Inter-pile Soil Cleaning Device

Abstract

The present invention discloses a device for cleaning the soil layer between piles, which includes a cleaning mechanism. The cleaning mechanism includes an actuator and a tunneling shovel. The tunneling shovel can be swung under the control of the actuator to clean the soil layer between piles. The tunneling shovel has a working part, and the length of the working part of the tunneling shovel is adjustable to control the tunneling depth; a robotic arm group, which is composed of several robotic arms hinged in sequence. The actuator is installed on the robotic arm group, and the robotic arm group is used to drive the cleaning mechanism to a set position to clean the soil layer between piles; a traveling mechanism, which is used to carry the robotic arm group. By adjusting the length of the working part of the tunneling shovel, the tunneling depth can be controlled, so that the mechanical device can also accurately clean the soil layer between piles, protecting other soil layers while cleaning the soil layer between piles, liberating manpower, saving labor costs, and reducing construction costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction engineering and relates to a device for cleaning the soil layer between piles. Background Art

[0002] Currently, during civil engineering construction, the foundation pit soil is basically reserved with a thickness of 20 - 30 cm and removed by manual excavation to avoid disturbing the undisturbed soil. However, manual operation requires measuring the tunneling depth at any time to ensure that the removed thickness meets the standard, making this method have disadvantages such as high construction cost, cumbersome construction steps, and high labor intensity.

[0003] To solve the above problems, a device is needed to replace manual operation with machinery, saving costs and avoiding disturbing the soil layer at the same time. Summary of the Invention

[0004] In view of this, the present invention provides a device for cleaning the soil layer between piles. The device can adjust the length of the working part of the tunneling shovel, thereby making the tunneling depth controllable. Coupled with the use of a rangefinder, the mechanical device can also accurately clean the soil layer between piles, liberating human labor and reducing construction costs.

[0005] A device for cleaning the soil layer between piles disclosed by the present invention includes a cleaning mechanism and a robotic arm group. The cleaning mechanism includes an actuator and a tunneling shovel. The tunneling shovel can be swung under the control of the actuator to clean the soil layer between piles. The tunneling shovel has a working part, and the length of the working part of the tunneling shovel is adjustable to control the tunneling depth. The robotic arm group is composed of several robotic arms hinged in sequence. The actuator is installed on the robotic arm group, and the robotic arm group is used to drive the cleaning mechanism to a set position to clean the soil layer between piles. The cleaning mechanism further includes a rangefinder, and the rangefinder is installed on the actuator to measure the distance from the actuator to the set position. By adjusting the length of the working part, the depth of each shoveling is changed, making the tunneling depth easier to control and improving the accuracy of cleaning. By measuring the distance from the actuator to the set position with the rangefinder, it is possible to confirm how much more soil layer between piles needs to be cleaned, and then adjust the tunneling depth to avoid disturbing other original soil layers.

[0006] Further, the actuator has at least a first execution end and a second execution end. There are at least two tunneling shovels, and the two tunneling shovels are respectively installed on the first execution end and the second execution end. The first execution end and the second execution end can be swung under the drive of the actuator.

[0007] Furthermore, the actuator has at least State I and State II; when the actuator is in State I, the first actuator end and the second actuator end are driven by the actuator to move away from each other, the two excavation shovels move away from each other, and the ends of the two excavation shovels are separated from each other; when the actuator is in State I, the first actuator end and the second actuator end are driven by the actuator to move closer to each other, the two excavation shovels move closer to each other, and the ends of the two excavation shovels are closed together. By driving the first actuator end and the second actuator end to act, the functions of soil excavation and transportation are realized. When moving away from each other in State I, the excavation shovels can be easily inserted into the soil layer; in State II, when the ends of the two excavation shovels are closed together, a cavity is formed between the two excavation shovels, and the transportation of the soil between the piles can be realized.

[0008] Furthermore, mounting parts for mounting the excavation shovels are provided at the ends of the first actuator end and the second actuator end, and the excavation shovels are mounted on the mounting parts in a manner that can be limited and slide along their own length directions. The sliding is to change the length of the working part, thereby changing the depth of insertion into the soil layer, that is, the single excavation depth.

[0009] Furthermore, a traveling mechanism is further included, and the traveling mechanism is used to carry the robotic arm group. The traveling mechanism enables the present invention to flexibly travel to the places where the soil between the piles needs to be cleaned, greatly improving the flexibility of the device.

[0010] Furthermore, the robotic arm group at least includes a primary robotic arm, a secondary robotic arm, and a tertiary robotic arm which are formed by being sequentially hinged. The primary robotic arm and the secondary robotic arm are driven by a driving source I; the primary robotic arm is connected to the actuator, the tertiary robotic arm is mounted on the traveling mechanism, and the secondary robotic arm and the tertiary robotic arm are driven by a driving source II.

