Hardened soil loosening and improving device based on hydraulic fracturing

Abstract

The utility model relates to a hardened soil loosening and improving device based on hydraulic fracturing, and belongs to the technical field of soil remediation. Comprising a pulse generation center, a control center, a power center, a main bearing platform, an action unit, a transverse adjusting unit cantilever and a cantilever support, the main bearing platform is of a device assembly structure, the pulse generation center and the control center are located at the two ends of the middle side above the main bearing platform correspondingly, and the power center and the cantilever support are located on the front portion and the rear portion above the main bearing platform; the two ends of the cantilever are connected with the cantilever base and the transverse adjusting unit, and the acting unit is connected with the transverse adjusting unit. The acting unit comprises a drilling unit and a water fracturing unit, so that the drilling and hydraulic fracturing functions are achieved, and the three-dimensional positions of the two units can be adjusted through multiple sets of hydraulic devices and chains in the device. The loosening and improving device is simple in structure and good in loosening and improving effect.

Description

Technical Field

[0001] The utility model relates to the technical field of soil remediation, in particular to a compacted soil loosening and improvement device based on hydraulic fracturing. Background Art

[0002] The loosening and refunctionalization of compacted soil are the key points in achieving compacted soil remediation. Existing methods for remediating compacted soil mostly use the method of loosening first and then adding amendments. Compacted soil is mostly loosened by mechanical plowing and crushing, and the equipment mostly uses existing mature equipment to improve and optimize specific structures. Amendments are added after the soil is loosened to further improve the physical and chemical properties of the soil. This type of method is based on mature technology and equipment and has advantages such as strong operability and simple process. However, it is worth noting that it also has defects such as shallow soil loosening depth and high cost. At the same time, the subsequent repair agents are mostly attached to the soil surface, which is strongly affected by the evaporation effect and the repair agent has a short action time.

[0003] Prior art publication CN216606635U discloses a hydraulic fracturing-enhanced remediation system for organically contaminated soil in clay layers. The system comprises a fracturing and drilling device, a remediation device, and a remediation well. The fracturing and drilling device includes a fracturing pump and a fracturing pipe, one end of which is connected to the fracturing pump and the other end is placed in the remediation well. Separate packers are arranged at regular intervals, with a fracturing hole located between each pair of adjacent packers. Fracturing fluid and proppant at a certain pressure are sprayed through the fracturing holes into the contaminated soil, forming fractured pores in the soil. The remediation device includes an injection system and an extraction and treatment system. Once the fractured pores are formed, the injection system injects a remediation agent into the remediation well, which acts on the contaminated soil through the fractured pores. The extraction and treatment system extracts the fracturing fluid and the reacted remediation agent out of the remediation well. This system has significant limitations on its use and a low degree of automation.

[0004] Hydraulic fracturing, a technique that uses a high-pressure pump to inject pressurized fluid into a target underground layer, creating cracks in the ground through the extremely high pressure input, has been widely used in fields such as oil and gas, mining, and other fields. This technology has the advantages of low cost and simple operation, and is also of great reference value for loosening and improving compacted soil. Therefore, designing a compacted soil loosening and improvement device based on hydraulic fracturing technology to achieve low-cost, efficient and deep loosening and improvement of compacted soil is of great significance for deep and low-cost treatment of compacted soil. Utility Model Content

[0005] In response to the shortcomings of the existing technology, a device for loosening and improving compacted soil based on hydraulic fracturing is provided. It has a simple structure, is easy to use, and has a high degree of automation. It can achieve low-cost, efficient deep loosening and improvement of compacted soil, and is a deep and low-cost treatment of compacted soil.

[0006] To achieve the above technical objectives, the utility model discloses a compacted soil loosening and improvement device based on hydraulic fracturing, comprising a walking robot, to which an adjustable action unit for hydraulic fracturing of compacted soil is connected via a mechanical arm, the adjustable action unit comprising a lateral adjustment unit, on which an action unit is provided;

[0007] The walking robot includes a main support platform, under which a walking mechanism is connected via a buffer mechanism. The main support platform, the buffer mechanism, and the walking mechanism are coaxially arranged. Above the main support platform are respectively provided with a cantilever seat connected to the end of the robotic arm, a pulse generating center, a control center, and a power center. The control center is connected to a PC terminal; the pulse generating center is connected to the action unit via an infusion tube.

