Self-adaptive fitting grouting cover plate and crack repairing device

Abstract

This invention relates to the field of crack grouting technology, and more particularly to an adaptive grouting cover plate and crack repair device. The adaptive grouting cover plate includes a bonding component, a support component, an elastic connector, and a load-bearing component. One side of the bonding component is fixedly connected to the support component, and the other side is elastically bonded to the curved surface of the tunnel lining. The side of the support component facing away from the bonding component is connected to one end of the elastic connector, and the other end of the elastic connector is connected to the side edge of the load-bearing component. A grouting component is connected to the outer side of the load-bearing component, and an elastic grouting chamber is provided on the inner side of the load-bearing component. A first through hole is provided on the load-bearing component, connecting the grouting component and the elastic grouting chamber. The side of the bonding component near the curved surface of the tunnel lining is recessed to form a grouting cavity, and a second through hole is provided on the inner wall of the grouting cavity, communicating with the elastic grouting chamber. This invention achieves complete bonding between the grouting cover plate and the curved surface of the tunnel lining, improving the grouting effect.

Description

Technical Field

[0001] This invention relates to the field of crack grouting technology, and in particular to an adaptive grouting cover plate and crack repair device. Background Technology

[0002] In tunnel construction, grouting of cracks in the lining surface is a core process for ensuring tunnel structural safety and preventing surrounding rock deformation; its construction quality directly determines the long-term service performance of the tunnel. Traditional grouting devices are mostly rigid flat plate structures, which have the following inherent defects:

[0003] Poor fit: The curved surface of the tunnel lining is affected by operational loads and long-term deformation of the surrounding rock, resulting in irregular concavities and deformations. Rigid devices cannot adapt to complex curved surface shapes, easily forming gaps between the device and the lining, leading to quality defects such as incomplete grouting, voids, and delamination, seriously threatening the safety of the tunnel structure. Insufficient adaptability: Existing rigid grouting devices lack an adaptive structure that can actively deform, and cannot adjust their shape according to the curvature of the tunnel surface. It is difficult to ensure complete fit between the grouting surface and the lining, and it cannot balance deformation adaptability and structural stability, resulting in poor applicability under complex tunnel conditions. Sealing Durability defects: The lateral sealing structure of traditional devices is mostly a rigid fit design, which cannot adapt to the irregular contour of curved walls and is prone to material leakage during grouting. The leaked grout not only causes insufficient grouting pressure and substandard filling effect, but also corrodes the lining structure and the grouting device itself over a long period of time, accelerating structural aging, reducing the service life of the device, and further aggravating the safety hazards of the tunnel structure. At the same time, the rigid design of the lateral sealing structure cannot adapt to the deformation requirements of curved walls, making it difficult to achieve effective full-section sealing grouting, which seriously affects the overall quality of grouting construction.

[0004] Utility model patent CN219569692U discloses a grouting and leak-sealing structure for easy leak sealing, including a mounting plate. A spring is fixedly connected to the side surface of the mounting plate, and a movable plate is fixedly connected to the end of the spring away from the mounting plate. A bonding plate is slidably connected to the side surface of the movable plate, and a rubber pad is provided on the side surface of the bonding plate. An air bladder is provided inside the mounting plate, and an opening is provided on the side surface of the mounting plate. Although the expansion of the air bladder can push the bonding plate to fit with the grouting position to prevent grout overflow, the expansion of the air bladder cannot generate a uniform pushing force, resulting in poor adhesion and affecting the grouting effect. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an adaptive grouting cover plate and crack repair device, which achieves complete fit between the grouting cover plate and the curved surface of the tunnel lining, thereby improving the grouting effect.

[0006] To achieve the above objectives, the present invention provides an adaptive grouting cover plate, comprising an adhesive component, a support component, an elastic connector, and a carrier component. One side of the adhesive component is fixedly connected to the support component, and the other side is elastically fitted to the curved surface of the tunnel lining. The side of the support component facing away from the adhesive component is connected to one end of the elastic connector, and the other end of the elastic connector is connected to the side edge of the carrier component. The outer side of the carrier component is connected to a grouting component, and an elastic grouting chamber is provided on the inner side of the carrier component. A first through hole is provided on the carrier component, connecting the grouting component and the elastic grouting chamber. The side of the adhesive component near the curved surface of the tunnel lining is recessed to form a grouting cavity, and a second through hole is provided on the inner wall of the grouting cavity, communicating with the elastic grouting chamber.

