Ground probing robot

Abstract

This invention relates to the field of foundation probing technology, specifically a foundation probing robot, comprising a frame and a drill rod. A cyclic hammering mechanism is located on the left side of the frame, a lifting mechanism on the right side, and a walking mechanism at the bottom. The cyclic hammering mechanism includes a first hydraulic cylinder, an electromagnet positioned below the output end of the first hydraulic cylinder, and a counterweight positioned below the electromagnet. The electromagnet and counterweight slide along the drill rod. The lifting mechanism includes a second hydraulic cylinder and a lifting bracket. The second hydraulic cylinder is fixed to the frame, and the right side of the lifting bracket is slidably connected to the frame and fixedly connected to the output end of the second hydraulic cylinder. It also includes a clamping mechanism for holding the drill rod, located below the counterweight. Furthermore, it includes a controller electrically connected to the first hydraulic cylinder, the second hydraulic cylinder, and the electromagnet. This foundation probing robot can operate fully automatically, automatically positioning, automatically lowering the drill rod, automatically leveling, and automatically counting, reducing the workload of workers and greatly improving construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of foundation probing technology, specifically a foundation probing robot. Background Technology

[0002] Probing is the process of probing the soil layers below the bottom of the foundation pit after the excavation has reached the design elevation, in accordance with regulations, to determine the soil's hardness and softness. In current technology, foundation probing is often carried out using a probing machine, which typically includes a frame, a lifting mechanism, and a drill rod. The drill rod is marked with graduations. During operation, a hammer of a specified weight is used mechanically or manually to vertically strike the drill rod, causing it to penetrate into the foundation soil layer. The number of hammer blows required to penetrate a certain depth into the soil layer is used to detect hidden structures within the soil or to roughly estimate the allowable bearing capacity of the soil layer.

[0003] The existing probe drilling machines have the following problems: 1. The verticality of the probe rod is difficult to control. If the machine frame shakes when the probe rod is hammered, the probe drilling position will shift, which will lead to a decrease in the accuracy of the measurement results; 2. The probe rod needs to be manually removed after it has penetrated to a certain depth into the soil layer to be probed, which is labor-intensive and inefficient; 3. The distance between the hammer and the lower end of the probe rod is relatively long, making the probe rod prone to bending; 4. When working on uneven ground, the probe rod is subjected to unbalanced forces when it sinks, which can easily damage the probe rod; 5. The relocation, leveling, and hammer count of the probe drilling machine all rely on manual labor, which makes the construction process cumbersome, labor-intensive, and inefficient. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a foundation probing robot that can reduce the labor intensity of construction workers, improve construction efficiency, stabilize the sinking of the drill rod during use, and effectively increase the service life of the drill rod.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] A foundation probing robot includes a frame and a drill rod. A cyclic hammering mechanism is located on the left side of the frame, a lifting mechanism on the right side, and a walking mechanism at the bottom. The cyclic hammering mechanism includes a first hydraulic cylinder, an electromagnet located below the output end of the first hydraulic cylinder, and a counterweight located below the electromagnet. The electromagnet and counterweight slide along the drill rod; the electromagnet attracts the counterweight when energized. The lifting mechanism includes a second hydraulic cylinder and a lifting bracket. The second hydraulic cylinder is fixed to the frame, and the right side of the lifting bracket is slidably connected to the frame and fixedly connected to the output end of the second hydraulic cylinder. It also includes a clamping mechanism for holding the drill rod, located below the counterweight. A controller is also included, electrically connected to the first hydraulic cylinder, the second hydraulic cylinder, and the electromagnet. When the clamping mechanism holds the drill rod, the cyclic hammering mechanism reciprocates by hammering the clamping mechanism, causing the drill rod to insert downwards into the foundation. After the clamping mechanism descends to a designated position, it releases the drill rod, and the lifting mechanism lifts the clamping mechanism upwards.

