A highway guardrail column drilling and piling integrated robot

Abstract

The present invention relates to the technical field of road construction, and discloses an integrated robot for drilling and piling of highway guardrail posts, comprising a mounting seat, wherein the driving component comprises a shell fixedly mounted on the left side of the slide seat, wherein the interior of the shell is provided with a lifting component, a damping component and a positioning cover in sequence from top to bottom, wherein the damping component is provided with a hammer rod along its longitudinal direction, wherein the hammer rod penetrates the damping component and extends to the interior of the lifting component and the positioning cover, and wherein the bottom end of the hammer rod is provided with a hammer head component. Through the downward reaction force generated when the magnetorheological fluid is squeezed, and the resistance when a small part of the magnetorheological fluid passes through the annular gap and the avoidance hole, resistance is provided to the upward movement of the hammer rod, thereby suppressing the upward movement of the hammer rod. Thus, when the highway guardrail post applies a reaction force to the hammer head body, the upward movement of the hammer rod is suppressed, the vibration of the hammer rod is reduced, and the damage to the driving component is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of road construction, and in particular to a highway guardrail column drilling and piling integrated robot. Background Art

[0002] During the road construction process, guardrails need to be installed on both sides of the road. When a traffic accident occurs, guardrails can be used to block and buffer vehicles to reduce the damage caused by the traffic accident. Highway guardrails are generally composed of columns and baffles. The existing guardrail column drilling and piling machine can speed up the installation of columns and improve the efficiency of road construction.

[0003] When the existing highway guardrail post drilling and piling machine is driving piles, the post is installed in the hole by intermittently hitting the top of the post with a hammer head. In the process of the hammer head hitting the post, the reaction force of the post on the hammer head causes the hammer head to move upward, which is prone to vibration and will also cause a certain degree of damage to the driving components of the hammer head.

[0004] We set a buffer component on the hammer head of the piling component of the highway guardrail column drilling and piling integrated machine. When the hammer head is subjected to a reaction force, the upward movement tendency of the hammer head is suppressed, thereby reducing the vibration of the hammer head caused by the reaction force and reducing the damage to the hammer head driving components, and then proposed a highway guardrail column drilling and piling integrated robot. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides an integrated robot for drilling and piling holes for highway guardrail posts, which has the advantages of reducing the vibration of the hammer head during piling and reducing the damage to the hammer head driving components. It solves the problem that the hammer head is easily vibrated by the reaction force during piling and the driving components of the hammer head are damaged.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned purpose of reducing the vibration of the hammer head and reducing the damage to the hammer head driving components during the piling process, the present invention provides the following technical solutions: a highway guardrail column drilling and piling integrated robot, comprising a mounting seat, a slide rail is fixedly installed on the left front side of the mounting seat, a slide seat is connected to the inside of the slide rail for upward and downward sliding movement, a connecting rod is hinged on the top of the slide seat, a support rod is hinged between the other end of the connecting rod and the mounting seat, a hydraulic telescopic rod is hinged between the middle lower side of the connecting rod and the mounting seat, a driving component is fixedly installed on the left side of the slide seat, and the slide A guide plate is fixedly installed on the lower left side of the rail, and a through hole is opened on the surface of the guide plate just below the driving component; the driving component includes a shell fixedly installed on the left side of the slide seat, and the interior of the shell is sequentially provided with a lifting component, a damping component and a positioning cover from top to bottom, the damping component is provided with a hammer rod along its longitudinal direction, the hammer rod penetrates the damping component and extends to the interior of the lifting component and the positioning cover, the bottom end of the hammer rod is provided with a hammer head component, the lifting component is fixedly installed on the top wall of the shell, and the positioning cover is fixedly installed on the bottom of the shell.

