Self-recovery grab with toughness and control method and micro pile grab hole forming equipment

Abstract

The present application belongs to the field of pile foundation construction equipment, and particularly discloses a self-recovery grab bucket with toughness, a control method and a micro pile grab bucket hole forming equipment. The grab bucket comprises a bucket segment with grab bucket teeth; the grab bucket teeth are arranged at the lower end of the bucket segment through a tooth replacement mechanism; the tooth replacement mechanism comprises a tooth cartridge, the inner cavity of the tooth cartridge is a tooth accommodating cavity, and the tooth accommodating cavity is provided with a tooth locking assembly and a tooth replacement driving part. In the case of broken or excessively worn grab bucket teeth, the tooth replacement driving part drives the grab bucket teeth in transmission cooperation to move towards the tooth replacement opening and extrude the first grab bucket tooth out of the tooth accommodating cavity, and the second grab bucket tooth moves to the position where the first limiting structure and the second limiting structure of the tooth locking assembly are matched together, so as to realize the function of automatically replacing the grab bucket teeth, ensure that the grab bucket can quickly recover to the normal state for continuous drilling, and thus the manual disassembly and replacement of the grab bucket teeth are not needed, so that the artificial labor intensity is not increased, and the construction efficiency is ensured.

Description

Resilient self-healing grab bucket and control method, and micro-pile grab bucket drilling equipment Technical Field

[0001] This invention belongs to the field of pile foundation construction equipment, specifically relating to a resilient self-healing grab bucket and its control method, as well as a micro-pile grab bucket hole-forming device. Background Technology

[0002] Micropiles are cast-in-place piles manufactured through drilling, reinforcement, and pressure grouting. They possess advantages such as high bearing capacity and low settlement, and are widely used in pile foundation construction across various fields. Micropiles are typically constructed using grab bucket-type drilling equipment, consisting of a grab bucket and a grab bucket drive system. In micropiling operations, the grab bucket drive system enhances the gravitational potential energy of the grab bucket, which then impacts the ground rock with its own weight, thereby breaking the rock and forming a wellbore. However, the underground geological conditions are complex and unknown. Often, due to insufficient design strength of the grab bucket, poor welding of the grab bucket teeth, or operator errors, the grab bucket teeth or flaps break, severely impacting the work progress. Replacing the grab bucket teeth and flaps is also time-consuming and labor-intensive.

[0003] Currently, the main measure to prevent grab teeth breakage is to improve their structural strength. For example, Chinese utility model patent CN216687123U discloses a grab with overload protection, which includes a grab body connected to the outer surface of the main shaft, a support base connected to the bottom surface of the grab body, and a reinforcing structure connected to the bottom surface of the support base. The reinforcing structure includes a connecting plate connected to the bottom surface of the support base. This grab uses bolts to fix the reinforcing plate to the fixed plate, and the object to be grabbed can be placed on the outer surface of the reinforcing plate, thus minimizing the problem of grab teeth breakage caused by grabbing objects of uncertain mass.

[0004] While the aforementioned grab buckets have improved structural rigidity through reinforced structures, ensuring normal operation and preventing grab bucket tooth breakage during drilling in general soft formations, simply increasing structural strength is insufficient to effectively prevent tooth breakage in complex formations such as hard granite formations due to the greater impact on the grab bucket. Furthermore, these grab buckets lack resilience (referring to the equipment's ability to automatically recover after damage), requiring machine shutdown and manual disassembly and replacement of broken teeth. The inability to automate tooth replacement increases labor intensity and reduces drilling efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a resilient, self-recovering grab that can automatically replace the grab teeth.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a resilient self-recovering grab bucket, including a bucket flap with grab teeth; the grab teeth are set at the lower end of the bucket flap through a tooth-changing mechanism;

[0007] The grab bucket tooth includes a tooth body, and a first limiting structure and a tooth pin are provided on the side of the tooth body, with the tip of the tooth pin extending beyond the head end of the tooth body;

[0008] The tooth changing mechanism includes a tooth box disposed on the bucket flap, the inner cavity of the tooth box being a tooth receiving cavity, and a tooth passage opening on the lower cavity wall of the tooth receiving cavity for the grab bucket teeth to pass through. A tooth locking assembly and a tooth changing drive component are disposed inside the tooth receiving cavity.

[0009] The locking tooth assembly has a second limiting structure, which can cooperate with the first limiting structure to form a one-way motion limiting structure. The one-way motion limiting structure allows the grab teeth to pass through the tooth opening and out of the tooth receiving cavity and move outward.

[0010] The tooth receiving cavity is provided with a grab bucket tooth assembly, which consists of two or more grab bucket teeth that abut each other end to end; in the grab bucket tooth assembly, the first limiting structure of the first grab bucket tooth cooperates with the second limiting structure of the locking tooth assembly, and the tip of its tooth nail protrudes through the tooth opening and extends beyond the lower end of the bucket flap.

[0011] The drive unit of the gear changing drive component is in drive engagement with the non-first grab tooth in the grab tooth assembly. It can drive the grab tooth in drive engagement toward the tooth opening and squeeze the first grab tooth out of the tooth receiving cavity, and at least move the grab tooth in the second order to the position where its first limiting structure engages with the second limiting structure of the locking tooth assembly.

[0012] Furthermore, the first limiting structure is a wedge-shaped groove;

[0013] The locking tooth assembly includes a telescopic block slidably disposed in the tooth receiving cavity, and the second limiting structure is a wedge-shaped tongue disposed on one end of the telescopic block and corresponding to the wedge-shaped groove;

[0014] The locking tooth assembly also includes an elastic reset member, which is disposed in the tooth receiving cavity and can drive the wedge-shaped tongue of the telescopic block to embed into the corresponding wedge-shaped groove to form a one-way motion limiting structure.

[0015] Furthermore, the gear changing drive component includes a gear changing drive motor disposed at the upper part of the gear receiving cavity, a lead screw that is drivenly connected to the gear changing drive motor, and a push block that is slidably disposed in the gear receiving cavity and threadedly connected to the lead screw.

[0016] The pusher block is the driving part of the tooth-changing driving component, and it abuts against the tail end of the grab tooth in the tooth receiving cavity at the end position.

[0017] Furthermore, the grab also includes a grab body and a grab flap retraction mechanism;

[0018] The grab bucket body includes an inner cylinder and an outer cylinder plate disposed on the side of the inner cylinder; the outer cylinder plate consists of at least four pieces, and each outer cylinder plate has a bucket flap installed at its lower end.

[0019] The flapper mechanism includes a flapper drive platform movably disposed in the inner cylinder, and a flapper drive assembly disposed in the inner cylinder and capable of driving the flapper drive platform to move up and down.

[0020] The bucket petals are installed at the lower end of the outer cylinder plate via connecting blocks. The connecting blocks have three connecting parts arranged in a triangle: a first connecting part, a second connecting part, and a third connecting part. The connecting block is fixedly connected to the bucket petals via its first connecting part, hinged to the lower end of the outer cylinder plate via its second connecting part, and connected to the lower part of the bucket petal drive platform via a bucket petal drive rod. The two ends of the bucket petal drive rod are respectively hinged to the third connecting part and the bucket petal drive platform.

[0021] When the petal drive assembly drives the petal drive platform upward, the petal drive rod can drive the connecting block to rotate the petals inward around the second connecting part, so that the petals close together; when the petal drive assembly drives the petal drive platform downward, the petal drive rod can drive the connecting block to rotate the petals outward around the second connecting part, so that the petals open together.

[0022] Furthermore, the outer cylinder plate is set on the side of the inner cylinder through a lobed angle position adjustment mechanism and can move around the circumference of the inner cylinder. The inner cylinder is also provided with a position locking mechanism that can restrict the movement of the outer cylinder plate.

