A small face vertical excavator and method of use thereof

Abstract

The application discloses a small-opening-face vertical digging shovel and a use method thereof. The device comprises a mounting piece, a horizontal turning mechanism arranged on the mounting piece, and a shovel body arranged below the horizontal turning mechanism. The mounting piece comprises a connecting plate, and a connecting hole is arranged on the connecting plate. The horizontal turning mechanism comprises a mounting seat at the bottom end of the connecting plate, a hydraulic motor on the mounting seat, and a rotating base arranged at the output end of the hydraulic motor. The shovel body comprises a top plate, an arc-shaped guard plate arranged on the top plate, a vertical soil cutting plate arranged at one end of the top plate, a soil clamping plate arranged at the other end, a side plate arranged on the soil clamping plate, and a hydraulic oil cylinder arranged between the soil clamping plate and the top plate. The vertical soil cutting and vertical soil taking are realized. The length, width and height dimensions of the excavated foundation pit are ensured to be consistent with the rectangular foundation, the side wall of the foundation pit directly serves as a foundation pouring formwork, and the foundation construction does not need to be supported and backfilled.

Description

Technical Field

[0001] This invention belongs to the field of building facility installation technology, and more specifically, relates to a vertical excavator with a small excavation face and its usage method. Background Technology

[0002] When constructing streetlights, traffic lights, and other facilities on municipal roads, small concrete foundations are required to anchor them to the ground. These foundations are typically constructed using backhoe excavators to excavate the pits. Due to the limitations of the backhoe excavator's blade structure, the pit walls are sloping, requiring formwork before pouring the foundation and backfilling around the foundation afterward. Furthermore, these small concrete foundations are often located in sidewalks or medians, where various pipelines are frequently laid. The large excavation area of ​​the backhoe excavator can easily damage these pipelines, affecting the construction's effectiveness and progress.

[0003] Chinese patent CN118128114A discloses a square foundation pit excavation device for streetlights, including a hydraulic breaker. A tunneling body is mounted on the hydraulic breaker via a connecting part. The tunneling body is a rectangular structure with an open bottom. A pressure-bearing part is provided on the top surface of the tunneling body to buffer the impact generated by the hydraulic breaker's drill bit during tunneling. A working part is provided at the bottom opening of the tunneling body, including angle irons and anti-reverse plates. The angle irons are spaced apart at the bottom opening of the tunneling body, and four anti-reverse plates are provided, each rotatably positioned near the inner side of the bottom opening of the tunneling body. During the excavation process, the anti-reverse plates provide positive pressure to the bottom of the pit, reducing disturbance to the original soil. During lifting, the anti-reverse plates can remain horizontal under the limiting action of the angle irons, forming a retaining area and leaving a clear edge to the pit. This ensures the excavation quality of the square foundation pit without disturbing the original soil.

[0004] However, in the Chinese patent with publication number CN118128114A, the excavation device cannot adjust its planar angle, making positioning difficult; the excavated soil is forcefully squeezed into the rectangular structure, making unloading difficult. Therefore, a small-face vertical excavator and its usage method are needed to ensure that the length, width, and height dimensions of the excavated pit are consistent with the rectangular foundation, and the sidewalls of the pit can be directly used as formwork for foundation pouring; thus eliminating the need for formwork and backfilling during foundation construction. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a vertical excavator with a small excavation face and its usage method. The excavator's boom provides output force to the excavator, causing it to scoop into the soil. A hydraulic cylinder then drives a clamping plate to hold the soil in place, vertically excavating the soil from the foundation pit. This achieves vertical soil cutting and extraction; ensures that the excavated foundation pit's length, width, and height dimensions are consistent with a rectangular foundation; and allows the pit's sidewalls to directly serve as formwork for foundation pouring. This eliminates the need for formwork and backfilling during foundation construction.

