Pipe joint jacking line wall quick obstacle removing system and obstacle removing method

Abstract

The application provides a pipe joint jacking line on the ground wall rapid obstacle removal system and obstacle removal method, belongs to the pipe jacking construction technical field, adopts a four-in-one system of "laser positioning, ultrasonic detection + drilling and grouting + ultrahigh pressure abrasive water jet cutting + forced discharge", and completes the pipe joint jacking line on the ground wall rapid obstacle removal. The application adopts the ultrahigh pressure abrasive water jet device, has higher efficiency and smaller vibration than the traditional mechanical breaking, compared with the extensive management of the traditional mechanical breaking construction, the laser positioning, ultrasonic detection and BIM technology are used, the position and breaking sequence control of the ground wall breaking area are more accurate, the breaking construction safety is ensured, the influence of the breaking residue on the subsequent jacking construction, the soil disturbance caused by the breaking area exceeding the planned area and the reduction of the safety and reliability of the existing structure are avoided, and the like. When the ground wall is broken, the ground space is not occupied, a working well is not drilled, the surrounding traffic is not affected, and the like, and the construction is convenient.

Description

Technical Field

[0001] This invention relates to the field of pipe jacking construction technology, specifically to a rapid obstacle removal system and method for diaphragm walls along the pipe jacking route. Background Technology

[0002] With the intensive development of urban underground space, pipe jacking construction often needs to pass through the retaining structures of existing buildings and structures, such as diaphragm walls. These reinforced concrete structures have high strength, and conventional pipe jacking machine cutters cannot directly cut them. Forced operation can easily lead to cutterhead wear, blockage of the excavation outlet, and even stagnation of excavation. Traditional methods for clearing diaphragm walls mainly include: ground-level pre-drilling blasting: requires ground space, and blasting vibrations threaten the stability of the surrounding strata and the safety of existing structures; mechanical chiseling of excavated working shafts: long construction period, significant traffic interference, and high cost of deep foundation pit support; full-rotation casing drilling: large equipment, poor site adaptability, and easy environmental pollution from waste disposal; hydraulic hammer crushing / static blasting: low efficiency, significant vibration, and residual debris can easily jam the conveying system. The above methods have common drawbacks. For example, mechanical demolition is time-consuming and labor-intensive, and cannot meet the needs of rapid construction; vibration transmission can easily cause ground deformation and endanger the safety of adjacent structures; it relies on ground operations, requires additional working wells, and has a significant impact on traffic and land use; and the transportation of excavated soil is prone to leakage and pollution, and the broken residue can hinder subsequent jacking.

[0003] Therefore, there is an urgent need for a high-efficiency, low-disturbance, and surface-space-free diaphragm wall clearing technology to ensure the continuity, safety, and environmental friendliness of pipe jacking construction. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to address the shortcomings of existing technologies by providing a rapid obstacle removal system and method for diaphragm walls on pipe jacking lines, achieving the goals of efficiently breaking down diaphragm walls, reducing the impact of construction on existing structures and surrounding strata, completing the transportation of crushed excavated soil in an environmentally friendly and convenient manner, and eliminating the need to occupy ground space.

[0005] Technical solution: The present invention provides a rapid obstacle removal system for diaphragm walls on pipe jacking lines, comprising a pipe jacking machine body, a soil improvement and grouting friction reduction system at the front end of the pipe jacking machine body, a robotic arm operating system at the top of the pipe jacking machine body, a sealing grease injection system at the middle of the pipe jacking machine body, a hinged sealing system and an electrical control system at the rear end of the pipe jacking machine body, and a hydraulic correction system, a pipe removal system and a screw conveying system at the bottom of the pipe jacking machine body;

[0006] The robotic arm operating system includes a first robotic arm mounting hole and a second robotic arm mounting hole on the cutterhead of the pipe jacking machine. The first robotic arm mounting hole has a detachable end effector module, which can be selected from any one of a controllable robotic arm, a laser scanning device, an ultrasonic detection device, a drilling device, or an ultra-high pressure abrasive waterjet cutting device. A forced-grabbing robotic arm is installed on the second robotic arm mounting hole. A spiral conveyor system is mounted on the body of the pipe jacking machine via a bracket, with the inlet of the spiral conveyor system located below the cutting area in front of the cutterhead. The grouting and friction reduction system includes a drilling grouting device and an ultra-high pressure abrasive waterjet cutting device. The drilling grouting module is connected to a high-pressure grouting pump and a slurry mixing system via a high-pressure grouting pipe. The hydraulic gates of the equipment, the forced gripping robotic arm, and the spiral conveyor system are connected to the hydraulic correction system circuit of the pipe jacking machine via hydraulic quick connectors to obtain power; the ultra-high pressure abrasive waterjet cutting device is connected to the ultra-high pressure water pump unit located at the rear of the pipe jacking machine via ultra-high pressure steel pipes and high pressure rotary joints; several ground deformation sensors are evenly distributed in the soil on the front and back of the diaphragm wall, on the ground surface above the pipe jacking axis, and on the cross-section perpendicular to the axis; the controllable robotic arm, laser scanning device, ultrasonic detection device, all drive motors, and ground deformation sensors are all connected to the electrical control system inside the pipe jacking machine via shielded control cables; the electrical control system, as the central hub, exchanges data in real time with the BIM cloud processing platform on the ground via industrial Ethernet / fiber optics.