[0011] Furthermore, a soil - falling prevention plate is further provided on the excavation shovel. There are at least two soil - falling prevention plates, and the two soil - falling prevention plates are arranged at both ends in the width direction of the excavation shovel and are located at the end of the excavation shovel. The soil - falling prevention plate is to prevent the soil shoveled by the excavation shovel from spilling during the transportation process.

[0012] Furthermore, the cleaning mechanism further includes a limiting member. The excavation shovel is provided with a limiting hole along its length direction, and the limiting member limits the two excavation shovels respectively and corresponding to the first actuator end and the second actuator end through cooperation with the limiting hole. The limiting member can be an insertion rod. The excavation shovel is limited and fixed to the first actuator end and the second actuator end by inserting the insertion rod into the limiting hole. The number of the limiting members is determined according to the number of the excavation shovels. Each excavation shovel requires at least one limiting member to limit it. Of course, it can also be two or more, which can be understood by those skilled in the art of this technology and will not be elaborated here.

[0013] Furthermore, the traveling mechanism is provided with traveling wheels for facilitating the vehicle to travel, a parking device for parking the vehicle, and a turntable for driving the robotic arm group to rotate.

[0014] Advantages of the present invention:

[0015] A device for cleaning the soil layer between piles disclosed by the present invention can control the excavation depth by adjusting the length of the working part of the excavation shovel. Coupled with the use of a rangefinder, the mechanical device can also accurately clean the soil layer between piles, protecting other soil layers while cleaning the soil layer between piles, liberating manpower, saving labor costs, and reducing construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the present invention;

[0017] Figure 2 It is a schematic structural diagram of the cleaning mechanism of the present invention in State II;

[0018] Figure 3 It is a schematic structural diagram of the cleaning mechanism of the present invention in State I;

[0019] Figure 4 It is a schematic structural diagram of the first execution end of the present invention;

[0020] Figure 5 It is a schematic structural diagram of the excavation shovel of the present invention;

[0021] Figure 6 It is a side view of the excavation shovel of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] Figure 1 It is a schematic structural diagram of the present invention; Figure 2 It is a schematic structural diagram of the cleaning mechanism of the present invention in State II; Figure 3 It is a schematic structural diagram of the cleaning mechanism of the present invention in State I; Figure 4 It is a schematic structural diagram of the first execution end of the present invention; Figure 5 It is a schematic structural diagram of the excavation shovel of the present invention; Figure 6 It is a side view of the excavation shovel of the present invention.

[0023] It should be noted that in the description of this specification, the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0024] As shown in the figure, a device for cleaning the soil layer between piles disclosed by the present invention includes:

[0025] Cleaning mechanism, the cleaning mechanism includes an actuator 1 and an excavation shovel 6. The excavation shovel 6 can be swung under the control of the actuator 1 to clean the soil layer between piles. The excavation shovel 6 has a working part, and the length of the working part of the excavation shovel 6 is adjustable to control the excavation depth. By adjusting the length of the working part, the depth of each shovel drop is changed, making the excavation depth easier to control and improving the accuracy of cleaning. In this embodiment, the cleaning mechanism further includes a rangefinder 13, and the rangefinder 13 is installed on the actuator 1 to measure the distance from the actuator 1 to the set position. By measuring the distance from the actuator 1 to the set position with the rangefinder 13, it is possible to confirm how thick the soil layer between piles still needs to be cleaned, and then adjust the excavation depth to avoid disturbing other original soil layers.

[0026] Robotic arm group 2, the robotic arm group 2 is composed of several robotic arms hinged in sequence. The actuator 1 is installed on the robotic arm group 2, and the robotic arm group 2 is used to drive the cleaning mechanism to a set position to clean the soil layer between piles; the set position is the bottom surface of a construction site such as a foundation pit where the soil layer between piles needs to be cleaned.

[0027] In this embodiment, the actuator 1 has at least a first execution end 4 and a second execution end 5. There are at least two excavation shovels 6, and the two excavation shovels 6 are respectively installed on the first execution end 4 and the second execution end 5. The first execution end 4 and the second execution end 5 can be swung under the drive of the actuator 1. The actuator in this embodiment is composed of two robotic arms hinged in a cross manner. The first execution end 4 and the second execution end 5 are respectively the ends of the two robotic arms, and the intersection point is the hinge point. Hydraulic rods are arranged at the tops of the two robotic arms to drive the two robotic arms, thereby realizing the swing of the first execution end 4 and the second execution end 5.

