A bored pile construction robot and method

Abstract

The present invention discloses a bored pile construction robot and method, comprising a base part and a mechanical part installed on the upper end of the base part; the base part comprises a base, an elliptical track unit installed on the base, and a mechanical base unit installed on the elliptical track unit; the elliptical track unit comprises four groups of elliptical track groups, each group comprises an inner elliptical track and an outer elliptical track corresponding to the inside and outside respectively; the mechanical part comprises a car crane mechanical arm mounted on a mechanical mounting seat provided on a single elliptical track group on the right side of the lower part of the base, and a vibration lifting mechanical arm, a rotary drilling machine mechanical arm, and an excavator mechanical arm sequentially mounted on mechanical mounting seats provided on three elliptical track groups from right to left on the upper part of the base. The present invention realizes the integration of the entire process of bored piles by combining the mechanical implementation machines of each construction process on one device, greatly saving construction time, and improving efficiency and space utilization.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, in particular to a bored cast-in-place pile construction robot and also to a bored cast-in-place pile construction method. Background Art

[0002] Bored cast-in-place piles refer to piles that are made by forming pile holes in the foundation soil at the construction site through mechanical drilling, steel pipe squeezing or manual excavation, and placing steel cages and pouring concrete inside. The existing bored cast-in-place pile construction process often requires many workers to operate multiple machines for collaborative work. Since each machine has different sizes, shapes, and functions, the required construction locations are also different. Switching processes and preparing sites requires a lot of financial and material resources. Therefore, a bored cast-in-place pile construction robot and method that integrates the full process functions of bored cast-in-place pile construction is needed. Summary of the invention

[0003] The purpose of the present invention is to provide a bored pile construction robot, which can realize the integration of the entire bored pile process by combining various construction process implementation machines into one device, greatly saving construction time and improving efficiency and space utilization.

[0004] Another object of the present invention is to provide a bored cast-in-place pile construction method, which can be directly applied to the existing bored cast-in-place pile construction. Through a set of integrated construction processes, the various process mechanisms on the robot cooperate to complete the construction, effectively improving the efficiency of the bored cast-in-place piles and the standardization and stability of the finished products.

[0005] To further achieve the above object, the present invention adopts the following technical solutions:

[0006] A bored pile construction robot comprises a base part as a main body and a mechanical part installed on the upper end of the base part; the base part comprises a base, an elliptical track unit installed on the base, and a mechanical base unit installed on the elliptical track unit;

[0007] The elliptical track unit includes four elliptical track groups, each group includes an inner elliptical track and an outer elliptical track corresponding to each other, three of the four elliptical track groups are symmetrically distributed on the upper half of the base, and the other group is vertically installed on the right side of the lower half of the base;

[0008] The mechanical base unit comprises a first electric trolley respectively mounted on the outer elliptical track and the inner elliptical track, a first hydraulic turntable is mounted on the two first electric trolleys, and a mechanical mounting seat is mounted on the first hydraulic turntable;

[0009] The mechanical part includes a car crane mechanical arm installed on a mechanical mounting seat on a single elliptical track group on the right side of the lower part of the base, and a vibration lifting mechanical arm, a rotary drilling rig mechanical arm, and an excavator mechanical arm installed in sequence on mechanical mounting seats on three elliptical track groups from right to left on the upper part of the base. A vibration hammer is installed at the lower end of the arm of the vibration lifting mechanical arm.

[0010] Optionally, the base portion further includes a detection lowering unit, the detection lowering unit is mainly composed of a central circular opening located in the middle of the base, the central circular opening connects the base from top to bottom to form a circular channel, the central part of the circular channel is provided with an inner rectangular slot facing the inside of the base, two transverse tracks are provided inside the inner rectangular slot, and a second electric trolley is installed on the track; the two second electric trolleys are connected by an auxiliary lowering seat to form a crossbar that can move laterally in the central circular opening;

[0011] Two electric winches are installed on the surface of the base at both sides of the upper end of the central circular opening, one of which is connected to an ultrasonic hole-forming and groove-forming detector, and the other is connected to a controlled sediment thickness detector.

[0012] Optionally, the base part also includes a hydraulic leg unit, which consists of eight groups of legs installed at the four corners of the base, each group of legs consists of a transverse hydraulic leg and a vertical hydraulic leg, the transverse hydraulic leg is installed on the base, and the vertical hydraulic leg is installed at the end of the transverse hydraulic leg.

[0013] Optionally, the base part also includes a bottom shoveling unit, which includes two sets of shoveling mechanisms installed on the front and rear sides of the bottom of the base, and each set of the shoveling mechanisms includes a lifting cylinder installed on the bottom of the base and a bulldozer installed on the lifting cylinder.

[0014] Optionally, a concrete pouring part is also installed on the upper end of the base part, and the concrete pouring part is located on the left side of the lower part of the base. The concrete pouring part includes two first H-shaped steel rails, and the tails of the two first H-shaped steel rails cover both sides of the central circular opening. Two third electric trolleys are installed on each of the first H-shaped steel rails, and a first electric push rod is installed on the upper end of the third electric trolley, and a funnel-shaped concrete pouring hopper is installed on the upper ends of the four first electric push rods.

[0015] Furthermore, a second H-shaped steel rail is installed between the two first H-shaped steel rails, the head of the second H-shaped steel rail is flush with the first H-shaped steel rail, the tail is close to the central circular opening, and is located behind the electric winch; two fourth electric trolleys are installed on the second H-shaped steel rail, a second electric push rod is installed on the upper end of the fourth electric trolley, and a concrete input rail in the same direction as the second H-shaped steel rail is installed on the upper ends of the two second electric push rods.

[0016] Optionally, a crawler part is installed at the lower end of the base part, and the crawler part is mainly composed of three sets of walking crawlers installed on the bottom of the base through a second hydraulic turntable. The three sets of walking crawlers are installed corresponding to the three mechanical arms located on the upper part of the base, the car crane mechanical arm at the lower part, and the concrete dump hopper.

[0017] Optionally, a bottom auxiliary part is installed at the lower end of the base part, and the bottom auxiliary part is mainly composed of an outer circular track and an inner circular track installed on the base and located around the bottom of the central circular opening.

[0018] A group of fifth electric trolleys are installed on the outer circular track, and three groups of fifth electric trolleys are installed on the inner circular track, and each of the fifth electric trolleys is provided with a micro rotating motor;

[0019] The relative positions of a group of fifth electric trolleys located on the outer circular track and the two groups of electric trolleys on the inner circular track can form two corresponding straight lines. The three fifth electric trolleys on each straight line are equipped with a third electric push rod, the third electric push rod on the outer circular track is equipped with a fourth electric push rod, and the third electric push rod on the inner circular track is equipped with a circular clamp.

[0020] Furthermore, another group of fifth electric trolleys located on the inner circular track is installed with a vibration motor mounting seat, and the fifth electric trolley is connected to the vibration motor mounting seat through a micro rotating motor; a vibration motor is installed on one side of the vibration motor mounting seat, and a fifth electric push rod is installed on the other side, and a concrete vibrating rod is connected to the end of the fifth electric push rod.