[0007] Preferably, the clamping mechanism includes a clamping unit and a control unit; the clamping unit includes a clamping base, on which a first through hole is provided, and two clamping slots are symmetrically arranged about the first through hole, with clamps provided in the clamping slots, the length of which is less than the length of the clamping slots; the two clamps have jaws on the side closer to the drill rod corresponding to the drill rod, and spring slots on the side farther from the drill rod; a spring is provided in the spring slot, one end of which is connected to the side wall of the spring slot, and the other end is connected to the side wall of the clamping slot, the drill rod passes through the clamping base through the first through hole, and the two clamps lock the drill rod under the action of the spring force; the control unit includes two symmetrically arranged third hydraulic cylinders, the third hydraulic cylinders are fixed to the left side of the lifting bracket, and a pull plate is provided at their output end; a second through hole is also provided on the clamping slot, and a lever is provided on the lower side of the clamp, the lever protruding downward through the second through hole; after the clamping mechanism descends to the designated position, the output end of the third hydraulic cylinder retracts, the pull plate hooks the lever, driving the two clamps to move in opposite directions, releasing the drill rod.

[0008] Preferably, the drill rod is provided with annular grooves at intervals to cooperate with the clamps.

[0009] Preferably, the bottom support is provided with a top cover; the top cover can serve both as a dustproof and impact-proof function.

[0010] Preferably, it also includes a support platform, with the third hydraulic cylinder fixed to the outside of the support platform. The support platform is provided with a limiting groove for the movement of the output end of the third hydraulic cylinder and the pull plate. A cover is also provided on the support platform above the limiting groove. The support platform is used to support the clamping base, and the cover can prevent flying dust from entering the third hydraulic cylinder.

[0011] Preferably, it also includes a positioner, which is electrically connected to the controller.

[0012] Preferably, it also includes a leveling mechanism, which includes legs for supporting the frame and a fourth hydraulic cylinder for driving the legs to extend and retract. At least three legs are provided, and each leg is equipped with an independent fourth hydraulic cylinder. It also includes a tilt sensor, and both the tilt sensor and the fourth hydraulic cylinder are electrically connected to the controller. After the frame is moved to the designated position by the walking mechanism, it is leveled by the leveling mechanism to avoid unbalanced force when the drill rod sinks.

[0013] Preferably, it also includes a counting mechanism, which includes a photoelectric sensor and a counter mounted on a frame, and a controller electrically connected to the photoelectric sensor and the counter; thus enabling automatic counting.

[0014] Preferably, the walking mechanism includes a walking drive motor, a transmission mechanism, and walking wheels, wherein the walking drive motor drives the walking wheels to walk through the transmission mechanism.

[0015] Preferably, a probe is provided at the bottom of the drill rod, and the probe is an inverted cone structure with a cone angle of 60°; this facilitates the probe at the bottom of the drill rod to cut the soil.

[0016] Preferably, the frame is also equipped with a distance sensor for detecting the height of the drill rod sinking. The distance sensor is electrically connected to the controller. The distance sensor can detect the height of the drill rod sinking, thereby adjusting the extension and retraction length of the piston rod of the first hydraulic cylinder, adjusting the distance between the electromagnet and the clamping mechanism, and ensuring that the hammer distance (that is, the distance the hammer falls each time it falls) is always kept at 500mm.

[0017] The present invention, which adopts the above technical solution, has the following prominent features compared with the prior art:

[0018] By coordinating the lifting and clamping mechanisms, the drill rod can be driven into the soil layer to be probed section by section, and can also be lifted out of the foundation section by section. This avoids the problem of excessive hammer spacing and easy bending of the drill rod in the cyclic hammering mechanism, and also eliminates the need for manual removal of the drill rod from the foundation, reducing the labor intensity of workers. When operating on uneven ground, the ground probing robot can be leveled by the leveling mechanism to ensure the force balance when the drill rod sinks. During the probing operation, the hammer indirectly drives the drill rod to sink through the hammering and clamping mechanism. The drill rod remains vertical throughout the sinking process, avoiding deviation of the probe operation position and ensuring the accuracy of the measurement results. This ground probing robot can operate fully automatically, automatically positioning, automatically sinking the drill rod, automatically leveling, and automatically counting, reducing the labor intensity of workers and greatly improving construction efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the ground probing robot in an embodiment of the present invention;