[0008] The mechanical arm includes a cantilever, which is movably connected to the lateral adjustment unit via a rotating shaft. The cantilever is provided with a hydraulic arm seat, which is connected to the action unit via a hydraulic arm. The action unit includes a hydraulic fracturing unit and a drilling unit arranged side by side. The action unit is provided with an optical monitor for constraining the hydraulic fracturing unit.

[0009] The lateral adjustment unit includes two parallel transverse fixed beams, a longitudinal support beam and a displacement platform are provided between the two parallel transverse fixed beams, wherein the two ends of the longitudinal support beam are respectively fixedly connected to the ends of the two transverse fixed beams, the displacement platform and the two transverse fixed beams are movably connected through a plurality of sliding balls, and the displacement platform and the longitudinal support beams are movably connected through two groups of hydraulic groups.

[0010] Furthermore, the action unit includes a bracket for installing the hydraulic fracturing unit and the drilling unit, and the bracket includes a left constraint rod, a middle constraint rod and a right constraint rod arranged in parallel. The upper ends of the left constraint rod, the middle constraint rod and the right constraint rod are provided with an upper top beam connecting the three together in parallel, so that the left constraint rod and the middle constraint rod form a hydraulic fracturing unit bracket, and the middle constraint rod and the right constraint rod form a drilling unit bracket, wherein a pair of hydraulic fracturing pulley blocks are provided on the upper top beam of the hydraulic fracturing unit bracket, and a pair of drilling pulley blocks are provided on the upper top beam of the drilling unit bracket.

[0011] Furthermore, a water-fracture fixing plate is slidingly provided on the bracket of the water-fracture unit. The two sides of the water-fracture fixing plate are connected to the sliding grooves between the left constraint rod and the middle constraint rod. Two water-fracture chains are provided between the water-fracture fixing plate and the water-fracture pulley group to control their sliding. The water-fracture unit is fixed to the water-fracture fixing plate by water-fracture reinforcement angle steel.

[0012] Furthermore, a drilling fixing plate is slidingly provided on the drilling unit bracket, and the two sides of the drilling fixing plate are connected to the sliding grooves between the middle constraint rod and the right constraint rod. Two drilling chains are provided between the drilling fixing plate and the drilling pulley group to control their sliding, and the drilling unit is set on the drilling fixing plate through drilling reinforcement angle steel.

[0013] Furthermore, the robotic arm is provided with a plurality of directional rings for constraining the infusion tube, and the infusion tube passes through the plurality of directional rings and is connected to the hydrofracture unit.

[0014] Furthermore, a hydraulic top plate is vertically provided in the middle of the water-fracture fixing plate through a water-fracture reinforcement angle steel, and a hydraulic bottom plate is vertically provided in the front section of the water-fracture fixing plate; the water-fracture unit includes a steel water pipe, the tail end of which is connected to the liquid infusion pipe through a flange, and the end of the steel water pipe is connected to a thinned water outlet pipe through a gradually smaller steel tapered pipe, and a lower pressure plate is provided on the water outlet pipe;

[0015] A coaxial positioning ring is installed on the outside of the steel water pipe. The lower end of the positioning ring is connected to the hydraulic upper plate. The steel water pipe is fixed to the hydraulic upper plate. A thinner outlet pipe is installed through the hydraulic lower plate. An annular outer layer of rubber is installed on the outside of the steel tapered pipe between the hydraulic upper and lower plates. Multiple small hydraulic devices are installed around the steel tapered pipe between the hydraulic upper and lower plates. The small hydraulic devices are arranged in a circular array around the axis of the hydraulic lower plate and the lower plate.

[0016] Furthermore, the outer diameter of the water outlet pipe is cm.