[0009] Preferably, the lifting component includes a hydraulic cylinder, the lower half of the hydraulic cylinder is penetrated by an oil inlet pipe, the upper half of the hydraulic cylinder is penetrated by an oil outlet pipe, a sleeve is fixedly installed on the bottom wall of the hydraulic cylinder, the sleeve is sleeved on the outside of the hammer rod, the top of the sleeve is flush with the upper side of the oil inlet pipe opening, the inside of the hydraulic cylinder is connected with a piston plate for sliding up and down, a rubber ring is provided in the middle of the circumferential surface of the piston plate, the top of the hammer rod is fixedly installed at the center of the bottom of the piston plate, the top of the hammer rod is provided with an annular groove 1, the bottom of the piston plate is fixedly installed with a limiting cover, the cross-section of the limiting cover is L-shaped, the limiting cover and the annular groove 1 provided on the hammer rod enclose an annular cavity with an opening at the bottom, the bottom array of the piston plate is provided with a spring 1 located in the annular cavity, and the bottom end of the spring 1 is fixedly installed with an annular plate.

[0010] Preferably, the damping component includes a sleeve sleeved on the outside of the hammer rod, the interior of the sleeve is filled with magnetorheological fluid, a circular plate is arranged inside the sleeve, the hammer rod is passed through and fixed at the center of the circular plate, an array of avoidance holes are opened on the surface of the circular plate, an annular groove 2 is opened on the surface of the hammer rod, an excitation coil is fixedly installed on the surface of the hammer rod and inside the annular groove 2, the outside of the excitation coil is sleeved with a protective tube, the protective tube is fixedly installed on the top wall and bottom wall of the annular groove 2 opened on the hammer rod, and the outer diameter of the protective tube is equal to the diameter of the hammer rod. The excitation coil is spiral-shaped, and both ends of the excitation coil extend from the annular groove 2 to the bottom of the hammer rod, and pass through the surface of the hammer rod located at the lower part of the sleeve. The two ends of the annular groove 2 are electrically connected to contact 1 and a storage battery respectively. There are two contacts 1. One end of the excitation coil and one of the contacts 1 are electrically connected to two electrodes of the storage battery, and the other end of the excitation coil is electrically connected to another contact 1. Contact 1 is fixedly installed on the surface of the hammer rod, and contact 2 is arranged directly below contact 1, and contact 2 is connected to the surface of the hammer rod.

[0011] Preferably, an annular gap is provided between the circumferential surface of the circular plate and the inner wall of the sleeve.

[0012] Preferably, the inner diameter of the avoidance hole gradually decreases from top to bottom.

[0013] Preferably, the hammer component includes a hammer body arranged at the bottom end of the hammer rod, a mounting groove is opened at the center of the top of the hammer body, the hammer body is sleeved on the bottom end of the hammer rod through the mounting groove, a spring 2 is fixedly installed between the bottom end of the hammer rod and the bottom wall of the mounting groove, a fixing plate fixedly installed on the surface of the hammer rod is arranged directly above the hammer body, the hammer body and the fixing plate are both located inside the positioning cover, the two contact 1s are fixedly installed on the top of the hammer body, the two contact 2s are fixedly installed on the bottom of the fixing plate, the contact 1 is fixed to the surface of the hammer rod through the fixing plate, and the contact 2 is connected to the surface of the hammer rod by sliding up and down through the hammer body.

[0014] Preferably, sealing rings are provided at the top and bottom of the sleeve and the bottom of the hydraulic cylinder of the lifting component, and the sealing rings are sleeved on the surface of the hammer rod.

[0015] Preferably, the aperture of the through hole is matched with the outer diameter of the highway guardrail post, the positioning cover is sleeved on the top of the highway guardrail post, the diameter of the hammer body is smaller than the aperture, and the hammer body abuts against the top of the highway guardrail post.

[0016] (III) Beneficial effects

[0017] Compared with the prior art, the present invention provides a highway guardrail column drilling and piling integrated robot, which has the following beneficial effects:

[0018] The highway guardrail column drilling and piling integrated robot, in the process of the hammer body hitting the highway guardrail column, the hammer body stops at the top of the column, the hammer rod continues to move downward, the second spring is squeezed and contracted, when the second spring is squeezed to the limit distance, the column applies a reaction force to the assembly of the hammer body and the hammer rod, so that the assembly of the hammer rod and the hammer body has a tendency to move upward, and at the same time, the second contact contacts the first contact, the circuit where the first contact, the second contact, the excitation coil and the storage battery are connected, the excitation coil has magnetism, and the fluidity of the magnetorheological fluid inside the sleeve is reduced under the action of the magnetic field. At this time, the hammer rod moves upward under the action of the reaction force of the separation, and the sleeve applies a large resistance to the circular plate. A small part of the magnetorheological fluid can only flow through the gap and the avoidance hole between the circular plate and the sleeve. The downward reaction force generated when the magnetorheological fluid is squeezed and the resistance of a small part of the magnetorheological fluid when passing through the annular gap and the avoidance hole provide resistance to the upward movement of the hammer rod, thereby inhibiting the upward movement of the hammer rod. Thereby, when the highway guardrail column applies a reaction force to the hammer head body, the upward movement of the hammer rod is suppressed, the vibration of the hammer rod is reduced, and the damage to the driving components is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a highway guardrail column drilling and piling integrated robot proposed by the present invention;

[0020] Figure 2 This is a schematic diagram of the main cross-sectional three-dimensional structure of the driving components of a highway guardrail column drilling and piling integrated robot proposed by the present invention;

[0021] Figure 3 This is a schematic diagram of the main cross-sectional three-dimensional structure of the driving components of a highway guardrail column drilling and piling integrated robot proposed by the present invention;

[0022] Figure 4 This is a schematic diagram of the main cross-sectional structure of the driving components of a highway guardrail column drilling and piling integrated robot proposed by the present invention;

[0023] Figure 5 This is a schematic diagram of the main cross-sectional structure of the lifting component of a highway guardrail column drilling and piling integrated robot proposed by the present invention;

[0024] Figure 6 This is a schematic diagram of the main cross-sectional structure of the damping component of a highway guardrail column drilling and piling integrated robot proposed by the present invention;

[0025] Figure 7 This is a schematic diagram of the main cross-sectional structure of the hammer head component of a highway guardrail column drilling and piling integrated robot proposed by the present invention.

[0026] Figure 8 This is a schematic diagram of the connection between the excitation coil, contact 1 and contact 2 of a highway guardrail column drilling and piling integrated robot proposed by the present invention.

[0027] In the figure: 1, mounting seat; 2, slide rail; 3, slide seat; 4, driving component; 5, guide plate; 51, through hole; 6, connecting rod; 7, support rod; 8, hydraulic telescopic rod; 41, housing; 42, lifting component; 43, damping component; 44, positioning cover; 45, hammer rod; 46, hammer head component; 47, sealing ring;

[0028] 421, oil inlet pipe; 422, oil outlet pipe; 423, casing; 424, piston plate; 425, rubber ring; 426, annular groove 1; 427, limit cover; 428, annular plate; 429, spring 1;

[0029] 431, sleeve; 432, magnetorheological fluid; 433, circular plate; 434, avoidance hole; 435, annular groove 2; 436, excitation coil; 437, protection tube; 438, contact 1; 439, contact 2;

[0030] 461. hammer body; 462. mounting groove; 463. spring 2; 464. fixing plate. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-2A highway guardrail column drilling and piling integrated robot comprises a mounting seat 1, a slide rail 2 is fixedly mounted on the left front side of the mounting seat 1, a slide seat 3 is slidably connected to the inside of the slide rail 2 up and down, the slide rail 2 is divided into left and right halves, and the slide seat 3 is slidably connected between the two halves of the slide rail 2. A connecting rod 6 is hinged on the top of the slide seat 3, and the left end of the connecting rod 6 is located between the two halves of the slide rail 2. A support rod 7 is hinged between the other end of the connecting rod 6 and the mounting seat 1, and a hydraulic telescopic rod 8 is hinged between the middle lower side of the connecting rod 6 and the mounting seat 1. The hydraulic telescopic rod 8 is extended and retracted to drive the connecting rod 6 to rotate along the connection point with the support rod 7, and the support rod 7 rotates along the connection point with the mounting seat 1, thereby driving the slide seat 3 to move up and down on the surface of the slide rail 2. A driving component 4 is fixedly installed on the left side of the slide 3, and a guide plate 5 is fixedly installed on the lower left side of the slide rail 2. A through hole 51 is opened on the surface of the guide plate 5 and directly below the driving component 4; the driving component 4 includes a shell 41 fixedly installed on the left side of the slide 3, and the interior of the shell 41 is sequentially provided with a lifting component 42, a damping component 43 and a positioning cover 44 from top to bottom. The damping component 43 is provided with a hammer rod 45 along its longitudinal direction. The hammer rod 45 penetrates the damping component 43 and extends to the interior of the lifting component 42 and the positioning cover 44. The bottom end of the hammer rod 45 is provided with a hammer head component 46. The lifting component 42 is fixedly installed on the top wall of the shell 41, and the positioning cover 44 is fixedly installed on the bottom of the shell 41. The aperture of the through hole 51 is matched with the outer diameter of the highway guardrail column. The positioning cover 44 is sleeved on the top of the highway guardrail column. The highway guardrail column is limited by the through hole 51 set in the guide plate 5, so that the column and the positioning cover 44 are kept in the same vertical line, which is convenient for maintaining the stability of the force applied to the highway guardrail column during piling.