[0023] The upper end of the bifurcation drive rod is hinged to the lower part of the bifurcation drive platform through a hinge component with an automatic hinge removal mechanism.

[0024] Each outer cylinder plate is equipped with a hopper retraction mechanism. The hopper retraction mechanism includes a retrieval drive rod movably mounted on the outer cylinder plate, a retrieval driver mounted on the outer cylinder plate and capable of driving the retrieval drive rod to move upward, and a retrieval connecting rod with one end hinged to the outer end of the retrieval drive rod and the other end hinged to the outer side of the hopper.

[0025] Each beak petal is equipped with a beak petal unfolding mechanism, which includes an extension plate embedded on the left and right sides of the beak petal and an unfolding drive component on the inner side of the beak petal. The unfolding drive component can drive the extension plate to extend or retract from the side of the beak petal.

[0026] Furthermore, the bucket angle position adjustment mechanism includes a mating connector that movably mounts the outer cylinder plate on the inner cylinder, an outer gear ring that is circumferentially mounted on the inner cylinder, an outer cylinder plate drive motor mounted on the inner side of the outer cylinder plate, and an outer cylinder plate drive gear mounted on the output end of the outer cylinder plate drive motor and meshing with the outer gear ring.

[0027] The position locking mechanism includes a guide ring circumferentially disposed around the inner cylinder, a locking plate disposed on the inner side of the outer cylinder plate and corresponding to the guide ring, and a locking rod disposed on the locking plate and capable of cooperating with the guide ring for fixation.

[0028] Furthermore, the automatic hinge-retrieving mechanism includes a hinge shaft seat disposed at the lower part of the bucket petal drive platform, a hinge shaft rotatably connected to the upper end of the bucket petal drive rod and the hinge shaft seat, and a hinge-retrieving driver that is drively connected to the hinge shaft and can disengage it from the bucket petal drive rod.

[0029] Furthermore, the hinge shaft is provided with a hinge shaft thread, and is threadedly connected to the bucket flap drive rod through the hinge shaft thread;

[0030] The hinge driver is a hinge motor, and a first hinge gear is provided on its driving end.

[0031] The lower part of the bucket-shaped drive platform is rotatably provided with a hinge-picking screw, which engages with the hinge thread on the hinge shaft.

[0032] The hinge screw is also provided with a second hinge gear that meshes with the first hinge gear.

[0033] Furthermore, the unfolding drive component includes a rotary actuator disposed on the inner side of the bucket petal, a first rotating rod connected to the drive end of the rotary actuator, and a second rotating rod whose inner end is connected to the outer end of the first rotating rod via a universal joint, the outer end of the second rotating rod being connected to the inner side of the extension plate via a ball joint.

[0034] Furthermore, the bucket petal drive assembly includes a movable plate, a fixed plate, a rope hanger, a bucket tensioning rope, and a bucket lifting rope;

[0035] The movable plate is slidably set in the inner cylinder through the vertical track of the inner cylinder and is connected to the upper part of the bucket-shaped drive platform; the movable plate is provided with a first pulley and a second pulley at intervals, and the movable plate is also provided with a third pulley located below the first pulley and a fourth pulley located below the second pulley;

[0036] The fixed plate is fixedly installed in the inner cylinder and is located above the movable plate. The fixed plate is provided with a fifth pulley located above the first pulley and a sixth pulley located above the second pulley.

[0037] The rope hanger is mounted on the movable plate and is located above the second pulley;

[0038] One end of the tension rope is successively wrapped around the lower edge of the first pulley, the upper edge of the fifth pulley, the lower edge of the third pulley, the lower edge of the fourth pulley, the upper edge of the sixth pulley, and the lower edge of the second pulley, and is fixedly connected to the rope hanger.

[0039] One end of the bucket lifting rope is fixedly connected to the rope hanging device.

[0040] Furthermore, the grab also includes a hard rock impact device installed in the inner cylinder and located below the bucket flap drive platform;

[0041] The hard rock impact device includes an impact device body, a vertical rack and pinion track disposed within the impact device body, an impact transmission gear meshing with the vertical rack in the vertical rack and pinion track, an impact block retractably disposed at the lower part of the impact device body, an impact transmission crankshaft rotatably disposed within the impact block and with its end protruding from the impact block and coaxially connected to the impact transmission gear, an energy storage spring plate disposed on the impact transmission crankshaft, and at least two impact pistons disposed on different height sections of the impact transmission crankshaft.

[0042] The upper end of the impact piston is rotatably connected to the impact transmission crankshaft, and the lower end is provided with an impact cone that can pass through the bottom of the impact block.

[0043] Furthermore, the grab bucket also includes a grab bucket monitoring system; the grab bucket monitoring system includes a tension sensor for monitoring the tension of the bucket tensioning rope and / or the bucket lifting rope, and an angle sensor for monitoring the tilt angle of the grab bucket.

[0044] The present invention also provides a method for controlling a self-recovering grab, the method being used to control the above-mentioned resilient self-recovering grab, which includes a grab tooth replacement step and / or a grab repair step.

[0045] Grab teeth replacement procedure: The tilt angle of the grab bucket during use is detected by the tilt angle sensor. When the tilt angle exceeds the threshold, it is determined that the grab teeth that have a shallow impact depth on the formation in the tilt direction have excessive wear or breakage. The grab bucket control center controls the tooth replacement mechanism to replace the grab teeth with new ones.

[0046] Grab bucket repair steps: The tension sensor detects whether there are drastic changes in the tension during the use of the grab bucket. When the drastic change in tension exceeds the threshold, it is determined that a bucket segment has broken. The tilt sensor detects the tilt direction of the grab bucket and determines that the bucket segment on the lower side of the tilt direction has broken. Then, the grab bucket control center controls the automatic hinge removal mechanism to disconnect the upper end of the bucket segment drive rod connected to the broken bucket segment, and controls the bucket segment retraction mechanism to pull the broken bucket segment outward for recovery. Finally, the bucket segment angle position adjustment mechanism is controlled to adjust the remaining intact bucket segments to a uniformly distributed position, and the bucket segment unfolding mechanism unfolds the intact bucket segments.

[0047] The present invention also provides a micro pile grab bucket hole-forming device, which includes a grab bucket, a device body, a mast, and a grab bucket control assembly;

[0048] The bottom of the equipment body is provided with a walking mechanism, and one end of the equipment body is provided with a counterweight;

[0049] The mast is hinged at the other end of the equipment body and is connected to the equipment body through a mast tilt angle adjustment mechanism;

[0050] The grab control assembly includes a winch mounted on the equipment body and a rope reel rotatably mounted on the mast;

[0051] The grab bucket is the aforementioned resilient, self-healing grab bucket;

[0052] The grab control assembly consists of two sets. The other end of the grab rope is wound around the winding wheel of one set and then wound around the drum of its winch. The other end of the grab rope is wound around the winding wheel of the other set and then wound around the drum of its winch.

[0053] The beneficial effects of this invention are:

[0054] 1) In the event of breakage or excessive wear of the grab teeth, the grab teeth that are in contact with the tooth changing mechanism can be driven by the tooth changing drive component to move toward the tooth opening and squeeze the first grab tooth out of the tooth receiving cavity. The second grab tooth will then move to the position where its first limiting structure and the second limiting structure of the locking tooth assembly are engaged. This achieves the function of automatically changing the grab teeth, ensuring that the grab can quickly return to normal and continue drilling. There is no need to rely on manual disassembly and replacement of the grab teeth, so it will not increase the intensity of manual labor and ensures construction efficiency.