[0017] Furthermore, the outlet pipe has no direct connection to the annular outer rubber layer, but is in direct contact with the hydraulic lower top plate and lower pressure plate, but is not tightly connected. The lower pressure plate is composed of a coaxial metal frustum and a cylindrical rubber, the elastic modulus of which is slightly lower than that of the annular outer rubber layer, and the metal frustum and cylindrical rubber are closely connected.

[0018] Furthermore, the drilling unit includes a motor, the motor is connected to a drill rod through a reducer and a fixed shaft, and a drill bit is provided at the end of the drill rod.

[0019] Beneficial effects: This device can adjust the three-dimensional spatial position of the water fracturing unit and the drilling unit through the organic arrangement and telescopic adjustment of the cantilever, hydraulic arm, hydraulic device group in the adjustment unit, water fracturing chain and drilling chain of the action unit, thereby realizing the integration of the two major functions of drilling and water fracturing on the same device; by injecting pulse improver fluid into the prefabricated deep hole, the deep loosening of the compacted soil is achieved with the help of the impact force of the pulse fluid, and the overall operation of the method is simple and low in cost; by adjusting the depth of the deep hole made in the compacted soil, the loosening depth of the compacted soil can be adjusted, which has obvious advantages in loosening depth compared with traditional deep plowing and other technologies, and has a better influence on the subsequent soil loosening structure retention time; the water fracturing unit in the action unit of the utility model device, through the organic arrangement between the small hydraulic device group and the hydraulic upper top plate, the annular outer rubber, the hydraulic lower top plate and the lower pressure plate, with the small hydraulic jack as the main body and the other components, constructs the closed environment required for subsequent hydraulic fracturing, which provides a strong environmental guarantee for the loosening of the compacted soil;

[0020] This device pumps soil conditioners directly into the underground layer of compacted soil through hydraulic fracturing technology. Compared with the commonly used method of directly applying conditioners after plowing, the depth and breadth of the effect of the conditioners on the land have obvious advantages. At the same time, since a large amount of conditioners are underground, the conditioners are less susceptible to external influences such as environmental evaporation effects, and the effect of the conditioners lasts longer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a compacted soil loosening and improvement device based on hydraulic fracturing according to the present invention;

[0022] Figure 2 This is a schematic structural diagram of the lateral adjustment unit in the present invention;

[0023] Figure 3 It is a structural diagram of the function unit in the present utility model;

[0024] Figure 4 This is a schematic structural diagram of the water splitting unit in the utility model;

[0025] Figure 5 This is a schematic structural diagram of the drilling unit in the utility model.

[0026] Reference numerals: 1-acting unit, 2-lateral adjustment unit, 3-rotating shaft, 4-cantilever, 5-cantilever seat, 6-hydraulic arm, 7-hydraulic arm seat, 8-infusion pipe, 9-orientation ring, 10-pulse generating center, 11-control center, 12-power center, 13-total support platform, 14-buffer mechanism, 15-travel mechanism, 16-PC terminal; 21-longitudinal support beam, 22-hydraulic device group, 23-lateral fixed beam, 24-sliding ball, 25-displacement platform; 101-upper beam, 102-left constraint rod, 103-middle constraint rod, 104-right constraint rod, 105-water split pulley group, 106-Drilling pulley block, 107-Hydraulic splitting chain, 108-Drilling chain, 109-Hydraulic splitting unit, 110-Hydraulic splitting fixing plate, 111-Hydraulic splitting reinforcement angle steel, 112-Drilling fixing plate, 113-Drilling unit, 114-Drilling reinforcement angle steel; 1091-Flange, 1092-Steel water pipe, 1093-Steel tapered pipe, 1094-Water outlet pipe, 1095-Hydraulic upper ejector plate, 1096-Small hydraulic press, 1097-Hydraulic lower ejector plate, 1098-Annular outer rubber layer, 1099-Lower pressure plate, 10910-Location ring; 1111-Motor, 1112-Reducer, 1113-Fixed shaft, 1114-Drill rod, 1115-Drill bit. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] like Figure 1As shown, the utility model is a compacted soil loosening and improvement device based on hydraulic fracturing, comprising an action unit 1, a lateral adjustment unit 2, a rotating shaft 3, and a cantilever 4. One side of the cantilever 4 is connected to the cantilever seat 5, and the other side is connected to one side of the rotating shaft 3. The other side of the rotating shaft 3 is connected to the rear side of the lateral adjustment unit 2, and the front side of the lateral adjustment unit 2 is connected to the rear side of the action unit 1.