[0007] Optionally, the elastic connector includes a plurality of cylindrical helical compression springs arranged in a uniform array along the circumference, with the two ends of the plurality of cylindrical helical compression springs respectively fixedly connected to the support member and the bearing member.

[0008] In this invention, by uniformly arranging multiple cylindrical helical compression springs circumferentially between the support member and the bearing member, when the contact surface between the fitting member and the concrete is curved, the convex position of the tunnel lining surface generates a larger compression amount with the corresponding cylindrical helical compression spring, while the concave position of the tunnel lining surface generates a smaller compression amount with the corresponding cylindrical helical compression spring. This achieves differentiated compression deformation of multiple cylindrical helical compression springs, ensuring that different positions of the fitting member can maintain contact with the curved surface of the tunnel lining, thus eliminating the gap between the cover plate and the tunnel lining.

[0009] Optionally, each of the plurality of cylindrical helical compression springs is provided with a limiting rod, the limiting rod extending along the extension and retraction direction of the cylindrical helical compression spring, one end of the limiting rod being fixedly connected to the side of the support member or the bearing member, or the limiting rod being movably disposed between the side of the support member and the bearing member.

[0010] In this invention, a limiting rod is provided inside the cylindrical helical compression spring to limit the maximum compression and prevent the cylindrical helical compression spring from being over-compressed and failing.

[0011] Optionally, the two ends of the cylindrical helical compression spring are connected to the support member and the load-bearing member respectively by welding, bolting or snap-fit ​​connection.

[0012] Optionally, the bonding component includes a rubber sheet and a periphery protruding along the periphery of the rubber sheet toward the curved surface of the tunnel lining. The periphery is integrally vulcanized with the rubber sheet and is bonded to the curved surface of the tunnel lining. The periphery, the rubber sheet, and the curved surface of the tunnel lining together form a closed grouting cavity.

[0013] In this invention, the width of the rim is relatively small. When the fitting component adheres to the curved surface of the tunnel lining, the rim is more likely to undergo extrusion deformation to fit the curved surface of the tunnel lining, thereby forming a sealed grouting cavity. This ensures the stability of the grouting pressure within the grouting cavity, allowing the grout to smoothly penetrate into the gap between the lining and the surrounding rock, achieving full grouting.

[0014] Optionally, the height of the surrounding edge is 15mm-25mm.

[0015] In this invention, when the height of the lining is too small, it is easy for the lining to be over-compressed or unable to cover the gap in areas with large concavity and convexity of the tunnel lining surface, which can easily cause grout leakage; when the height of the lining is too large, due to the small thickness of the lining itself, the lining cannot provide sufficient rigidity under pressure, which can cause it to flip or wrinkle, affecting the sealing effect.

[0016] Optionally, the support member is a square ring-shaped metal plate structure with a hollow center, and the support member is bonded to the periphery of the side of the rubber plate by high-temperature vulcanization.

[0017] In this invention, the metal support serves to install and position the cylindrical helical compression spring, and the hollow design in the middle achieves a lightweight structure.

[0018] Optionally, the grouting component is a hollow tube made of stainless steel. The grouting component is fully welded and sealed to the bearing component. At least one grouting hole is provided on the side wall of the grouting component. At least one grouting hole is connected to the elastic grouting chamber through the hollow grouting component and the first through hole in sequence.

[0019] The present invention also provides a crack repair device, including a robotic arm system and the aforementioned adaptive grouting cover plate. The robotic arm system includes a rotating chassis, a first swing arm, a second swing arm, and a rotary drive component. The rotating chassis is driven to rotate by a first motor. The first swing arm is rotatably mounted on the rotating chassis and is driven to swing by a second motor. The second swing arm is rotatably mounted on the first swing arm and is driven to swing by a third motor. The rotary drive component is located at the end of the second swing arm. The adaptive grouting cover plate is detachably mounted on the rotary drive component. The first motor, the second motor, the third motor, and the rotary drive component are all connected to a control system.

