank 31 is pumped out by the water pump 41, the negative pressure formed in the tank body pulls down the spring 361 and drives the movable part 3622 to move downward, the movable part 3622 moves below the air hole 3641, the valve assembly 362 reaches the open state, and the air pressure in the three-chamber liquid tank 31 is balanced through the air hole 3641. The filter screen 363 can prevent impurities from entering the three-chamber liquid tank 31.

[0064] The structure of the valve assembly 362 is shown in Figures 8-9 The extension part 3621 comprises a lower seat provided with a cavity and an upper movable rod inserted into the cavity of the lower seat and extending upward, the upper movable rod can have a space for moving up and down, so as to drive the movable part 3622 to change the position of the air hole 3641 and realize the function of balancing air pressure, and the movable part 3622 and the tubular shell 364 can move similarly to a piston.

[0065] The control system 6 comprises a control panel 61 arranged on the outer wall of the device body 1, a remote control device 62 arranged on the inner wall of the device body 1, and flow meters, the flow meters comprising a first flow meter 631, a second flow meter 632 and a third flow meter 633 arranged on the first flow guide pipe 341, the second flow guide pipe 342 and the fifth flow guide pipe 345 respectively, the flow meters, the first electronic shutoff valve 371, the second electronic shutoff valve 372, the third electronic shutoff valve 373, the caterpillar 22, the water pump 41 and the mechanical arm 5 being connected to the remote control device 62 and the power supply in the power system 2 through wiring to realize control of the flow meters, the first electronic shutoff valve 371, the second electronic shutoff valve 372, the third electronic shutoff valve 373, the caterpillar 22, the water pump 41 and the mechanical arm 5, wherein the remote control device 62 comprises two kinds of direct on-site control and remote control in the prior art. The first flow meter 631, the second flow meter 632 and the third flow meter 633 are used to monitor the flow in the pipes of the first flow guide pipe 341, the second flow guide pipe 342 and the fifth flow guide pipe 345; the first electronic shutoff valve 371, the second electronic shutoff valve 372 and the third electronic shutoff valve 373 are used to control the flow of each flow guide pipe.

[0066] The mechanical arm 5 comprises a mechanical arm base 51 fixedly installed on the top of the device body 1, and a movable joint 52 arranged on the top of the mechanical arm base 51 and capable of moving under the control of the control system 6.

[0067] The surface of the spray head 42 is densely covered with fine water mist nozzles 421, which can realize rapid and uniform spraying, and the spray head 42 can be designed in a rectangular shape.

[0068] The urease activity detection system 7 comprises a detection chamber 71 and a conductivity meter 72, the detection chamber 71 being located between the mixed liquid tank 32 and the liquid outlet tank 33 and the third flow guide pipe 343 passing through the detection chamber 71, the third flow guide pipe 343 being provided with a valve with a control switch on the upper and lower sections of the detection chamber 71, and the measurement end of the conductivity meter 72 extending into the inner cavity of the detection chamber 71. By utilizing the principle that urease and urea mixed together can decompose non-conductive urea into conductive carbonate ions and ammonium ions to make the solution conductive, the change in conductivity after mixing is monitored by the conductivity meter 72 to determine the urease activity. The detection chamber 71 is regularly opened and closed, the urease and urea mixture flows in when it is opened, and the conductivity meter 72 monitors the change in conductivity when it is closed, so as to realize real-time monitoring of the enzyme activity.

[0069] When performing the spraying operation on the slope, the following steps are included:

[0070] S11, equal amounts of calcium ion solution, urease and urea are respectively added into the calcium ion solution cavity 311, the urease solution cavity 312 and the urea cavity 313 of the three-cavity liquid storage tank 31, and the liquid storage tank is closed and sealed;

[0071] S12. Move the spraying and grouting machine to the spraying area through the remote control device 6, and control the nozzle 42 to be parallel and close to the slope.

[0072] S13. Remotely control the opening of the first electronic shut-off valve 371, the second electronic shut-off valve 372 and the third electronic shut-off valve 373, and turn on the water pump 41. Adjust the first mixing valve 351 and the second mixing valve 352, and monitor the readings of the first flow meter 631, the second flow meter 632 and the third flow meter 633 through the control panel 61, so that the liquid output of the three chambers of calcium ion solution chamber 311, urease solution chamber 312 and urea chamber 313 reaches the predetermined value and mixes to form soybean urease consolidation solution;

[0073] S14. Adjust the angle and orientation of the robotic arm 5, and combine it with the back-and-forth movement of the spraying and grouting machine to ensure that the soybean urease reinforcement solution is fully and evenly sprayed on the slope. Repeat this 2 to 4 times to complete the slope reinforcement work.

[0074] Example 2: Figures 3-9 As shown, the difference from Embodiment 1 is that the nozzle 42 is replaced by the grouting pipe 43, so the nozzle 42 and the grouting pipe 43 are detachably mounted on the robotic arm 5.