[0021] Accordingly, the present invention also claims a bored pile construction method, comprising the following steps:

[0022] S1. Site leveling and advance preparation: lower the bulldozer through the lifting cylinder and then use the walking tracks to make the robot bulldoze and level the site. After completion, raise the bulldozer. At the same time, the construction personnel use the total station to locate the pile hole and set up the steel cage storage area and mud pool in advance;

[0023] S2, pile hole positioning, equipment fixing: control the robot to move to the pile hole positioning position through the walking crawler, align the middle of the pile hole with the center of the middle circular opening, first control the hydraulic leg unit to extend the horizontal hydraulic leg, and then extend the vertical hydraulic leg until it contacts and fixes with the ground;

[0024] S3, steel casing burial: first control the first electric trolley under the excavator mechanical arm to move it to a position close to the central circular opening, then control the excavator mechanical arm to dig a one-meter shallow pit on the ground at the hole position below the central circular opening, and then retract the excavator mechanical arm. Similarly, control the vibration lifting mechanical arm to approach the central circular opening, and control the vibration hammer on the vibration lifting mechanical arm to clamp the steel casing and move it vertically to the top of the pile hole. After lifting it into place, directly vibrate and press the steel casing into the soil, finally move back the vibration lifting mechanical arm and move the excavator mechanical arm again to fill the shallow pit outside the casing with clay and compact it. After completion, move the excavator mechanical arm back;

[0025] S4, drilling with a rotary excavator: the rotary excavator mechanical arm is controlled by the first electric trolley to move close to the central circular opening, and the mud pool pipeline is connected to the rotary excavator mechanical arm drill bit through the mud connecting pipeline, and the center of the rotary excavator mechanical arm drill bit is aligned with the center of the drilling hole to perform drilling, and the rotary excavator mechanical arm is moved back after completion;

[0026] S5. Hole forming inspection: Connect the ultrasonic hole forming and slot forming detector probe to the end of the electric winch rope, move out the auxiliary lowering seat through the second electric trolley, pass the rope through the fixed pulleys above and on the side of the auxiliary lowering seat, and simultaneously start the ultrasonic hole forming and slot forming detector and the electric winch to check the hole position, hole diameter, hole depth and inclination to confirm that the hole forming indicators meet the specification requirements. After completion, control the electric winch to retract the probe, and then control the second electric trolley to move the auxiliary lowering seat back to its original position;

[0027] S6, lifting and fixing the steel cage: control the first electric trolley to move the mechanical arm of the automobile crane to a position near the central circular opening, grab the steel cage through the mechanical arm of the automobile crane and put it vertically into the pile hole, and after lowering it to a certain height, control the fifth electric trolley to form a straight line between three points on the outer circular track and the inner circular track, control the third electric push rod to push the fourth electric push rod to a specified height, control the fourth electric push rod to extend through the two circular clamps and the steel cage to achieve support and fixation of the steel cage, and then transport another steel cage to accurately align it with the steel cage. After alignment is completed, retract the lower support and fixing mechanism, and lower it section by section in the same way. After completion, move the mechanical arm of the automobile crane back to its original position;

[0028] S7. Installation of conduit: Similar to the steel cage above, grab the conduit with the mechanical arm of the truck crane, put it vertically into the pile hole, support and fix it with the support and fixing mechanism, and then lower it section by section. After completion, move the mechanical arm of the truck crane back to its original position;

[0029] S8, sediment thickness inspection: connect the probe of the sediment thickness detector to the end of the electric winch rope, move out the auxiliary lowering seat through the second electric trolley, pass the rope through the fixed pulleys above and on the side of the auxiliary lowering seat, and turn on the sediment thickness detector and the electric winch to check the sediment thickness of the friction pile and the sediment thickness of the pile diameter. If the thickness is greater than the standard value, use the catheter to perform secondary hole cleaning. After all are qualified, control the electric winch to retract the probe, and then control the second electric trolley to move the auxiliary lowering seat back to its original position;

[0030] S9, concrete pouring: control the third electric trolley to drive the concrete pouring hopper to move on the first H-shaped steel track to the top of the circular opening in the middle of the end and align with the pile hole, then control the first electric push rod to retract and make the concrete pouring hopper descend until the discharge port below it can directly pour concrete into the pile hole, then control the second electric push rod to rise to the top of the concrete pouring hopper, and finally use the concrete mixer truck to pour the concrete into the concrete input track, then to the concrete pouring hopper, and finally to the pile hole for pouring;

[0031] S10. Determine the hole depth: if the construction hole depth is within the construction range of the concrete vibrator, the micro motor above the fifth electric trolley can be controlled to rotate one side of the concrete vibrator on the vibration motor mounting seat to the inside of the middle circular opening, and then the fifth electric push rod can be controlled to push the concrete vibrator deep into the poured concrete, and the vibration motor is started to drive the concrete vibrator to vibrate and vibrate the concrete. After the pouring and vibration are completed, the vibration structure and the concrete pouring structure are retracted in the opposite way, and finally the mechanical arm of the automobile crane is moved to the middle circular opening to pull out the guide tube and the steel casing, and the entire bored pile process is completed.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. Compared with the prior art in which each construction worker drives machines distributed throughout the construction site to carry out construction, the present invention combines four types of construction machines through four groups of elliptical track groups, making the entire construction process more compact. At the same time, each construction machine will not cause interference due to space occupation during construction.

[0034] 2. Compared with the prior art process in which workers carry the detection mechanism to the top of the hole for installation and detection, and then remove it and put it back to its original place after the detection, the efficiency is low and the transportation, installation and position adjustment are time-consuming. The present invention cooperates with a movable auxiliary lowering seat with a fixed electric winch, an ultrasonic hole-forming and grooving detector, and a controlled sediment thickness detector, so that the detection process in the bored pile process can also be integrated on the base. When the detection is needed, the auxiliary lowering seat can be directly moved out, and the specific position of the auxiliary lowering seat can be fine-tuned according to the different hole-forming positions, which effectively improves the detection range of the pile hole, is fast and efficient, and when no detection is required, the auxiliary lowering seat can be directly retracted into the inner rectangular groove, which does not affect the mechanical construction of other processes, saving time and effort.

[0035] 3. Compared with the prior art of car crane fixing and bulldozer leveling construction, the present invention integrates the bulldozer function on the front and rear sides of the base, so that the entire leveling process can also be included in the robot construction process, effectively improving the construction efficiency. Because the bulldozer mechanism is arranged at the bottom of the base, compared with the various mechanical structures installed above the base, the free space under the base is effectively utilized, effectively improving the space utilization rate of the whole machine, and the eight sets of hydraulic legs installed at the four corners of the base can ensure the stability of the heavier machine when it is fixed.

[0036] 4. Compared with the prior art, which requires separate transportation and fixation of the concrete dumping hopper and the concrete input track, which is time-consuming and labor-intensive, the present invention directly integrates the concrete dumping device on the base, thereby eliminating the storage process of the dumping device, and then through the design of the first H-shaped steel track and the first electric push rod, the concrete dumping hopper can be quickly moved to the top of the pile hole and lowered, and the second H-shaped steel track and the second electric push rod are used to connect the concrete input track with the concrete mixer truck and the dumping hopper, thereby eliminating the fixing process of the dumping device, and realizing the rapid transportation and pouring of concrete from the concrete mixer truck to the concrete input track, then to the concrete dumping hopper, and finally to the pile hole.