[0020] In this invention, a robotic arm system is used to drive an adaptive grouting cover plate to move to the crack. The rotating chassis drives the first swing arm, the second swing arm, the rotating drive component, and the grouting cover plate on them to rotate. The first and second swing arms drive the rotating drive component and the grouting cover plate on them to move along the vertical plane. After the grouting cover plate moves into place, the rotating drive component drives the grouting cover plate to make fine adjustments to better fit the curved surface of the tunnel lining. After the grouting cover plate contacts the curved surface of the tunnel lining, the robotic arm system can also apply force to make the fitting component completely seal and fit the curved surface of the tunnel lining. By replacing manual operation with the robotic arm system, not only are labor costs saved, but the safety hazards of manually operating the grouting cover plate are also reduced.

[0021] Optionally, it also includes a self-powered walking device, wherein the rotating chassis is detachably mounted on the walking device, and the control system is mounted on the walking device.

[0022] In this invention, by mounting a rotating chassis on a traveling device, the grouting cover plate is quickly positioned to be grouted.

[0023] Beneficial effects:

[0024] This invention incorporates an elastic connector between the support and the load-bearing component. The pressure applied to the load-bearing component causes deformation of the elastic connector, and the elastic connector adjusts its compression according to the unevenness of the tunnel lining surface. This ensures the mating component fully conforms to the tunnel lining surface, eliminating gaps between the grouting cover and the lining and improving grout fullness. The support not only installs the elastic connector, allowing it to expand and contract stably, but also provides stable support for the mating component, ensuring a stable sealing and leak-stopping effect between the mating component and the tunnel lining surface. The elastic grouting chamber between the load-bearing component and the mating component undergoes elastic deformation with the expansion and contraction of the elastic connector, ensuring that the compression of the elastic connector is only affected by the unevenness of the tunnel lining surface, thus enabling the mating component to stably conform to the tunnel lining surface. The grouting cavity formed by the concave part of the mating component assists in the flow of grout entering from the grouting component, preventing localized grout accumulation. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 A first-view three-dimensional structural diagram of an adaptive grouting cover plate;

[0027] Figure 2 A two-dimensional structural diagram of an adaptive grouting cover plate from a second perspective;

[0028] Figure 3 A cross-sectional view of an adaptive grouting cover plate;

[0029] Figure 4 This is a three-dimensional structural diagram of a crack repair device.

[0030] Figure label:

[0031] 1. Adhesive component; 101. Rubber sheet; 102. Edge surround; 2. Support component; 3. Elastic connector; 4. Bearing component; 5. Grouting component; 501. Grouting hole; 6. Elastic grouting chamber; 7. First through hole; 8. Grouting cavity; 9. Second through hole; 10. Limiting rod; 11. Rotating chassis; 12. First swing arm; 13. Second swing arm; 14. Rotation drive component.

[0032] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0035] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] See Figures 1 to 3According to an adaptive grouting cover plate of the present invention, it includes a bonding member 1, a support member 2, an elastic connector 3, and a carrier member 4. One side of the bonding member 1 is fixedly connected to the support member 2, and the other side is elastically bonded to the curved surface of the tunnel lining. The side of the support member 2 away from the bonding member 1 is connected to one end of the elastic connector 3, and the other end of the elastic connector 3 is connected to the side edge of the carrier member 4. The outer side of the carrier member 4 is connected to a grouting member 5, and the inner side of the carrier member 4 is provided with an elastic grouting chamber 6. A first through hole 7 is provided on the carrier member 4 to connect the grouting member 5 and the elastic grouting chamber 6. The side of the bonding member 1 near the curved surface of the tunnel lining is recessed to form a grouting cavity 8, and a second through hole 9 communicating with the elastic grouting chamber 6 is provided on the inner wall of the grouting cavity 8.