[0029] It also includes a cantilever seat 5, a pulse generating center 10, a control center 11, a power center 12, a total support platform 13, a buffer mechanism 14 and a walking mechanism 15. The total support platform 13 is the total support structure of the compacted soil loosening and improvement device. The buffer mechanism 14 is respectively connected to the lower side of the total support platform 13 and the upper side of the walking mechanism 15, and the three are coaxially arranged. The cantilever seat 5 is connected to the middle of the upper front side of the total support platform 13. The pulse generating center 10 and the control center 11 are respectively located at the two ends of the upper middle side of the total support platform 13, and the pulse generating center 10 is further back than the control center 11. The power center 12 is located in the middle of the upper rear side of the total support platform 13.

[0030] The compacted soil loosening and improvement device also includes a hydraulic arm 6, a hydraulic arm seat 7, a liquid infusion pipe 8 and a directional ring 9. The hydraulic arm seat 7 is connected to the lower middle side of the cantilever 4, and the two sides of the hydraulic arm 6 are respectively connected to the hydraulic arm seat 7 and the rear side of the lateral adjustment unit 2. The liquid infusion pipe 8 is a rubber hose, which is respectively connected to the pulse generating center 10 and the action unit 1. There are two directional rings 9, which are respectively located on the side of the hydraulic arm seat 7 and the upper side of the action unit 1. The liquid infusion pipe 8 passes through the two directional rings 9.

[0031] The compacted soil loosening and improvement device further includes a PC terminal 16 connected to the control center 11 via a data cable.

[0032] like Figure 2 As shown, the lateral adjustment unit 2 includes a longitudinal support beam 21, a hydraulic assembly 22, a transverse fixed beam 23, a sliding ball 24 and a displacement platform 25. The two sides of the longitudinal support beam 21 are respectively connected to the two transverse fixed beams 23, forming a concave structure with an open side. The upper and lower sides of the displacement platform 25 are respectively connected to the inner side of the transverse fixed beam 23 through the sliding ball 24. The hydraulic assembly 22 is respectively connected to the inner side of the longitudinal support beam 21 and the inner side of the displacement platform 25.

[0033] like Figure 3As shown, the action unit 1 includes an upper top beam 101, a left constraint rod 102, a middle constraint rod 103, a right constraint rod 104, a water splitting pulley group 105, and a drilling pulley group 106. The lower side of the upper top beam 101 is connected to the upper sides of the left constraint rod 102, the middle constraint rod 103 and the right constraint rod 104 respectively. Grooves are provided on the inner sides of the left constraint rod 102 and the right constraint rod 104 and on both sides of the middle constraint rod 103. The water splitting pulley group 105 is located on the upper part of the upper top beam 101 between the left constraint rod 102 and the middle constraint rod 103. The drilling pulley group 106 is located on the upper part of the upper top beam 101 between the right constraint rod 104 and the middle constraint rod 103. The specific position of the fixing ring located in the action unit 1 is on the upper side of the upper top beam 101, and the horizontal position is between the left constraint rod 102 and the middle constraint rod 103.

[0034] The action unit 1 also includes a water splitting chain 107, a drilling chain 108, a water splitting unit 109, a water splitting fixed plate 110, a water splitting reinforcement angle steel 111, a drilling fixed plate 112, a gas explosion unit and a drilling reinforcement angle steel 114. The two sides of the water splitting fixed plate 110 are respectively connected to the inner side of the left constraint rod 102 and the left groove of the middle constraint rod 103 through steel balls. The two water splitting chains 107 are respectively connected to the water splitting fixed plate 110 and the water splitting pulley group 105, and are parallel to the three constraint rods. The water splitting unit 109 is fixed to the water splitting fixed plate 110 and is strengthened by the water splitting reinforcement angle steel 111.