[0007] The obstacle removal system provided by this invention is a highly integrated and intelligent underground unmanned operation solution. Its core principle is: on a platform with a pipe jacking machine as the carrier, through a set of rapidly switchable robotic arm execution modules, under the command of the BIM cloud intelligent decision-making system and the feedback of the real-time stratum monitoring system, the entire process of "precise detection - active reinforcement - non-destructive cutting - intelligent slag removal" is automatically completed in sequence, thereby safely and efficiently removing diaphragm wall obstacles on the jacking route.

[0008] Furthermore, the screw conveyor system includes a screw conveyor cylinder, inside which is a rotating body. The rotating body includes a screw driven by a variable frequency motor, and a set of screw blades are installed on the screw. A vibration device is fixed on the outer wall of the screw conveyor cylinder. A hydraulic gate and an emergency hydraulic gate are provided at the inlet of the screw conveyor cylinder. A clearance and high-pressure water flushing interface is provided at the outlet of the screw conveyor cylinder. The clearance and high-pressure water flushing interface is connected to an external high-pressure water pump through a quick-connect hose.

[0009] This screw conveyor system is the core slag removal equipment in diaphragm wall clearing operations. Its working principle is based on the axial thrust generated by the rotating screw to achieve continuous material conveying. It also integrates multiple active anti-jamming protection measures to ensure efficient and reliable handling of concrete blocks and slag of varying sizes generated during cutting.

[0010] Furthermore, the ultra-high pressure abrasive waterjet cutting device includes a nozzle body, a nozzle body connected to the front end of the nozzle body, a nozzle outlet on the nozzle body, a high-pressure water channel connected to the rear end of the nozzle body, a gas channel on the outer wall of the nozzle body, and an abrasive mixing chamber inside the nozzle body. The abrasive inlet valve of the abrasive mixing chamber is connected to the abrasive hopper through a pipe. The abrasive is automatically drawn into the abrasive mixing chamber by the negative pressure airflow provided by the gas channel. High-pressure water enters the abrasive mixing chamber through the high-pressure water channel and is initially mixed with the abrasive.

[0011] A method for clearing obstructions in a rapid obstruction clearing system for a diaphragm wall along a pipe section jacking line includes the following steps:

[0012] Step 1: Identify the distribution range of diaphragm walls using laser scanning, and import the data into the BIM cloud platform to generate a 3D model;

[0013] Step 2: Switch the robotic arm to the ultrasonic detection module to measure the thickness of the diaphragm wall and complete the 3D model;

[0014] Step 3: Drill holes in the area to be demolished using a drilling and grouting module, and inject reinforcing grout to solidify the soil behind the wall;

[0015] Step 4: Based on the 3D model, plan the cutting path and control the ultra-high pressure abrasive water jet module to cut the diaphragm wall into concrete blocks;

[0016] Step 5: Activate the grabbing robotic arm and screw conveyor system of the forced discharge module to remove concrete blocks and monitor ground deformation in real time.

[0017] Furthermore, step 1 specifically includes:

[0018] Step 1.1: During the pipe jacking construction, the laser scanning device installed at the end of the controllable robotic arm scans the line ahead to identify the planar distribution range of the diaphragm wall; if the thickness information of the diaphragm wall is known in advance, the ultrasonic detection step is omitted, and a three-dimensional model is directly generated based on the known data.

[0019] Step 1.2: Import the scanned data into the BIM model, process it with cloud software, generate a preliminary diaphragm wall distribution map and determine the ultrasonic detection path.

[0020] By using a laser scanning device to emit a laser beam and receive the reflected signal, high-density point cloud data of the surface of obstacles in front of the pipe jacking machine is quickly acquired through laser ranging. This data is transmitted in real time to a BIM cloud platform, where algorithms process the point cloud data to identify the outline and planar position of the diaphragm wall, generating a preliminary digital model. Preliminary detection can be completed without stopping the pipe jacking machine, ensuring safety and efficiency. This provides a precise visual and data-driven foundation for all subsequent processes, enabling a "simulation before construction" approach to the construction plan. Based on the preliminary model, the system can intelligently determine whether a more precise ultrasonic thickness measurement step needs to be initiated, optimizing the construction process.

[0021] Furthermore, step 2 specifically involves...