[0006] To achieve the above objectives, according to a first aspect of the present invention, a vertical excavator with a small excavation face is provided, comprising:

[0007] The mounting component includes a connecting plate with connecting holes.

[0008] A horizontal steering mechanism is provided on the mounting component, the horizontal steering mechanism including a mounting base at the bottom end of the connecting plate, a hydraulic motor on the mounting base, and a rotating base provided at the output end of the hydraulic motor;

[0009] The shovel body is located below the horizontal steering mechanism. The shovel body includes a top plate, an arc-shaped guard plate on the top plate, a vertical cutting plate at one end of the top plate, a soil clamping plate at the other end, a side plate on the soil clamping plate, and a hydraulic cylinder between the soil clamping plate and the top plate, so as to realize vertical cutting and vertical soil extraction.

[0010] Furthermore, the connecting plates are used in pairs, with two connecting plates arranged in parallel opposite directions;

[0011] The mounting component is bolted to the boom of the excavator through the connecting holes, and the position of the device is adjusted using the boom of the excavator.

[0012] Furthermore, the mounting base is a circular steel plate with a circular through hole in the center, which is fixed to the bottom of the two connecting plates by welding;

[0013] The hydraulic motor is fixed to the mounting base by bolts. Its output end passes through the circular through hole in the center of the mounting base and is connected to the hydraulic system of the excavator. The hydraulic system drives the drive shaft of the hydraulic motor to rotate.

[0014] The rotating base is fixed to the drive shaft of the hydraulic motor. It is a circular steel plate structure of the same size as the mounting base and is arranged parallel to the mounting base. It is driven to rotate by the drive shaft of the hydraulic motor.

[0015] Furthermore, the top plate is a square rigid plate with notches at both ends of one side;

[0016] The top plate and the rotating base are connected by an arc-shaped guard plate. The arc-shaped guard plate is used in pairs and has a circular arc cross-section. The two arc-shaped guard plates are symmetrically arranged and concentrically arranged. The two ends of the two arc-shaped guard plates are spaced at the same distance. The top of the arc-shaped guard plate is fixedly connected to the rotating base and the bottom is fixedly connected to the top plate.

[0017] Furthermore, the vertical cutting plate is fixed on one side of the bottom surface of the top plate, and is a rectangular plate with a sloping bottom end. The soil clamping plate is located on the other side of the bottom surface of the top plate, facing the vertical cutting plate, and the side with the notch is fixed to the soil clamping plate.

[0018] A shaft is also fixed to one side of the top plate with a notch, with both ends of the shaft extending to the edge of the notch;

[0019] The shaft is also provided with bushings at both ends, and the bushings are fixedly connected to the soil clamping plate, so that the soil clamping plate can rotate around the side of the top plate.

[0020] Furthermore, one side plate is provided on each side of the soil clamping plate. It is a right-angled trapezoidal plate, with the long base of the side plate parallel to the top plate and its height fixedly connected to the side of the soil clamping plate.

[0021] The top plate, vertical cutting plate, soil clamping plate, and side plates form a five-sided enclosed shell.

[0022] Furthermore, the fixed end of the hydraulic cylinder is fixedly connected to the top plate and is located in the cavity formed between the two arc-shaped guard plates. Its output end is provided with a connector with a through hole.

[0023] The side of the soil clamping plate away from the vertical cutting plate is also provided with a connecting rod. The connecting rod is a curved rod with a certain curvature. One end of the rod is fixed to the vertical cutting plate, and the other end is opened and connected to the connector of the output end of the hydraulic cylinder by a pin.

[0024] According to a second aspect of the present invention, a method for using a vertical excavator with a small excavation face is provided, comprising:

[0025] S100, Installation and Connection: The hydraulic motor and hydraulic cylinder are connected to the hydraulic system of the excavator by connecting the connection holes on the mounting part to the boom of the excavator.