[0037] 5. Compared with the prior art of manually inserting steel bars to assist in supporting and fixing the steel cage, and manually vibrating concrete, the present invention designs the bottom auxiliary part on the outside of the bottom of the circular opening in the middle of the base, and the rotatable and retractable electric trolley, circular double track, rotating motor, and electric push rod mechanism thereon, together with the combination formed by the fourth electric push rod and the circular clamp in a three-point-one-line manner, so that the fixed support rod of the present invention can automatically support and fix the steel cage at various angles under the circular opening in the middle and in the pile hole. This method is convenient and has a wide coverage range, which effectively improves the efficiency; and the vibration motor and concrete vibrator mechanism on the inner circular track realize convenient switching between vibration operation and stop and retraction with the cooperation of the electric trolley, the micro rotating motor, and the fifth electric push rod. At the same time, the number of such mechanisms can be increased on the inner circular track or the outer circular track as needed, effectively improving the efficiency of concrete vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 It is a schematic top view of the overall structure of the present invention;

[0040] Figure 2 It is a bottom view schematic diagram of the overall structure of the present invention;

[0041] Figure 3It is a schematic diagram of the overall structure of the base part of the present invention;

[0042] Figure 4 This is a schematic diagram of the elliptical orbit unit structure of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of the mechanical base unit of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of the detection and lowering unit of the present invention;

[0045] Figure 7 It is a schematic diagram of the structure of the hydraulic outrigger unit and the bottom shoveling unit of the present invention;

[0046] Figure 8 It is a schematic diagram of the mechanical structure of the present invention;

[0047] Fig. 9 This is a schematic diagram of the structure of the concrete pouring part of the present invention;

[0048] Fig.10 It is a schematic diagram of the structure of the crawler part of the present invention;

[0049] Fig.11 This is a schematic diagram of the overall structure of the bottom auxiliary part of the present invention;

[0050] Fig.12 It is a bottom view of the overall structure of the bottom auxiliary part of the present invention.

[0051] Description of Reference Numerals :

[0052] 1000-Base part:

[0053] 1001- base;

[0054] 1100 - elliptical orbit unit;

[0055] 1101-external elliptical orbit; 1102-internal elliptical orbit;

[0056] 1200-Mechanical base unit;

[0057] 1201-first electric trolley; 1202-first hydraulic turntable; 1203-mechanical mounting seat;

[0058] 1300-Detection of lowering unit;

[0059] 1301-electric winch; 1302a-ultrasonic hole-forming and groove-forming detector; 1302b-control sediment thickness detector; 1303a-central circular opening; 1303b-inner rectangular slot; 1304-second electric trolley; 1305-auxiliary lowering seat; 1306-fixed pulley;

[0060] 1400-Hydraulic outrigger unit;

[0061] 1401- horizontal hydraulic outrigger; 1402- vertical hydraulic outrigger;

[0062] 1500-Bottom shovel unit;

[0063] 1501-lifting cylinder; 1502-bulldozer;

[0064] 2000-Mechanical part:

[0065] 2100-Car crane mechanical arm;

[0066] 2200-Vibration lifting mechanical arm; 2201-Vibration hammer;

[0067] 2300-Rotary drilling machine arm; 2301-Mud connecting pipe;

[0068] 2400-Excavator mechanical arm;

[0069] 3000-Concrete pouring part:

[0070] 3101-first H-shaped steel track; 3102-third electric trolley; 3103-first electric push rod; 3104-concrete dump hopper;

[0071] 3201-second H-shaped steel track; 3202-fourth electric trolley; 3203-second electric push rod; 3204-concrete input track;

[0072] 4000-Track part:

[0073] 4001- walking track; 4002- second hydraulic turntable;

[0074] 5000-Bottom auxiliary part:

[0075] 5001-external circular track; 5002-internal circular track; 5003-fifth electric trolley; 5004-third electric push rod;

[0076] 5101-the fourth electric push rod; 5102-the circular fixture;

[0077] 5201-vibration motor mounting base; 5202-vibration motor; 5203-fifth electric push rod; 5204-concrete vibrator. DETAILED DESCRIPTION

[0078] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0079] A bored pile construction robot, comprising Figure 1 , Figure 2 As shown, it includes a base part 1000 as a main body, a mechanical part 2000 and a concrete pouring part 3000 are installed on the upper end of the base part 1000, and a crawler part 4000 and a bottom auxiliary part 5000 are installed on the lower end of the base part 1000.

[0080] Depend on Figure 3 As shown, the base part 1000 includes a base 1001 , an elliptical track unit 1100 , a mechanical base unit 1200 , a detection lowering unit 1300 , a hydraulic support leg unit 1400 , and a bottom shoveling unit 1500 .

[0081] Depend on Figure 4 As shown, the elliptical track unit 1100 includes four groups of elliptical track groups, each group is composed of an inner elliptical track 1102 and an outer elliptical track 1101 corresponding to each other; three of the four elliptical track groups are symmetrically distributed on the upper half of the base 1001, and the other group is vertically installed on the right side of the lower half of the base 1001. The purpose of setting this structure is to serve as the installation base track of the entire mechanical part 2000. The upper three elliptical tracks are used to install a smaller mechanical arm, while the automobile crane mechanical arm 2100 that needs to occupy a large amount of space is composed of a group of elliptical tracks on the right side of the lower part. The elliptical track group is responsible for the construction, and the free space at the bottom can be used to install the concrete pouring part 3000, thereby realizing effective use of space. Such a structural design enables the four sets of robotic arms to cooperate with the four sets of elliptical track groups to complete the functions step by step and move on the base 1001 without interfering with each other. Compared with the prior art in which each construction worker drives the machinery distributed throughout the construction site to carry out construction, the present invention combines four types of construction machinery through four sets of elliptical track groups, making the entire construction process more compact. At the same time, each construction machinery will not cause interference due to space occupation during construction.