[0022] Step 2.1: Install the ultrasonic detection device onto the end of the robotic arm, control it to move along a predetermined path, use the pulse echo method to measure the thickness of the diaphragm wall at different locations, record the sound wave propagation time d, and calculate the thickness according to the formula d=d×d / 2, where d is the speed of sound;

[0023] Step 2.2: Import the thickness data into the BIM model to generate a three-dimensional model of the distribution of diaphragm walls along the jacking line.

[0024] The ultrasonic thickness measurement principle of pulse-echo method is adopted. An ultrasonic probe (transducer) emits ultrasonic pulses towards the wall. The pulses are reflected when they reach the other side of the wall, and the probe receives the echo. Measuring the time difference *r* between transmission and reception, and knowing the propagation speed *v* of ultrasound in concrete, the wall thickness can be accurately calculated using the formula d = *v* × *r* / 2. A robotic arm moves the probe along a predetermined path to obtain comprehensive thickness distribution data of the wall. This data is integrated into the BIM model from step 1, forming a high-precision three-dimensional model containing thickness information. Accurately understanding the thickness changes of the diaphragm wall provides crucial data input for subsequent waterjet cutting process parameters (such as cutting speed and pressure), avoiding incomplete cutting or energy waste. The three-dimensional model is upgraded from a "shape" to an "entity with attribute information," achieving a comprehensive digital twin of the obstacle removal object, making cutting path planning more scientific and precise.

[0025] Furthermore, step 3 specifically involves:

[0026] Step 3.1: Based on the three-dimensional image obtained in Step 2, use the drilling equipment installed at the end of the robotic arm to drill grouting holes in the upper part of the area to be demolished in the diaphragm wall.

[0027] Step 3.2: Reinforce the soil behind the diaphragm wall using high-pressure grouting through grouting holes. The grout is a mixture of cement slurry and water glass. The grout is prepared from P·O42.5 cement slurry and water glass, with a water-cement ratio of 0.6:1, a water glass content of 35%, and a modulus of 2.4~3.4. Additives are added according to geological conditions: 0.3% CMC is added to the sand layer, and 0.1% phosphate retarder is added to the clay layer. The soil behind the diaphragm wall needs to be reinforced quickly and effectively to withstand the impact of subsequent water jet cutting and to prevent soil collapse; therefore, a high-strength grout is required. P·O42.5 cement and a high water-cement ratio meet this strength requirement; the 0.6:1 water-cement ratio ensures that the grout has both high strength and sufficient fluidity and pumpability, facilitating construction using a high-pressure grouting pump and grouting pipe. This type of base grout needs to be well mixed with water glass (a quick-setting agent) so that it can solidify quickly after grouting and achieve the "expected effect" of soil reinforcement as soon as possible. The chemical composition of P·O cement is highly compatible with water glass and can react rapidly to form a gel substance that seals pores and reinforces the soil.

[0028] A hole is drilled above the area to be cut into the soil behind the wall to create a grouting channel. A high-pressure grouting pump injects a grout with a specific ratio into the soil. The grout (cement-water glass two-component grout) permeates, fills, and binds in the soil pores. Cement grout acts as the main agent to provide strength, while water glass acts as a quick-setting agent to promote rapid gelation and solidification, forming a high-strength, low-permeability solidified body. Additives (such as CMC and phosphate retarder) are used to adjust the fluidity and setting time of the grout in different strata (sand layers, clay layers). Therefore, pre-reinforcing the soil behind the diaphragm wall before cutting creates a stable "support zone," effectively preventing collapse or surface subsidence caused by soil instability during cutting. The grout gel can seal groundwater channels, creating conditions for subsequent dry or low-water operations, reducing mud-water mixtures, and facilitating waste disposal.

[0029] Furthermore, step 4 specifically involves:

[0030] Step 4.1 After the high-pressure grouting is completed, based on the three-dimensional image, the optimal cutting path of the ultra-high pressure abrasive waterjet device is planned by cloud software.

[0031] Step 4.2: Control the ultra-high pressure abrasive water jet device installed at the end of the robotic arm to move along the designed path, and use ultra-high pressure water jet with a pressure of 200MPa to cut the diaphragm wall into concrete blocks in a predetermined sequence.

[0032] An ultra-high pressure pump pressurizes water to over 200 MPa, creating a high-speed jet through a carbide nozzle. Abrasive particles are drawn into the high-speed water flow in the mixing chamber and fully accelerated, forming a highly abrasive "water jet." This high-speed abrasive jet impacts the concrete surface, using momentum and abrasive action to penetrate and cut the material. The BIM cloud platform calculates the optimal cutting path (e.g., from bottom to top, from the center to both sides) based on a precise 3D model to avoid stress concentration. It then controls a robotic arm to drive the jet head along this path, performing multi-angle 3D cutting to divide the diaphragm wall into concrete blocks of predetermined sizes. Water jet cutting is a cold cutting method, generating almost no thermal stress or vibration, with minimal impact on the preserved structure and surrounding strata, greatly ensuring construction safety. Based on high-precision BIM model path planning, the cutting boundaries are neat and the positions are accurate, avoiding over-excavation or under-excavation. The cutting efficiency is far higher than traditional mechanical crushing, and compared to blasting and other processes, it is quieter, dust-free, and suitable for cutting complex reinforced concrete diaphragm walls.