[0075] The grouting operation on the slope includes the following steps:

[0076] S21. Add equal amounts of calcium ion solution, urease and urea into the calcium ion solution chamber 311, urease solution chamber 312 and urea chamber 313 of the three-chamber storage tank 31 respectively, and close and seal the storage tank.

[0077] S22. Move the spraying and grouting machine to the spraying area through the remote control device 6, and control the nozzle 42 to be parallel and close to the slope.

[0078] S23. Remotely control the opening of the first electronic shut-off valve 371, the second electronic shut-off valve 372 and the third electronic shut-off valve 373, and turn on the water pump 41. Adjust the first mixing valve 351 and the second mixing valve 352, and monitor the readings of the first flow meter 631, the second flow meter 632 and the third flow meter 633 through the control panel 61, so that the liquid output of the three chambers of calcium ion solution chamber 311, urease solution chamber 312 and urea chamber 313 reaches the predetermined value and mixes to form soybean urease consolidation solution;

[0079] S24. By controlling the robotic arm 5, the grouting pipe 43 is precisely moved to the area to be reinforced. Then, the grouting pipe 43 is pressed into the predetermined depth, and the grouting program is started. The soybean urease reinforcement liquid is fully injected into the soil pores under pressure. After the grouting is completed, the grouting pipe is slowly pulled out and moved to the next reinforcement point. The above grouting process is repeated until the entire area is reinforced.

[0080] Embodiment three: as shown, the urease activity detection system 7 detects the activity of urease, including the following steps: Figures 5-7

[0081] S31, by controlling the first mixing valve 351 to introduce urease and urea solution into the mixing cabin 32 at a volume ratio of 1:1;

[0082] S32, the third flow guide pipe 343 at the upper and lower ends of the detection chamber 71 is opened, and the mixed solution flows through the detection chamber 71;

[0083] S33, the third flow guide pipe 343 at the upper and lower ends of the detection chamber 71 is closed, and the conductivity meter 72 monitors the change of the conductivity of the mixed solution. If the conductivity change exceeds 1 mmol / (min·L), it is proved that the activity of the enzyme meets the requirements;

[0084] S34, after the urease activity monitoring, the solution in the detection chamber 71 is discharged, and the spraying or grouting operation is started;

[0085] S35, repeat S32-S33, so as to realize real-time monitoring of the activity of the enzyme.

[0086] It should be noted that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0087] Although the embodiments of the present application have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.​

Claims

1. A multifunctional biological soil stabilization slope reinforcement spraying and grouting machine, characterized in that: It includes a main body (1), a power system (2), a multi-chamber liquid storage system (3), a spraying system (4), a robotic arm (5), a control system (6), and a urease activity detection system (7), wherein the robotic arm (5) is located on the top of the main body (1); The power system (2) includes tracks (21) and an engine (22). The tracks (22) are located at the bottom of the equipment body (1), and the engine (22) is located inside the equipment body (1). The output end of the engine (22) drives the tracks (22). The multi-chamber liquid storage system (3) is located inside the main body of the equipment (1) and includes a three-chamber liquid storage tank (31), a mixing chamber (32) and an outlet chamber (33) connected from top to bottom. The spraying system (4) includes a water pump (41), a nozzle (42), a grouting pipe (43), and a sixth guide pipe (44). One end of the water pump (41) is connected to the liquid outlet chamber (33), and the other end of the water pump (41) is connected to the sixth guide pipe (44). The nozzle (42) and the grouting pipe (43) are connected to the robotic arm (5), and the sixth guide pipe (44) is connected to the nozzle (42) and the grouting pipe (43). The three-chamber storage tank (31) includes, from left to right, a calcium ion solution chamber (311), a urease solution chamber (312), and a urea chamber (313). The urease solution chamber (312) and the urea chamber (313) are respectively connected to the mixing chamber (32) through a first guide pipe (341) and a second guide pipe (342). The first guide pipe (341) and the second guide pipe (342) merge before connecting to the mixing chamber (32), and a first mixing valve (351) is provided at the merging section. The mixing chamber (32) is provided with a third guide pipe (343) and a fourth guide pipe (351). 344) Connect to the liquid outlet chamber (33). The calcium ion solution chamber (311) is provided with a fifth guide pipe (345) that connects to the liquid outlet chamber (33). The third guide pipe (343), the third guide pipe (344), and the fifth guide pipe (345) converge before connecting to the liquid outlet chamber (33), and a second mixing valve (352) is provided at the confluence section. A first electronic shut-off valve (371), a second electronic shut-off valve (372), and a third electronic shut-off valve (373) are respectively provided on the first guide pipe (341), the second guide pipe (342), and the fifth guide pipe (345).

2. The multifunctional biological soil stabilization spraying and grouting machine for slope reinforcement according to claim 1, characterized in that: The top of each of the three chambers of the three-chamber liquid storage tank (31)—calcium ion solution chamber (311), urease solution chamber (312), and urea chamber (313)—is equipped with a pressure balancer (36). The pressure balancer (36) includes a tubular outer shell (364) fixed to the top of the inner cavity of the three-chamber liquid storage tank (31). A filter screen (363) is installed on the top of the tubular outer shell (364), and a valve assembly (362) is installed inside the tubular outer shell (364). The component (362) includes a telescopic part (3621) fixed at its lower end to the top of the chamber and a movable part (3622) located at the top of the telescopic part (3621). A spring (361) is sleeved around the outer wall of the telescopic part (3621). The top of the spring (361) is connected to the bottom of the movable part (3622). The side wall of the tubular outer shell (364) is provided with an air hole (3641), and the air hole (3641) is located below the movable part (3622) under normal pressure.