[0082] Depend on Figure 5As shown, the mechanical base unit 1200 is composed of a first electric trolley 1201, a first hydraulic turntable 1202, and a mechanical mounting seat 1203 from bottom to top; two first electric trolleys 1201 are installed at the lower end of the first hydraulic turntable 1202, and a mechanical mounting seat 1203 is installed at the upper end; wherein the electric trolley is a universal part, which can use electric energy to drive the upper components to walk on the track; the two first electric trolleys 1201 are respectively installed on the outer elliptical track 1101 and the inner elliptical track 1102 of the elliptical track unit 1100, and the purpose of designing the track as an ellipse here is that the present invention is on the base The upper part of 1001 is provided with three construction mechanical arms. Although the space required by these three construction mechanical arms is smaller than that of the automobile crane mechanical arm 2100 in the lower part, they still occupy a large amount of space. Therefore, the distance between the two mechanical arms in the working state and the non-working state needs to be as large as possible to reduce the interference between the mechanical arms. The ends of the long axes of the three upper elliptical track units 1100 are aligned with the central circular opening 1303a. When construction is required, the mechanical arm moves to the end of the long axis to be closest to the central circular opening 1303a, and at this time, the other two mechanical arms move to a position where the long axes of their elliptical tracks are farther away from the central circular opening 1303a. one end, which can ensure that the distance between the construction mechanical arm and the non-construction mechanical arm is the farthest, so that they will not interfere with each other; wherein, the two first electric trolleys 1201 located on the outer elliptical track 1101 and the inner elliptical track 1102 move asynchronously, and the order in which the two first electric trolleys 1201 arrive at the farthest end is not limited, but the final stop position is at the farthest end; and the elliptical track of the automobile crane mechanical arm 2100 is vertically installed at the lower right part of the central circular opening 1303a because the automobile crane mechanical arm 2100 will occupy a large amount of horizontal space, and when it is not in use, it is in a position where the long axis of its elliptical track is relatively large. The far end of the central circular opening 1303a can maintain the maximum distance from other robotic arms, and when work is needed, it can be moved to the other end of the elliptical track to be the closest to the central circular opening 1303a; the upper end of the mechanical mounting seat 1203 can be used to install the various robotic arm mechanisms of the mechanical part 2000; the purpose of setting up this unit is to allow the first electric trolley 1201 to walk on the elliptical track, thereby driving the upper robotic arm to move along the elliptical track, and at the same time the first hydraulic turntable 1202 can drive the mechanical mounting seat 1203 to rotate and then drive the robotic arm thereon to rotate, thereby realizing avoidance, steering, alternating construction, etc. between the robotic arms.

[0083] Depend on Figure 6As shown, the detection lowering unit 1300 is mainly composed of a central circular opening 1303a located in the middle of the base 1001. The central circular opening 1303a directly connects the base 1001 from top to bottom to form a circular channel. At the same time, an inner rectangular slot 1303b is opened in the middle of the circular channel toward the base 1001. Two transverse tracks are arranged inside the slot, and a second electric trolley 1304 is installed on the track; the two second electric trolleys 1304 are connected by an auxiliary lowering seat 1305 to form a crossbar that can move laterally in the central circular opening 1303a. ; A fixed pulley 1306 is installed at the top and left and right sides of the auxiliary lowering seat 1305; an electric winch 1301 is installed on the surface of the base 1001 on both sides of the upper end of the central circular opening 1303a; one of the electric winches 1301 is connected to the ultrasonic hole-forming and grooving detector 1302a, and the other is connected to the control sediment thickness detector 1302b; Optionally, the ultrasonic hole-forming and grooving detector 1302a is model TS-K100DC (B), and the manufacturer is Wuhan Tianchen Weiye Geophysical Exploration Technology Co., Ltd.; Control sediment thickness detection The model of instrument 1302b is TS-K100CZ (A), and the manufacturer is Wuhan Tianchen Weiye Geophysical Exploration Technology Co., Ltd.; the purpose of setting this structure is to control the second electric trolley 1304 to walk on the horizontal track in the inner rectangular slot 1303b when there is no need to carry out the lowering inspection work, so as to drive the auxiliary lowering seat 1305 to move to the inside of the inner rectangular slot 1303b, so that the entire middle circular opening 1303a is completely connected, and various machines can carry out construction work from the top of the base 1001 to the bottom of the middle circular opening 1303a; when it is necessary to lower the During the inspection, the second electric trolley 1304 is controlled to move on the transverse track in the inner rectangular slot 1303b, driving the auxiliary lowering seat 1305 to move to the middle of the central circular opening 1303a, and then the lowering rope of the electric winch 1301 connected to the required inspection items such as ultrasonic hole forming and slotting inspection and controlled sediment thickness inspection is passed through the top of the auxiliary lowering seat 1305 and the fixed pulley 1306 on the left or right side and put into the lowering hole for inspection, and the end of the lowering rope is connected with a probe; wherein, the electric winch 1301 is a universal part, which can lower and pull up the rope by electricity;Compared with the prior art process in which workers carry the detection mechanism to the top of the hole for installation and detection, and then remove it and put it back to its original place after the detection, which is inefficient and time-consuming to transport, install and adjust the position, the present invention cooperates with the fixed electric winch 1301, the ultrasonic hole-forming and slot-forming detector 1302a, and the control sediment thickness detector 1302b through the movable auxiliary lowering seat 1305, so that the detection process in the bored pile process can also be integrated on the base 1001. When the detection is needed, the auxiliary lowering seat 1305 can be directly moved out, and the specific position of the auxiliary lowering seat 1305 can be fine-tuned according to the different hole-forming positions, effectively improving the pile hole detection range, fast and efficient, and when not detecting, the auxiliary lowering seat 1305 can be directly put into the inner rectangular slot 1303b, which does not affect the mechanical construction of other processes, saving time and effort. ;

[0084] Depend on Figure 7 As shown, the hydraulic leg unit 1400 is composed of eight groups of legs installed at the four corners of the base 1001, and each group of legs is composed of a horizontal hydraulic leg 1401 and a vertical hydraulic leg 1402; the horizontal hydraulic leg 1401 is installed on the base 1001; the vertical hydraulic leg 1402 is installed at the end of the horizontal hydraulic leg 1401; the purpose of setting up this structure is that when the entire robot moves to a specified position, the horizontal hydraulic legs 1401 are extended outward from the four corners of the base 1001, and then the vertical hydraulic legs 1402 are extended downward from the ends of the horizontal hydraulic legs 1401 to the ground for fixation. When the construction is completed or the robot needs to be moved, the vertical hydraulic legs 1402 are first retracted upwards, and then the horizontal hydraulic legs 1401 are retracted toward the base 1001 to save space; the bottom shoveling unit 1500 includes two groups of shoveling mechanisms installed on the front and rear sides of the bottom of the base 1001, and each group of shoveling mechanisms is installed on the base The lifting cylinder 1501 at the bottom of 1001 is composed of a bulldozer 1502 installed on the lifting cylinder 1501; the purpose of setting this structure is that when the land leveling process is carried out, the lifting cylinder 1501 can be controlled to lower the bulldozer 1502 to the ground to perform bulldozing and leveling work on the ground, and when the land leveling process is completed, the lifting cylinder 1501 can be controlled to retract the bulldozer 1502; compared with the existing technology of automobile crane fixing and bulldozer leveling construction, the present invention integrates the bulldozer function on the front and rear sides of the base 1001, so that the entire leveling process can also be included in the robot construction process, effectively improving the construction efficiency, because the bulldozer mechanism is arranged at the bottom of the base 1001, compared with the various mechanical structures installed above the base 1001, the empty space below the base 1001 is effectively utilized, effectively improving the space utilization rate of the whole machine, and the eight sets of hydraulic legs installed at the four corners of the base 1001 can ensure the stability of the heavier machinery when it is fixed.