[0033] Furthermore, step 5 specifically includes:

[0034] Step 5.1: While cutting the diaphragm wall, activate the forced conveying module; the forced conveying module includes a screw conveyor system and a forced gripping robotic arm;

[0035] Step 5.2: Use the forced gripping robotic arm to transfer the concrete blocks and debris generated from the cutting process to the inlet of the screw conveyor system;

[0036] Step 5.3: The concrete blocks and excavated soil are continuously transported to the designated location using a screw conveyor system;

[0037] Step 5.4: Throughout the obstacle removal process, monitor ground deformation in real time; the preset deformation warning value is 2mm; when the ground deformation reaches or exceeds the warning value, immediately stop construction and resume construction only after the cause has been identified and effective measures have been taken to ensure safety. Integrating ground deformation monitoring into the construction closed loop achieves information-based construction. An alarm and shutdown are triggered immediately upon data anomaly, forming a complete safety early warning and feedback mechanism to minimize construction risks.

[0038] The cut concrete blocks are grabbed by a forced-grabbing robotic arm and placed at the inlet of the screw conveyor. The screw conveyor propels the concrete blocks and excavated soil forward using rotating helical blades, ultimately delivering them to the subsequent slag removal equipment. The helical blades are designed with toothed, rodless, hollow blades and are equipped with a vibration system and a high-pressure water flushing interface to prevent large concrete blocks from getting stuck. Simultaneously, throughout the process, ground deformation data is collected in real time through pre-embedded monitoring points (such as inclinometers and settlement gauges) and compared with a preset warning value (2mm). This achieves a continuous "cut-grab-convey" production line, avoiding the impact of excavated soil accumulation on the pipe jacking machine's advancement and cutting operations, improving overall efficiency. The toothed blades, vibration assistance, and high-pressure flushing, among other measures, ensure that the screw conveyor can handle concrete blocks of varying sizes, resulting in high system reliability.

[0039] Beneficial effects: Compared with the prior art, the advantages of the present invention are as follows:

[0040] (1) This invention integrates modern sensing technology (laser, ultrasound), information technology (BIM, cloud platform), high-pressure fluid technology (ultra-high pressure water jet) and mechanical automation technology to form a closed-loop construction process of "detection-reinforcement-cutting-transportation-monitoring". Its core lies in guiding efficient and non-destructive cutting through precise digital modeling, supplemented by real-time soil reinforcement and intelligent waste disposal, to ultimately achieve safe, efficient and low-environmental-impact underground obstacle removal;

[0041] (2) This invention avoids the blindness of traditional mechanical demolition, greatly improves the efficiency of obstacle removal, and protects the stability of existing structures and surrounding strata to the maximum extent through pre-reinforcement and real-time monitoring.

[0042] (3) The present invention uses ultra-high pressure water jet cutting, which has minimal vibration and all operations are completed underground, eliminating the need for surface excavation and minimizing the impact on surrounding traffic and the environment;

[0043] (4) The path planning and robotic arm control based on the BIM model of this invention reduces human error and improves construction quality and controllability; when breaking down the diaphragm wall, it does not require occupying ground space or drilling a separate working well, and does not affect the surrounding traffic, making construction convenient. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the obstacle removal system in this invention;

[0045] Figure 2 This is a schematic diagram of the cutter head structure in this invention;

[0046] Figure 3 This is a schematic diagram of the screw conveyor system in this invention;

[0047] Figure 4This is a schematic diagram of the ultra-high pressure abrasive waterjet cutting device in this invention;

[0048] Figure 5 This is a schematic diagram of the ultra-high pressure abrasive waterjet cutting device from another perspective in this invention. Detailed Implementation

[0049] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0050] Example 1

[0051] like Figure 1 The above-displacement diaphragm wall rapid obstacle removal system for pipe jacking lines includes a pipe jacking machine body 1, a soil improvement and grouting friction reduction system 3 at the front end of the pipe jacking machine body 1, a robotic arm operating system 2 above the pipe jacking machine body 1, a sealing grease injection system 4 in the middle of the pipe jacking machine body 1, a hinge sealing system 7 and an electrical control system 8 at the rear end of the pipe jacking machine body 1, and a hydraulic correction system 5, a pipe removal system 6 and a screw conveying system 9 below the pipe jacking machine body 1.