[0020] Figure 2This is a schematic diagram of the clamping unit in an embodiment of the present invention;

[0021] Figure 3 This is another structural schematic diagram of the clamping unit in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the clamping base in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the clamping mechanism in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the support platform installation structure in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the drill rod in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the frame structure in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the hammering bracket in an embodiment of the present invention;

[0028] Figure 10 This is a schematic diagram of the lifting bracket in an embodiment of the present invention;

[0029] Figure 11 This is a schematic diagram of the support plate in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Chisel rod; 201. Probe; 202. Annular groove; 3. First hydraulic cylinder; 4. Electromagnet; 5. Counterweight; 6. Second hydraulic cylinder; 7. Lifting bracket; 8. Clamping base; 801. First through hole; 802. Clamping groove; 804. Second through hole; 9. Third hydraulic cylinder; 10. Top cover; 11. Support platform; 12. Slide rail; 13. Support plate; 1301. Third through hole; 14. Clamp; 1401. Jaw; 1402. Spring groove; 1403. Lever; 15. Spring; 16. Pull plate; 17. Slider; 18. Second fixing frame; 19. Hammering bracket; 20. First connecting plate; 21. Cover; 22. Second connecting plate. Detailed Implementation

[0031] The present invention will be further illustrated below with reference to specific embodiments. The purpose of this illustration is solely to provide a better understanding of the invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0032] like Figure 1 As shown, this embodiment provides a ground probing robot, including a frame 1 and a drill rod 2; as Figure 8The frame 1 is a rectangular frame structure, with a top plate at the top and a bottom plate at the bottom, and support plates 13 on the top and bottom plates; for example Figure 11 The support plate 13 is provided with a third through hole 1301 for inserting the drill rod 2; slide rails 12 are provided on the left and right sides of the frame 1, and sliders 17 are provided on the slide rails 12; a circulating hammering mechanism is provided on the left side of the frame 1, a lifting mechanism is provided on the right side, and a traveling mechanism is provided at the bottom; wherein, the traveling mechanism includes a traveling drive motor and traveling wheels, and the gearbox of the drive motor is connected to the traveling wheels through a rotating main shaft and drives the traveling wheels to rotate. The circulating hammering mechanism includes a first hydraulic cylinder 3, which is fixed to the frame 1, and a hammering bracket 19 is connected to the slider 17 on the left side of the frame 1; Figure 9 A first connecting plate 20 is provided on the hammering bracket 19, and the output end of the first hydraulic rod is fixedly connected to the first connecting plate 20; an electromagnet 4 is provided below the hammering bracket 19, and a counterweight 5 is provided below the electromagnet 4. Both the electromagnet 4 and the counterweight 5 are slidably mounted on the chisel 2; the electromagnet 4 attracts the counterweight 5 when energized. The lifting mechanism includes a second hydraulic cylinder 6 and a lifting bracket 7, such as... Figure 8 The frame 1 has a second fixed frame 18 fixed on its right side. The second hydraulic cylinder 6 is fixed to the frame 1 via the second fixed frame 18. The right side of the lifting bracket 7 is slidably connected to the frame 1 via a slider 17 located on the right side of the frame 1. The output end of the second hydraulic cylinder 6 is fixedly connected to the lifting bracket 7 via a second connecting plate 22. The frame also includes a clamping mechanism for clamping the chisel 2, which is located below the hammer 5. A controller is also included, which is electrically connected to the first hydraulic cylinder 3, the second hydraulic cylinder 6, and the electromagnet 4. The hammer 5 is a 10KG hammer. The hammering bracket 19... Figure 9 The side cross-section shown is an inverted L-shape, with a first stiffening rib between the horizontal and vertical parts for reinforcement; the lifting bracket 7, as shown... Figure 10 As shown, the side section is L-shaped, with a long hole for the drill rod 2 to pass through on the left side, and second stiffening plates on both sides of the second connecting plate 22 on the right side.

