Mobile anchor rod grouting operation device and control method

Abstract

Disclosed in the present invention are a mobile anchor rod grouting operation device and a control method. The mobile anchor rod grouting operation device comprises a mobile chassis and a mechanical arm mounted on the mobile chassis, wherein a grouting joint is provided on the mechanical arm, one end of the grouting joint being in communication with a mixing flow-conversion conveyor that integrates slurry conveying, accelerator conveying, water conveying and mixed conveying and can mix a slurry with an accelerator to convert the slurry from a liquid into a paste, in which the slurry and the accelerator are fully mixed according to a set ratio to realize the rapid conversion of the slurry from a liquid state to a paste state, and the other end of the grouting joint being in communication with the tail of a pre-stressed hollow anchor rod to perform a grouting operation. The problem of tunnel construction quality caused by insufficient grouting in anchor rod holes due to backflow of liquid slurry under gravity during grouting is effectively solved. The mobile anchor rod grouting operation device has the advantages of a simple structure, an ingenious design and high grouting fullness.

Description

Mobile anchor grouting device and control method Technical Field

[0001] The present invention relates to the field of technical grouting, and in particular to a mobile anchor grouting operation device and a control method. Background Art

[0002] With the rapid development of the economy, the scale of tunnel construction has continued to expand, and prestressed hollow anchors are being widely used in tunnel construction. Relevant research teams and machinery companies have developed an all-in-one anchor-grouting machine to comprehensively address the problem of fully mechanized construction of prestressed hollow anchors in tunnels. In actual use, this machine performs well for drilling, installing anchors, and applying prestress and locking the anchors. However, the grouting process fails to meet the process requirements for full grouting of the anchor holes due to backflow of the grout due to gravity. This results in numerous quality issues in anchor construction caused by incomplete grouting. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a mobile anchor grouting device and a control method which have a simple structure, an ingenious design and full grouting.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A mobile anchor grouting operation device includes a mobile chassis and a mechanical arm installed on the mobile chassis. The mechanical arm is provided with a grouting joint. One end of the grouting joint is connected to a mixing flow conveyor that integrates slurry conveying, accelerator conveying, water conveying and mixed conveying and can mix slurry with accelerator to transform the slurry from liquid to paste. The other end is connected to the anchor for grouting operation.

[0006] As a further improvement of the above technical solution:

[0007] The mixing and changing flow conveyor is fixed on the mechanical arm and is connected to the grouting joint through a pipeline, and a spiral stirrer is provided in the pipeline.

[0008] A booster cone is provided in the grouting joint, and the booster cone is configured as a tapered structure with an inner diameter that decreases along the grouting direction.

[0009] A guide cone is also provided in the grouting joint to facilitate accurate docking with the anchor rod.

[0010] The guide cone is configured as a conical structure with an inner diameter increasing along the grouting direction, and the guide cone is connected to the booster cone.

[0011] A sealing gasket is provided between the guide cone and the boost cone for sealing.

[0012] The mobile chassis is provided with a water tank, an accelerator storage tank and a batching mechanism for preparing and storing the slurry. The water tank, the accelerator storage tank and the batching mechanism are respectively connected to the mixing and variable flow conveyor through pipelines. The water tank is also connected to the batching mechanism through a weighing box.

[0013] The batching mechanism includes a batching box, a powder box and a water reducing agent box respectively connected to the batching box through a weighing box. The powder box is connected to the weighing box matched with the powder box through a screw conveyor.

[0014] A stirring mixer is provided in the batching box.

[0015] The mobile chassis is equipped with a rotating shaft that can rotate in the horizontal direction, the upper end of the rotating shaft is equipped with a clamp that can rotate in the vertical direction, and the mechanical arm is connected to the clamp.

[0016] The lower end of the rotating shaft is provided with a driving mechanism for driving the mechanical arm to lift or descend.

[0017] The robotic arm includes a main arm, a connecting arm and a telescopic arm. One end of the main arm is connected to the clamp, and the other end is equipped with a connecting seat that can rotate in the vertical direction. The main arm is also provided with a driving mechanism for driving the connecting seat to rotate up and down. One end of the connecting arm is horizontally hinged to the connecting seat, and the other end is hinged to the telescopic arm.