[0026] S200, Positioning: Operate the boom and arm of the excavator to position the vertical blade above the area to be excavated;

[0027] S300 Adjustment: The hydraulic system of the excavator drives the hydraulic motor to rotate, thereby rotating the shovel body and aligning the vertical surface of the vertical cutting plate with the excavation edge line.

[0028] S400, Cutting In: Operate the excavator's boom and arm to vertically cut the shovel into the soil to the designed depth;

[0029] S500, Clamping: Through the hydraulic system of the excavator, the output end of the hydraulic cylinder is extended, which drives the clamping plate to clamp the soil.

[0030] S600, Unloading: Operate the boom and arm of the excavator to lift the vertical shovel vertically and transport it to the unloading point. Through the excavator's hydraulic system, drive the output end of the hydraulic cylinder to retract, causing the clamping plate to loosen the soil, and the soil falls off under its own weight.

[0031] According to a third aspect of the present invention, a control system for a vertical excavator with a small excavation face is provided, comprising:

[0032] Sensor module: Includes position sensor, displacement sensor, angle sensor, pressure sensor and acceleration sensor, used to monitor parameters including position, angle and other parameters during the excavation of the foundation pit;

[0033] Execution module: Connects mechanical components including hydraulic motors, hydraulic cylinders, and excavators, and is used to perform various actions in excavating the foundation pit;

[0034] Control module: Includes processing logic and algorithms, used to process different geological conditions and site conditions during the excavation process, and issue instructions to the execution module to control the execution module to successfully complete the foundation pit excavation operation;

[0035] Input / output module: Connects the sensor module and the control module. It receives data from the sensor module, transmits the data to the control module, and outputs the commands issued by the control module to the execution module.

[0036] According to a fourth aspect of the present invention, a method for controlling a vertical excavator at a small excavation face is provided, comprising:

[0037] T100. Establish a spatial coordinate system, determine the target position coordinates of the shovel, detect the actual position coordinates of the shovel through position sensors and displacement sensors, and control the position of the shovel by using the target position coordinates and the actual position coordinates.

[0038] The T200 uses an angle sensor to monitor the angle at which the shovel cuts downward into the soil and controls this angle to ensure that the shovel always maintains a vertical cutting direction.

[0039] The T300 uses pressure sensors to monitor the resistance encountered by the shovel body during the cutting process due to different geological conditions and operating conditions. Based on the monitored resistance, it controls the force during the cutting process of the vertical shovel.

[0040] T400. Determine the target depth of the foundation pit excavation, and control the excavation depth by measuring the actual depth of the foundation pit excavation and using the target depth and the actual depth.

[0041] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0042] 1. The present invention provides a small-excavation-face vertical excavator, a vertical cutting plate and a soil clamping plate that enable the soil extraction process to be vertical up and down, ensuring that the sidewalls of the foundation pit are vertical, and the length and width dimensions of the foundation pit can be consistent with the foundation dimensions, greatly reducing the excavation face; it solves the problem that a large foundation pit excavation face is prone to damage to various pipelines.

[0043] 2. The present invention provides a small-face vertical excavation shovel, which can make the length and width of the excavated foundation pit consistent with the foundation size, and the side wall of the foundation pit can be directly used as a template, and no backfilling is required after pouring; thus solving the problem that the foundation needs to be backfilled after pouring.

[0044] 3. The present invention provides a vertical excavator with a small excavation face, wherein multiple shovels can be continuously excavated along the length and width of the shovel body, and foundation pits of any length and width can be excavated; thus solving the problem of insufficient versatility.

[0045] 4. The present invention provides a vertical excavator for small excavation faces, which is equipped with a horizontal steering mechanism, allowing the excavator body to be adjusted at any angle on the horizontal plane; thus solving the problem of positioning difficulties.