[0052] The robotic arm operating system 2 includes a first robotic arm mounting hole 201 and a second robotic arm mounting hole 202 located on the cutterhead of the pipe jacking machine. The first robotic arm mounting hole 201 is detachably equipped with an end effector module via a quick-release device. The end effector module includes any one of the following: a controllable robotic arm, a laser scanning device, an ultrasonic detection device, a drilling device, or an ultra-high pressure abrasive waterjet cutting device. A forced gripping robotic arm is installed on the second robotic arm mounting hole 202. A spiral conveying system is mounted on the body of the pipe jacking machine via a bracket. The inlet of the spiral conveying system is located below the cutting area in front of the cutterhead. The grouting friction reduction system 3 is an ultra-high pressure abrasive waterjet cutting device. The hydraulic gates of the drilling equipment, the forced gripping robotic arm, and the spiral conveying system are connected to the circuit of the hydraulic correction system 5 of the pipe jacking machine via hydraulic quick connectors to obtain power. The ultra-high pressure abrasive waterjet cutting device is connected to the ultra-high pressure water pump unit located at the rear of the pipe jacking machine via an ultra-high pressure steel pipe and a high pressure rotary joint. A spiral transport channel 203 is provided below the cutterhead.

[0053] Several ground deformation sensors are evenly distributed in the soil on the front and back of the diaphragm wall, on the ground surface above the jacking pipe axis, and on the cross section perpendicular to the axis.

[0054] The controllable robotic arm, laser scanning device, ultrasonic detection device, all drive motors and ground deformation sensors are connected to the electrical control system 8 inside the pipe jacking machine through shielded control cables; the electrical control system 8 acts as the central hub and exchanges data in real time with the ground-based BIM cloud processing platform through industrial Ethernet / fiber optics.

[0055] The screw conveyor system includes a screw conveyor cylinder 905, inside which is a rotating body. The rotating body includes a screw driven by a variable frequency motor, and a set of helical blades are mounted on the screw. A vibration device 904 is fixed to the outer wall of the screw conveyor cylinder 905, and the vibration device fixed to the cylinder wall continuously generates micro-vibrations. This vibration is transmitted into the cylinder, which can effectively break up the "bridging" or "arching" phenomenon formed by the material, reduce the static friction between the material and the cylinder wall and blades, prevent adhesion, and loosen the blocks stuck in the gap between the blades and the cylinder wall, making it easier for them to be screwed out. A hydraulic gate 902 and an emergency hydraulic gate 903 are provided at the inlet of the screw conveyor cylinder 905, and a clearance and high-pressure water flushing interface 901 is provided at the outlet of the screw conveyor cylinder 905. The clearance and high-pressure water flushing interface 901 is connected to an external high-pressure water pump through a quick-connect hose. When the system detects an abnormal increase in current, indicating potential blockage or encountering an oversized concrete block, the operator or automatic system connects an external high-pressure water pump to the obstacle removal and high-pressure water flushing interface via a quick-connect hose. The screw conveyor system uses toothed blades made of wear-resistant steel; the screw channel is a rodless hollow design, with its pitch (P) and screw diameter (Φ) determined according to the size of the concrete block, requiring the following: pitch P ≥ concrete block diameter / 1.5, screw diameter Φ = P / (0.6~0.8); and a vibration auxiliary system with a vibration frequency of 10~20Hz is installed to prevent concrete block jamming; a high-pressure water flushing interface is also added inside the screw conveyor system cylinder. When encountering an oversized concrete block, the high-pressure water flow is activated to further break up the concrete block and lubricate the inner wall of the cylinder to ensure smooth conveying.

[0056] When the clearing operation begins and slag removal is required, the variable frequency motor starts first, driving the screw and the helical blades fixed on it to rotate. The hydraulic gate opens under the drive of the hydraulic cylinder, making way for the material to enter and exit. The concrete blocks and slag produced by cutting fall into the screw conveyor cylinder through the inlet under the assistance of gravity or a forced gripping robotic arm. The rotating helical blades contact the material, and the friction between the blade surface and the material, as well as the axial thrust applied by the helical surface of the blades, work together to propel the material continuously forward (towards the outlet) along the inner wall of the cylinder. This process is continuous, and the material forms a stable flow inside the cylinder, which is continuously transported out.

[0057] The ultra-high pressure abrasive waterjet cutting device includes a nozzle body 301, a nozzle body 302 connected to the front end of the nozzle body 301, a nozzle outlet 303 on the nozzle body 302, a high-pressure water channel 304 connected to the rear end of the nozzle body 301, a gas channel 305 on the outer wall of the nozzle body 302, and an abrasive mixing chamber inside the nozzle body 301. The abrasive inlet valve of the abrasive mixing chamber is connected to the abrasive hopper via a pipe. The abrasive is automatically drawn into the abrasive mixing chamber by the negative pressure airflow provided by the gas channel 305. High-pressure water enters the abrasive mixing chamber through the high-pressure water channel 304 and is initially mixed with the abrasive. The nozzle of the ultra-high pressure abrasive waterjet device is made of hard alloy and a mixing chamber assembly, with a diameter of 0.5 mm and an inner hole with a convergent-straight section structure to ensure jet aggregation and stability. A nano-coating 308 is applied to the surface. The abrasive mixing chamber has a diameter of 1 mm and automatically draws in abrasive through negative pressure. The abrasive addition rate is 1.0 kg / min, which is adjusted according to the material hardness. The nozzle is made of hard alloy focusing tube (length-to-diameter ratio > 6), with a smooth cylindrical or micro-conical inner wall to reduce turbulence and maintain jet cohesion. It has an outlet diameter of 1mm and is reliably connected to the nozzle via threads. The ultra-high pressure abrasive water jet device is integrated into a controllable robotic arm, which drives the water jet device to achieve multi-angle cutting in three-dimensional space. This device cleverly utilizes the negative pressure generated by high-pressure water to automatically draw in abrasive, complete energy exchange within the mixing chamber, and finally eject a highly cutting jet from a specially designed nozzle. Its core working principle is to use high-speed water flow as a carrier and power source to accelerate the abrasive to extremely high speeds, using the mechanical erosion of the abrasive as the primary cutting method, thereby efficiently and non-destructively demolishing reinforced concrete structures.