[0085] Depend on Figure 8As shown, the mechanical part 2000 includes a truck crane mechanical arm 2100, a vibration lifting mechanical arm 2200, a rotary drilling machine mechanical arm 2300, and an excavator mechanical arm 2400; the truck crane mechanical arm 2100 is installed on a mechanical mounting seat 1203 on a single elliptical track group on the right side of the lower part of the base 1001, and the vibration lifting mechanical arm 2200, the rotary drilling machine mechanical arm 2300, and the excavator mechanical arm 2400 are correspondingly installed in sequence on the mechanical mounting seats 1203 on the three elliptical track groups from right to left on the upper part of the base 1001. The vibrating lifting mechanical arm 2200 is installed with a vibrating hammer 2201 at the lower end of the arm; mud connecting pipes 2301 are arranged on both sides of the rotary drilling machine mechanical arm 2300, and the mud connecting pipes 2301 are installed on the base 1001; the purpose of setting up this structure is to integrate four different mechanical arms and install them on four sets of mechanical base units 1200, so that the mechanical arms of each functional process can switch and work without interfering with each other. For example, when the automobile crane mechanical arm 2100 needs to be used, the first control at the bottom thereof A hydraulic turntable 1202 rotates, cooperates with the first electric trolley 1201 below to move on the elliptical track unit 1100, adjusts the position of the boom so that it can be located above the central circular opening 1303a in the middle of the base 1001, and hoists the steel cage into the pile hole below the central circular opening 1303a. When the work is completed, adjust the first hydraulic turntable 1202 to rotate and cooperate with the first electric trolley 1201 below so that the automobile crane mechanical arm 2100 can return to its original position, saving construction space for the other three groups The other three groups of robotic arms are used for construction, while the moving positioning method of the robotic arms 2100 is the same as that of the automobile crane, and they are all aimed at the central circular opening 1303a of the base 1001 for construction. The function of the vibration lifting robotic arm 2200 is to drive the vibrating hammer 2201 thereon to vibrate the steel casing into it, the rotary drilling rig robotic arm 2300 performs rotary drilling of the pile hole, and cooperates with the mud connecting pipes 2301 at both ends to discharge the mud in the hole. The excavator robotic arm 2400 is used to dig a shallow pit one meter deep at the pile hole positioning position before inserting the steel casing.

[0086] Depend on Figure 1 , Fig. 9As shown, the concrete pouring part 3000 is located as a whole on the lower left side of the middle part of the base part 1000, and its base is composed of a first H-shaped steel rail 3101 and a second H-shaped steel rail 3201 installed on the upper end of the base 1001; the first H-shaped steel rail 3101 is composed of two H-shaped steels, and is longer in length, with its tail covering both sides of the central circular opening 1303a; the second H-shaped steel rail 3201 is located between the two first H-shaped steel rails 3101, is shorter in length, and its head is flush with the first H-shaped steel rail 3101, and its tail is close to the central circular opening 1303a, and is located behind the electric winch 1301; each first H-shaped steel rail 3101 is provided with two third electric trolleys 3102, and the two trolleys are close to each other; the second H-shaped steel rail 3 Two fourth electric trolleys 3202 are provided on 201, and the two trolleys are far apart; a first electric push rod 3103 is installed on the upper end of the third electric trolley 3102, and a second electric push rod 3203 is installed above the fourth electric trolley 3202; a funnel-shaped concrete pouring hopper 3104 is installed on the upper ends of the two groups of first electric push rods 3103; a concrete input track 3204 in the same direction as the second H-shaped steel track 3201 is installed on the upper ends of the two second electric push rods 3203; wherein the electric push rod is a universal part, and the end of its output shaft can be extended or shortened by electricity; before starting the concrete pouring process, the initial position of the concrete pouring hopper 3104 is located outside the base 1001, and the concrete input track 3204 is located at the concrete pouring hopper 3104. 4, when concrete pouring is required, the third electric trolley 3102 is controlled to drive the concrete pouring hopper 3104 to move on the first H-shaped steel track 3101 to the top of the circular opening 1303a in the middle of the end to align with the pile hole, and then the first electric push rod 3103 is controlled to be retracted to make the concrete pouring hopper 3104 descend until the discharge port below it can directly pour concrete into the pile hole, and then the second electric push rod 3203 is controlled to rise to the top of the concrete pouring hopper 3104, and the inclination of the concrete input track 3204 can be adjusted by the different extension amounts of the electric push rods at both ends, and the position of the concrete input track on the second H-shaped steel track 3201 can be adjusted by the fourth electric trolley 3202 as needed; compared with the prior art, it still needs to be transported separately Fixing the concrete dumping hopper 3104 and the concrete input track is time-consuming and labor-intensive. The present invention directly integrates the concrete dumping device on the base 1001, thereby eliminating the storage process of the dumping device. The first H-shaped steel track 3101 and the first electric push rod 3103 are designed to enable the concrete dumping hopper 3104 to be quickly moved to the top of the pile hole and lowered. The second H-shaped steel track 3201 and the second electric push rod 3203 are used to connect the concrete mixer truck with the dumping hopper, thereby eliminating the fixing process of the dumping device. The concrete can be quickly transferred and poured from the concrete mixer truck to the concrete input track 3204, then to the concrete dumping hopper 3104, and finally to the pile hole. The entire process is smooth and rapid, saving time and effort.

[0087] Depend on Fig.10 As shown, the crawler part 4000 is mainly composed of three sets of walking crawlers 4001 installed on the bottom of the base 1001 through the second hydraulic turntable 4002. The relative positions of the three sets of walking crawlers 4001 correspond to the three mechanical arms on the top of the base 1001, the mechanical arms on the bottom and the concrete dump hopper, which directly bear the gravity of the large mass mechanism above and improve the overall stability of the device.