[0018] The telescopic arm comprises a fixing seat and an arm. The fixing seat is hinged on the connecting arm. The arm is slidably connected to the fixing seat. A driving mechanism for driving the arm to slide is provided on the fixing seat.

[0019] A sliding block fixed by bolts is slidably connected to the machine arm, and the hybrid variable flow conveyor is fixed on the sliding block.

[0020] A control method for a mobile anchor grouting operation device comprises the following steps:

[0021] S1: Positioning: Move the chassis to the working position and determine the anchor position;

[0022] S2: Docking: Control and adjust the robotic arm to align the grouting joint with the anchor bolt;

[0023] S3: Batching: Get the slurry formula and batch it according to the formula ratio through the batching mechanism;

[0024] S4: Grouting: Open the slurry delivery port and the quick-setting agent delivery port of the mixed flow conveyor at the same time, start grouting, and stop grouting when the set conditions are met;

[0025] S5: Cleaning: Control the robotic arm to separate the grouting joint from the anchor rod, open the water delivery port of the hybrid flow conveyor, clean the pipeline and grouting joint, and the operation is completed.

[0026] As a further improvement of the above technical solution:

[0027] In step S4, the setting condition is: stop grouting when the grouting time is greater than T, 5s≤T≤85s.

[0028] In step S4, the setting condition is: grouting is stopped when the anchor rod is grouting.

[0029] Compared with the prior art, the advantages of the present invention are:

[0030] During the grouting operation, the mobile chassis first drives the robotic arm to the pre-installed and locked anchor position, and then the robotic arm is controlled to connect the grouting joint with the anchor before grouting. Compared with the traditional grouting structure, the present invention uses a hybrid flow-converting conveyor that integrates slurry delivery, accelerator delivery, water delivery, and mixed delivery, which is connected to the grouting joint. Accelerator is added to the delivered slurry and the two are fully mixed, realizing the transformation of the slurry from a liquid state to a paste state. Its simple structure and ingenious design can prevent the slurry from flowing back during the grouting process, causing the anchor hole to be grouted incompletely. In addition, the grouting joint is installed by the robotic arm to realize mechanized grouting operation. The robotic arm is installed on the mobile chassis, which is flexible and convenient to move, thereby improving the efficiency of the grouting operation. In addition, after a grouting operation is completed, water is transported through the hybrid flow-converting conveyor for cleaning, preventing the slurry remaining in the grouting joint and other pipeline structures from quickly solidifying due to the addition of accelerator, causing blockage and affecting secondary use, thereby realizing continuous grouting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is a schematic diagram (front view) of the overall structure of the present invention.

[0032] FIG2 is a partial structural diagram of the present invention.

[0033] FIG3 is a schematic diagram (top view) of the overall structure of the present invention.

[0034] FIG4 is a schematic diagram of the overall structure of the present invention (rear view).

[0035] FIG5 is a schematic structural diagram of a grouting joint according to the present invention.

[0036] The numbers in the figure represent: 1. Mobile chassis; 11. Rotating shaft; 12. Clamp; 2. Robotic arm; 21. Main arm; 211. Connecting seat; 22. Connecting arm; 23. Telescopic arm; 231. Fixed seat; 232. Machine arm; 2321. Slider; 3. Grouting joint; 31. Booster cone; 32. Guide cone; 33. Sealing gasket; 4. Mixing and flow-changing conveyor; 5. Spiral agitator; 6. Water tank; 61. Water weighing box; 7. Accelerator box; 8. Batching mechanism; 81. Batching box; 811. Stirring mixer; 82. Powder box; 821. Powder weighing box; 83. Water reducer box; 831. Water reducer weighing box; 84. Screw conveyor. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] As shown in Figures 1 to 5, the mobile anchor grouting device of this embodiment includes a mobile chassis 1 and a robotic arm 2 mounted on the mobile chassis 1. The robotic arm 2 is provided with a grouting joint 3. One end of the grouting joint 3 is connected to a mixing flow-converting conveyor 4 that integrates slurry, accelerator, water, and mixed conveying, and can mix the slurry with the accelerator to convert the slurry from a liquid to a paste. The other end is connected to the anchor for grouting operations. During the grouting operation, the mobile chassis 1 first drives the robotic arm 2 to the pre-installed and locked anchor position. The robotic arm 2 is then manipulated to connect the grouting joint 3 with the anchor before grouting. Compared with the traditional grouting structure, the present invention uses a mixed flow-changing conveyor 4 that integrates slurry conveying, accelerator conveying, water conveying and mixed conveying connected to the grouting joint 3, adds accelerator to the conveyed slurry and fully mixes the two to achieve the transformation of the slurry from a liquid state to a paste state. It has a simple structure and ingenious design, which can prevent the slurry from flowing back during the grouting process and causing the anchor hole to be incompletely grouted. In addition, the grouting joint 3 is installed by the mechanical arm 2 to realize mechanized grouting operation. The mechanical arm 2 is installed on the mobile chassis 1, which is flexible and convenient to move, thereby improving the efficiency of the grouting operation. In addition, after a grouting operation is completed, water is transported for cleaning through the mixed flow-changing conveyor 4 to avoid the slurry remaining in the grouting joint 3 and other pipeline structures from quickly coagulating due to the addition of accelerator, causing blockage and affecting secondary use, thereby realizing continuous grouting operation.