[0058] Example 2

[0059] During the construction of a pipe jacking project for a river-crossing tunnel in Nanjing, an existing diaphragm wall was discovered along the pipe jacking route. The rectangular pipe jacking section measures 11.35m × 7.5m. An earth pressure balance 6-cutterhead rectangular pipe jacking machine was used, comprising three Φ4450mm cutterheads and three Φ3900mm cutterheads. The diaphragm wall to be demolished was 1.2m thick, and its thickness and verticality were well controlled. All diaphragm walls within the pipe jacking section's dimensions needed to be demolished. This project employed a four-in-one system: laser positioning, ultrasonic detection, drilling and grouting, ultra-high pressure abrasive waterjet cutting, and forced drainage, to quickly clear the diaphragm wall along the pipe jacking route. The specific steps are as follows:

[0060] Step 1.1: During normal jacking operation, the tunneling is paused, and the robotic arm mounting hole is sealed with a steel plate. High-strength bolts are installed at the four corners of the robotic arm mounting hole inside the cutterhead of the pipe jacking machine, and the sealing steel plate is connected to the high-strength bolts with nuts. When the robotic arm needs to be used, the sealing steel plate is removed, and the controllable robotic arm is installed on the cutterhead through the hole. The robotic arm and the cutterhead are connected and fixed with the reserved high-strength bolts, and shock-absorbing pads are added to buffer the impact.

[0061] The laser scanning device includes a controller, an image acquisition module connected to the controller, and a laser emitter. The laser emitter is installed at the end of a controllable robotic arm. The remaining laser scanning devices are led out to the pipe jacking machine (opposite to the jacking direction) via wires built into the controllable robotic arm to operate and import the scanning data into the BIM model. Cloud software is used to draw the planar distribution range of the diaphragm wall and determine the movement path of the ultrasonic probe. If the thickness of the diaphragm wall is known, the ultrasonic detection step can be omitted, and drilling can be carried out directly. Ultrasonic detection uses the pulse-echo method. After the laser scanning is completed, the laser scanning device is removed and the ultrasonic detection module is installed.

[0062] Step 1.2: After receiving the laser point cloud data, the BIM cloud platform automatically generates a two-dimensional planar distribution map of the diaphragm wall. Based on this planar map, the platform software will automatically plan an efficient zigzag or grid-like detection path that covers the entire diaphragm wall surface. This path will serve as the instruction for the next step of moving the ultrasonic probe.

[0063] Step 2.1: The robotic arm retracts, the tool head is replaced, and the ultrasonic detector is installed at the end of the robotic arm. Before installation and use, calibration should be performed using a standard test block of known thickness. The operator controls the robotic arm to keep the ultrasonic probe flush against the ground and wall surface, moving it along the path planned in Step 1.2. To ensure effective sound wave transmission, a layer of ultrasonic coupling agent (0.5-1mm thick) is evenly applied to the probe surface to eliminate interference from air gaps. The probe vertically emits ultrasonic pulses and receives the echoes. The instrument automatically records the round-trip propagation time t of the sound wave in the concrete, records the sound wave propagation time ᝑ�, and calculates the thickness using the formula d=ᝑ�×ᝑ� / 2, where ᝑ� is the speed of sound.

[0064] Step 2.2: Correspond the thickness data of all measuring points to their planar coordinates and import them into the BIM model. The platform software uses the thickness data as the "Z-axis" information and merges it with the "XY-axis" planar information obtained from laser scanning to construct a high-precision three-dimensional solid model that accurately reflects the spatial morphology, thickness variations, and reinforcement distribution (if any) of the diaphragm wall. This model serves as the basis for decision-making in all subsequent construction operations.

[0065] Step 3.1: Based on the 3D model obtained in Step 2.2, the robotic arm changes its tool head again and installs a hydraulic drilling machine. According to the outline of the diaphragm wall in the BIM model, one or more grouting holes are drilled above the area to be demolished. The drilling equipment is installed at the end of the controllable robotic arm. Grouting holes with a diameter of 10-20cm are drilled on the diaphragm wall, and high-pressure grouting is performed through the grouting holes using grouting pipes.