[0037] In this invention, an elastic connector 3 is provided between the support member 2 and the bearing member 4, so that the pressure acting on the bearing member 4 compresses the elastic connector 3 to deform, and the elastic connector 3 changes the amount of compression according to the concave and convex shape of the tunnel lining surface, ensuring that the fitting member 1 can be completely fitted with the tunnel lining surface, thereby eliminating the gap between the grouting cover plate and the lining and improving the grouting fullness; the support member 2 is not only used to install the elastic connector 3, so that the elastic connector 3 can expand and contract stably, but also to provide stable support for the fitting member 1, ensuring that the fitting member 1 and the tunnel lining surface maintain a stable sealing and leak-stopping effect; the elastic grouting chamber 6 provided between the bearing member 4 and the fitting member 1 can generate elastic deformation with the expansion and contraction of the elastic connector 3, ensuring that the amount of compression of the elastic connector 3 is only affected by the concave and convex shape of the tunnel lining surface, so that the fitting member 1 can be stably fitted with the tunnel lining surface; the grouting cavity 8 formed by the concavity of the fitting member 1 can assist the flow of grout input from the grouting member 5 and avoid local grout accumulation.

[0038] See Figure 1 In some embodiments of the present invention, the elastic connector 3 includes a plurality of cylindrical helical compression springs arranged in a uniform array along the circumference, and the two ends of the plurality of cylindrical helical compression springs are respectively fixedly connected to the support member 2 and the bearing member 4.

[0039] In this invention, by uniformly arranging multiple cylindrical helical compression springs circumferentially between the support member 2 and the bearing member 4, when the contact surface between the fitting member 1 and the concrete is curved, the convex position of the tunnel lining surface generates a larger compression amount with the corresponding cylindrical helical compression spring, and the concave position of the tunnel lining surface generates a smaller compression amount with the corresponding cylindrical helical compression spring. This achieves differentiated compression deformation of multiple cylindrical helical compression springs, ensuring that different positions of the fitting member 1 can maintain contact with the curved surface of the tunnel lining, thus eliminating the gap between the cover plate and the tunnel lining.

[0040] See Figure 3In some embodiments of the present invention, a limiting rod 10 is provided inside each of the plurality of cylindrical helical compression springs. The limiting rod 10 extends along the extension and retraction direction of the cylindrical helical compression spring. One end of the limiting rod 10 is fixedly connected to the side of the support member 2 or the bearing member 4, or the limiting rod 10 is movably disposed between the side of the support member 2 and the bearing member 4.

[0041] In this invention, a limiting rod 10 is provided inside the cylindrical helical compression spring to limit the maximum compression and prevent the cylindrical helical compression spring from being over-compressed and causing failure.

[0042] See Figure 3 In some embodiments of the present invention, the two ends of the cylindrical helical compression spring are connected to the support member 2 and the bearing member 4 respectively by welding, bolting or snap-fit ​​connection.

[0043] See Figure 1 In some embodiments of the present invention, the bonding member 1 includes a rubber sheet 101 and a perimeter 102 protruding along the periphery of the rubber sheet 101 toward the tunnel lining curved surface. The perimeter 102 is integrally vulcanized with the rubber sheet 101 and is bonded to the tunnel lining curved surface. The perimeter 102, the rubber sheet 101, and the tunnel lining curved surface enclose and form the sealed grouting cavity 8.

[0044] In this invention, the width of the rim 102 is relatively small. When the fitting part 1 fits the curved surface of the tunnel lining, the rim 102 is more likely to be squeezed and deformed to fit the curved surface of the tunnel lining, thereby forming a sealed grouting cavity 8. This ensures the stability of the grouting pressure in the grouting cavity 8, allowing the grout to penetrate smoothly into the gap between the lining and the surrounding rock, thus achieving full grouting.

[0045] See Figure 1 In some embodiments of the present invention, the height of the perimeter 102 is 15mm-25mm.

[0046] In this invention, when the height of the edging 102 is too small, it is easy for the edging 102 to be over-compressed or unable to cover the gap in areas with large concavity and convexity of the tunnel lining surface, which can easily cause grout leakage; when the height of the edging 102 is too large, due to the small thickness of the edging 102 itself, the edging 102 cannot provide sufficient rigidity under pressure, which can cause it to flip or wrinkle, affecting the sealing effect.

[0047] See Figure 2 In some embodiments of the present invention, the support member 2 is a square ring-shaped metal plate structure with a hollow center, and the support member 2 is bonded to the periphery of the side of the rubber plate 101 by high-temperature vulcanization.

[0048] In this invention, the metal support member 2 serves to install and position the cylindrical helical compression spring, and the hollow design in the middle achieves a lightweight structure.