[0088] Depend on Figure 2 , Fig.11 , Fig.12As shown, the bottom auxiliary part 5000 is mainly composed of an outer circular track 5001 and an inner circular track 5002 installed around the bottom of the central circular opening 1303a of the base 1001; a group of fifth electric trolleys 5003 are installed on the outer circular track 5001, and three groups of fifth electric trolleys 5003 are installed on the inner circular track 5002; each of the fifth electric trolleys 5003 is provided with a micro-rotating motor, which is connected to the upper components such as the third electric push rod 5004 and the vibration motor mounting seat 5201 through the micro-rotating motor, so that all the upper components can rotate The third electric push rod 5004 and the vibration motor mounting base 5201 rotate, thereby driving the components installed on the third electric push rod 5004 and the vibration motor mounting base 5201 to rotate together; the relative positions of a group of fifth electric trolleys 5003 on the outer circular track 5001 and the two groups of electric trolleys 5003 on the inner circular track 5002 can form two straight lines corresponding to each other, and the three fifth electric trolleys 5003 on each straight line are all installed with the third electric push rod 5004, the third electric push rod 5004 on the outer circular track 5001 is installed with the fourth electric push rod 5101, and the third electric push rod 5101 on the inner circular track 5002 is installed with the fourth electric push rod 5101. A circular clamp 5102 is installed on the third electric push rod 5004; the purpose of setting up this structure is to enable the fourth electric push rod 5101 to be able to be pushed into and out of the linear track formed by the two circular clamps 5102 after being raised and lowered, through the fifth electric trolley 5003 that can move on the outer circular track 5001 and the inner circular track 5002, and the two fixed support rods that finally pass through the bottom of the central circular opening 1303a are used to pass through the steel cage to support it, and are applied to The lower steel cage support is fixed in the steel cage docking process. At this time, most of the steel cage has entered the pile hole, so the steel cage can be stably connected; another group of fifth electric trolleys 5003 located on the inner circular track 5002 are provided with a vibration motor mounting seat 5201, and the fifth electric trolley 5003 is connected to the vibration motor mounting seat 5201 through a micro rotating motor; a vibration motor 5202 is provided on one side of the vibration motor mounting seat 5201, and a fifth electric push rod 5203 is provided on the other side; a concrete vibrating rod 5204 is connected to the end of the fifth electric push rod 5203;The purpose of setting this structure is that when it is necessary to vibrate the concrete, the micro motor above the fifth electric trolley 5003 is controlled to rotate one side of the concrete vibrating rod 5204 on the vibration motor mounting seat 5201 to the inner side of the central circular opening 1303a, and the fifth electric push rod 5203 is controlled to make the concrete vibrating rod 5204 deeply poured into the concrete, and the vibration motor 5202 is started to drive the concrete vibrating rod 5204 to vibrate and vibrate the concrete. It should be noted here that the number of the group of vibration mechanisms on the inner or outer elliptical track can be increased according to actual needs. When vibration is not needed, the micro motor above the fifth electric trolley 5003 is controlled to rotate one side of the concrete vibrating rod 5204 on the vibration motor mounting seat 5201 out of the inner side of the central circular opening 1303a, so that it will not interfere with the circular track formed by the central circular opening 1303a. Compared with the prior art process of manually inserting steel bars to assist in supporting and fixing the steel cage, and manually vibrating concrete, the present invention adopts the method of manually inserting steel bars to assist in supporting and fixing the steel cage, and manually vibrating the concrete. The auxiliary part 5000 is designed on the outside of the bottom of the circular opening 1303a in the middle of the base 1001. The rotatable and retractable electric trolley, circular double track, rotating motor, and electric push rod mechanism on it cooperate with the combination formed by the fourth electric push rod 5101 and the circular clamp 5102 in a three-point line, so that the push rod end of the fourth electric push rod 5101 of the present invention extends to the linear track formed by the two circular clamps 5102, and the fixed support rod formed can automatically support the steel cage at various angles under the fixed central circular opening 1303a and in the pile hole. This method is convenient and has a wide coverage, which effectively improves efficiency; and the vibration motor 5202 and the concrete vibrator 5204 mechanism on the inner circular track 5002 realize the convenient switching between vibration operation and stop and retract under the cooperation of the electric trolley, the micro rotating motor, and the fifth electric push rod 5203. At the same time, the number of such mechanisms can be increased on the inner circular track 5002 or the outer circular track 5001 as needed, effectively improving the efficiency of concrete vibration. ;

[0089] A bored pile construction method, see Figure 1-12 , the steps are:

[0090] S1. Level the site and prepare in advance. The bulldozer 1502 is lowered by the lifting cylinder 1501 and the robot is forced to bulldoze and level the site by the walking track 4001. After completion, the bulldozer 1502 is raised. At the same time, the construction personnel locate the pile hole using the total station and set up the steel cage storage area, mud pool and other facilities in advance.

[0091] S2, pile hole positioning, equipment fixing. The robot is controlled to move to the pile hole positioning position by the walking crawler 4001, so that the middle of the pile hole is aligned with the center of the central circular opening 1303a, and the hydraulic leg unit 1400 is first controlled to extend the horizontal hydraulic leg 1401, and then extend the vertical hydraulic leg 1402 until it contacts and fixes with the ground.

[0092] S3, burying of steel casing. First, control the first electric trolley 1201 under the excavator mechanical arm 2400 to move it to a position close to the central circular opening 1303a, then control the excavator mechanical arm 2400 to dig a one-meter shallow pit on the ground at the hole position below the central circular opening 1303a, and then return the excavator mechanical arm 2400. Similarly, control the vibration lifting mechanical arm 2200 to approach the central circular opening 1303a, and control the vibration hammer 2201 on the vibration lifting mechanical arm 2200 to clamp the steel casing and move it vertically above the pile hole. After lifting it into place, directly vibrate and press the steel casing into the soil, finally move back the vibration lifting mechanical arm 2200 and move the excavator mechanical arm 2400 again to fill the shallow pit outside the casing with clay and compact it, and then move back the excavator mechanical arm 2400 after completion.

[0093] S4, drilling with rotary drilling machine. The rotary drilling machine mechanical arm 2300 is controlled by the first electric trolley 1201 to move close to the central circular opening 1303a, and the mud pool pipeline is connected to the drill bit of the rotary drilling machine mechanical arm 2300 through the mud connecting pipeline 2301, and the center of the drill bit of the rotary drilling machine mechanical arm 2300 is aligned with the center of the drilling hole to drill, and the rotary drilling machine mechanical arm 2300 is moved back after completion.

[0094] S5. Hole forming inspection. Connect the probe of the ultrasonic hole forming and grooving detector 1302a to the end of the rope of the electric winch 1301, move out the auxiliary lowering seat 1305 through the second electric trolley 1304, pass the rope through the fixed pulley 1306 above and on the side of the auxiliary lowering seat 1305, and simultaneously start the ultrasonic hole forming and grooving detector 1302a and the electric winch 1301 to check the hole position, hole diameter, hole depth and inclination to confirm that the hole forming index meets the specification requirements. After completion, control the electric winch 1301 to retract the probe, and then control the second electric trolley 1304 to move the auxiliary lowering seat 1305 back to its original position.

[0095] S6. Lifting and fixing of the steel cage. The first electric trolley 1201 is controlled to move the automobile crane mechanical arm 2100 to a position near the central circular opening 1303a. The automobile crane mechanical arm 2100 grabs the steel cage and puts it vertically into the pile hole. After lowering it to a certain height, the fifth electric trolley 5003 is controlled to form a straight line between the outer circular track 5001 and the inner circular track 5002. The third electric push rod 5004 is controlled to push the fourth electric push rod 5101 to a specified height. The fourth electric push rod 5101 is controlled to extend through the two circular clamps 5102 and the steel cage to support and fix the steel cage. Then another steel cage is transported to accurately align with the steel cage. After the alignment is completed, the lower support and fixing mechanism is folded up, and the steel cage is lowered section by section in the same way. After completion, the automobile crane mechanical arm 2100 is moved back to its original position.

[0096] S7, conduit installation. Similar to the steel cage above, the conduit is grabbed by the automobile crane mechanical arm 2100, vertically placed into the pile hole, supported and fixed by the supporting and fixing mechanism, and then lowered section by section. After completion, the automobile crane mechanical arm 2100 is moved back to its original position.

[0097] S8, sediment thickness inspection. Connect the probe of the sediment thickness detector 1302b to the end of the rope of the electric winch 1301, move out the auxiliary lowering seat 1305 through the second electric trolley 1304, pass the rope through the fixed pulley 1306 above and on the side of the auxiliary lowering seat 1305, and turn on the sediment thickness detector 1302b and the electric winch 1301 to check the sediment thickness of the friction pile and the sediment thickness of the pile diameter. If the thickness is greater than the standard value, use the catheter to perform secondary hole cleaning. After all are qualified, control the electric winch 1301 to retract the probe, and then control the second electric trolley 1304 to move the auxiliary lowering seat 1305 back to its original position.