[0046] 5. The present invention provides a vertical excavator for small excavation faces, wherein the shovel body is a non-enclosed structure on all four sides, and the shovel body can be opened during soil unloading to allow soil clods to fall freely; thus solving the problem of difficult soil unloading. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of a vertical excavator with a small excavation face according to an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the mounting structure of a vertical excavator blade with a small excavation face according to an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the horizontal steering mechanism of a vertical excavator with a small excavation face according to an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the shovel body structure of a vertical shovel with a small excavation face according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram illustrating the steps of using a vertical excavator on a small excavation face according to an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram illustrating the steps of a control method for a vertical excavator with a small excavation face according to an embodiment of the present invention.

[0053] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-mounting component, 11-connecting plate, 12-connecting hole, 2-horizontal steering mechanism, 21-mounting seat, 22-hydraulic motor, 23-rotating base, 3-shovel body, 31-arc guard plate, 32-top plate, 33-vertical cutting plate, 34-soil clamping plate, 35-side plate, 36-shaft, 37-shaft sleeve, 38-hydraulic cylinder. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0055] Example 1

[0056] like Figure 1 As shown, this embodiment of the invention provides a vertical excavator for small excavation faces, including an installation component 1, a horizontal steering mechanism 2 mounted on the installation component 1, and a shovel body 3 located below the horizontal steering mechanism 2. The shovel body 3 includes a top plate 32, an arc-shaped guard plate 31 mounted on the top plate 32, a vertical cutting plate 33 at one end of the top plate 32, a soil clamping plate 34 at the other end, a side plate 35 mounted on the soil clamping plate 34, and a hydraulic cylinder 38 located between the soil clamping plate 34 and the top plate 32. The soil clamping plate 34 and the top plate 32 are rotatably connected. The installation component 1 is connected to the boom of an excavator. The boom of the excavator provides output force to the shovel, causing the shovel to dig into the soil. The hydraulic cylinder 38 then drives the soil clamping plate 34 to clamp the soil, vertically excavating the soil from the pit. It enables vertical soil cutting and extraction; ensures that the length, width and height of the excavated foundation pit are consistent with the rectangular foundation, and the sidewalls of the foundation pit are directly used as the formwork for foundation pouring; thus, foundation construction does not require formwork or backfilling.

[0057] like Figure 2 As shown, the mounting component 1 includes a connecting plate 11. The connecting plates 11 are used in pairs, with the two connecting plates 11 facing each other and arranged in parallel. Multiple connecting holes 12 are opened on the connecting plate 11, which are used to fix the device to the boom of the excavator. The position of the device is adjusted by using the boom of the excavator.

[0058] like Figure 3As shown, the horizontal steering mechanism 2 includes a mounting base 21 at the bottom of the connecting plate 11, a hydraulic motor 22 mounted on the mounting base 21, and a rotating base 23 at the output end of the hydraulic motor 22. The mounting base 21 is a circular steel plate with a circular through hole in its center, and is fixed to the bottom of the two connecting plates 11 by welding. The hydraulic motor 22 is bolted to the mounting base 21, and its output end passes through the circular through hole in the center of the mounting base 21. It is connected to the excavator's hydraulic system, which drives the drive shaft of the hydraulic motor 22 to rotate. The rotating base 23 is fixed to the drive shaft of the hydraulic motor 22. It is a circular steel plate structure of the same size as the mounting base 21, arranged parallel to the mounting base 21, and is driven to rotate by the drive shaft of the hydraulic motor 22.