[0035] The action unit 1 further includes an optical monitor 115 , and the optical monitor 115 is connected to the water splitting unit 109 ;

[0036] The drilling fixing plate 112 is L-shaped, and the horizontal and vertical plates are strengthened by drilling reinforcement angle steel 114. There is an opening in the center of the horizontal plate. The two sides of the longitudinal plate of the drilling fixing plate 112 are respectively connected to the inner side of the right constraint rod 104 and the left groove of the middle constraint rod 103 through steel balls. The two drilling chains 108 are respectively connected to the longitudinal plate of the drilling fixing plate 112 and the drilling pulley group 106, and are parallel to the three constraint rods. The drilling unit 113 is fixed to the longitudinal plate of the drilling fixing plate 112 and passes through the opening of the horizontal plate of the L-shaped drilling fixing plate 112;

[0037] like Figure 4 As shown, the water fracturing unit 109 is composed of a flange 1091, a steel water pipe 1092, a steel conical pipe 1093 and a water outlet pipe 1094 in order from top to bottom in spatial relationship. All structures are concentrically arranged and tightly connected from top to bottom. The steel water pipe 1092 is connected to the rubber infusion tube 8 through the flange 1091; the outer diameter of the water outlet pipe 1094 is 6 cm.

[0038] The water fracturing unit 109 includes a hydraulic top plate 1095, an annular outer rubber layer 1098, a hydraulic bottom plate 1097, and a lower pressure plate 1099 in order from top to bottom in terms of spatial relationship. Each structure is coaxially arranged and tightly connected. The hydraulic top plate 1095 is coaxially arranged with the steel conical tube 1093, and the steel conical tube 1093 passes through the hydraulic top plate 1095, and the two are tightly connected. The water outlet pipe 1094 passes through the annular outer rubber layer 1098 in order. The rubber 1098, the hydraulic lower top plate 1097, and the lower pressure plate 1099 are coaxially arranged. The water outlet pipe 1094 is not directly connected to the annular outer rubber 1098, but is in direct contact with the hydraulic lower top plate 1097 and the lower pressure plate 1099, but is not tightly connected. The lower pressure plate 1099 is composed of a coaxial metal frustum and a cylindrical rubber. The elastic coefficient of the rubber is slightly lower than that of the annular outer rubber 1098. The metal frustum and the cylindrical rubber are closely connected.

[0039] The water fracturing unit 109 also includes a positioning ring 10910 and a small hydraulic press 1096. The lower end of the positioning ring 10910 is connected to the upper end of the hydraulic upper top plate 1095 and is coaxial with the steel water pipe 1092. The upper and lower ends of the small hydraulic press 1096 are tightly connected to the lower side of the hydraulic upper top plate 1095 and the upper side of the hydraulic lower top plate 1097, respectively. The small hydraulic presses 1096 are arranged in a circular array along the axis of the lower side of the hydraulic upper top plate 1095 and the hydraulic lower top plate 1097.

[0040] like Figure 5 As shown, the drilling unit 113 includes a motor 1111 , which is connected to a drill rod 1114 via a reducer 1112 and a fixed shaft 1113 , and a drill bit 1115 is provided at the end of the drill rod 1114 .

[0041] The water fracturing unit in the action unit of the device of the utility model is organically arranged among a small hydraulic device group and a hydraulic upper top plate, an annular outer rubber layer, a hydraulic lower top plate, and a lower pressure plate, with a small hydraulic jack as the main body and coordinated with other components to construct a closed environment required for subsequent hydraulic fracturing, thereby providing a strong environmental guarantee for loosening compacted soil.

[0042] Working principle: The working steps of the above-mentioned compacted soil loosening and improvement device are as follows:

[0043] Step 1: Control the position of the compacted soil loosening and improvement device, and make the required deep hole in the compacted soil through the drilling unit 113 in the action unit 1;

[0044] Open the power center 12 in the compacted soil loosening and improvement device, connect the pulse generating center 10 and the input end to the input end of the external improver storage tank truck, and open the pulse generating center 10, but close the pulse generating center 10, and the soil improver is output from the pulse generating center 10;

[0045] The PC terminal 16 controls the movement of the traveling mechanism 15 to a predetermined position. The water fracturing unit 109 is raised by the water fracturing chain 107 until the lowest end of the water outlet pipe 1094 in the water fracturing unit 109 is slightly higher than the lowest end of the three restraining rods in the action unit 1 (approximately 10 cm). The drilling unit 113 is lowered by the drilling chain 108 until the drill bit 1115 of the drilling unit 113 is lower than the lowest end of the three restraining rods in the action unit 1.