[0098] S9, concrete pouring. Control the third electric trolley 3102 to drive the concrete pouring hopper 3104 to move on the first H-shaped steel track 3101 to the top of the circular opening 1303a in the middle of the end and align with the pile hole, then control the first electric push rod 3103 to retract and make the concrete pouring hopper 3104 descend until the discharge port below it can directly pour concrete into the pile hole, then control the second electric push rod 3203 to rise to the top of the concrete pouring hopper 3104, and finally use the concrete mixer truck to pour the concrete into the concrete input track 3204, then into the concrete pouring hopper 3104, and finally into the pile hole for pouring;

[0099] S10. Hole depth detection: If the construction hole depth is within the construction range of the concrete vibrator 5204, the micro motor above the fifth electric trolley 5003 can be controlled to rotate one side of the concrete vibrator 5204 on the vibration motor mounting seat 5201 to the inside of the middle circular opening 1303a, and then the fifth electric push rod 5203 can be controlled to push the concrete vibrator 5204 deep into the poured concrete, and the vibration motor 5202 is started to drive the concrete vibrator 5204 to vibrate and vibrate the concrete. After the pouring and vibration are completed, the vibration structure and the concrete pouring structure are retracted in the opposite way, and finally the automobile crane mechanical arm 2100 is moved to the middle circular opening 1303a to pull out the guide tube and the steel casing, and the entire bored pile process is completed.

[0100] It should be understood that the above description of the preferred embodiment is relatively detailed and cannot be regarded as limiting the scope of patent protection of the present invention. Under the enlightenment of the present invention, ordinary technicians in this field can also make substitutions or modifications without departing from the scope of protection of the claims of the present invention, which all fall within the scope of protection of the present invention. The scope of protection requested for the present invention shall be based on the attached claims.

Claims

1. A bored pile construction robot, It is characterized in that The invention comprises a base part (1000) as a main body and a mechanical part (2000) installed on the upper end of the base part (1000); the base part (1000) comprises a base (1001), an elliptical track unit (1100) installed on the base (1001), and a mechanical base unit (1200) installed on the elliptical track unit (1100); The elliptical track unit (1100) comprises four elliptical track groups, each group comprises inner elliptical tracks (1102) and outer elliptical tracks (1101) corresponding to each other, three of the four elliptical track groups are symmetrically distributed on the upper half of the base (1001), and the other group is vertically installed on the right side of the lower half of the base (1001); The mechanical base unit (1200) comprises a first electric trolley (1201) respectively mounted on the outer elliptical track (1101) and the inner elliptical track (1102), a first hydraulic turntable (1202) being mounted on the two first electric trolleys (1201), and a mechanical mounting seat (1203) being mounted on the first hydraulic turntable (1202); The mechanical part (2000) comprises a vehicle crane mechanical arm (2100) mounted on a mechanical mounting seat (1203) on a single elliptical track group on the right side of the lower part of the base (1001), and a vibration lifting mechanical arm (2200), a rotary drilling machine mechanical arm (2300), and an excavator mechanical arm (2400) mounted on mechanical mounting seats (1203) on three elliptical track groups from right to left on the upper part of the base (1001) in sequence, wherein a vibration hammer (2201) is mounted on the lower end of the arm of the vibration lifting mechanical arm (2200); The base portion (1000) further comprises a detection lowering unit (1300), wherein the detection lowering unit (1300) is mainly composed of a central circular opening (1303a) located in the middle of the base (1001), wherein the central circular opening (1303a) connects the base (1001) from top to bottom to form a circular channel, wherein an inner rectangular slot (1303b) is provided in the middle of the circular channel towards the inside of the base (1001), wherein two transverse tracks are provided inside the inner rectangular slot (1303b), and a second electric trolley (1304) is installed on the track; the two second electric trolleys (1304) are connected via an auxiliary lowering seat (1305) to form a crossbar that can move transversely in the central circular opening (1303a); Two electric winches (1301) are installed on the surface of the base (1001) at both sides of the upper end of the central circular opening (1303a), one of the electric winches (1301) is connected to the ultrasonic hole-forming and groove-forming detector (1302a), and the other is connected to the control sediment thickness detector (1302b); A bottom auxiliary part (5000) is installed at the lower end of the base part (1000), and the bottom auxiliary part (5000) is mainly composed of an outer circular track (5001) and an inner circular track (5002) installed on the base (1001) and located around the bottom of the central circular opening (1303a). A group of fifth electric trolleys (5003) are installed on the outer circular track (5001), and three groups of fifth electric trolleys (5003) are installed on the inner circular track (5002), and each of the fifth electric trolleys (5003) is provided with a micro rotating motor; The relative positions of a group of fifth electric trolleys (5003) on the outer circular track (5001) and two groups of fifth electric trolleys (5003) on the inner circular track (5002) can form two corresponding straight lines, and three fifth electric trolleys (5003) on each straight line are installed with third electric push rods (5004), and the third electric push rods (5004) on the outer circular track (5001) are installed with fourth electric push rods (5101), and the third electric push rods (5004) on the inner circular track (5002) are installed with circular fixtures (5102).

2. The bored pile construction robot according to claim 1, It is characterized in that The base part (1000) further comprises a hydraulic leg unit (1400), wherein the hydraulic leg unit (1400) is composed of eight groups of legs installed at the four corners of the base (1001), and each group of legs is composed of a transverse hydraulic leg (1401) and a vertical hydraulic leg (1402), wherein the transverse hydraulic leg (1401) is installed on the base (1001), and the vertical hydraulic leg (1402) is installed at the end of the transverse hydraulic leg (1401).

3. The bored pile construction robot according to claim 2, It is characterized in that The base portion (1000) further comprises a bottom shoveling unit (1500), wherein the bottom shoveling unit (1500) comprises two sets of shoveling mechanisms installed at the front and rear sides of the bottom of the base (1001), and each set of the shoveling mechanisms comprises a lifting cylinder (1501) installed at the bottom of the base (1001) and a bulldozer (1502) installed on the lifting cylinder (1501).

4. The bored pile construction robot according to claim 3, It is characterized in that A concrete pouring part (3000) is also installed at the upper end of the base part (1000), and the concrete pouring part (3000) is located on the left side of the lower part of the base (1001). The concrete pouring part (3000) includes two first H-shaped steel rails (3101), and the tails of the two first H-shaped steel rails (3101) cover both sides of the central circular opening (1303a). Two third electric trolleys (3102) are installed on each of the first H-shaped steel rails (3101), and a first electric push rod (3103) is installed on the upper end of the third electric trolley (3102), and a funnel-shaped concrete dumping hopper (3104) is installed on the upper end of the four first electric push rods (3103).

5. The bored pile construction robot according to claim 4, It is characterized in that A second H-shaped steel rail (3201) is installed between the two first H-shaped steel rails (3101); the head of the second H-shaped steel rail (3201) is flush with the first H-shaped steel rail (3101), the tail is close to the central circular opening (1303a), and is located behind the electric winch (1301); two fourth electric trolleys (3202) are installed on the second H-shaped steel rail (3201), the upper end of the fourth electric trolley (3202) is installed with a second electric push rod (3203), and the upper ends of the two second electric push rods (3203) are installed with a concrete input rail (3204) in the same direction as the second H-shaped steel rail (3201).