[0055] 2) In the event of a broken grab bucket segment, the upper end of the grab bucket drive rod connected to the broken segment can be disconnected via an automatic hinge-retrieving mechanism. Then, the broken segment can be pulled outwards and retrieved via a segment retraction mechanism. The remaining intact segments can be adjusted to a uniformly distributed position via a segment angle and position adjustment mechanism, and the intact segments can be unfolded via a segment unfolding mechanism to expand the grab bucket's gripping range, making up for the original position space of the broken segment. This achieves automatic repair of the grab bucket, ensuring that it can quickly return to normal and continue drilling, increasing the grab bucket's service life and further guaranteeing construction efficiency.

[0056] 3) The bucket flap drive assembly, consisting of a movable plate, a fixed plate, and multiple pulleys, connects the bucket rope in a pulley winding manner with a six-fold ratio. This not only improves the grab's impact force and reduces the load on the bucket rope, but also prevents excessive abrasion of the bucket rope, thus effectively extending its service life.

[0057] 4) By installing a hard rock impact device in the inner cylinder of the grab bucket, and the hard rock impact device is a passive impact drill mainly composed of an impact device body, an impact block, an impact transmission crankshaft, an energy storage spring plate and an impact piston, it can use the energy storage spring plate to absorb and release energy to drive the impact piston, so that its impact cone impacts hard rock layers. This not only saves energy and reduces costs, but also avoids problems such as control failure caused by electrical control errors.

[0058] 5) The grab monitoring system can monitor the working status of the grab in real time using tension and tilt sensors, and reflect the breakage of the grab teeth or grab blades, so as to replace the grab teeth or perform self-repair of the grab in a timely manner, thus ensuring the smooth progress of the grab operation. Attached Figure Description

[0059] Figure 1 is a schematic diagram of the implementation structure of the grab bucket of the present invention;

[0060] Figure 2 is a cross-sectional view along line AA in Figure 1;

[0061] Figure 3 is a cross-sectional view along line BB in Figure 1;

[0062] Figure 4 is a cross-sectional view along line CC in Figure 1;

[0063] Figure 5 is a schematic diagram of the three-dimensional implementation structure of the canopy;

[0064] Figure 6 is a schematic diagram of the three-dimensional implementation structure of the canopy;

[0065] Figure 7 is a schematic diagram of the working state of the canopy unfolding shape;

[0066] Figure 8 is a schematic diagram of the gear changing mechanism from a bottom view.

[0067] Figure 9 is a cross-sectional view along line DD in Figure 8;

[0068] Figure 10 is a schematic diagram of the implementation structure of the automatic hinge retrieval mechanism;

[0069] Figure 11 is a cross-sectional structural diagram of the hard rock impact device;

[0070] Figure 12 is a cross-sectional view along line EE in Figure 11;

[0071] Figure 13 is a schematic diagram of the self-repairing working state of the grab bucket after the damaged bucket flap is recovered;

[0072] Figure 14 is a flowchart of the self-repair control of the grab bucket of the present invention;

[0073] Figure 15 is a three-dimensional structural schematic diagram of the micro-pile grab bucket hole-forming device of the present invention;

[0074] Figure 16 is a side view of the micro pile grab bucket hole-forming device of the present invention.

[0075] The components in the diagram are labeled as follows: bucket flap 100, grab bucket tooth 110, tooth body 111, first limiting structure 112, tooth pin 113, tooth changing mechanism 120, tooth box 121, tooth receiving cavity 122, tooth passage 123, second limiting structure 124, telescopic block 125, elastic reset component 126, tooth changing drive motor 127, lead screw 128, push block 129, connecting block 130, first connecting part 131, second connecting part 132, third connecting part 133, drive rod groove 140, grab bucket body 200, inner cylinder 210. The following components are listed: inner cylinder vertical track 211, outer cylinder plate 220, outer cylinder plate vertical track 221, bucket petal angle and position adjustment mechanism 230, mating connector 231, external gear ring 232, outer cylinder plate drive motor 233, outer cylinder plate drive gear 234, position locking mechanism 240, guide ring 241, locking plate 242, locking rod 243, insertion hole 244, bucket petal opening and closing mechanism 300, bucket petal drive platform 310, bucket petal drive rod 320, automatic hinge removal mechanism 330, hinge shaft seat 331, hinge shaft 332, and hinge removal driver 3. 33. First hinge gear 334, hinge screw 335, second hinge gear 336, movable plate 340, first pulley 341, second pulley 342, third pulley 343, fourth pulley 344, fixed plate 350, fifth pulley 351, sixth pulley 352, rope hanger 360, bucket tension rope 370, bucket lifting rope 380, bucket lobe retraction mechanism 400, retraction drive rod 410, retraction connecting rod 420, bucket lobe deployment mechanism 500, extension plate 510, deployment drive component 520, rotary actuator 521, First rotating rod; 522, Second rotating rod; 523, Universal joint; 524, Ball joint; 525, Hard rock impact device; 600, Impact device body; 610, Vertical rack and pinion track; 620, Impact transmission gear; 630, Impact block; 640, Impact transmission crankshaft; 650, Energy storage spring plate; 660, Impact piston; 670, Impact cone; 671, Equipment body; 700, Traveling mechanism; 710, Counterweight; 720, Mast; 800, Telescopic component; 810, Grab bucket control assembly; 900, Winch; 910, Rope pulley; 920. Detailed Implementation

[0076] The invention will now be further described with reference to the accompanying drawings.

[0077] In the description of this invention, it should be noted that the terms "left," "right," "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for ease of description, not indicating or implying that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention; the term "multiple" refers to three or more; the expression "mainly composed of or constituted by" is interpreted as also including structural components not mentioned in the sentence; "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist, for example: A and / or B, which can represent: A alone, A and B simultaneously, and B alone; the toughness of the grab bucket in this document refers to its ability to recover itself after its grab bucket teeth and / or bucket flaps are damaged. In addition, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0078] As shown in Figures 1, 5, 8 and 9, the resilient self-recovering grab includes a grab plate 100 with grab teeth 110; the grab teeth 110 are disposed at the lower end of the grab plate 100 via a tooth-changing mechanism 120.

[0079] The grab 100 is an important component of the grab bucket. It is usually multiple and evenly distributed at the lower end of the grab bucket for cutting and excavating geological layers. The grab 100 needs to have high hardness and wear resistance. It is usually made of wear-resistant metal or alloy, preferably wear-resistant steel plate.

[0080] The grab teeth 110 are components of the grab bucket used to excavate, grab objects, and impact rock formations. They are typically made of high-strength metals or alloys, preferably alloy steel, to ensure sufficient wear resistance, corrosion resistance, and high strength. The grab teeth 110 include a tooth body 111, with a first limiting structure 112 and tooth spikes 113 on the side of the tooth body 111. The spikes 113 extend beyond the head end of the tooth body 111. The tooth spikes 113 are the main components that enable the grab teeth 110 to perform their functions. They are generally fixed to the tooth body 111 by bolts, rivets, or other connecting parts, or welded to the tooth body 111, or made as an integral structure with the tooth body 111 to ensure its stability and reliability. Usually, two or more tooth spikes 113 are provided on the tooth body 111. For example, in the embodiment shown in Figure 9, the grab teeth 110 include two tooth spikes 113 spaced apart on the outer side of the tooth body 111.

[0081] The gear changing mechanism 120 is mainly used to install the grab bucket teeth 110 and place spare redundant grab bucket teeth 110 so that in the event of breakage or excessive wear of the first grab bucket teeth 110, it can be automatically replaced to ensure that the grab bucket can quickly return to normal. The gear changing mechanism 120 includes a tooth box 121 set on the bucket flap 100. The inner cavity of the tooth box 121 is a tooth receiving cavity 122. The lower cavity wall of the tooth receiving cavity 122 is provided with a tooth passage 123 for the grab bucket teeth 110 to pass through. The tooth receiving cavity 122 is provided with a tooth locking assembly and a gear changing drive component.