[0033] See also Figure 2-5The lifting component 42 includes a hydraulic cylinder, an oil inlet pipe 421 is penetrated through the lower half of the hydraulic cylinder, an oil outlet pipe 422 is penetrated through the upper half of the hydraulic cylinder, a sleeve 423 is fixedly installed on the bottom wall of the hydraulic cylinder, the sleeve 423 is sleeved on the outside of the hammer rod 45, the top of the sleeve 423 is flush with the upper side of the opening of the oil inlet pipe 421, and the interior of the hydraulic cylinder is connected to a piston plate 424 for sliding up and down. Oil is delivered to the interior of the hydraulic cylinder through the oil inlet pipe 421, and the oil outlet pipe 422 draws oil from the interior of the hydraulic cylinder to the outside, so that the hydraulic oil in the lower half of the hydraulic cylinder lifts the piston plate 424 upward, driving the piston plate 424 to move upward, and oil is delivered to the hydraulic cylinder through the oil outlet pipe 422, and the oil inlet pipe 421 draws oil from the interior of the hydraulic cylinder. The hydraulic oil in the upper half of the hydraulic cylinder pushes the piston plate 424 to move downward. A rubber ring 425 is provided in the middle of the circumferential surface of the piston plate 424. The rubber ring 425 is provided to enhance the sealing performance between the piston plate 424 and the inner wall of the hydraulic cylinder. The top of the hammer rod 45 is fixedly installed at the bottom center of the piston plate 424. The top of the hammer rod 45 is provided with an annular groove 426. The bottom of the piston plate 424 is fixedly installed with a limit cover 427. The cross section of the limit cover 427 is L-shaped. The limit cover 427 and the annular groove 426 provided on the hammer rod 45 together form an annular cavity with an opening at the bottom. The bottom array of the piston plate 424 is provided with a spring 429 located in the annular cavity. The bottom end of the spring 429 is fixedly installed with an annular plate 428. When the piston plate 424 moves downward and causes the annular plate 428 to abut against the top edge of the sleeve 423, and the piston plate 424 continues to move downward, the annular plate 428 is squeezed and moves upward relative to the piston plate 424, so that the spring 1 429 contracts to cushion the downward movement of the piston plate 424.

[0034] See also Figure 2-4 and Figure 6-8 The damping component 43 includes a sleeve 431 sleeved on the outside of the hammer rod 45. The top and bottom of the sleeve 431 and the bottom of the hydraulic cylinder of the lifting component 42 are provided with sealing rings 47. The sealing ring 47 is sleeved on the surface of the hammer rod 45. The sealing ring 47 enhances the sealing between the bottom of the hydraulic cylinder of the lifting component 42, the upper and lower ends of the sleeve 431 and the hammer rod 45. The sleeve 431 is filled with a magnetorheological fluid 432. The magnetorheological fluid 432 includes dispersed particles, a base liquid, and additives. The dispersed particles are carbonyl iron powder or Fe3O4, and the base liquid is mineral oil or water; the additives include a dispersant and an anti-settling agent. The dispersant is oleic acid and oleate or cyclopentaneate, and the anti-settling agent is a high molecular polymer or a hydrophilic silicone resin oligomer. The magnetorheological fluid 432 exhibits low-viscosity Newtonian fluid characteristics when no magnetic field is applied. When an external magnetic field is applied, it exhibits a high-viscosity, low-fluidity Bingham fluid.