[0059] like Figure 4 As shown, the top plate 32 is a square rigid plate with notches at both ends of one side. The top plate 32 is connected to the rotating base 23 by an arc-shaped guard plate 31. The arc-shaped guard plates 31 are used in pairs, with a circular arc cross-section. The two arc-shaped guard plates 31 are symmetrically arranged and concentrically positioned, with the two ends of the two arc-shaped guard plates 31 spaced equidistantly. The top of the arc-shaped guard plate 31 is fixedly connected to the rotating base 23, and the bottom is fixedly connected to the top plate 32. The vertical cutting plate 33 is fixed on one side of the bottom surface of the top plate 32. It is a rectangular plate with a sloping bottom end. The soil clamping plate 34 is located on the other side of the bottom surface of the top plate 32, facing the vertical cutting plate 33. The side with the notch is where the soil clamping plate 34 is fixed. A shaft 36 is also fixed on the side of the top plate 32 with the notch, with both ends of the shaft 36 extending to the edge of the notch. The shaft 36 is further provided with bushings 37 at both ends, which are fixedly connected to the soil clamping plate 34, allowing the soil clamping plate 34 to rotate around the side of the top plate 32. A side plate 35 is provided on each side of the soil clamping plate 34; it is a right-angled trapezoidal plate, with its long base parallel to the top plate 32 and its height fixedly connected to the side of the soil clamping plate 34. The top plate 32, the vertical cutting plate 33, the soil clamping plate 34, and the side plate 35 form a five-sided enclosed shell. The fixed end of the hydraulic cylinder 38 is fixedly connected to the top plate 32 and is located in the cavity formed between the two arc-shaped guard plates 31. Its output end is provided with a connector with a through hole. A connecting rod is also provided on the side of the soil clamping plate 34 away from the vertical cutting plate 33. This connecting rod is a curved rod with a certain curvature; one end is fixed to the vertical cutting plate 33, and the other end has a hole and is connected to the connector at the output end of the hydraulic cylinder 38 by a pin.

[0060] The excavator's boom and arm move the device above the excavation pit, ensuring the top plate 32 is parallel to the ground. The hydraulic motor 22 rotates hydraulically, causing the shovel 3 to rotate, aligning the vertical cutting plate 33, clamping plate 34, and side plate 35 with the inner wall of the pit. The excavator's boom and arm then press the shovel 3 into the soil. The hydraulic cylinder 38 drives the clamping plate 34 to clamp closer to the vertical cutting plate 33, lifting the shovel 3 to remove the soil from the pit. This allows the pit's length and width to match the foundation dimensions, solving the problem of large excavation surfaces easily damaging pipelines.

[0061] Example 2

[0062] like Figure 5 As shown in the figure, this embodiment of the invention provides a method for using a vertical excavator on a small excavation face, including the following steps:

[0063] S100, Installation and Connection: The hydraulic motor 22 and hydraulic cylinder 38 are connected to the hydraulic system of the excavator by connecting the connection hole 12 on the mounting part 1 and connecting to the boom of the excavator.

[0064] S200, Positioning: Operate the boom and arm of the excavator to position the vertical blade above the area to be excavated;

[0065] S300, Adjustment: Through the hydraulic system of the excavator, the hydraulic motor 22 is driven to rotate, thereby driving the shovel body 3 to rotate, so that the vertical surface of the vertical cutting plate 33 is aligned with the excavation edge line.

[0066] S400, Cutting in: Operate the excavator's boom and arm to make the shovel body 3 cut vertically into the soil to the designed depth;

[0067] S500, Clamping: Through the hydraulic system of the excavator, the output end of the hydraulic cylinder 38 is extended, which drives the soil clamping plate 34 to clamp the soil.

[0068] S600, Unloading: Operate the boom and arm of the excavator to lift the vertical shovel vertically and transport it to the unloading point. Through the hydraulic system of the excavator, drive the output end of the hydraulic cylinder 38 to retract, which will cause the soil clamping plate 34 to loosen the soil and the soil will fall off under its own weight.

[0069] Preferably, steps S200-S600 constitute one cycle of foundation pit excavation. To ensure the orderly progress of foundation pit operations, steps S200-S600 need to be repeated until all foundation pit excavation operations are completed.