6. The bored pile construction robot according to claim 5, It is characterized in that A crawler part (4000) is installed at the lower end of the base part (1000). The crawler part (4000) is mainly composed of three sets of walking crawlers (4001) installed on the bottom of the base (1001) through a second hydraulic turntable (4002). The three sets of walking crawlers (4001) are installed corresponding to the three mechanical arms located on the upper part of the base (1001), the automobile crane mechanical arm at the lower part, and the concrete dump hopper.

7. The bored pile construction robot according to claim 6, It is characterized in that Another group of fifth electric trolleys (5003) located on the inner circular track (5002) is installed with a vibration motor mounting seat (5201), and the fifth electric trolley (5003) is connected to the vibration motor mounting seat (5201) via a micro rotating motor; a vibration motor (5202) is installed on one side of the vibration motor mounting seat (5201), and a fifth electric push rod (5203) is installed on the other side, and a concrete vibrating rod (5204) is connected to the end of the fifth electric push rod (5203).

8. A bored pile construction method, using the bored pile construction robot according to claim 7, It is characterized in that The following steps are involved: S1. Site leveling and advance preparation: lower the bulldozer (1502) through the lifting cylinder (1501) and then use the walking track (4001) to make the robot bulldoze and level the site. After completion, raise the bulldozer (1502). At the same time, the construction personnel use the total station to locate the pile hole and set up the steel cage storage area and mud pool in advance; S2, pile hole positioning, equipment fixing: control the robot to move to the pile hole positioning position through the walking crawler (4001), align the middle of the pile hole with the center of the middle circular opening (1303a), first control the hydraulic leg unit (1400) to extend the horizontal hydraulic leg (1401), and then extend the vertical hydraulic leg (1402) until it contacts and fixes with the ground; S3, burying the steel casing: first control the first electric trolley (1201) under the excavator mechanical arm (2400) to move it to a position close to the central circular opening (1303a), then control the excavator mechanical arm (2400) to dig a one-meter shallow pit on the ground at the hole position below the central circular opening (1303a), and then return the excavator mechanical arm (2400). Similarly, control the vibrating lifting mechanical arm (2200) to approach the central circular opening (1303a), and control the vibrating hammer (2201) on the vibrating lifting mechanical arm (2200) to clamp the steel casing and move it vertically to the top of the pile hole. After the steel casing is hoisted into place, it is directly vibrated and pressed into the soil. Finally, the vibrating lifting mechanical arm (2200) is moved back and the excavator mechanical arm (2400) is moved again to fill the shallow pit outside the casing with clay and compact it. After completion, the excavator mechanical arm (2400) is moved back. S4, drilling with a rotary drilling machine: the rotary drilling machine mechanical arm (2300) is controlled by the first electric trolley (1201) to move close to the central circular opening (1303a), and the mud pool pipeline is connected to the drill bit of the rotary drilling machine mechanical arm (2300) through the mud connecting pipeline (2301), and the center of the drill bit of the rotary drilling machine mechanical arm (2300) is aligned with the center of the drilling hole to perform drilling, and after completion, the rotary drilling machine mechanical arm (2300) is moved back; S5, hole forming inspection: connect the probe of the ultrasonic hole forming and slot forming detector (1302a) to the end of the rope of the electric winch (1301), move out the auxiliary lowering seat (1305) through the second electric trolley (1304), pass the rope through the fixed pulleys (1306) above and on the side of the auxiliary lowering seat (1305), and simultaneously start the ultrasonic hole forming and slot forming detector (1302a) and the electric winch (1301) to check the hole position, hole diameter, hole depth and inclination to confirm that the hole forming indicators meet the specification requirements. After completion, control the electric winch (1301) to retract the probe, and then control the second electric trolley (1304) to move the auxiliary lowering seat (1305) back to its original position; S6, lifting and fixing the steel cage: controlling the first electric trolley (1201) to move the automobile crane mechanical arm (2100) to a position near the central circular opening (1303a), grabbing the steel cage through the automobile crane mechanical arm (2100) and vertically placing it into the pile hole, and after lowering it to a certain height, controlling the fifth electric trolley (5003) to form a three-point straight line on the outer circular track (5001) and the inner circular track (5002), controlling the third electric push rod (5004) to push the fourth electric push rod (5101) to a specified height, controlling the fourth electric push rod (5101) to extend through the two circular clamps (5102) and the steel cage, so as to support and fix the steel cage, and then transporting another steel cage to accurately align it with the steel cage, and after completing the alignment, retracting the lower support and fixing mechanism, and lowering it section by section in the same way, and after completion, moving the automobile crane mechanical arm (2100) back to its original position; S7, conduit installation: similar to the above steel cage, the conduit is grabbed by the automobile crane mechanical arm (2100), vertically placed into the pile hole, supported and fixed by the supporting and fixing mechanism, and then lowered section by section. After completion, the automobile crane mechanical arm (2100) is moved back to its original position; S8, sediment thickness inspection: connect the probe of the sediment thickness detector (1302b) to the end of the rope of the electric winch (1301), move out the auxiliary lowering seat (1305) through the second electric trolley (1304), pass the rope through the fixed pulleys (1306) above and on the side of the auxiliary lowering seat (1305), and simultaneously start the sediment thickness detector (1302b) and the electric winch (1301) to inspect the sediment thickness of the friction pile and the sediment thickness of the pile diameter. If the thickness is greater than the standard value, use the guide tube to perform secondary hole cleaning. After all are qualified, control the electric winch (1301) to retract the probe, and then control the second electric trolley (1304) to move the auxiliary lowering seat (1305) back to its original position; S9, concrete pouring: control the third electric trolley (3102) to drive the concrete pouring hopper (3104) to move on the first H-shaped steel track (3101) to the top of the circular opening (1303a) in the middle of the end and align with the pile hole, then control the first electric push rod (3103) to retract and make the concrete pouring hopper (3104) descend until the discharge port below it can directly pour concrete into the pile hole, then control the second electric push rod (3203) to rise to the top of the concrete pouring hopper (3104), and finally use the concrete mixer truck to pour the concrete into the concrete input track (3204), then into the concrete pouring hopper (3104), and finally into the pile hole for pouring; S10, determining the hole depth: if the construction hole depth is within the construction range of the concrete vibrator (5204), the micro motor above the fifth electric trolley (5003) can be controlled to rotate one side of the concrete vibrator (5204) on the vibration motor mounting seat (5201) to the inside of the middle circular opening (1303a), and then the fifth electric push rod (5203) is controlled to push the concrete vibrator (5204) deep into the poured concrete, and the vibration motor (5202) is started to drive the concrete vibrator (5204) to vibrate and vibrate the concrete. After the pouring and vibration are completed, the vibrating structure and the concrete pouring structure are retracted in the opposite manner, and finally the automobile crane mechanical arm (2100) is moved to the middle circular opening (1303a) to pull out the guide tube and the steel casing, and the entire bored pile process is completed.

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