An automated inspection well tamping system and method

Abstract

The present invention discloses an automation-based inspection well tamping system and method, the system includes a clamping and fixing mechanism, a rotating base arranged on the clamping and fixing mechanism, a leveling robot arm and a tamping robot arm arranged on both sides of the rotating base, a scraper arranged at the bottom of the leveling robot arm and a tamping machine arranged at the bottom of the tamping robot arm, and an electrical control unit connected to the rotating base, the leveling robot arm and the tamping robot arm for controlling the horizontal, vertical and rotational movements of the scraper and the tamping machine; the electrical control unit controls the first horizontal power mechanism, the first vertical power mechanism, the second horizontal power mechanism and the second vertical power mechanism to start respectively, and then controls the leveling robot arm and the tamping robot arm to drive the scraper and the tamping machine to extend and retract horizontally and vertically, controls the rotating base to rotate, drives the leveling robot arm and the tamping robot arm to rotate, and then drives the scraper and the tamping machine to rotate, thereby realizing automated leveling and tamping operations of inspection wells in a narrow space environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of building construction, and more specifically, relates to an automation-based inspection well tamping system and method. Background Art

[0002] With the development of urban construction, more and more municipal roads are being built. As ancillary projects to these roads, water supply and drainage pipeline construction has become increasingly important. Tamping around manholes has always been a weak link in water supply and drainage pipeline construction. Existing technologies primarily use machines to fill the soil, followed by manual leveling with shovels, and then manual compaction with a tamping machine. This technology is not suitable for the narrow spaces around manholes, and relies heavily on manual labor, resulting in low efficiency. Furthermore, manual labor is difficult to manage, and various filling and compaction quality issues are common. Summary of the Invention

[0003] In response to the above defects or improvement needs of the prior art, the present invention provides an inspection well tamping system and method based on automation, which respectively controls the bottom gear transmission unit on the rotating base, the first horizontal power mechanism and the first vertical power mechanism on the leveling mechanical arm, and the second horizontal power mechanism and the second vertical power mechanism on the tamping mechanical arm to start through the electrical control unit, and drives the upper base to rotate through the bottom gear transmission unit, drives the leveling mechanical arm and the tamping mechanical arm to perform rotational motion, thereby realizing the rotational motion of the scraper and the tamping machine; the horizontal extension and retraction of the first horizontal arm controlled by the first horizontal power mechanism realizes the horizontal motion of the scraper; the first vertical power mechanism controls the first vertical The arm is extended and retracted vertically to realize the vertical movement of the scraper; the extension and retraction of the second horizontal arm is controlled by the second horizontal power mechanism to realize the horizontal movement of the rammer; the vertical extension and retraction of the second vertical arm is controlled by the second vertical power mechanism to realize the vertical movement of the rammer, thereby realizing the automated leveling and tamping operations of the inspection well in a narrow space environment; the present invention does not require manual labor or large equipment to enter the foundation pit for operation; it can be applied to the leveling and tamping of the narrow space environment around the inspection well; it can solve the problem that traditional equipment cannot be applied when the space is narrow and the working surface is insufficient; the automatic mechanized leveling and tamping operations of the inspection well are realized through electrical control, which can solve the problem of large amount of manual labor of traditional technology.

[0004] In order to achieve the above-mentioned purpose, one aspect of the present invention provides an automated inspection well tamping system, comprising a clamping and fixing mechanism, a rotating base provided on the clamping and fixing mechanism, a leveling robot arm and a tamping robot arm provided on both sides of the rotating base, a scraper provided at the bottom of the leveling robot arm and a tamping machine provided at the bottom of the tamping robot arm, and an electrical control unit connected to the rotating base, the leveling robot arm and the tamping robot arm respectively for controlling the horizontal, vertical and rotational movements of the scraper and the tamping machine; wherein,

[0005] The leveling robot arm includes a first horizontal sleeve and a first horizontal power mechanism provided on the top of the rotating base, a first horizontal arm with one end sleeved inside the first horizontal sleeve, a first vertical sleeve vertically provided at the end of the first horizontal arm, and a first vertical power mechanism provided on the first vertical sleeve; the compacting robot arm includes a second horizontal sleeve and a second horizontal power mechanism provided on the top of the rotating base, a second horizontal arm with one end sleeved inside the second horizontal sleeve, a second vertical sleeve vertically provided at the end of the second horizontal arm, and a second vertical power mechanism provided on the second vertical sleeve;

[0006] According to construction needs, the electrical control unit controls the start-up of the first horizontal power mechanism, the first vertical power mechanism, the second horizontal power mechanism and the second vertical power mechanism respectively, and then controls the leveling robot arm and the tamping robot arm to drive the scraper and the tamping machine to extend and retract horizontally and vertically, controls the rotation of the rotating base, drives the leveling robot arm and the tamping robot arm to rotate, and then drives the scraper and the tamping machine to rotate, thereby realizing the automated leveling and tamping operations of the inspection well in a narrow space environment.