[0039] In this embodiment, a mixing and variable flow conveyor 4 is fixed to the robotic arm 2 and connected to the grouting joint 3 via a pipe, within which a spiral stirrer 5 is installed. In this structure, the spiral stirrer 5 ensures that the quick-setting agent and slurry are fully mixed during the grouting operation, ensuring the quality of water blocking and anti-seepage.

[0040] In this embodiment, a booster cone 31 is provided within the grouting joint 3. The booster cone 31 is a tapered structure with a decreasing inner diameter along the grouting direction. In this structure, the tapered booster cone 31 provided within the grouting joint 3 boosts the pressure of the slurry and water flowing through it, thereby increasing the effective grouting stroke and the water's cleaning effect.

[0041] In this embodiment, a guide cone 32 is further provided in the grouting joint 3 for facilitating accurate docking with the anchor rod. In this structure, the guide cone 32 is provided to guide the grouting joint 3 when docking the anchor rod, thereby ensuring the accuracy of the docking between the two.

[0042] In this embodiment, the guide cone 32 is configured as a tapered structure with an inner diameter increasing along the grouting direction, and the guide cone 32 is connected to the booster cone 31. In this structure, the cone surface guide structure is simple and easy to process and form.

[0043] In this embodiment, a sealing gasket 33 is provided between the guide cone 32 and the boost cone 31 for sealing. The provision of the sealing gasket 33 ensures a sealing effect.

[0044] In this embodiment, the mobile chassis 1 is equipped with a water tank 6, an accelerator storage tank 7, and a batching mechanism 8 for preparing and storing slurry. The water tank 6, accelerator storage tank 7, and batching mechanism 8 are each connected to the mixing and variable flow conveyor 4 via pipelines. The water tank 6 is also connected to the batching mechanism 8 via a weighing tank. In this structure, water in the water tank 6 passes through the water weighing tank 61 and then enters the batching mechanism. The structure is simple, and the installation of the water tank 6, accelerator storage tank 7, and batching mechanism 8 on the mobile chassis 1 improves the flexibility of the grouting operation.

[0045] In this embodiment, the batching mechanism 8 includes a batching box 81, a powder box 82, and a water-reducing agent box 83, each connected to the batching box via a weighing box. The powder box 82 is connected to its corresponding weighing box via a screw conveyor 84. In this structure, the powder in the powder box 82 passes through the screw conveyor 84 into the powder weighing box 821 and then into the batching box 81. The screw conveyor 84 has a simple and compact structure, achieving closed conveyance and reducing dust generation. The water-reducing agent in the water-reducing agent box 83 passes through the water-reducing agent weighing box 831 and then into the batching box 81. The provision of weighing boxes allows for accurate batching of the various materials, reducing raw material loss and saving costs.

[0046] In this embodiment, a stirring mixer 811 is provided in the batching box 81. The stirring mixer 811 is provided to fully mix the ingredients and improve the quality of the formed slurry.

[0047] In this embodiment, the mobile chassis 1 is equipped with a horizontally rotatable shaft 11, with a vertically rotatable clamp 12 mounted on the upper end of the shaft 11. The robotic arm 2 is connected to the clamp 12. The structure is simple and ingenious, and the shaft 11 and the clamp 12 enable the robotic arm 2 to rotate both horizontally and vertically.