[0033] Furthermore, the clamping mechanism includes a clamping unit and a control unit; the clamping unit includes a clamping base 8, such as... Figures 2 to 4 A first through hole 801 is provided at the center of the clamping base 8. Two clamping grooves 802 are symmetrically provided on the clamping base 8, corresponding to the first through hole 801. Clamping clamps 14 are provided in the clamping grooves 802, and the length of the clamping clamps 14 is less than the length of the clamping grooves 802. The two clamping clamps 14 have jaws 1401 on the side closer to the drill rod 2, and spring grooves 1402 on the side farther from the drill rod 2. Springs 15 are provided in the spring grooves 1402, with one end connected to the side wall of the spring groove 1402 and the other end connected to the side wall of the clamping grooves 802. Figure 5The drill rod 2 passes through the first through hole 801, and the clamp 14 locks the drill rod 2 under the elastic force of the two springs 15; as Figure 5 , Figure 6 As shown, the lifting bracket 7 has an elongated hole on its left side, and two support platforms 11 are symmetrically arranged around the elongated hole. A third hydraulic cylinder 9 is fixed to the outside of the support platform 11. The support platform 11 has a limiting groove for the movement of the output end of the third hydraulic cylinder 9. A pull plate 16 is provided at the output end of the third hydraulic cylinder 9. A second through hole 804 is also provided on the clamping groove 802. A lever 1403 is provided on the lower side of the clamp 14. The lever 1403 extends downward through the second through hole 804. The length of the second through hole 804 is greater than the thickness of the lever 1403, providing a certain space for the lever 1403 to move. After the clamping mechanism descends to the designated position, the output end of the third hydraulic cylinder 9 retracts, the pull plate 16 hooks the lever 1403, and drives the two clamps 14 to move in opposite directions, releasing the chisel 2.

[0034] Furthermore, such as Figure 7 As shown, a probe 201 is provided at the bottom of the drill rod 2. The probe 201 is an inverted cone structure with a cone angle of 60°, which facilitates the cutting of soil by the probe 201 at the bottom of the drill rod 2. An annular groove 202 is provided on the body of the drill rod 2 every 300 mm for cooperating with the clamping mechanism. When the clamp 14 clamps and fixes the drill rod 2, the jaws 1401 of the clamp 14 are engaged and fixed on the annular groove 202. The drill rod 2 has a diameter of 25 mm, the probe 201 has a diameter of 40 mm, the effective depth of the drill rod 2 is 2100 mm, and the annular groove 202 is provided every 300 mm.

[0035] Furthermore, a cover 21 is provided on the upper side of the limiting groove on the support platform 11; the support platform 11 is used to support the clamping base 8, and the cover 21 can prevent flying dust from entering the third hydraulic cylinder 9.

[0036] Furthermore, a top cover 10 is provided on the clamp base 8; due to the harsh on-site working environment, the top cover 10 can prevent flying dust from entering the clamp groove 802, spring 15 clamp 14, and affecting the use of the clamp unit; at the same time, the top cover 10 can also play a role in anti-collision protection when the hammer 5 falls.

[0037] Furthermore, it also includes a locator, which is electrically connected to the controller; the locator can be a GPS locator, a Beidou locator, etc., and through the cooperation of the locator and the walking mechanism, the ground probing robot can automatically walk to the designated coordinate position to carry out probing work.

[0038] Furthermore, it also includes a leveling mechanism, which includes legs for supporting the frame 1 and a fourth hydraulic cylinder for driving the legs to extend and retract. There are at least three legs, and each leg is equipped with an independent fourth hydraulic cylinder. It also includes a tilt sensor, and the tilt sensor and the fourth hydraulic cylinder are electrically connected to the controller. After the walking mechanism and the positioning mechanism drive the ground probing robot to the designated coordinate point, the leveling mechanism lowers the legs through the fourth hydraulic cylinder. After the tilt sensor detects that the frame 1 is in a horizontal state, the probing work begins.