[0028] In this embodiment, the actuator 1 has at least state I and state II; when the actuator 1 is in state I, the first execution end 4 and the second execution end 5 are driven by the actuator 1 to move away from each other, the two excavation shovels 6 move away from each other, and the ends of the two excavation shovels 6 are separated from each other; when the actuator 1 is in state I, the first execution end 4 and the second execution end 5 are driven by the actuator 1 to move closer to each other, the two excavation shovels 6 move closer to each other, and the ends of the two excavation shovels 6 are closed together. By driving the first execution end 4 and the second execution end 5 to act, the functions of digging and transporting soil are realized. When moving away from each other in state I, the excavation shovel 6 can easily insert into the soil layer; in state II, the ends of the two excavation shovels 6 are closed together, so that the two excavation shovels 6 form a cavity, and the soil between piles can be transported.

[0029] In this embodiment, mounting portions 17 for mounting the tunneling shovels 6 are provided at the ends of the first actuator 4 and the second actuator 5, and the tunneling shovels 6 are mounted on the mounting portions 17 in a manner that they can be limited and slide along their own length directions. The sliding is to change the length of the working part, thereby changing the depth of insertion into the soil layer, that is, the single tunneling depth. The mounting portion 17 in this embodiment is a rectangular through groove as shown in the figure. The tunneling shovel 6 is inserted into the mounting portion 17 and can slide. The end of the mounting portion 17 to the end of the tunneling shovel 6 is the working part of the tunneling shovel 6.

[0030] In this embodiment, a traveling mechanism 3 is further provided, and the traveling mechanism 3 is used to carry the robotic arm group 2. The traveling mechanism 3 enables the present invention to flexibly travel to places where the soil between piles needs to be cleaned, greatly improving the flexibility of the device.

[0031] In this embodiment, the robotic arm group 2 at least includes a primary robotic arm 9, a secondary robotic arm 8, and a tertiary robotic arm 7 which are formed by being hinged in sequence. The primary robotic arm 9 and the secondary robotic arm 8 are driven by a driving source I 18; the primary robotic arm 9 is connected to the actuator 1, the tertiary robotic arm 7 is mounted on the traveling mechanism 3, and the secondary robotic arm 8 and the tertiary robotic arm 7 are driven by a driving source II 19. In this embodiment, the primary robotic arm and one robotic arm constituting the actuator 1 are integrally formed. The integral formation has the advantages of a more firm structure, not being easily damaged, and a long service life; the tertiary robotic arm 7 is mounted on the traveling mechanism 3 in a manner that it can be driven to swing. The swing of the tertiary robotic arm 7 can be realized by driving members such as motors or hydraulic rods. The swing of the tertiary robotic arm 7 can increase the flexibility and movement range of the robotic arm group 2. The driving source I 18 and the driving source II 19 are both hydraulic rods. Of course, their driving functions can also be realized by other means such as motor driving, etc., which will not be elaborated here.

[0032] In this embodiment, the tunneling shovel 6 is further provided with anti-falling plates 14. There are at least two anti-falling plates 14, and the two anti-falling plates 14 are provided at both ends in the width direction of the tunneling shovel 6 and are located at the end of the tunneling shovel 6. The anti-falling plates 14 are to prevent the soil shoveled by the tunneling shovel 6 from spilling during the transportation process.

[0033] In this embodiment, the cleaning mechanism further includes a limiting member 16. The tunneling shovel 6 is provided with limiting holes 15 along its length direction. The limiting member 16 respectively limits the two tunneling shovels 6 to the first actuator 4 and the second actuator 5 in one-to-one correspondence through cooperation with the limiting holes 15. The limiting member 16 can be an insertion rod, and the tunneling shovel 6 is limited and fixed to the first actuator 4 and the second actuator 5 by inserting the insertion rod into the limiting holes 15. The limiting member 6 can also be a long screw rod with a nut, and this component is fixed more firmly; the number of the limiting members 16 is determined according to the number of the tunneling shovels 6. Each tunneling shovel 6 requires at least one limiting member 16 to limit it. Of course, it can also be two or more, which can be understood by those skilled in the art of this technology and will not be elaborated here.

[0034] In this embodiment, the traveling mechanism 3 is provided with traveling wheels 11 facilitating the vehicle to travel, a parking device 10 for parking the vehicle, and a turntable for driving the robotic arm group 2 to rotate. In this embodiment, a ground rail 12 cooperating with the traveling wheels 11 is also provided. By providing the ground rail 12, the present invention is more stable and not prone to roll over during the movement process; the parking device 10 in this embodiment is a plug rod, and the plug rod is installed at the bottom of the traveling mechanism 3. The plug rod can be driven to insert into or pull out from the bottom surface of a set position to achieve the parking function. The setting of the turntable is to enable the robotic arm group 2 to rotate to expand the working range of the present invention. The ground clearance of the chassis of the traveling mechanism 3 in this embodiment can also be adjusted. By adjusting the ground clearance of the chassis of the traveling mechanism 3, the traveling mechanism 3 can have better passability. The adjustability of the ground clearance of the chassis of the traveling mechanism 3 is a technical means understandable to those skilled in the art and will not be elaborated here.