[0048] In this embodiment, a driving mechanism for driving the robotic arm 2 to lift or lower is provided at the lower end of the rotating shaft 11 .

[0049] In this embodiment, the robotic arm 2 comprises a main arm 21, a connecting arm 22, and a telescopic arm 23. One end of the main arm 21 is connected to the clamp 12, and the other end is mounted on a vertically rotatable connecting base 211. The main arm 21 is also provided with a drive mechanism for vertically rotating the connecting base 211. One end of the connecting arm 22 is horizontally hinged to the connecting base 211, and the other end is hinged to the telescopic arm 23. This simple and ingenious structure further increases the flexibility of the robotic arm 2, making it suitable for grouting and water plugging operations in complex terrain.

[0050] In this embodiment, the telescopic arm 23 includes a fixed base 231 and an arm 232 . The fixed base 231 is hinged on the connecting arm 22 . The arm 232 is slidably connected to the fixed base 231 . The fixed base 231 is provided with a driving mechanism for driving the arm 232 to slide.

[0051] In this embodiment, a slider 2321 is slidably connected to the arm 232 and fixed by bolts, and the hybrid variable flow conveyor 4 is fixed on the slider 2421. In this structure, the slider 2321 is fixed by bolts, which is easy to disassemble and replace, making it convenient to disassemble and replace the hybrid variable flow conveyor 4.

[0052] The control method of the mobile anchor grouting operation device of this embodiment includes the following steps:

[0053] S1: Positioning: Move the chassis 1 to the working position to determine the anchor position;

[0054] S2: Docking: Control and adjust the robotic arm 2 to align the grouting joint 3 with the anchor rod;

[0055] S3: batching: the slurry formula is adjusted and the ingredients are batched according to the formula ratio through the batching mechanism 7;

[0056] S4: Grouting: Open the slurry delivery port and the quick-setting agent delivery port of the mixed flow conveyor 4 at the same time, start grouting, and stop grouting when the set conditions are met;

[0057] S5: Cleaning: Control the robotic arm 2 to separate the grouting joint 3 from the anchor rod, open the water delivery port of the hybrid variable flow conveyor 4, clean the pipeline and the grouting joint 3, and the operation is completed.

[0058] This method drives the mechanical arm 2 to move by the mobile chassis 1, which is flexible and convenient, and realizes mechanized grouting operation. During grouting, the slurry and the quick-setting agent are simultaneously transported through the mixed flow-changing conveyor 4, which changes the slurry state and transforms the grouting slurry from a liquid state to a paste state, solving the problem of incomplete slurry backflow during the anchor grouting process. After grouting, the mixed flow-changing conveyor 4 is flushed with water for cleaning, so as to avoid the residual slurry from condensing and causing blockage that affects subsequent use, thereby ensuring the continuity of the grouting operation.

[0059] In this embodiment, in step S4, the setting condition is: grouting is stopped when the grouting time is greater than T, 5s≤T≤85s.

[0060] In this embodiment, in step S4, the condition is set as: grouting is stopped when the anchor rod is grouting back.

[0061] Although the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, utilize the technical content disclosed above to make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A mobile bolt grouting operation device, characterized in that: It includes a mobile chassis (1) and a robotic arm (2) installed on the mobile chassis (1). A grouting joint (3) is provided on the robotic arm (2). One end of the grouting joint (3) is connected to a mixing variable-flow conveyor (4) that integrates slurry transportation, accelerator transportation, water transportation, and mixed transportation and can mix the slurry with the accelerator to transform the slurry from a liquid to a paste, and the other end is connected to a bolt for grouting operation.

2. The mobile bolt grouting operation device according to claim 1, characterized in that: The mixing variable-flow conveyor (4) is fixed on the robotic arm (2), and the mixing variable-flow conveyor (4) is connected to the grouting joint (3) through a pipeline. A spiral agitator (5) is provided in the pipeline.

3. The mobile bolt grouting operation device according to claim 1, characterized in that: A pressure-increasing cone (31) is provided in the grouting joint (3), and the pressure-increasing cone (31) is set as a conical structure with a decreasing inner diameter along the grouting direction.