[0039] Furthermore, it also includes a counting mechanism, which includes a photoelectric sensor and a counter mounted on the frame 1, and a controller electrically connected to the photoelectric sensor and the counter; the photoelectric sensor is mounted on the frame 1 and feeds back to the controller each time the hammer 5 falls, and the controller controls the counter to count; thus, automatic counting can be achieved.

[0040] Furthermore, a distance sensor for detecting the sinking height of the drill rod 2 is also installed on the frame 1. The distance sensor is electrically connected to the controller. The distance sensor is fixed on the frame 1 and is used to detect the distance between the lower end of the distance sensor probe 201 and the top cover 10. When the hammer 5 strikes the top cover 10 and the top cover 10 and the drill rod 2 sink, the extension of the output end of the first hydraulic rod is adjusted according to the sinking distance of the drill rod 2 so that the hammer 5 falls the same distance each time, ensuring that the hammering force is consistent each time. In this embodiment, the hammer 5 falls 500mm each time.

[0041] Before construction, the coordinates of the probing points are input into the controller. The walking mechanism and positioning mechanism are instructed to walk to the designated points according to the planned probing sequence, and the leveling mechanism is used for leveling. During use, the lower end of the drill rod 2 abuts against the foundation soil layer, and the clamp 14 of the clamping unit clamps and fixes the drill rod 2. When the electromagnet 4 is energized, the hammer 5 is magnetically attracted to the electromagnet 4. When the electromagnet 4 is de-energized, the hammer 5 falls and strikes the top cover 10, which in turn drives the clamping base 8, clamp 14, and drill rod 2 to sink into the foundation soil layer. When the electromagnet 4 is energized again, the first hydraulic rod drives the hammering bracket 19 to slide down along the slide rail 12 until the electromagnet 4 attracts the hammer 5, which drives the hammer 5 to rise. When the hammer 5 rises to a distance of 10500mm from the top cover, the electromagnet 4 is de-energized again, and the hammer 5 falls. This process is repeated continuously to perform cyclic hammering work. After the drill rod 2 sinks 300mm, the clamping base 8 abuts against the support platform 11. The third hydraulic cylinder 9 drives the pull plate 16 to pull the lever 1403 outward, and the clamp 14 releases the drill rod 2. The lifting mechanism begins to operate. The second hydraulic cylinder 6 drives the lifting bracket 7, support platform 11, clamping base 8, and top cover 10 to move upward 300mm. The third hydraulic cylinder 9 drives the pull plate 16 to release the lever 1403, and the clamp 14 clamps and fixes the drill rod 2 again. The second hydraulic cylinder 6 drives the lifting bracket 7... The support platform 11 is lowered by 300mm, awaiting the next operation; the counting mechanism records the number of times the hammer 5 needs to fall (hammering number) each time the drill rod 2 is hammered into the foundation soil to a depth of 300mm, and feeds it back to the controller for storage; the distance sensor is used to detect the sinking depth of the drill rod 2, thereby controlling the coordinated operation of the cyclic hammering mechanism, clamping mechanism and lifting mechanism; in this embodiment, after the effective length of the drill rod 2 has been fully driven into the soil, the lifting mechanism lifts the drill rod 2 out of the foundation soil section by section, ending the operation.