[0046] The tilt angle of the boom 4 and the extension and retraction of the hydraulic arm 6 are controlled until the plane of the action unit 1 is perpendicular to the hardened ground surface and the drill bit 1115 of the drilling unit 113 is approximately 10 cm away from the hardened ground surface. The motor 1111 of the drilling unit 113 is turned on, and the drilling unit 113 is lowered via the drilling chain 108 until the drill bit 1115 contacts the hardened soil. Drilling begins, and during the drilling process, the drilling unit 113 continues to drill down via the drilling chain 108 until the deep hole reaches the predetermined depth.

[0047] The utility model can adjust the loosening depth of compacted soil by regulating the depth of deep holes made in compacted soil. Compared with traditional deep plowing and other technologies, it has obvious advantages in loosening depth and has a better effect on the subsequent soil loose structure maintenance time.

[0048] Step 2: The drilling unit 113 in the action unit 1 stops working, and the hardened soil is loosened by the water fracturing unit 109 in the action unit 1;

[0049] The drilling unit 113 is lifted by the drilling chain 108 until the drill bit 1115 of the drilling unit 113 is higher than the lowest end of the three restraining rods in the action unit 1, and then the motor 1111 in the drilling unit 113 is stopped. Then, the hydraulic unit group 22 in the lateral displacement unit is controlled to extend, and the hydraulic unit 109 is lowered through the hydraulic chain 107. During this process, the hydraulic unit group 22 in the lateral displacement unit is controlled to extend and retract, the cantilever 4 is tilted and interpreted, the hydraulic arm 6 is extended and retracted, and the hydraulic chain 107 is controlled, with the assistance of the optical monitor 115, so that the water outlet pipe 1094 in the hydraulic unit 109 vertically enters the deep hole in step 1, and the rubber pad of the lower pressure plate 1099 in the hydraulic unit 109 contacts the compacted soil;

[0050] The small hydraulic jack of the water fracturing unit 109 is activated. Under the action of the hydraulic jack, the lower pressure plate 1099 is tightly fitted with the compacted soil. That is, under the action of the pressure, the rubber at the bottom of the lower pressure plate 1099 is deformed and tightly fitted with the compacted soil, forming a closed space with the device-deep hole as the main body;

[0051] The output end of the pulse generating center 10 is turned on, and the pulse fluid is transported into the water-fracture unit 109 in the device action unit 1 through the liquid infusion pipe 8, and enters the steel water pipe 1092 connected to the liquid infusion pipe 8 through the flange 1091. After passing through the steel tapered pipe 1093 and the water outlet pipe 1094, it directly acts on the compacted soil. Under the impact of the pulse fluid, cracks appear in the compacted soil, and the cracks continue to expand under the continuous impact of the improver fluid until the compacted soil is loosened.

[0052] The modifier is a three-phase mixed fluid of gas, liquid and solid. The solid particles support the cracks generated during the gas explosion process and promote further erosion of the soil by the fluid during the subsequent continuous expansion of the cracks. The gas in the soil modifier continuously nucleates and breaks up on the solid surface in the cracks, promoting the breakup of the soil as the cracks expand. The combined action of the three phases of gas, liquid and solid in the soil modifier further expands the cracks in the compacted soil caused by the gas explosion, effectively promoting soil loosening. While loosening the compacted soil with the help of hydraulic fracturing, the use of the soil modifier as the fracturing fluid also improves the soil properties, achieving an integrated loosening and improvement of compacted soil.

[0053] Soil conditioners are pumped directly into the underground layer of compacted soil through hydraulic fracturing technology. Compared with the commonly used method of applying conditioners directly after plowing, the depth and breadth of the soil conditioner's effect are significantly better. At the same time, because a large amount of conditioner is underground, the conditioner is less affected by external factors such as evaporation effects from the environment, and the conditioner's effect lasts longer.