[0082] The locking tooth assembly is mainly used to limit and fix the grab teeth 110 to ensure their stability and reliability during use. The locking tooth assembly has a second limiting structure 124, which can cooperate with the first limiting structure 112 to form a one-way motion limiting structure. The one-way motion limiting structure allows the grab teeth 110 to pass through the tooth opening 123 and out of the tooth receiving cavity 122 and move outward. The one-way motion limiting structure is a mechanical structure used to limit the movement of the grab teeth 110 in one direction. It can be a limit switch mechanism, a telescopic limit mechanism, a threaded pin limit mechanism, a ratchet limit mechanism, etc.

[0083] The tooth receiving cavity 122 is provided with a grab bucket tooth assembly, which is composed of two or more grab bucket teeth 110 that abut each other end to end; in the grab bucket tooth assembly, the first limiting structure 112 of the grab bucket tooth 110 located at the front engages with the second limiting structure 124 of the locking tooth assembly, and the tip of its tooth nail 113 protrudes through the tooth opening 123 and extends beyond the lower end of the bucket petal 100.

[0084] The drive unit of the gear changing drive component is in transmission engagement with the non-first grab tooth 110 in the grab tooth assembly. It can drive the grab tooth 110 in transmission engagement toward the tooth opening 123 and squeeze the first grab tooth 110 out of the tooth receiving cavity 122. It can also move the grab tooth 110 in the second order to the position where its first limiting structure 112 and the second limiting structure 124 of the locking tooth assembly are engaged. The gear changing drive component is mainly used to drive the grab tooth 110 toward the tooth opening 123 to realize the gear changing function. It can be a cylinder, a hydraulic cylinder, an electric push rod, a ball screw pair with a motor, etc.

[0085] In the event of breakage or excessive wear of the grab teeth 110, the grab teeth 110 that are in transmission with it can be driven by the tooth changing drive component in the tooth changing mechanism 120 to move toward the tooth opening 123 and squeeze the first grab teeth 110 out of the tooth receiving cavity 122. The second grab teeth 110 are then moved to the position where their first limiting structure 112 and the second limiting structure 124 of the locking tooth assembly are engaged, thereby realizing automatic replacement of the grab teeth 110. This ensures that the grab can quickly return to normal and continue drilling without the need for manual disassembly and replacement of the grab teeth 110.

[0086] To achieve automatic limiting and resetting of the locking tooth assembly, facilitating continuous replacement of multiple grab teeth 110 and simplifying the structure, as shown in Figure 9, a preferred embodiment of the grab is as follows: the first limiting structure 112 is a wedge-shaped groove; the locking tooth assembly includes a telescopic block 125 slidably disposed in the tooth receiving cavity 122, and the second limiting structure 124 is a wedge-shaped tongue disposed on one end of the telescopic block 125 and corresponding to the wedge-shaped groove; the locking tooth assembly also includes an elastic reset member 126, which is disposed in the tooth receiving cavity 122 and can drive the wedge-shaped tongue of the telescopic block 125 to embed into the corresponding wedge-shaped groove to form a one-way motion limiting structure; this one-way motion limiting structure achieves one-way limiting through the nested cooperation of the wedge-shaped groove and the wedge-shaped tongue, when the tooth changing drive unit When the grab teeth 110 move toward the tooth opening 123, the grab teeth 110 can squeeze the inclined surface of the wedge-shaped tongue, generating a component force along the axial direction of the telescopic block 125. This causes the telescopic block 125 to contract and squeeze the elastic reset member 126 to make room, allowing the grab teeth 110 to pass through the tooth opening 123, exit the tooth receiving cavity 122, and move outward. When the spare grab teeth 110 move to the position where its first limiting structure 112 and the second limiting structure 124 of the locking tooth assembly are engaged, the telescopic block 125 extends under the elastic reset force of the elastic reset member 126, causing its wedge-shaped tongue to embed into the wedge groove of the spare grab teeth 110 for limiting and fixing, ensuring that the grab teeth 110 can quickly return to normal working condition after breakage or wear. When the grab tooth assembly includes multiple grab teeth 110, the above-described tooth replacement method can be used for cyclic operation to achieve continuous replacement of multiple grab teeth 110, which is very convenient.

[0087] Based on the above, in order to improve the stability of the limiting and fixing grab teeth 110, and in conjunction with Figures 8 and 9, there are two wedge grooves respectively set on the left and right sides of the tooth body 111; the tooth receiving cavity 122 is provided with two sets of locking tooth assemblies respectively corresponding to the two wedge grooves; the elastic reset member 126 is preferably a reset spring.

[0088] To facilitate gear changing operations and improve the efficiency and reliability of changing grab teeth 110, as shown in Figure 9, a preferred embodiment of the gear changing drive component includes a gear changing drive motor 127 disposed on the upper part of the gear receiving cavity 122, a lead screw 128 connected to the gear changing drive motor 127, and a push block 129 slidably disposed in the gear receiving cavity 122 and threadedly connected to the lead screw 128; the push block 129 is the drive part of the gear changing drive component, and it abuts against the tail end of the grab teeth 110 in the gear receiving cavity 122 at the end position. The gear-changing drive component drives the lead screw 128 to rotate via the gear-changing drive motor 127, which in turn allows the push block 129, which is threadedly connected to the lead screw 128, to slide within the gear receiving cavity 122. This pushes the grab tooth 110 at the end position, causing the other grab teeth 110 to move together toward the tooth passage 123. The movement of the push block 129 only needs to satisfy that it has at least one component movement in the direction toward the tooth passage 123. Its specific movement direction can be limited by the structure of components such as guide rods, guide rails, and guide grooves.

[0089] Specifically, as shown in Figures 1, 2, and 6, the grab bucket also includes a grab bucket body 200 and a grab peg retraction / expansion mechanism 300; the grab bucket body 200 includes an inner cylinder 210 and an outer cylinder plate 220 disposed on the side of the inner cylinder 210; there are at least four outer cylinder plates 220, and a grab peg 100 is installed at the lower end of each outer cylinder plate 220; the grab peg retraction / expansion mechanism 300 includes a grab peg drive platform 310 movably disposed in the inner cylinder 210, and a grab peg drive platform 310 disposed in the inner cylinder 210. The bucket-petal drive assembly, which drives the bucket-petal drive platform 310 to move up and down, can be a traction device, a cylinder, a hydraulic cylinder, an electric push rod, a ball screw pair with a motor, or various other types. The bucket-petal 100 is installed at the lower end of the outer cylinder plate 220 via a connecting block 130. The connecting block 130 has three connecting parts arranged in a triangle: a first connecting part 131, a second connecting part 132, and a third connecting part 133. The connecting block 130 connects to the bucket-petal through its first connecting part 131. The first connecting part 131, the second connecting part 132, and the third connecting part 133 are fixedly connected to the lower end of the outer cylinder plate 220 via the second connecting part 132. The third connecting part 133 is connected to the lower part of the bucket-shaped drive platform 310 via the bucket-shaped drive rod 320. The two ends of the bucket-shaped drive rod 320 are respectively hinged to the third connecting part 133 and the bucket-shaped drive platform 310. By arranging the first connecting part 131, the second connecting part 132, and the third connecting part 133 in a triangular distribution on the connecting block 130, a crank-connecting rod mechanism or lever-like mechanism can be formed. The lever mechanism enables the following: when the flapper drive assembly drives the flapper drive platform 310 upward, the flapper drive rod 320 drives the connecting block 130 to rotate the flappers 100 inward around the second connecting portion 132, so that the flappers 100 close together; when the flapper drive assembly drives the flapper drive platform 310 downward, the flapper drive rod 320 drives the connecting block 130 to rotate the flappers 100 outward around the second connecting portion 132, so that the flappers 100 open together. By installing the flappers 100 through the connecting block 130, the lever ratio can be adjusted by changing the distance between the connecting portions, thereby controlling the maximum opening and closing force of the grab and improving the effectiveness of the grab.