[0066] Step 3.2: Reinforce the soil behind the diaphragm wall using high-pressure grouting through grouting holes; the grout is a mixture of cement slurry and water glass; the grout is made of P·O42.5 cement slurry and water glass, wherein the water-cement ratio of the cement slurry is 0.6:1, the amount of water glass added is 35%, and the modulus is 2.4~3.4; and additives are added according to geological conditions, 0.3% CMC is added to the sand layer and 0.1% phosphate retarder is added to the clay layer.

[0067] Step 4.1: After high-pressure grouting is completed, the optimal cutting path of the ultra-high pressure abrasive waterjet device is planned using cloud software based on the 3D model. The path planning follows the principle of "from bottom to top and from inside to outside" to prevent the upper concrete block from falling and jamming the cutting head after cutting, and to ensure the most stable release of structural stress during the cutting process.

[0068] Step 4.2: Control the ultra-high pressure abrasive water jet device installed at the end of the robotic arm to move along the designed path, and use ultra-high pressure water jet with a pressure of 200MPa to cut the diaphragm wall into concrete blocks in a predetermined sequence.

[0069] Step 5.1: When concrete blocks and debris generated from breaking the diaphragm wall cannot slide down to the screw conveyor inlet on their own, the forced-grabbing robotic arm is installed into the pre-reserved robotic arm mounting hole. The robotic arm is then controlled to move the concrete blocks to the screw conveyor inlet, where the screw conveyor system removes them. Simultaneously with cutting the diaphragm wall, the forced-extraction module is activated; the forced-extraction module includes the screw conveyor system and the forced-grabbing robotic arm.

[0070] Step 5.2: Use the forced gripping robotic arm to transfer the concrete blocks and debris generated from the cutting process to the inlet of the screw conveyor system;

[0071] Step 5.3: The concrete blocks and excavated soil are continuously transported to the designated location by the screw conveyor system. The toothed wear-resistant steel blades of the screw conveyor system rotate, pushing the concrete blocks and excavated soil forward, and finally transporting them to the excavated soil truck or pipeline at the rear of the pipe jacking machine.

[0072] Step 5.4: Monitor the ground deformation in real time throughout the entire obstacle removal process; the preset deformation warning value is 2mm; when the ground deformation reaches or exceeds the warning value, stop construction immediately and resume construction only after the cause has been identified and effective measures have been taken to ensure safety.