[0070] Example 3

[0071] This invention provides a control system for a vertical excavator with a small excavation face, comprising:

[0072] Sensor module: Includes position sensor, displacement sensor, angle sensor, pressure sensor and acceleration sensor, used to monitor parameters including position, angle and other parameters during the excavation of the foundation pit;

[0073] Execution module: Connects mechanical components including hydraulic motor 22, hydraulic cylinder 38 and excavator, used to perform various actions of excavating the foundation pit;

[0074] Control module: Includes processing logic and algorithms, used to process different geological conditions and site conditions during the excavation process, and issue instructions to the execution module to control the execution module to successfully complete the foundation pit excavation operation;

[0075] Input / output module: Connects the sensor module and the control module. It receives data from the sensor module, transmits the data to the control module, and outputs the commands issued by the control module to the execution module.

[0076] Example 4

[0077] like Figure 6 As shown, this embodiment of the invention provides a method for controlling a vertical excavator blade in a small excavation face, specifically including the following steps:

[0078] T100. Establish a spatial coordinate system, determine the target position coordinates of the shovel body 3, detect the actual position coordinates of the shovel body 3 through position sensors and displacement sensors, and perform position control on the shovel body 3 based on the target position coordinates and the actual position coordinates.

[0079] T200: The angle sensor monitors the angle at which the shovel body 3 cuts downward into the soil and controls the angle to ensure that the shovel body 3 always maintains a perpendicular cutting direction.

[0080] T300 monitors the resistance encountered by the shovel body 3 during the cutting process of the soil due to different geological conditions and operating conditions through pressure sensors, and controls the force of the vertical shovel during the cutting process based on the monitored resistance.

[0081] T400. Determine the target depth of the foundation pit excavation, and control the excavation depth by measuring the actual depth of the foundation pit excavation and using the target depth and the actual depth.

[0082] Step T100 further includes calculating the position error using the target position coordinates and the actual position coordinates, wherein the position error is:

[0083] E position =P target -P current ;

[0084] Among them, Eposition For positional error,

[0085] P target The target location coordinates,

[0086] P current These are the actual location coordinates.

[0087] The control module outputs a position control signal based on the position error. This position control signal is:

[0088]

[0089] Where u(t) is the control signal output by the control module.

[0090] K p The proportional gain for position error.

[0091] K i This is the integral gain of the position error.

[0092] K d The differential gain of the position error,

[0093] E position (t) represents the position error at the current time.

[0094] This is the integral term of the position error at the current moment.

[0095] This is the differential term of the position error at the current moment.

[0096] Step T200 further includes calculating the angle error using the target angle and the actual angle, wherein the angle error is:

[0097] E angle =θ target -θ current ;

[0098] Among them, E angle For angular error,

[0099] θ target From the perspective of the target,

[0100] θ current This is the current perspective.

[0101] The control module outputs an angle control signal based on the angle error. This angle control signal is:

[0102]

[0103] Where v(t) is the angle control signal,

[0104] The mass matrix for angle estimation.

[0105] The Coriolis matrix for angle estimation.

[0106] The gravity vector is the angle estimate.

[0107] For reference acceleration,

[0108] k p The proportional gain for the angle error.

[0109] k d The differential gain of the angle error,

[0110] It is the first derivative of the angle error.

[0111] Step T300 further includes calculating the pressure error using the target pressure and the actual pressure, wherein the pressure error is:

[0112] E force =F target -F current ;

[0113] Among them, E force For force error,

[0114] F target For the target strength,

[0115] F current This represents the current level of effort.

[0116] The control module outputs a force control signal based on the force error. This force control signal is:

[0117] s(t)=-k s sign(E force )-k r E force ;

[0118] Where s(t) is the force control signal.

[0119] k s For sliding mode gain,

[0120] k r To restore gain,

[0121] sign(E force ) is the sign function for the force error.

[0122] Step T400 further includes calculating the depth error using the target depth and the actual depth, wherein the depth error is:

[0123] E depth =D target -D current ;

[0124] Among them, E depth For depth error,

[0125] D target For target depth,

[0126] D current This is the current depth.