3. The multifunctional slope reinforcement spraying and grouting machine for biological soil stabilization according to claim 1, characterized in that: The control system (6) includes a control panel (61), a remote control device (62), and flow meters. The control panel (61) is located on the outer wall of the main body (1), and the remote control device (62) is located on the inner wall of the main body (1). The flow meters include a first flow meter (631), a second flow meter (632), and a third flow meter (633) respectively installed on the first guide pipe (341), the second guide pipe (342), and the fifth guide pipe (345). The flow meters, the first electronic shut-off valve (371), the second electronic shut-off valve (372), the third electronic shut-off valve (373), the track (22), the water pump (41), and the robotic arm (5) are connected to the power supply in the remote control device (62) and the power system (2) through wiring.

4. The multifunctional slope reinforcement spraying and grouting machine for biological soil stabilization according to claim 1, characterized in that: The nozzle (42) and the grouting pipe (43) are detachably connected to the robotic arm (5).

5. The multifunctional slope reinforcement spraying and grouting machine for biological soil stabilization according to claim 1, characterized in that: The robotic arm (5) includes a robotic arm base (51) fixedly installed on the top of the equipment body (1), and the top of the robotic arm base (51) is provided with a movable joint (52).

6. The multifunctional slope reinforcement spraying and grouting machine for biological soil stabilization according to claim 1, characterized in that: The surface of the nozzle (42) is densely covered with fine water mist nozzles (421).

7. The multifunctional slope reinforcement spraying and grouting machine for biological soil stabilization according to claim 1, characterized in that: The urease activity detection system (7) includes a detection chamber (71) and a conductivity meter (72). The detection chamber (71) is located between the mixing chamber (32) and the outlet chamber (33), and a third guide tube (343) passes through the detection chamber (71). The measuring end of the conductivity meter (72) extends into the inner cavity of the detection chamber (71).

8. The method of using the multifunctional slope reinforcement spraying and grouting machine according to any one of claims 1-7, characterized in that: The spraying operation includes the following steps: S11. Add equal amounts of calcium ion solution, urease and urea into the calcium ion solution chamber (311), urease solution chamber (312) and urea chamber (313) of the three-chamber storage tank (31) respectively, and close the sealed storage tank. S12. Move the spraying and grouting machine to the spraying area through the remote control device (6) and control the nozzle (42) to be parallel to the slope. S13. Remotely control the opening of the first electronic shut-off valve (371), the second electronic shut-off valve (372) and the third electronic shut-off valve (373), and turn on the water pump (41). Adjust the first mixing valve (351) and the second mixing valve (352). Monitor the readings of the first flow meter (631), the second flow meter (632) and the third flow meter (633) through the control panel (61) so that the liquid output of the three chambers of calcium ion solution chamber (311), urease solution chamber (312) and urea chamber (313) reaches the predetermined value and mixes to form soybean urease consolidation solution. S14. Adjust the angle and orientation of the robotic arm (5), and combine it with the back-and-forth movement of the spraying and grouting machine to ensure that the soybean urease reinforcement liquid is fully and evenly sprayed on the slope. Repeat this 2 to 4 times to complete the slope reinforcement work.

9. The method of using the multifunctional slope reinforcement spraying and grouting machine according to any one of claims 1-7, characterized in that: Grouting operations include the following steps: S21. Add equal amounts of calcium ion solution, urease and urea into the calcium ion solution chamber (311), urease solution chamber (312) and urea chamber (313) of the three-chamber storage tank (31) respectively, and close and seal the storage tank. S22. Move the spraying and grouting machine to the spraying area through the remote control device (6) and control the nozzle (42) to be parallel and close to the slope. S23. Remotely control the opening of the first electronic shut-off valve (371), the second electronic shut-off valve (372) and the third electronic shut-off valve (373), and turn on the water pump (41). Adjust the first mixing valve (351) and the second mixing valve (352), and monitor the readings of the first flow meter (631), the second flow meter (632) and the third flow meter (633) through the control panel (61) so that the liquid output of the three chambers of calcium ion solution chamber (311), urease solution chamber (312) and urea chamber (313) reaches the predetermined value and mixes to form soybean urease consolidation solution; S24. By controlling the robotic arm (5), the grouting pipe (43) is precisely moved to the area to be reinforced. Then, the grouting pipe (43) is pressed into the predetermined depth, and the grouting program is started. The soybean urease reinforcement liquid is fully injected into the soil pores under pressure. After the grouting is completed, the grouting pipe is slowly pulled out and then moved to the next reinforcement point. The above grouting process is repeated until the entire area is reinforced.

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