[0073] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A pipe-joint jacking line wall-anchoring rapid obstacle-removal system obstacle-removal method, characterized in that, The rapid obstacle removal system for the diaphragm wall on the pipe jacking line includes a pipe jacking machine body (1), a soil improvement and grouting friction reduction system (3) is provided at the front end of the pipe jacking machine body (1), a robotic arm operating system (2) is provided above the pipe jacking machine body (1), a sealing grease injection system (4) is provided in the middle of the pipe jacking machine body (1), a hinge sealing system (7) and an electrical control system (8) are provided at the rear end of the pipe jacking machine body (1), and a hydraulic correction system (5), a pipe removal system (6), and a screw conveying system (9) are provided below the pipe jacking machine body (1). The robotic arm operating system (2) includes a first robotic arm mounting hole (201) and a second robotic arm mounting hole (202) on the cutterhead of the pipe jacking machine. The first robotic arm mounting hole (201) is detachably equipped with an end effector module via a quick-release device. The end effector module includes any one of a controllable robotic arm, a laser scanning device, an ultrasonic detection device, a drilling device, and an ultra-high pressure abrasive water jet cutting device. A forced gripping robotic arm is installed on the second robotic arm mounting hole (202). The body of the pipe jacking machine is equipped with a spiral conveying system via a bracket. The inlet of the spiral conveying system is located below the cutting area in front of the cutterhead. The soil improvement and grouting friction reduction system (3) includes a drilling and grouting device and an ultra-high pressure abrasive water jet cutting device. The hydraulic gates of the drilling device, the forced gripping robotic arm, and the spiral conveying system are connected to the circuit of the hydraulic correction system (5) of the pipe jacking machine via hydraulic quick connectors to obtain power. The ultra-high pressure abrasive water jet cutting device is connected to the ultra-high pressure water pump unit located at the rear of the pipe jacking machine via an ultra-high pressure steel pipe and a high pressure rotary joint. Several ground deformation sensors are evenly distributed in the soil on the front and back of the diaphragm wall, on the ground surface above the jacking pipe axis, and on the cross section perpendicular to the axis. The controllable robotic arm, laser scanning device, ultrasonic detection device, all drive motors and stratum deformation sensors are all connected to the electrical control system (8) inside the pipe jacking machine through shielded control cables; the electrical control system (8) serves as the central hub and exchanges data in real time with the BIM cloud processing platform on the ground through industrial Ethernet / fiber optics. The screw conveying system includes a screw conveyor cylinder (905), inside which is a rotating body. The rotating body includes a screw driven by a variable frequency motor, and a set of screw blades are installed on the screw. A vibration device (904) is fixed on the outer wall of the screw conveyor cylinder (905). A hydraulic gate (902) and an emergency hydraulic gate (903) are provided at the inlet of the screw conveyor cylinder (905). A clearance and high-pressure water flushing interface (901) is provided at the outlet of the screw conveyor cylinder (905). The clearance and high-pressure water flushing interface (901) is connected to an external high-pressure water pump through a quick-connect hose. The obstacle removal method includes the following steps: Step 1: Identify the distribution range of diaphragm walls using laser scanning, and import the data into the BIM cloud platform to generate a 3D model; Step 2: Switch the robotic arm to the ultrasonic detection module to measure the thickness of the diaphragm wall and complete the 3D model; Step 3: Drill holes in the area to be demolished using a drilling and grouting module, and inject reinforcing grout to solidify the soil behind the wall; Step 4: Based on the 3D model, plan the cutting path and control the ultra-high pressure abrasive water jet module to cut the diaphragm wall into concrete blocks; Step 5: Activate the grabbing robotic arm and screw conveyor system of the forced discharge module to remove concrete blocks and monitor ground deformation in real time; Step 1 specifically involves: Step 1.1: During the pipe jacking construction, the laser scanning device installed at the end of the controllable robotic arm scans the line ahead to identify the planar distribution range of the diaphragm wall; if the thickness information of the diaphragm wall is known in advance, the ultrasonic detection step is omitted, and a three-dimensional model is directly generated based on the known data. Step 1.2: Import the scanned data into the BIM model, process it with cloud software, and initially generate a diaphragm wall distribution map and formulate ultrasonic detection paths; Step 2 specifically involves... Step 2.1: Install the ultrasonic detection device at the end of the robotic arm, control it to move along a predetermined path, use the pulse echo method to measure the thickness of the diaphragm wall at different locations, record the sound wave propagation time t, and calculate the thickness according to the formula d=v×v / 2, where v is the speed of sound; Step 2.2: Import the thickness data into the BIM model to generate a 3D model of the distribution of diaphragm walls along the jacking line; Step 5 specifically involves: Step 5.1: While cutting the diaphragm wall, activate the forced conveying module; the forced conveying module includes a screw conveyor system and a forced gripping robotic arm; Step 5.2: Use the forced gripping robotic arm to transfer the concrete blocks and debris generated from the cutting process to the inlet of the screw conveyor system; Step 5.3: The concrete blocks and excavated soil are continuously transported to the designated location using a screw conveyor system; Step 5.4: Monitor ground deformation in real time throughout the entire obstacle removal process; The preset deformation warning value is 2mm; when the deformation of the stratum reaches or exceeds the warning value, construction shall be stopped immediately and resumed only after the cause has been identified and effective measures have been taken to ensure safety.

2. The method of claim 1, wherein: Step 3 specifically involves: Step 3.1: Based on the three-dimensional image obtained in Step 2, use the drilling equipment installed at the end of the robotic arm to drill grouting holes in the upper part of the area to be demolished in the diaphragm wall. Step 3.2: Reinforce the soil behind the diaphragm wall using high-pressure grouting through grouting holes; the grout is a mixture of cement slurry and water glass; the grout is prepared from P·O42.5 cement slurry and water glass, wherein the water-cement ratio of the cement slurry is 0.6:1, the amount of water glass added is 35%, and the modulus is 2.4~3.4; and additives are added according to geological conditions, 0.3% CMC is added to the sand layer, and 0.1% phosphate retarder is added to the clay layer.

3. The method of claim 1, wherein: Step 4 specifically involves: Step 4.1 After the high-pressure grouting is completed, based on the three-dimensional image, the optimal cutting path of the ultra-high pressure abrasive waterjet device is planned by cloud software. Step 4.2: Control the ultra-high pressure abrasive water jet device installed at the end of the robotic arm to move along the designed path, and use ultra-high pressure water jet with a pressure of 200MPa to cut the diaphragm wall into concrete blocks in a predetermined sequence.

4. The method of claim 1, wherein: The ultra-high pressure abrasive waterjet cutting device includes a nozzle body (301), a nozzle body (302) connected to the front end of the nozzle body (301), a nozzle outlet (303) provided on the nozzle body (302), a high-pressure water channel (304) connected to the rear end of the nozzle body (301), a gas channel (305) provided on the outer wall of the nozzle body (302), and an abrasive mixing chamber provided inside the nozzle body (301). The abrasive inlet valve of the abrasive mixing chamber is connected to the abrasive hopper through a pipe. The abrasive is automatically drawn into the abrasive mixing chamber by the negative pressure airflow provided by the gas channel (305). High-pressure water enters the abrasive mixing chamber through the high-pressure water channel (304) and is initially mixed with the abrasive.

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