[0127] The control module outputs a depth control signal based on the depth error. This depth control signal is:

[0128] z(t) = argmin z J(z);

[0129] Where z(t) is the depth control signal,

[0130] J(z) is the cost function.

[0131] The cost function is:

[0132]

[0133] Where N is the prediction step size,

[0134] ΔD k To predict the depth change at step k,

[0135] α cost coefficient,

[0136] z k This is the input for the k-th step.

[0137] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vertical excavator for small excavation faces, characterized in that, include: Mounting component (1), the mounting component (1) includes a connecting plate (11), the connecting plate (11) is provided with a connecting hole (12); A horizontal steering mechanism (2) is provided on the mounting component (1). The horizontal steering mechanism (2) includes a mounting base (21) at the bottom end of the connecting plate (11), a hydraulic motor (22) on the mounting base (21), and a rotating base (23) provided at the output end of the hydraulic motor (22). The shovel body (3) located below the horizontal steering mechanism (2) includes a top plate (32), an arc-shaped guard plate (31) on the top plate (32), a vertical cutting plate (33) at one end of the top plate (32), a soil clamping plate (34) at the other end of the top plate (32), a side plate (35) on the soil clamping plate (34), and a hydraulic cylinder (38) between the soil clamping plate (34) and the top plate (32) to achieve vertical cutting and vertical soil extraction.

2. The vertical excavator for a small excavation face according to claim 1, characterized in that, The connecting plates (11) are used in pairs, with two connecting plates (11) arranged in parallel opposite directions; The mounting component (1) is fixedly connected to the boom of the excavator by bolts through the connecting hole (12), and the position of the adjustment device is adjusted by the boom of the excavator.

3. The vertical excavator for a small excavation face according to claim 1, characterized in that, The mounting base (21) is a circular steel plate with a circular through hole in the center, and is fixed to the bottom of the two connecting plates (11) by welding. The hydraulic motor (22) is fixed to the mounting base (21) by bolts. Its output end passes through the circular through hole in the center of the mounting base (21) and is connected to the hydraulic system of the excavator. The hydraulic system drives the drive shaft of the hydraulic motor (22) to rotate. The rotating base (23) is fixed on the drive shaft of the hydraulic motor (22). It is a circular steel plate structure of the same size as the mounting base (21) and is arranged parallel to the mounting base (21). It is driven to rotate by the drive shaft of the hydraulic motor (22).

4. A vertical excavator for a small excavation face according to any one of claims 1-3, characterized in that, The top plate (32) is a square rigid plate with notches at both ends of one side; The top plate (32) and the rotating base (23) are connected by an arc-shaped guard plate (31). The arc-shaped guard plate (31) is used in pairs. Its cross-section is arc-shaped. The two arc-shaped guard plates (31) are symmetrically arranged and concentrically arranged. The two ends of the two arc-shaped guard plates (31) are spaced at the same distance. The top of the arc-shaped guard plate (31) is fixedly connected to the rotating base (23), and the bottom is fixedly connected to the top plate (32).

5. A vertical excavator for a small excavation face according to claim 4, characterized in that, The vertical cutting plate (33) is fixed on one side of the bottom surface of the top plate (32), and is a rectangular plate with a sloping bottom end; The soil clamping plate (34) is located on the other side of the bottom surface of the top plate (32), and it is positioned opposite to the vertical cutting plate (33). The side with the notch is used to fix the soil clamping plate (34). A shaft (36) is also fixed to one side of the top plate (32) with a notch, and the two ends of the shaft (36) extend to the edge of the notch; The shaft (36) is also provided with bushings (37) at both ends. The bushings (37) are fixedly connected to the soil clamping plate (34) so ​​that the soil clamping plate (34) can rotate around the side of the top plate (32).