[0035] See also Figure 2-4 and Figure 6-8, a circular plate 433 is arranged inside the sleeve 431, a hammer rod 45 is fixed through the center of the circular plate 433, an annular gap is arranged between the circumferential surface of the circular plate 433 and the inner wall of the sleeve 431, and an array of avoidance holes 434 are arranged on the surface of the circular plate 433, and the inner diameter of the avoidance holes 434 gradually decreases from top to bottom. When the circular plate 433 moves up and down inside the sleeve 431, the magnetorheological fluid 432 inside the sleeve 431 can flow through the annular gap and the avoidance holes 434, and the setting of the avoidance holes 434 makes the resistance of the circular plate 433 moving downward smaller than the resistance of the circular plate 433 moving upward. An annular groove 435 is provided on the surface of the hammer rod 45, and an excitation coil 436 is fixedly installed on the surface of the hammer rod 45 and inside the annular groove 435. A protective tube 437 is sleeved on the outside of the excitation coil 436. The protective tube 437 is fixedly installed on the top wall and bottom wall of the annular groove 435 provided on the hammer rod 45, and the outer diameter of the protective tube 437 is equal to the diameter of the hammer rod 45. The excitation coil 436 is spiral-shaped, and both ends of the excitation coil 436 extend from the annular groove 435 to the bottom of the hammer rod 45, and pass through the surface of the hammer rod 45 located at the lower part of the sleeve 431. The two ends of the annular groove 435 are electrically connected to a contact 438 and a battery, respectively, and the battery is arranged inside the outer shell 41. There are two contacts 438. One end of the excitation coil 436 and one of the contacts 438 are electrically connected to two electrodes of the battery. The other end of the excitation coil 436 is electrically connected to another contact 438. The contact 438 is fixedly mounted on the surface of the hammer rod 45. A contact 439 is arranged directly below the contact 438. The contact 439 is connected to the surface of the hammer rod 45. Figure 8 The excitation coil 436, contact one 438, contact two 439 and the storage battery are connected in series in the same circuit. When contact one 438 and contact two 439 are in contact, the circuit is turned on and the excitation coil 436 has magnetism.

[0036] See also Figure 2-4 and Figure 7The hammer head component 46 includes a hammer head body 461 disposed at the bottom end of the hammer rod 45, the diameter of the hammer head body 461 is smaller than the aperture of 55, and the hammer head body 461 abuts against the top of the highway guardrail column. A mounting groove 462 is provided at the center of the top of the hammer head body 461, and the hammer head body 461 is sleeved on the bottom end of the hammer rod 45 through the mounting groove 462. A spring 2 463 is fixedly installed between the bottom end of the hammer rod 45 and the bottom wall of the mounting groove 462. A fixing plate 464 fixedly installed on the surface of the hammer rod 45 is provided directly above the hammer head body 461. The hammer head body 461 and the fixing plate 464 are both located inside the positioning cover 44. Two contacts 1 438 are fixedly installed on the top of the hammer head body 461, and two contacts 2 439 are fixedly installed on the bottom of the fixing plate 464. The contact 1 438 is fixed on the surface of the hammer rod 45 through the fixing plate 464, and the contact 2 439 is connected to the surface of the hammer rod 45 by sliding up and down through the hammer head body 461. Initially, under the elastic action of the second spring 463, the first contact 438 and the second contact 439 are not in contact, and the circuit where the excitation coil 436 is located is disconnected and has no magnetism.

[0037] When in use, the highway guardrail post is placed in the through hole 51 opened in the guide plate 5, and the positioning cover 44 is sleeved on the top of the highway guardrail post, so that the hammer head body 461 abuts against the top of the post.