[0054] The soil conditioner used for water fracturing pressure can be formulated according to the characteristics of the compacted soil to be treated. By adjusting the composition and content of the conditioner, the fertility, soil particle size and acid-base balance can be improved.

[0055] Step 3: The water splitting unit 109 in the action unit 1 stops working, and the crawler walking unit is controlled to move to the next predetermined position;

[0056] After the water splitting effect reaches the target, the output end of the pulse generating center 10 is closed, the small hydraulic jack of the water splitting unit 109 is retracted, and the water splitting unit 109 is lifted by the water splitting chain 107 until the lowest end of the water outlet pipe 1094 in the water splitting unit 109 is slightly higher than the lowest end of the three restraining rods in the action unit 1. The hydraulic device group 22 in the lateral adjustment unit 2 is controlled to retract to the shortest position, and the walking mechanism 15 is controlled to drive the device to the next predetermined position and then repeat steps 1-2;

[0057] By injecting pulse improver fluid into prefabricated deep holes, the impact force of the pulse fluid is used to achieve deep loosening of compacted soil. The overall operation of the method is simple and the cost is relatively low.

Claims

1. A device for loosening and improving compacted soil based on hydraulic fracturing, characterized by: The invention comprises a walking robot, wherein an adjustable action unit for hydraulic fracturing of compacted soil is connected to the walking robot via a mechanical arm, wherein the adjustable action unit comprises a lateral adjustment unit (2), and an action unit (1) is provided on the lateral adjustment unit (2); The walking robot includes a main support platform (13), a walking mechanism (15) is connected to the bottom of the main support platform (13) through a buffer mechanism (14), the main support platform (13), the buffer mechanism (14) and the walking mechanism (15) are arranged coaxially, and a cantilever seat (5) connected to the end of the robot arm, a pulse generating center (10), a control center (11) and a power center (12) are respectively provided above the main support platform (13), wherein the control center (11) is connected to a PC terminal (16); the pulse generating center (10) is connected to the action unit (1) through an infusion tube (8); The mechanical arm comprises a cantilever (4), the cantilever (4) being movably connected to a lateral adjustment unit (2) via a rotating shaft (3), a hydraulic arm seat (7) being provided on the cantilever (4), and the hydraulic arm seat (7) being connected to an action unit (1) via a hydraulic arm (6); the action unit (1) comprising a water splitting unit (109) and a drilling unit (113) arranged side by side, and an optical monitor for constraining the water splitting unit (109) being provided on the action unit (1); The transverse adjustment unit (2) comprises two transverse fixed beams (23) arranged in parallel, a longitudinal support beam (21) and a displacement platform (25) being provided between the two transverse fixed beams (23), wherein both ends of the longitudinal support beam (21) are fixedly connected to the ends of the two transverse fixed beams (23), the displacement platform (25) and the two transverse fixed beams (23) are movably connected via a plurality of sliding balls (24), and the displacement platform (25) and the longitudinal support beam (21) are movably connected via two groups of hydraulic units (22).

2. The compacted soil loosening and improvement device based on hydraulic fracturing according to claim 1, characterized in that: The action unit (1) includes a bracket for installing a hydraulic fracturing unit and a drilling unit, wherein the bracket includes a left constraint rod (102), a middle constraint rod (103) and a right constraint rod (104) arranged in parallel, and an upper top beam (101) for connecting the left constraint rod (102), the middle constraint rod (103) and the right constraint rod (104) is provided in parallel at the upper ends of the left constraint rod (102), the middle constraint rod (103) and the right constraint rod (104) so ​​that the left constraint rod (102) and the middle constraint rod (103) form a hydraulic fracturing unit bracket, and the middle constraint rod (103) and the right constraint rod (104) form a drilling unit bracket, wherein a pair of hydraulic fracturing pulley blocks (105) are provided on the upper top beam (101) of the hydraulic fracturing unit bracket, and a pair of drilling pulley blocks (106) are provided on the upper top beam (101) of the drilling unit bracket.