[0042] This invention utilizes a walking mechanism, a locator, a counting mechanism, a leveling mechanism, a circulating hammering mechanism, and a lifting mechanism to operate in a fully automated manner. One person can control 3-5 units, with a construction efficiency of 20 points / hour / unit, which greatly improves construction efficiency, increases the accuracy of hammer count, and reduces labor intensity.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A foundation probing robot, comprising a frame (1) and a drill rod (2), wherein a circulating hammering mechanism is provided on the left side of the frame (1), a lifting mechanism is provided on the right side, and a walking mechanism is provided at the bottom, characterized in that: The cyclic hammering mechanism includes a first hydraulic cylinder (3), an electromagnet (4) is provided below the output end of the first hydraulic cylinder (3), a counterweight (5) is provided below the electromagnet (4), and the electromagnet (4) and the counterweight (5) slide on the chisel (2); the electromagnet (4) attracts the counterweight (5) when it is energized. The lifting mechanism includes a second hydraulic cylinder (6) and a lifting bracket (7). The second hydraulic cylinder (6) is fixed on the frame (1), and the right side of the lifting bracket (7) is slidably connected to the frame (1) and fixedly connected to the output end of the second hydraulic cylinder (6). It also includes a clamping mechanism for clamping the drill rod (2), which is located on the underside of the counterweight (5); It also includes a controller, which is electrically connected to the first hydraulic cylinder (3), the second hydraulic cylinder (6), and the electromagnet (4); When the clamping mechanism clamps the drill rod (2), the cyclic hammering mechanism reciprocates by hammering the clamping mechanism with the heavy hammer (5), causing the drill rod (2) to be inserted into the foundation downwards. After the clamping mechanism descends to the designated position, it releases the drill rod (2), and the lifting mechanism drives the clamping mechanism to be lifted upwards. The clamping mechanism includes a clamping unit and a control unit; The clamping unit includes a clamping base (8), on which a first through hole (801) is provided. Two clamping grooves (802) are symmetrically arranged about the first through hole (801). Clamps (14) are provided in the clamping grooves (802). The length of the clamps (14) is less than the length of the clamping grooves (802). The two clamps (14) have jaws (1401) on the side closer to the drill rod (2) and spring grooves (1402) on the side away from the drill rod (2). A spring (15) is provided in the spring grooves (1402). One end of the spring (15) is connected to the side wall of the spring groove (1402), and the other end is connected to the side wall of the clamping grooves (802). The drill rod (2) passes through the clamping base (8) through the first through hole (801). The two clamps (14) lock the drill rod (2) under the elastic force of the spring (15). The control unit includes two symmetrically arranged third hydraulic cylinders (9), which are fixed to the left side of the lifting bracket (7) and have a pull plate (16) at their output end; a second through hole (804) is also provided on the clamping groove (802), and a lever (1403) is provided on the lower side of the clamp (14), which extends downward through the second through hole (804); after the clamping mechanism descends to the designated position, the output end of the third hydraulic cylinder (9) retracts, the pull plate (16) hooks the lever (1403), and drives the two clamps (14) to move in opposite directions, releasing the chisel (2); It also includes a support platform (11), a third hydraulic cylinder (9) fixed on the outside of the support platform (11), a limiting groove provided on the support platform (11) for the output end of the third hydraulic cylinder (9) and the pull plate (16) to move, and a cover (21) is also provided on the support platform (11) above the limiting groove.

2. The ground probing robot according to claim 1, characterized in that: The drill rod (2) is provided with annular grooves (202) that cooperate with the clamp (14) at intervals.

3. The ground probing robot according to claim 1, characterized in that: A top cover (10) is provided on the bottom support (8).

4. The ground probing robot according to claim 1, characterized in that: It also includes a positioner, which is electrically connected to the controller.

5. The ground probing robot according to claim 1, characterized in that: It also includes a leveling mechanism, which includes legs for supporting the frame (1) and a fourth hydraulic cylinder for driving the legs to extend and retract. There are at least three legs, and each leg is equipped with an independent fourth hydraulic cylinder. It also includes a tilt sensor, and the tilt sensor and the fourth hydraulic cylinder are electrically connected to the controller.

6. The ground probing robot according to claim 1, characterized in that: It also includes a counting mechanism, which includes a photoelectric sensor and a counter mounted on a frame (1), and a controller electrically connected to the photoelectric sensor and the counter.

7. The ground probing robot according to claim 1, characterized in that: The frame (1) is also equipped with a distance sensor for detecting the sinking height of the drill rod (2), and the distance sensor is electrically connected to the controller.

8. The ground probing robot according to claim 1, characterized in that: The bottom of the drill rod (2) is equipped with a probe (201), which is an inverted cone structure with a cone angle of 60°.

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