[0038] Oil is delivered to the hydraulic cylinder of the lifting component 42 through the oil inlet pipe 421, and the oil outlet pipe 422 draws oil out from the inside of the hydraulic cylinder, so that the assembly of the piston plate 424 and the hammer rod 45 moves upward. When the piston plate 424 abuts against the top wall of the hydraulic cylinder, the oil inlet pipe 421 is used to draw oil out from the inside of the hydraulic cylinder, and the oil outlet pipe 422 delivers oil into the hydraulic cylinder, driving the assembly of the piston plate 424 and the hammer rod 45 to move downward, and the hammer head body provided at the bottom end of the hammer rod 45 461 hammers on the top of the highway guardrail post, causing the post to extend below the ground; then the hydraulic telescopic rod 8 contracts, driving the connecting rod 6 to deflect downward along the connection point with the support rod 7, and the support rod 7 deflects along the connection point with the mounting seat 1, so that the left end of the connecting rod 6 pushes the slide 3 downward, so that the assembly of the slide 3 and the driving component 4 moves downward along the slide rail 2, adjusting the distance between the hammer head body 461 and the highway guardrail post, so that the bottom side of the hammer head body 461 can hit the post.

[0039] When the hammer body 461 hits the highway guardrail column, the hammer body 461 stops at the top of the column, the hammer rod 45 continues to move downward, and the spring 2 463 is squeezed and contracted. When the spring 2 463 is squeezed to the limit distance, the column applies a reaction force to the assembly of the hammer body 461 and the hammer rod 45, so that the assembly of the hammer rod 45 and the hammer body 461 has a tendency to move upward, and at the same time, the contact 2 439 contacts the contact 1 438, and the circuit where the contact 1 438, the contact 2 439, the excitation coil 436 and the storage battery are connected, and the excitation coil 436 has magnetism. Under the action of the magnetic field, the fluidity of the magnetorheological fluid 432 inside the sleeve 431 is reduced. At this time, the hammer rod 45 moves upward under the action of the reaction force of the separation, and the sleeve 423 exerts a large resistance on the circular plate 433. A small part of the magnetorheological fluid 432 can only flow through the gap between the circular plate 433 and the sleeve 431 and the avoidance hole 434. The downward reaction force generated when the magnetorheological fluid 432 is squeezed and the resistance of a small part of the magnetorheological fluid 432 when passing through the annular gap and the avoidance hole 434 provide resistance to the upward movement of the hammer rod 45, thereby inhibiting the upward movement of the hammer rod 45.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A highway guardrail column drilling and piling integrated robot, comprising a mounting seat (1), a slide rail (2) fixedly mounted on the left front side of the mounting seat (1), a slide seat (3) slidably connected to the inside of the slide rail (2), a connecting rod (6) hinged on the top of the slide seat (3), a support rod (7) hinged between the other end of the connecting rod (6) and the mounting seat (1), a hydraulic telescopic rod (8) hinged between the middle lower side of the connecting rod (6) and the mounting seat (1), characterized in that: A driving component (4) is fixedly mounted on the left side of the slide seat (3), a guide plate (5) is fixedly mounted on the lower left side of the slide rail (2), and a through hole (51) is provided on the surface of the guide plate (5) and directly below the driving component (4); The driving component (4) comprises a shell (41) fixedly mounted on the left side of the slide seat (3); a lifting component (42), a damping component (43) and a positioning cover (44) are arranged in sequence from top to bottom inside the shell (41); a hammer rod (45) is arranged along the longitudinal direction of the damping component (43); the hammer rod (45) penetrates the damping component (43) and extends to the inside of the lifting component (42) and the positioning cover (44); a hammer head component (46) is arranged at the bottom end of the hammer rod (45); the lifting component (42) is fixedly mounted on the top wall of the shell (41); and the positioning cover (44) is fixedly mounted on the bottom of the shell (41); The lifting component (42) includes a hydraulic cylinder, an oil inlet pipe (421) is provided through the lower half of the hydraulic cylinder, an oil outlet pipe (422) is provided through the upper half of the hydraulic cylinder, a sleeve (423) is fixedly installed on the bottom wall of the hydraulic cylinder, the sleeve (423) is sleeved on the outside of the hammer rod (45), the top of the sleeve (423) is flush with the upper side of the opening of the oil inlet pipe (421), the inside of the hydraulic cylinder is slidably connected to a piston plate (424), a rubber ring (425) is provided in the middle of the circumferential surface of the piston plate (424), and the hammer rod (45) is provided with a plurality of sleeves (423) and a plurality of sleeves (423) are provided. ) is fixedly mounted at the bottom center of the piston plate (424), an annular groove (426) is provided at the top of the hammer rod (45), a limit cover (427) is fixedly mounted at the bottom of the piston plate (424), the cross section of the limit cover (427) is L-shaped, the limit cover (427) and the annular groove (426) provided on the hammer rod (45) together form an annular cavity with an opening at the bottom, a spring (429) located in the annular cavity is arranged at the bottom array of the piston plate (424), and an annular plate (428) is fixedly mounted at the bottom end of the spring (429); The damping component (43) includes a sleeve (431) sleeved on the outside of the hammer rod (45), the interior of the sleeve (431) is filled with magnetorheological fluid (432), a circular plate (433) is arranged inside the sleeve (431), the hammer rod (45) is passed through and fixed at the center of the circular plate (433), the surface of the circular plate (433) is provided with avoidance holes (434) in an array, the surface of the hammer rod (45) is provided with an annular groove 2 (435), an excitation coil (436) is fixedly installed on the surface of the hammer rod (45) and inside the annular groove 2 (435), the exterior of the excitation coil (436) is sleeved with a protective tube (437), the protective tube (437) is fixedly installed on the top wall and the bottom wall of the annular groove 2 (435) provided on the hammer rod (45), and the outer diameter of the protective tube (437) is the same as that of the hammer rod (45). ) are equal in diameter, the excitation coil (436) is spiral-shaped, the two ends of the excitation coil (436) extend from the annular groove 2 (435) to the bottom of the hammer rod (45), and pass through the surface of the hammer rod (45) located at the lower part of the sleeve (431), the two ends of the annular groove 2 (435) are respectively electrically connected to a contact 1 (438) and a storage battery, the number of the contact 1 (438) is two, one end of the excitation coil (436) and one of the contacts 1 (438) are electrically connected to the two electrodes of the storage battery, the other end of the excitation coil (436) is electrically connected to the other contact 1 (438), the contact 1 (438) is fixedly installed on the surface of the hammer rod (45), and a contact 2 (439) is arranged directly below the contact 1 (438), and the contact 2 (439) is connected to the surface of the hammer rod (45); An annular gap is provided between the circumferential surface of the circular plate (433) and the inner wall of the sleeve (431); The inner diameter of the avoidance hole (434) gradually decreases from top to bottom; The hammer component (46) includes a hammer body (461) arranged at the bottom end of the hammer rod (45), a mounting groove (462) is opened at the center of the top of the hammer body (461), the hammer body (461) is sleeved on the bottom end of the hammer rod (45) through the mounting groove (462), a spring 2 (463) is fixedly installed between the bottom end of the hammer rod (45) and the bottom wall of the mounting groove (462), and a fixing plate fixedly installed on the surface of the hammer rod (45) is arranged directly above the hammer body (461). (464), the hammer body (461) and the fixing plate (464) are both located inside the positioning cover (44), the two contacts (438) are fixedly mounted on the top of the hammer body (461), the two contacts (439) are fixedly mounted on the bottom of the fixing plate (464), the contact (438) is fixed to the surface of the hammer rod (45) through the fixing plate (464), and the contact (439) is connected to the surface of the hammer rod (45) by sliding up and down through the hammer body (461); The top and bottom of the sleeve (431) and the bottom of the hydraulic cylinder of the lifting component (42) are all provided with sealing rings (47), and the sealing rings (47) are sleeved on the surface of the hammer rod (45).

2. The highway guardrail column drilling and piling integrated robot according to claim 1, characterized in that: The aperture of the through hole (51) is matched with the outer diameter of the highway guardrail column, the positioning cover (44) is sleeved on the top of the highway guardrail column, the diameter of the hammer body (461) is smaller than the aperture (55), and the hammer body (461) abuts against the top of the highway guardrail column.

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