[0035] During actual use, construction surveyors need to measure and calculate the thickness of the soil layer between piles to be cleared at the set position; then set the soil layer clearing device between piles at the set position and fix it to prevent the soil layer clearing device from shaking during the clearing process, which may affect excavation and clearing and damage other soil layers; adjust the length of the working part of the tunneling shovel according to the thickness of the soil layer between piles to be cleared; after adjusting the length of the working part, each time the tunneling shovel is inserted into the soil layer between piles, the excavation depth is fixed and controllable, thereby improving the accuracy of tunneling and avoiding damage to other soil layers. Then drive the robotic arm group and the clearing mechanism to clear and transport the soil layer between piles; the robotic arm group is responsible for driving the actuator to the position where the soil needs to be cleared and inserting the working part of the tunneling shovel into the soil layer through driving and the robotic arm, and the actuator is responsible for lifting or lowering the soil. Finally, start the rangefinder to measure the distance, adjust the tunneling depth and continue to excavate until the thickness of the cleared soil layer between piles reaches the set thickness. To avoid damaging other soil layers, when adjusting the length of the working part of the tunneling shovel, set it to be less than the thickness of the soil layer between piles to be cleared. After preliminary excavation and clearing, adjust the excavation depth according to the measurement result of the rangefinder for fine excavation until the thickness of the cleared soil layer between piles reaches the set thickness.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A device for cleaning the soil layer between piles, characterized in that: It includes a cleaning mechanism and a robotic arm group. The cleaning mechanism includes an actuator and an excavation shovel. The excavation shovel can be swung under the control of the actuator to clean the soil layer between piles. The excavation shovel has a working part, and the length of the working part of the excavation shovel is adjustable to control the excavation depth. The robotic arm group is composed of several robotic arms hinged in sequence. The actuator is installed on the robotic arm group, and the robotic arm group is used to drive the cleaning mechanism to a set position to clean the soil layer between piles. The cleaning mechanism also includes a rangefinder, and the rangefinder is installed on the actuator to measure the distance from the actuator to the set position. The actuator has at least a first execution end and a second execution end. There are at least two excavation shovels, and the two excavation shovels are respectively installed on the first execution end and the second execution end. The first execution end and the second execution end can be swung by the actuator. Installation parts for installing the excavation shovels are provided at the ends of the first execution end and the second execution end. The excavation shovels are installed on the installation parts in a manner that can be limited and slide along their own length directions.

2. The soil layer cleaning device between piles according to claim 1, wherein: The actuator has at least state Ⅰ and state Ⅱ. When the actuator is in state Ⅰ, the first execution end and the second execution end are driven by the actuator to move away from each other, the two excavation shovels move away from each other, and the ends of the two excavation shovels are separated from each other. When the actuator is in state Ⅱ, the first execution end and the second execution end are driven by the actuator to move closer to each other, the two excavation shovels move closer to each other, and the ends of the two excavation shovels are closed together.

3. The soil layer cleaning device between piles according to claim 1, characterized in that: It also includes a traveling mechanism, and the traveling mechanism is used to carry the robotic arm group.

4. The soil layer cleaning device between piles according to claim 3, characterized in that: The robotic arm group at least includes a primary robotic arm, a secondary robotic arm, and a tertiary robotic arm, which are formed by being hinged in sequence. The primary robotic arm and the secondary robotic arm are driven by a driving source Ⅰ. The primary robotic arm is connected to the actuator, the tertiary robotic arm is installed on the traveling mechanism, and the secondary robotic arm and the tertiary robotic arm are driven by a driving source Ⅱ.

5. The soil layer cleaning device between piles according to claim 1, characterized in that: The excavation shovel is also provided with anti-falling plates. There are at least two anti-falling plates, and the two anti-falling plates are arranged at both ends in the width direction of the excavation shovel and are located at the end of the excavation shovel.

6. The soil layer cleaning device between piles according to claim 1, characterized in that: The cleaning mechanism also includes a limiting member. The excavation shovel is provided with limiting holes along the length direction, and the limiting member limits the two excavation shovels respectively and correspondingly to the first execution end and the second execution end through cooperation with the limiting holes.

7. The soil layer cleaning device between piles according to claim 3, characterized in that: The traveling mechanism is provided with traveling wheels for vehicle traveling, a parking brake for parking the vehicle, and a turntable for driving the robotic arm group to rotate.

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