[0090] To facilitate automatic repair of the grab bucket with broken flaps 100 and improve its durability, as shown in Figures 1, 2, 3, 4, 6, and 7, another preferred embodiment of the grab bucket is as follows: the outer cylinder plate 220 is disposed on the side of the inner cylinder 210 via a flap angle position adjustment mechanism 230, and can move circumferentially around the inner cylinder 210. The inner cylinder 210 is also provided with a position locking mechanism 240 that restricts the movement of the outer cylinder plate 220. The flap angle position adjustment mechanism 230 can be a motor and a transmission unit. The adjustment mechanism can be composed of components, or it can be an adjustment mechanism composed of a rocker arm and a cylinder or hydraulic cylinder, or it can be an electromagnetic drive mechanism; the position locking mechanism 240 is mainly used to lock and fix the outer cylinder plate 220 after it has been adjusted to a certain position; the position locking mechanism 240 can be an electric pin, a clamping cylinder, a clamping hydraulic cylinder, a magnetic fixing mechanism, etc.; the upper end of the bucket petal drive rod 320 is hinged to the lower part of the bucket petal drive platform 310 through a hinge component with an automatic hinge removal mechanism 330, and the automatic hinge removal mechanism 330 can eject the hinge shaft. The mechanism includes various types such as a hinge shaft unscrewing mechanism and a hinge shearing mechanism; each outer cylinder plate 220 is equipped with a bucket petal retraction mechanism 400, which includes a retraction drive rod 410 movably mounted on the outer cylinder plate 220, a retraction actuator mounted on the outer cylinder plate 220 and capable of driving the retraction drive rod 410 upward, and a retraction connecting rod 420 with one end hinged to the outer end of the retraction drive rod 410 and the other end hinged to the outer side of the bucket petal 100; the retraction actuator can be a linear motor, a lifting drive mechanism, or a traction mechanism. The mechanism includes various types such as ball screw pairs with motors, vertical cylinders, and vertical hydraulic cylinders; each bucket segment 100 is equipped with a bucket segment unfolding mechanism 500, which includes an extension plate 510 embedded on the left and right sides of the bucket segment 100, and an unfolding drive component 520 disposed on the inner side of the bucket segment 100. The unfolding drive component 520 can drive the extension plate 510 to extend or retract from the side of the bucket segment 100. The unfolding drive component 520 can be an unfolding push cylinder, an unfolding push hydraulic cylinder, a crank connecting rod mechanism, or other types.

[0091] In the event of a breakage of a grab bucket segment 100, the upper end of the segment drive rod 320 connected to the broken segment 100 can be disconnected via the automatic hinge removal mechanism 330. Then, the segment retraction mechanism 400 can pull the broken segment 100 outwards for recovery. The remaining intact segments 100 can then be adjusted to a uniformly distributed position via the segment angle adjustment mechanism 230, and the intact segments 100 can be unfolded via the segment unfolding mechanism 500 to expand the grabbing range and compensate for the original position of the broken segment 100. This achieves automatic repair of the grab bucket, ensuring it can quickly return to normal and continue drilling, as shown in Figure 13. In the embodiment shown in Figure 13, there are three remaining intact segments 100, which are typically adjusted to a 120° interval and locked to the outer cylinder plate 220 using the position locking mechanism 240.

[0092] To facilitate the limiting of the disengaged bifurcation drive rod 320, as shown in Figure 6, a drive rod groove 140 is provided on the inner side of the bifurcation 100 for the upper end of the bifurcation drive rod 320 to be inserted.

[0093] As another preferred embodiment of the grab bucket of the present invention, as shown in Figures 1, 2, 3, 4 and 13, the grab angle position adjustment mechanism 230 includes a mating connector 231 on which the outer cylinder plate 220 is movably disposed on the inner cylinder 210, an outer toothed ring 232 disposed circumferentially around the inner cylinder 210, an outer cylinder plate drive motor 233 disposed on the inner side of the outer cylinder plate 220, and an outer cylinder plate drive gear 234 disposed on the output end of the outer cylinder plate drive motor 233 and meshing with the outer toothed ring 232; the position locking mechanism 240 includes a guide ring 241 disposed circumferentially around the inner cylinder 210, a locking plate 242 disposed on the inner side of the outer cylinder plate 220 and corresponding to the guide ring 241, and a locking rod 243 disposed on the locking plate 242 and capable of cooperating and fixing with the guide ring 241. Among them, the connecting part 231 can be a variety of components such as bearings and bushings; the outer cylinder plate drive motor 233 is mainly used to drive the outer cylinder plate drive gear 234 to rotate, thereby driving the outer cylinder plate 220 to rotate around the outer gear ring 232; the outer cylinder plate drive motor 233 can be of various types, preferably a servo motor that is easy to control precisely.

[0094] Based on the above, in order to ensure the locking effect of the position locking mechanism 240, as shown in Figure 4, the guide ring 241 is provided with insertion holes 244 that can be inserted and cooperate with the locking rod 243. There are at least 12 insertion holes 244 and they are evenly distributed around the circumference of the inner cylinder 210. The locking rod 243 is preferably a hydraulic push rod.

[0095] Preferably, as shown in Figures 2 and 10, the automatic hinge-retrieving mechanism 330 includes a hinge shaft seat 331 disposed at the lower part of the bucket petal drive platform 310, a hinge shaft 332 rotatably connected to the upper end of the bucket petal drive rod 320 and the hinge shaft seat 331, and a hinge-retrieving driver 333 that is drively connected to the hinge shaft 332 and can disengage it from the bucket petal drive rod 320. The hinge-retrieving driver 333 can be a cylinder, a hydraulic cylinder, a motor, or other types.

[0096] To facilitate operation and improve the automatic hinge removal effect, as shown in Figure 10, the hinge shaft 332 is provided with a hinge shaft thread, and is threadedly connected to the bucket flap drive rod 320 through the hinge shaft thread; the hinge removal driver 333 is a hinge removal motor, and its drive end is provided with a first hinge removal gear 334; the lower part of the bucket flap drive platform 310 is rotatably provided with a hinge removal screw 335, which meshes with the hinge shaft thread on the hinge shaft 332; the hinge removal screw 335 is also provided with a second hinge removal gear 336 that meshes with the first hinge removal gear 334. The hinge-retrieving motor drives the first hinge-retrieving gear 334 to rotate, which in turn drives the second hinge-retrieving gear 336 and the hinge-retrieving screw 335 connected to it. Consequently, the hinge shaft 332, which is threadedly engaged with the hinge screw 335, is also driven, allowing it to unscrew its mounting hole and thus enabling hinge removal. The bucket petal drive rod 320 can then disengage under its own weight. Furthermore, the disengaged bucket petal drive rod 320 can rotate around the lower hinge portion and embed into the drive rod groove 140, facilitating the subsequent bucket petal retraction mechanism 400 to retract the broken bucket petal 100 to the outer wall surface of the outer cylinder plate 220.

[0097] To facilitate the recovery of broken bucket segments 100 and to leave space to avoid interference with other intact bucket segments 100, as shown in Figure 1, an outer cylinder plate 220 is provided with an outer cylinder plate vertical track 221, and the recovery drive is a linear motor installed in the outer cylinder plate vertical track 221.