6. A vertical excavator for a small excavation face according to claim 5, characterized in that, The side plate (35) is provided on each side of the soil clamping plate (34). It is a right-angled trapezoidal plate. The long base of the side plate (35) is parallel to the top plate (32), and its height is fixedly connected to the side of the soil clamping plate (34). The top plate (32), vertical cutting plate (33), soil clamping plate (34), and side plate (35) form a five-sided enclosed shell.

7. A vertical excavator for a small excavation face according to claim 6, characterized in that, The fixed end of the hydraulic cylinder (38) is fixedly connected to the top plate (32) and is located in the cavity formed between the two arc-shaped guard plates (31). Its output end is provided with a connector with a through hole. The side of the soil clamping plate (34) away from the vertical cutting plate (33) is also provided with a connecting rod. The connecting rod is a curved rod with a certain curvature. One end of the rod is fixed to the vertical cutting plate (33), and the other end is opened and connected to the connector of the output end of the hydraulic cylinder (38) with a pin.

8. A method of using a vertical excavator for a small excavation face, implemented by applying a vertical excavator for a small excavation face as described in any one of claims 1-7, characterized in that, include: S100, Installation and Connection: The hydraulic motor (22) and hydraulic cylinder (38) are connected to the hydraulic system of the excavator by connecting the connection hole (12) on the mounting part (1); S200, Positioning: Operate the boom and arm of the excavator to position the vertical blade above the area to be excavated; S300, Adjustment: Drive the hydraulic motor (22) to rotate through the hydraulic system of the excavator, so as to drive the shovel body (3) to rotate, so that the vertical surface of the vertical cutting plate (33) is aligned with the excavation edge line; S400, Cutting in: Operate the boom and arm of the excavator to make the shovel (3) cut vertically into the soil to the designed depth; S500, Clamping: Through the hydraulic system of the excavator, the output end of the hydraulic cylinder (38) is extended, which drives the soil clamping plate (34) to clamp the soil. S600, Unloading: Operate the boom and arm of the excavator to lift the vertical shovel vertically and transport the vertical shovel to the unloading point. Through the hydraulic system of the excavator, drive the output end of the hydraulic cylinder (38) to retract, drive the soil clamp (34) to loosen the soil, and the soil falls off under its own weight.

9. A control system for a vertical excavator with a small excavation face, used to control a vertical excavator with a small excavation face as described in any one of claims 1-7, characterized in that, include: Sensor module: Includes position sensor, displacement sensor, angle sensor, pressure sensor and acceleration sensor, used to monitor parameters including position, angle and other parameters during the excavation of the foundation pit; Execution module: Connects mechanical components including hydraulic motor (22), hydraulic cylinder (38) and excavator, and is used to perform various actions of excavating the foundation pit; Control module: Includes processing logic and algorithms, used to process different geological conditions and site conditions during the excavation process, and issue instructions to the execution module to control the execution module to successfully complete the foundation pit excavation operation; Input / output module: Connects the sensor module and the control module. It receives data from the sensor module, transmits the data to the control module, and outputs the commands issued by the control module to the execution module.

10. A control method for a vertical excavator with a small excavation face, implemented using the control system for a vertical excavator with a small excavation face as described in claim 9, characterized in that... include: T100. Establish a spatial coordinate system, determine the target position coordinates of the shovel (3), detect the actual position coordinates of the shovel (3) through the position sensor and displacement sensor, and control the position of the shovel (3) through the target position coordinates and the actual position coordinates. T200: The angle of the shovel (3) cutting downwards in the soil is monitored by the angle sensor and the angle is controlled so that the shovel (3) always maintains a vertical cutting direction; T300: The pressure sensor monitors the resistance of the shovel body (3) during the cutting process of the soil due to different geological conditions and operating conditions. Based on the monitored resistance, the force of the vertical shovel during the cutting process is controlled. T400. Determine the target depth of the foundation pit excavation, and control the excavation depth by measuring the actual depth of the foundation pit excavation and using the target depth and the actual depth.

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