[0049] See Figure 3 In some embodiments of the present invention, the grouting component 5 is a hollow tube made of stainless steel. The grouting component 5 is fully welded and sealed to the bearing component 4. At least one grouting hole 501 is provided on the side wall of the grouting component 5. At least one grouting hole 501 is connected to the elastic grouting chamber 6 through the hollow grouting component 5 and the first through hole 7 in sequence.

[0050] See Figure 4 According to a crack repair device of the present invention, a robotic arm system and the aforementioned adaptive grouting cover plate are included. The robotic arm system includes a rotating chassis 11, a first swing arm 12, a second swing arm 13, and a rotary drive component 14. The rotating chassis 11 is driven to rotate by a first motor. The first swing arm 12 is rotatably mounted on the rotating chassis 11 and is driven to swing by a second motor. The second swing arm 13 is rotatably mounted on the first swing arm 12 and is driven to swing by a third motor. The rotary drive component 14 is disposed at the end of the second swing arm 13. The adaptive grouting cover plate is detachably mounted on the rotary drive component 14. The first motor, the second motor, the third motor, and the rotary drive component 14 are all connected to a control system.

[0051] In this invention, a robotic arm system is used to drive an adaptive grouting cover plate to move to the crack. The rotating chassis 11 drives the first swing arm 12, the second swing arm 13, the rotary drive component 14, and the grouting cover plate on them to rotate. The first swing arm 12 and the second swing arm 13 drive the rotary drive component 14 and the grouting cover plate on them to move along the vertical plane. After the grouting cover plate moves into place, the rotary drive component 14 drives the grouting cover plate to make fine adjustments to better fit the curved surface of the tunnel lining. After the grouting cover plate contacts the curved surface of the tunnel lining, the robotic arm system can also apply force to make the fitting component 1 completely seal and fit the curved surface of the tunnel lining. By replacing manual operation with the robotic arm system, not only are labor costs saved, but the safety hazards of manual operation of the grouting cover plate are also reduced.

[0052] In some embodiments of the present invention, a self-powered walking device is also included, wherein the rotating chassis 11 is detachably mounted on the walking device, and the control system is mounted on the walking device.

[0053] In this invention, by mounting the rotating chassis 11 on the traveling device, the grouting cover plate is quickly positioned to be grouted.

[0054] In one embodiment of the present invention, the dimensions of the fitting component 1 are 300mm × 600mm × 40mm, and the height of the circumference 102 is 20mm. The support component 2 is made of galvanized sheet with a thickness of 2mm and its length and width dimensions match those of the fitting component 1. The center of the support component 2 has a hollow area with a size of 268mm × 568mm. 24 sets of cylindrical helical compression springs are arranged around the circumference of the square ring-shaped support component 2. The diameter of the cylindrical helical compression springs is 1mm, and the spring constant is 5N / mm. The maximum compression amount of the cylindrical helical compression springs limited by the limiting rod 10 is 40mm. The bearing component 4 is made of stainless steel sheet with a thickness of 8mm and its length and width dimensions match those of the fitting component 1. The center of the bearing component 4 has a recessed cavity with a size of 260mm × 560mm and a depth of 4mm. By setting the dimensions of the fitting component 1, the support component 2, the cylindrical helical compression springs, and the bearing component 4, efficient grouting repair of the curved surface of the tunnel lining is achieved. The present invention can also flexibly adjust the size of the fitting part 1, the parameters of the cylindrical helical compression spring and the specifications of the cover plate according to the tunnel size, curvature, grouting pressure and other parameters to adapt to different types of tunnel projects, thereby realizing a wider range of application prospects.

[0055] In operation, the device is placed at the grouting location of the tunnel lining, and pressure is applied to the support member 4. Multiple cylindrical helical compression springs generate different degrees of compression deformation according to the concave and convex shape of the tunnel lining surface. The deformation is larger at the convex positions and smaller at the concave positions, ultimately ensuring that the fitting member 1 completely fits the tunnel lining surface. Cement-based grout is injected into the grouting cavity 8 inside the device through the grouting hole 501. The grout fills the closed grouting cavity 8, and the grouting pressure is stabilized by the seal between the perimeter 102 and the tunnel lining surface. The grout eventually penetrates into the gap between the lining and the surrounding rock, achieving full grouting. After the grout has completely solidified, the device is removed, and the cylindrical helical compression springs spring back to their initial shape, allowing for repeated grouting operations. Because the metal support member 2 has high structural strength, it can be reused without deformation.