[0098] Preferably, as shown in Figures 6 and 7, the deployment drive component 520 includes a rotary actuator 521 disposed on the inner side of the bucket petal 100, a first rotating rod 522 connected to the drive end of the rotary actuator 521, and a second rotating rod 523 whose inner end is connected to the outer end of the first rotating rod 522 via a universal joint 524. The outer end of the second rotating rod 523 is connected to the inner side of the extension plate 510 via a ball joint 525. This deployment drive component 520 is not only simple in structure but also convenient to use, facilitating the synchronous extension or retraction of the left and right extension plates 510. When using it to drive the extension plates 510 to deploy, it is usually necessary to ensure that they are tightly closed with adjacent extension plates 510 to achieve self-repair of the grab bucket and ensure that the grab bucket can perform normal grabbing operations, as shown in Figure 13. The use of universal joints 524, ball joints 525, and other components for connection enables spatial motion transmission without being limited by the curved surface structure of the bucket petal 100.

[0099] As another embodiment of the grab bucket of the present invention, as shown in Figures 2 and 3, the bucket flap drive assembly includes a movable plate 340, a fixed plate 350, a rope hanger 360, a bucket tensioning rope 370, and a bucket lifting rope 380; the movable plate 340 is slidably disposed in the inner cylinder 210 via the inner cylinder vertical track 211 and is connected to the upper part of the bucket flap drive platform 310; a first pulley 341 and a second pulley 342 are spaced apart on the movable plate 340, and a third pulley 343 located below the first pulley 341 and a fourth pulley 344 located below the second pulley 342 are also disposed on the movable plate 340; the fixed plate 350 is fixedly disposed in the inner cylinder. 210 is located on the upper side of the movable plate 340. The fixed plate 350 is provided with a fifth pulley 351 located above the first pulley 341 and a sixth pulley 352 located above the second pulley 342. The rope hanger 360 is provided on the movable plate 340 and located above the second pulley 342. One end of the bucket rope 370 passes sequentially around the lower edge of the first pulley 341, the upper edge of the fifth pulley 351, the lower edge of the third pulley 343, the lower edge of the fourth pulley 344, the upper edge of the sixth pulley 352, and the lower edge of the second pulley 342 and is fixedly connected to the rope hanger 360. One end of the bucket lifting rope 380 is fixedly connected to the rope hanger 360.

[0100] The grab bucket's flap 100 is driven by a flap drive assembly consisting of a movable plate 340, a fixed plate 350, and multiple pulleys. Two pulleys are located on the fixed plate 350, and the other four are located on the movable plate 340. The movable plate 340 moves along the vertical track 211 of the inner cylinder, driving the flap 100 of the grab bucket to open and close via the flap drive platform 310. The lifting rope 380 mainly raises and lowers the grab bucket, while the tension rope 370 mainly lifts and lowers the movable plate 340 to open and close the grab bucket. Through force analysis, it can be seen that the above-mentioned rope winding method can provide a six-fold grabbing force. Under the same grabbing force, each section of the tension rope 370 only needs to bear 1 / 6 of the direct lifting force. Compared with the conventional four-fold pulley winding method, this effectively reduces the load on the tension rope 370, and compared with the conventional twelve-fold pulley winding method, it effectively reduces the wear of the tension rope 370 and improves its service life.

[0101] As another embodiment of the grab bucket of the present invention, as shown in Figures 2, 11 and 12, it further includes a hard rock impact device 600 disposed in the inner cylinder 210 and located below the bucket flap drive platform 310; the hard rock impact device 600 includes an impact device body 610, a vertical rack and pinion track 620 disposed in the impact device body 610, an impact transmission gear 630 meshing with the vertical rack in the vertical rack and pinion track 620, an impact block 640 retractably disposed at the lower part of the impact device body 610, an impact transmission crankshaft 650 rotatably disposed in the impact block 640 and having its end protruding from the impact block 640 and coaxially connected to the impact transmission gear 630, an energy storage spring plate 660 disposed on the impact transmission crankshaft 650, and at least two impact pistons 670 disposed on different height sections of the impact transmission crankshaft 650; the upper end of the impact piston 670 is rotatably connected to the impact transmission crankshaft 650, and its lower end is provided with an impact cone 671 that can protrude from the bottom of the impact block 640.

[0102] When the grab impacts and penetrates deep into the strata, the impact block 640 and impact piston 670 move inward, the impact transmission gear 630 moves upward along the vertical rack in the vertical rack track 620, and drives the impact transmission crankshaft 650 to rotate, and the impact cone 671 impacts the strata. At the same time, the energy storage spring plate 660 rotates in the forward direction to absorb energy. When the grab grabs hard strata and lifts it up, a gap appears between the impact cone 671 and the strata. The energy storage spring plate 660 rotates in the reverse direction to release energy, drive the impact transmission crankshaft 650 to rotate, and the impact cone 671 continues to impact the strata, breaking the rock and improving the efficiency of grabbing rocks. By installing a hard rock impact device 600 in the inner cylinder 210 of the grab bucket, and the hard rock impact device 600 being a passive impact drill mainly composed of an impact device body 610, an impact block 640, an impact transmission crankshaft 650, an energy storage spring plate 660, and an impact piston 670, the energy storage spring plate 660 can absorb and release energy to drive the impact piston 670, causing its impact cone 671 to impact hard rock layers. This not only saves energy and reduces costs, but also avoids problems such as control failure caused by electrical control errors.

[0103] As another embodiment of the grab bucket of the present invention, it also includes a grab bucket monitoring system; the grab bucket monitoring system includes a tension sensor for monitoring the tension of the bucket tension rope 370 and / or the bucket lifting rope 380, and an inclination sensor for monitoring the tilt angle of the grab bucket. The inclination sensor can be of various types, preferably a triaxial inclination sensor. Referring to Figure 14, the grab bucket monitoring system is mainly used for monitoring the grab bucket teeth 110 and the bucket flaps 100, wherein the tension sensor reflects the quality of rock cuttings grabbed by the grab bucket by measuring changes in rope tension; the inclination sensor monitors and reflects the degree of tilt of the grab bucket. Assuming a uniform geological environment, when a grab tooth 110 experiences excessive wear or breakage, the impact depth of that tooth is minimized, causing the grab to tilt in that direction. The tilt position is detected by a tilt sensor, and the grab's control center controls the tooth-changing mechanism 120 to replace the redundant grab tooth 110 in the corresponding direction. When a grab segment 100 breaks, the grab is lifted, and rock debris falls from the breakage point. The mass of rock debris inside the grab decreases sharply, causing the tension sensor's tension data to drop rapidly, and the grab to tilt in that direction. The tilt position is detected by a tilt sensor, and the control center issues a command to retract the broken segment 100 and controls the segment angle adjustment mechanism 230 to adjust the position of the remaining intact segments 100, deploying them to ensure the grab operation continues. Communication throughout the monitoring and control process can be wired or wireless; wired connections typically use cables, fiber optics, etc.; wireless connections typically use radio communication, Bluetooth, infrared, etc.

[0104] The present invention also provides a method for controlling a self-recovering grab, the method being used to control the above-mentioned resilient self-recovering grab, which includes a grab tooth replacement step and / or a grab repair step.

[0105] Grab teeth replacement procedure: The tilt angle of the grab bucket during use is detected by the tilt angle sensor. When the tilt angle exceeds the threshold, it is determined that the grab teeth 110 that have a shallow impact depth on the stratum in the tilt direction have excessive wear or breakage. The grab bucket control center controls the tooth replacement mechanism 120 to replace the grab teeth 110 with new ones.

[0106] Grab bucket repair steps: The tension sensor detects whether there is a drastic change in tension during the use of the grab bucket. When the drastic change in tension exceeds the threshold, it is determined that a grab bucket 100 has broken. The tilt angle sensor detects the tilt direction of the grab bucket and determines that the grab bucket 100 on the lower side of the tilt direction has broken. Then, the grab bucket control center controls the automatic hinge removal mechanism 330 to disconnect the upper end of the grab bucket drive rod 320 connected to the broken grab bucket 100, and controls the grab bucket retraction mechanism 400 to pull the broken grab bucket 100 outward for recovery. Finally, the grab bucket angle position adjustment mechanism 230 is controlled to adjust the remaining intact grab bucket 100 to a uniformly distributed position, and the grab bucket unfolding mechanism 500 unfolds the intact grab bucket 100.