3. The device for loosening and improving compacted soil based on hydraulic fracturing according to claim 2, characterized in that: A water-fracture fixing plate (110) is slidably provided on the hydraulic fracturing unit bracket. The two sides of the water-fracture fixing plate (110) are connected to the left constraint rod (102) and the middle constraint rod (103) by means of sliding grooves. Two water-fracture chains (107) for controlling the sliding of the water-fracture fixing plate (110) and the water-fracture pulley block (105) are provided between the water-fracture fixing plate (110). The water-fracture unit (109) is fixed to the water-fracture fixing plate (110) by means of a water-fracture reinforcement angle steel (111).

4. The compacted soil loosening and improvement device based on hydraulic fracturing according to claim 2, characterized in that: A drilling fixing plate (112) is slidably provided on the drilling unit bracket, and the two sides of the drilling fixing plate (112) are connected to the middle constraint rod (103) and the right constraint rod (104) by a sliding groove. Two drilling chains (108) for controlling the sliding of the drilling fixing plate (112) and the drilling pulley group (106) are provided between the drilling fixing plate (112) and the drilling pulley group (106). The drilling unit (113) is set on the drilling fixing plate (112) through the drilling reinforcement angle steel (114).

5. The device for loosening and improving compacted soil based on hydraulic fracturing according to claim 3, characterized in that: The mechanical arm is provided with a plurality of directional rings (9) for constraining the liquid infusion tube (8), and the liquid infusion tube (8) passes through the plurality of directional rings (9) and is connected to the hydrolysis unit (109).

6. The compacted soil loosening and improvement device based on hydraulic fracturing according to claim 3, characterized in that: A hydraulic upper top plate (1095) is vertically provided at the middle of the water split fixing plate (110) through a water split reinforcement angle steel (111), and a hydraulic lower top plate (1097) is vertically provided at the front section of the water split fixing plate (110); the water split unit (109) comprises a steel water pipe (1092), the tail end of the steel water pipe (1092) is connected to the liquid delivery pipe (8) through a flange (1091), the end of the steel water pipe (1092) is connected to a thinned water outlet pipe (1094) through a gradually smaller steel tapered pipe (1093), and a lower pressure plate (1099) is provided on the water outlet pipe (1094); A positioning ring (10910) is coaxially provided on the outer side of the steel water pipe (1092), and the lower end of the positioning ring (10910) is connected to the hydraulic upper top plate (1095). The steel water pipe (1092) is fixed on the hydraulic upper top plate (1095), and a thinned water outlet pipe (1094) is provided through the hydraulic lower top plate (1097). An annular outer layer of rubber (1098) is provided on the outer side of the steel conical tube (1093) between the hydraulic upper top plate (1095) and the hydraulic lower top plate (1097). A plurality of small hydraulic devices (1096) are provided on the hydraulic upper top plate (1095) and the hydraulic lower top plate (1097) around the steel conical tube (1093). The small hydraulic devices (1096) are arranged in a circular array along the axis of the lower side of the hydraulic upper top plate (1095) and the hydraulic lower top plate (1097).

7. The device for loosening and improving compacted soil based on hydraulic fracturing according to claim 6, characterized in that: The outer diameter of the outlet pipe (1094) is 6 cm.

8. The device for loosening and improving compacted soil based on hydraulic fracturing according to claim 6, characterized in that: The water outlet pipe (1094) is not directly connected to the annular outer rubber (1098), but is in direct contact with the hydraulic lower top plate (1097) and the lower pressure plate (1099), but is not tightly connected; the lower pressure plate (1099) is composed of a coaxial metal cone and a cylindrical rubber, the elastic coefficient of the rubber is slightly lower than that of the annular outer rubber (1098), and the metal cone and the cylindrical rubber are confidentially connected.

9. The device for loosening and improving compacted soil based on hydraulic fracturing according to claim 4, characterized in that: The drilling unit (113) comprises a motor (1111), the motor (1111) being connected to a drill rod (1114) via a reducer (1112) and a fixed shaft (1113), and a drill bit (1115) being provided at the end of the drill rod (1114).

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