[0056] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An adaptive grouting cover plate, characterized in that, The assembly includes a fitting (1), a support (2), an elastic connector (3), and a carrier (4). One side of the fitting (1) is fixedly connected to the support (2), and the other side is elastically fitted to the curved surface of the tunnel lining. The side of the support (2) facing away from the fitting (1) is connected to one end of the elastic connector (3), and the other end of the elastic connector (3) is connected to the side edge of the carrier (4). The outer side of the carrier (4) is connected to a grouting component (5), and an elastic grouting chamber (6) is provided on the inner side of the carrier (4). A first through hole (7) is provided on the carrier (4) to connect the grouting component (5) and the elastic grouting chamber (6). The side of the fitting (1) near the curved surface of the tunnel lining is recessed to form a grouting cavity (8), and a second through hole (9) is provided on the inner wall of the grouting cavity (8) to communicate with the elastic grouting chamber (6).

2. The adaptive grouting cover plate according to claim 1, characterized in that, The elastic connector (3) includes a plurality of cylindrical helical compression springs arranged in a uniform array along the circumference, and the two ends of the plurality of cylindrical helical compression springs are respectively fixedly connected to the support member (2) and the bearing member (4).

3. The adaptive grouting cover plate according to claim 2, characterized in that, Each of the cylindrical helical compression springs is provided with a limiting rod (10). The limiting rod (10) extends along the extension and retraction direction of the cylindrical helical compression spring. One end of the limiting rod (10) is fixedly connected to the side of the support member (2) or the bearing member (4), or the limiting rod (10) is movably disposed between the side of the support member (2) and the bearing member (4).

4. The adaptive grouting cover plate according to claim 2, characterized in that, The two ends of the cylindrical helical compression spring are connected to the support member (2) and the bearing member (4) respectively by welding, bolting or snap-fit ​​connection.

5. The adaptive grouting cover plate according to claim 1, characterized in that, The bonding component (1) includes a rubber sheet (101) and a perimeter (102) protruding along the periphery of the rubber sheet (101) toward the tunnel lining curved surface. The perimeter (102) is integrally vulcanized with the rubber sheet (101). The perimeter (102) is bonded to the tunnel lining curved surface. The perimeter (102), the rubber sheet (101), and the tunnel lining curved surface enclose and form the sealed grouting cavity (8).

6. The adaptive grouting cover plate according to claim 5, characterized in that, The height of the surrounding edge (102) is 15mm-25mm.

7. The adaptive grouting cover plate according to claim 5, characterized in that, The support member (2) is a square ring-shaped metal plate structure with a hollow center. The support member (2) is bonded to the side periphery of the rubber plate (101) by high-temperature vulcanization.

8. The adaptive grouting cover plate according to claim 1, characterized in that, The grouting component (5) is a hollow tube made of stainless steel. The grouting component (5) is fully welded and sealed to the bearing component (4). At least one grouting hole (501) is provided on the side wall of the grouting component (5). At least one grouting hole (501) is connected to the elastic grouting chamber (6) through the hollow grouting component (5) and the first through hole (7) in sequence.

9. A crack repair device, characterized in that, The invention includes a robotic arm system and an adaptive grouting cover plate as described in any one of claims 1 to 8. The robotic arm system includes a rotating chassis (11), a first swing arm (12), a second swing arm (13), and a rotary drive (14). The rotating chassis (11) is driven to rotate by a first motor. The first swing arm (12) is rotatably mounted on the rotating chassis (11) and is driven to swing by a second motor. The second swing arm (13) is rotatably mounted on the first swing arm (12) and is driven to swing by a third motor. The rotary drive (14) is located at the end of the second swing arm (13). The adaptive grouting cover plate is detachably mounted on the rotary drive (14). The first motor, the second motor, the third motor, and the rotary drive (14) are all connected to a control system.

10. A crack repair device according to claim 9, characterized in that, It also includes a self-powered walking device, wherein the rotating chassis (11) is detachably mounted on the walking device, and the control system is mounted on the walking device.

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