[0107] As shown in Figures 15 and 16, the present invention also provides a micro pile grab bucket hole-forming device, including a grab bucket, a device body 700, a mast 800, and a grab bucket control assembly 900.

[0108] The bottom of the equipment body 700 is provided with a walking mechanism 710, and one end of the equipment body 700 is provided with a counterweight 720;

[0109] The mast 800 is hinged at the other end of the equipment body 700 and is connected to the equipment body 700 through the mast tilt angle adjustment mechanism;

[0110] The grab control assembly 900 includes a winch 910 mounted on the equipment body 700 and a rope reel 920 rotatably mounted on the mast 800;

[0111] The grab bucket is the aforementioned resilient, self-healing grab bucket;

[0112] The grab bucket control assembly 900 consists of two sets. The other end of the bucket tensioning rope 370 is wound around the rope reel 920 of one set and is wound around the drum of its winch 910. The other end of the bucket lifting rope 380 is wound around the rope reel 920 of the other set and is wound around the drum of its winch 910.

[0113] This micro-pile grab hole-forming equipment can be used for micro-pile hole forming and is suitable for drilling pile foundation holes with a diameter not exceeding 600mm; it is especially suitable for drilling cast-in-place pile holes with a diameter of 600mm and a depth of 10m.

[0114] Among them, the walking mechanism 710 mainly drives the entire micro pile grab hole forming equipment to move. In order to adapt to complex terrains such as mountains and plateaus, a tracked walking mechanism is preferred.

[0115] The mast tilt angle adjustment mechanism is mainly used to adjust the tilt angle of the mast 800. It can be of various types. A preferred embodiment of the mast tilt angle adjustment mechanism is: it includes a telescopic member 810, which is tilted and its upper end is hinged to the mast 800, and its lower end is hinged to the equipment body 700.

Claims

1. A resilient, self-recovering grab, comprising a grab flap (100) with grab teeth (110); characterized in that: The grabbing teeth (110) are disposed at the lower end of the bucket flap (100) via a tooth-changing mechanism (120); the grabbing teeth (110) include a tooth body (111), the side of which is provided with a first limiting structure (112) and a tooth spike (113), the tip of which extends beyond the head end of the tooth body (111); the tooth-changing mechanism (120) includes a tooth box (121) disposed on the bucket flap (100), the inner of which is... The cavity is a tooth receiving cavity (122), and the lower cavity wall of the tooth receiving cavity (122) is provided with a tooth passage (123) through which the grab teeth (110) can pass. The tooth receiving cavity (122) is provided with a tooth locking assembly and a tooth changing drive component. The tooth locking assembly has a second limiting structure (124), which can cooperate with the first limiting structure (112) to form a one-way motion limiting structure. The one-way motion limiting structure allows the grab teeth (110) to pass through from the tooth receiving cavity (110) through the tooth receiving cavity (110). The toothed opening (123) passes through the tooth receiving cavity (122) and moves outward; the tooth receiving cavity (122) is provided with a grabbing tooth assembly, which is composed of two or more grabbing teeth (110) that abut each other end to end; in the grabbing tooth assembly, the first limiting structure (112) of the first grabbing tooth (110) cooperates with the second limiting structure (124) of the locking tooth assembly, and the tip of its tooth spike (113) passes through the tooth opening (123) and extends beyond the bucket petal (10). The lower end of 0); the driving part of the gear changing drive component is in transmission cooperation with the non-first grab tooth (110) in the grab tooth assembly, which can drive the grab tooth (110) in transmission cooperation to move toward the tooth opening (123) and squeeze the first grab tooth (110) out of the tooth receiving cavity (122), and at least make the grab tooth (110) in the second order move to the position where its first limiting structure (112) and the second limiting structure (124) of the locking tooth assembly are engaged together.

2. The resilient self-healing grab according to claim 1, characterized in that: The first limiting structure (112) is a wedge-shaped groove; the locking tooth assembly includes a telescopic block (125) slidably disposed in the tooth receiving cavity (122), and the second limiting structure (124) is a wedge-shaped tongue disposed on one end of the telescopic block (125) and corresponding to the wedge-shaped groove; the locking tooth assembly also includes an elastic reset member (126), which is disposed in the tooth receiving cavity (122) and can drive the wedge-shaped tongue of the telescopic block (125) to embed into the corresponding wedge-shaped groove to form a unidirectional motion limiting structure.

3. The resilient self-healing grab according to claim 1, characterized in that: The gear-changing drive component includes a gear-changing drive motor (127) disposed on the upper part of the gear receiving cavity (122), a lead screw (128) connected to the gear-changing drive motor (127) for transmission, and a push block (129) slidably disposed in the gear receiving cavity (122) and threadedly connected to the lead screw (128); the push block (129) is the drive part of the gear-changing drive component, and it abuts against the tail end of the grab bucket tooth (110) in the gear receiving cavity (122) at the end position.

4. The resilient self-healing grab according to claim 1, characterized in that: It also includes a grab bucket body (200) and a bucket flap retraction mechanism (300); the grab bucket body (200) includes an inner cylinder (210) and an outer cylinder plate (220) disposed on the side of the inner cylinder (210); the outer cylinder plate (220) is at least four pieces, and a bucket flap (100) is installed at the lower end of each outer cylinder plate (220); the bucket flap retraction mechanism (300) includes a bucket flap drive platform (3) movably disposed in the inner cylinder (210). 10), and a petal drive assembly disposed in the inner cylinder (210) and capable of driving the petal drive platform (310) to move up and down; the petals (100) are mounted on the lower end of the outer cylinder plate (220) via a connecting block (130), the connecting block (130) having three connecting parts arranged in a triangle, namely a first connecting part (131), a second connecting part (132) and a third connecting part (133); the connecting block (130) is connected to the lower end of the outer cylinder plate (220) via its first connecting part (131), the second connecting part (132) and the third connecting part (133); the connecting block (130) is connected to the lower end of the outer cylinder plate (220) via its first connecting part (131), the second connecting part (132) and the third connecting part (133). The connecting part (131) is fixedly connected to the bifurcation (100), and is hinged to the lower end of the outer cylinder plate (220) through its second connecting part (132). Its third connecting part (133) is connected to the lower part of the bifurcation driving platform (310) through the bifurcation driving rod (320). The two ends of the bifurcation driving rod (320) are respectively hinged to the third connecting part (133) and the bifurcation driving platform (310). When the bifurcation driving assembly drives the bifurcation driving platform (310) to move upward... When in motion, the flapper drive rod (320) can drive the connecting block (130) to rotate the flapper (100) inward around the second connecting part (132) so that each flapper (100) closes together; when the flapper drive assembly drives the flapper drive platform (310) to move downward, the flapper drive rod (320) can drive the connecting block (130) to rotate the flapper (100) outward around the second connecting part (132) so that each flapper (100) opens together.

5. The resilient self-healing grab according to claim 4, characterized in that: The outer cylinder plate (220) is set on the side of the inner cylinder (210) through the clove angle position adjustment mechanism (230) and can move around the inner cylinder (210) in the circumference. The inner cylinder (210) is also provided with a position locking mechanism (240) that can restrict the movement of the outer cylinder plate (220). The upper end of the clove drive rod (320) is hinged to the lower part of the clove drive platform (310) through a hinge component with an automatic hinge removal mechanism (330). Each outer cylinder plate (220) is provided with a clove retraction mechanism (400). The clove retraction mechanism (400) includes a retraction drive rod (410) movably set on the outer cylinder plate (220) and a clove retraction mechanism (400). The outer cylinder plate (220) has a retrieval driver that can drive the retrieval drive rod (410) to move upward, and a retrieval connecting rod (420) with one end hinged to the outer end of the retrieval drive rod (410) and the other end hinged to the outer side of the bucket (100); each bucket (100) is provided with a bucket unfolding mechanism (500), which includes an extension plate (510) embedded on the left and right sides of the bucket (100) and an unfolding drive component (520) provided on the inner side of the bucket (100), which can drive the extension plate (510) to extend or retract from the side of the bucket (100).