4. The mobile bolt grouting operation device according to claim 3, characterized in that: A guiding cone (32) for facilitating precise docking with the bolt is also provided in the grouting joint (3).

5. The mobile bolt grouting operation device according to claim 4, characterized in that: The guiding cone (32) is set as a conical structure with an increasing inner diameter along the grouting direction, and the guiding cone (32) is connected to the pressure-increasing cone (31).

6. The mobile bolt grouting operation device according to claim 5, characterized in that: A sealing gasket (33) is provided between the guiding cone (32) and the pressure-increasing cone (31) for sealing.

7. The mobile bolt grouting operation device according to claim 1, characterized in that: A water tank (6), an accelerator storage tank (7), and a batching mechanism (8) for preparing and storing the slurry are provided on the mobile chassis (1). The water tank (6), the accelerator storage tank (7), and the batching mechanism (8) are respectively connected to the mixing variable-flow conveyor (4) through pipelines, and the water tank (6) is also connected to the batching mechanism (8) through a weighing tank.

8. The mobile bolt grouting operation device according to claim 7, characterized in that: The batching mechanism (8) includes a batching tank (81), a powder tank (82), and a water reducer tank (83) that are respectively connected to it through a weighing tank. The powder tank (82) is connected to the weighing tank that matches it through a screw conveyor (84).

9. The mobile bolt grouting operation device according to claim 8, characterized in that: A stirring mixer (811) is provided in the batching tank (81).

10. The mobile bolt grouting operation device according to claim 2, characterized in that: The mobile chassis (1) is equipped with a rotating shaft (11) that can rotate in the horizontal direction. A hoop (12) that can rotate in the vertical direction is installed at the upper end of the rotating shaft (11), and the robotic arm (2) is connected to the hoop (12).

11. The mobile bolt grouting operation device and control method according to claim 10, characterized in that: A driving mechanism for lifting or lowering the robotic arm (2) is provided at the lower end of the rotating shaft (11).

12. The mobile bolt grouting operation device according to claim 11, characterized in that: The robotic arm (2) includes a main arm (21), a connecting arm (22), and a telescopic arm (23). One end of the main arm (21) is connected to the hoop (12), and the other end is equipped with a connecting seat (211) that can rotate in the vertical direction. A driving mechanism for driving the connecting seat (211) to rotate up and down is also provided on the main arm (21). One end of the connecting arm (22) is horizontally hinged to the connecting seat (211), and the other end is hinged to the telescopic arm (23).

13. The mobile bolt grouting operation device according to claim 12, characterized in that: The telescopic arm (23) includes a fixed seat (231) and a machine arm (232). The fixed seat (231) is hinged to the connecting arm (22), and the machine arm (232) is slidably connected to the fixed seat (231). A driving mechanism for driving the machine arm (232) to slide is provided on the fixed seat (231).

14. The mobile bolt grouting operation device according to claim 13, characterized in that: A slider (2321) fixed by bolts is slidably connected to the robotic arm (232), and the hybrid converter conveyor (4) is fixedly installed on the slider (2421).

15. A control method for a mobile bolt grouting operation device according to any one of claims 1 to 14, characterized in that: It includes the following steps: S1: Positioning: Move to the operation position through the moving chassis (1) to determine the position of the anchor bolt; S2: Docking: Control and adjust the robotic arm (2) to align the grouting joint (3) with the anchor bolt; S3: Batching: Retrieve the slurry formula and batch according to the formula ratio through the batching mechanism (7); S4: Grouting: Open the slurry delivery port and the accelerator delivery port of the hybrid converter conveyor (4) simultaneously to start grouting, and stop grouting when the set conditions are met; S5: Cleaning: Control the robotic arm (2) to separate the grouting joint (3) from the anchor bolt, open the water delivery port of the hybrid converter conveyor (4), and clean the pipeline and the grouting joint (3) to end the operation.

16. The control method of the mobile bolt grouting operation device according to claim 15, characterized in that: In step S4, the set condition is: stop grouting when the grouting time is greater than T, where 5s ≤ T ≤ 85s.

17. The control method of the mobile bolt grouting operation device according to claim 15, characterized in that: In step S4, the set condition is: stop grouting when the anchor bolt returns slurry.

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