## 5 Research and Development of Special Grouting and Vibrating Equipment for CSGR  
To address the practicality of specialized equipment, the developed equipment needs to possess features such as flexibility in movement, rapid grouting and vibrating from multiple directions and angles, as well as simultaneous grouting and vibrating capabilities. The grouting and vibrating capacity of a single device should reach 12 m\({}^{2}\)/h. Therefore, a piece of specialized equipment, as shown in Figure 8, has been designed and developed. This equipment includes a control system, grouting and vibrating system, rail-type vibrating head, laser ranging system, etc. Construction can be divided into five stages, as shown in Figure 9. The first to the second stage requires 5 s (rapid insertion); the second to the third stage lasts for 40 s, including 20 s of grouting and 15 s of vibrating; the third to the fourth stage lasts for 19 s (slow extraction of vibrating); the fourth to the fifth stage takes 5 s. For typical CSGR levees with a paving area of 50 m long, 70 cm wide, and 70 cm thick, construction can be completed within 2 h using this equipment, significantly improving construction efficiency.  
The equipment is built upon a micro crawler hydraulic excavator platform, with the entire body occupying a footprint of 2.3 m in length and 1.35 m in width. Leveraging its mobility, rotation capability, hydraulic system, and work apparatus, it can maneuver flexibly on the dam surface without disrupting the compacting process of the dam body. The grouting and vibrating system composition and working principle of the equipment are shown in Figure 10. The equipment boasts a total engine power of 35 KW, which powers actions such as grouting, vibrating, and movement during construction. Grouting can be achieved through either automated quantified grouting or interactive human-machine  
Figure 8: The grouting and vibrating equipment of CSGR.  
control for uniform grout distribution. A stable hydraulic drive is employed, controlled by a microcontroller that actuates electromagnetic directional valves to enable the forward rotation of hydraulic motors, propelling the screw pump to discharge grout. A rotary encoder monitors the pump's rotation speed, regulating the grout output accordingly. To prevent slurry sedimentation and pipe blockage, a microcontroller governs a three-way actuator for slurry circulation, facilitating both injection and backflow. Additionally, a low-speed stirring device is installed within the slurry tank to maintain slurry consistency. Vibrating is executed using a dual-head high-frequency vibrator with an adjustable vibration frequency, driven by an engine-powered belt drive system for frequency control. Moreover, grouting pipes are directly welded and integrated on both sides of the poker vibrator. During operation, the vibrator is inserted vertically into the loosened CSGR, enabling simultaneous vibrating and grouting. Laser distance measurement is utilized during the vibrating to maintain a safe distance between the template and the vibrating rod, thereby preventing damage to the template. After each grouting and vibrating work, the whole slurry pipeline should be cleaned in time by pumping clear water to avoid slurry precipitation and pipe blockage, and the pulley group with vibrating head should be deeply cleaned and lubricated. Regularly inspect and maintain the lubrication system, filtration system, hydraulic system and electrical system of the entire equipment, replace worn parts in a timely manner, ensure that all safety functions are functional, and maintain detailed maintenance activity logs.  
Figure 10: Design system composition and working principle of the equipment.  
Figure 9: Working state of grouting and vibrating equipment (I is the ready stage, II is the insertion stage, III is the grouting and vibrating stage, IV is the redraw stage and V is back to the ready stage for the repetitions of the cycle).