6. The resilient self-healing grab according to claim 5, characterized in that: The bifurcation angle position adjustment mechanism (230) includes a mating connector (231) on which the outer cylinder plate (220) is movably mounted on the inner cylinder (210), an outer gear ring (232) circumferentially mounted on the inner cylinder (210), an outer cylinder plate drive motor (233) mounted on the inner side of the outer cylinder plate (220), and an outer cylinder plate drive gear (234) mounted on the output end of the outer cylinder plate drive motor (233) and meshing with the outer gear ring (232); the position locking mechanism (240) includes a guide ring (241) circumferentially mounted on the inner cylinder (210), a locking plate (242) mounted on the inner side of the outer cylinder plate (220) and corresponding to the guide ring (241), and a locking rod (243) mounted on the locking plate (242) and capable of cooperating and fixing with the guide ring (241).

7. The resilient self-healing grab according to claim 5, characterized in that: The automatic hinge-retrieving mechanism (330) includes a hinge seat (331) disposed at the lower part of the cleft drive platform (310), a hinge shaft (332) rotatably connected to the upper end of the cleft drive rod (320) and the hinge seat (331), and a hinge-retrieving driver (333) that is drively connected to the hinge shaft (332) and can disengage it from the cleft drive rod (320).

8. The resilient self-healing grab according to claim 7, characterized in that: The hinge shaft (332) is provided with a hinge shaft thread and is threadedly connected to the bucket petal drive rod (320) through the hinge shaft thread; the hinge take-up driver (333) is a hinge take-up motor, and a first hinge take-up gear (334) is provided on its drive end; a hinge take-up screw (335) is rotatably provided on the lower part of the bucket petal drive platform (310), and the hinge take-up screw (335) meshes with the hinge shaft thread on the hinge shaft (332); a second hinge take-up gear (336) is also provided on the hinge take-up screw (335) and meshes with the first hinge take-up gear (334).

9. The resilient self-healing grab according to claim 5, characterized in that: The unfolding drive component (520) includes a rotary driver (521) disposed on the inner side of the lobes (100), a first rotating rod (522) connected to the drive end of the rotary driver (521), and a second rotating rod (523) whose inner end is connected to the outer end of the first rotating rod (522) via a universal joint (524). The outer end of the second rotating rod (523) is connected to the inner side of the extension plate (510) via a ball joint (525).

10. The resilient self-healing grab according to any one of claims 5 to 9, characterized in that: The bucket-petal drive assembly includes a movable plate (340), a fixed plate (350), a rope hanger (360), a bucket tensioning rope (370), and a bucket lifting rope (380); the movable plate (340) is slidably mounted in the inner cylinder (210) via an inner cylinder vertical track (211) and is connected to the upper part of the bucket-petal drive platform (310); the movable plate (340) is provided with a first pulley (341) and a second pulley (342) spaced apart, and the movable plate (340) is also provided with a third pulley (343) located below the first pulley (341) and a fourth pulley (344) located below the second pulley (342); the fixed plate (350) is fixedly mounted in the inner cylinder (210) and is located at the upper part of the movable plate (360). On the upper side of 40), the fixed plate (350) is provided with a fifth pulley (351) above the first pulley (341) and a sixth pulley (352) above the second pulley (342); the rope hanger (360) is provided on the movable plate (340) and is located above the second pulley (342); one end of the bucket rope (370) passes sequentially around the lower edge of the first pulley (341), the upper edge of the fifth pulley (351), the lower edge of the third pulley (343), the lower edge of the fourth pulley (344), the upper edge of the sixth pulley (352) and the lower edge of the second pulley (342) and is fixedly connected to the rope hanger (360); one end of the bucket lifting rope (380) is fixedly connected to the rope hanger (360).

11. The resilient self-healing grab according to claim 10, characterized in that: It also includes a hard rock impact device (600) disposed in the inner cylinder (210) and located below the bucket-shaped drive platform (310); the hard rock impact device (600) includes an impact device body (610), a vertical rack and pinion track (620) disposed in the impact device body (610), an impact transmission gear (630) meshing with the vertical rack in the vertical rack and pinion track (620), an impact block (640) retractably disposed at the lower part of the impact device body (610), and a rotatably disposed on the impact block (640). The impact transmission crankshaft (650) is coaxially connected to the impact transmission gear (630) and has an impact block (640) extending through its end. It also includes an energy storage spring plate (660) on the impact transmission crankshaft (650) and at least two impact pistons (670) on different height sections of the impact transmission crankshaft (650). The upper end of the impact piston (670) is rotatably connected to the impact transmission crankshaft (650), and its lower end is provided with an impact cone (671) that can extend from the bottom of the impact block (640).

12. The resilient self-healing grab according to claim 10, characterized in that: It also includes a grab bucket monitoring system; the grab bucket monitoring system includes a tension sensor for monitoring the tension of the bucket tension rope (370) and / or the bucket lifting rope (380), and an angle sensor for monitoring the tilt angle of the grab bucket.

13. A method for controlling a self-recovering grab, the method being used to control the resilient self-recovering grab as described in claim 12, characterized in that: This includes a grab bucket tooth replacement step and / or a grab bucket repair step; Grab bucket tooth replacement step: The tilt angle of the grab bucket during use is detected by a tilt sensor. When the tilt angle exceeds a threshold, it is determined that the grab bucket teeth (110) that have a shallow impact depth on the strata in the tilt direction have excessive wear or breakage. The grab bucket control center controls the tooth replacement mechanism (120) to replace the grab bucket teeth (110) with new ones; Grab bucket repair step: The tension sensor detects whether the tension changes drastically during the use of the grab bucket. When the drastic change in tension exceeds a threshold, it is determined that a bucket flap (100) has broken, and the repair is carried out by the grab bucket repair mechanism (120). The tilt angle sensor detects the tilt direction of the grab bucket and determines that the bucket petal (100) on the lower side of the tilt direction has broken. Then, the grab bucket control center controls the automatic hinge removal mechanism (330) to disconnect the upper end of the bucket petal drive rod (320) connected to the broken bucket petal (100), and controls the bucket petal retraction mechanism (400) to pull the broken bucket petal (100) outward for recycling. Finally, the bucket petal angle position adjustment mechanism (230) is controlled to adjust the remaining intact bucket petals (100) to a uniformly distributed position, and the bucket petal unfolding mechanism (500) unfolds the intact bucket petals (100).

14. A micro-pile grab bucket drilling device, comprising a grab bucket, a device body (700), a mast (800), and a grab bucket control assembly (900); a traveling mechanism (710) is provided at the bottom of the device body (700), and a counterweight (720) is provided at one end of the device body (700); the mast (800) is hinged to the other end of the device body (700) and connected to the device body (700) through a mast tilt angle adjustment mechanism; the grab bucket control assembly (900) includes a winch (910) mounted on the device body (700) and a rope reel (920) rotatably mounted on the mast (800); characterized in that: The grab bucket is a resilient self-recovering grab bucket as described in any one of claims 10 to 12; the grab bucket control assembly (900) consists of two sets, with the other end of the bucket tensioning rope (370) passing through the winding wheel (920) of one set and wound around the drum of its winch (910); the other end of the bucket lifting rope (380) passes through the winding wheel (920) of the other set and wound around the drum of its winch (910).

Images