[0007] Furthermore, the clamping and fixing mechanism includes a plurality of square sleeves evenly spaced along the circumference, a bottom supporting square tube provided between two adjacent square sleeves, a horizontal clamping arm provided on the side of the square sleeve away from the center of the circumference, and a vertical clamping arm provided vertically below the end of the horizontal clamping arm;

[0008] One end of the horizontal clamping arm is inserted into the square sleeve and fixed by a pin;

[0009] The square sleeve is provided with a first hole adapted to fit the latch pin, and the horizontal clamping arm is provided with a plurality of second holes adapted to fit the first hole along the longitudinal centerline axis direction;

[0010] The size of the second hole is adapted to the latch;

[0011] The vertical clamping arm is provided with an internal thread hole, which matches the clamping screw.

[0012] Furthermore, the rotating base includes a lower base, an annular rack, and an upper base arranged from bottom to top, and a plurality of bottom gear transmission units evenly spaced circumferentially arranged on the lower base and meshing with the annular rack;

[0013] A third hole is provided in the middle of the lower base; the annular rack is fixed to the upper base; a base connecting screw is provided at the bottom center of the upper base; the other end of the base connecting screw passes through the third hole and is connected with a nut;

[0014] The bottom of the lower base is evenly spaced with a number of vertical supporting square tubes;

[0015] One end of the vertical support square tube is fixed to the lower base, and the other end is fixed to the bottom support square tube on the clamping and fixing mechanism;

[0016] The vertical supporting square tubes and the bottom supporting square tubes are the same in number and corresponding in position;

[0017] The bottom gear transmission unit includes a first gear connecting plate provided on the lower base, a first gear shaft provided vertically through the center of the first gear connecting plate, a first gear and a first gear transmission wheel provided on both sides of the first gear connecting plate on the first gear shaft, and a first motor driving the first gear transmission wheel to rotate;

[0018] The first gear and the first gear transmission wheel are mechanically fixed to the first gear shaft respectively; the first gear transmission wheel is connected to the first motor through the first transmission belt; the first motor is connected to the first motor mounting plate through the first motor fixing bolt; the first motor mounting plate is welded to the bottom supporting square tube; the first motor is connected to the electrical control unit; the leveling robot arm and the tamping robot arm are controlled by the electrical control unit to perform rotational motion, thereby realizing the rotational motion of the scraper and the tamping machine.

[0019] Furthermore, the leveling robot arm further comprises a first vertical arm sleeved on the bottom of the first vertical sleeve; the scraper is arranged on the side surface of the bottom of the first vertical arm;

[0020] The first horizontal sleeve and the first horizontal power mechanism are arranged on the upper base;

[0021] The leveling mechanical arm and the compacting mechanical arm have the same structure and are respectively arranged on both sides of the rotating base;

[0022] The first horizontal sleeve is a square tube with an open top; a first horizontal rack is provided at the top of one end of the first horizontal arm; the length of the first horizontal rack is the same as the length of the first horizontal sleeve; the first vertical sleeve is a square tube with an open side; a first vertical rack is provided on the top side of the first vertical arm; the length of the first vertical rack is the same as the length of the first vertical sleeve;

[0023] The first vertical sleeve is welded to the end of the first horizontal arm; the end of the first horizontal arm is provided with a groove for the first vertical rack to pass through.

[0024] Furthermore, the first horizontal power mechanism includes second gear connecting plates provided on both sides of the top of the first horizontal sleeve, second gear shafts provided on the two second gear connecting plates, a second gear provided on the second gear shaft and a second transmission wheel, and a second motor driving the second transmission wheel to rotate; the second gear is meshed and connected to the first horizontal rack;

[0025] The second gear and the second gear shaft are fixed as a whole through mechanical connection; the second transmission wheel and the second gear shaft are fixed as a whole through mechanical connection; the second transmission wheel is connected to the second motor through the second transmission belt; the second motor is fixed to the upper base through the second motor mounting bolts; the second motor is connected to the electrical control unit; the electrical control unit controls the start of the second motor, and the second motor controls the horizontal extension and retraction of the leveling robot arm, thereby driving the scraper to perform horizontal adjustment movement.

[0026] Furthermore, the first vertical power mechanism includes a third gear connecting plate provided on both sides of the top of the first vertical sleeve, a third gear shaft provided on the two third gear connecting plates, a third gear and a third transmission wheel provided on the third gear shaft, and a third motor driving the third transmission wheel to rotate; the third gear is meshed and connected to the first vertical rack;

[0027] The third gear and the third gear shaft are fixed as a whole through mechanical connection; the third transmission wheel and the third gear shaft are fixed as a whole through mechanical connection; the third transmission wheel is connected to the third motor through the third transmission belt; the third motor is fixed to the third motor mounting plate through the third motor mounting bolt; the third motor mounting plate is fixed to the side of the first vertical sleeve; the third motor is connected to the electrical control unit; the electrical control unit controls the vertical extension and contraction of the leveling robot arm, thereby driving the scraper to perform vertical adjustment movement.

[0028] Furthermore, the compacting mechanical arm further comprises a second vertical arm sleeved on the bottom of the second vertical sleeve; the rammer is arranged on the side of the bottom of the second vertical arm;

[0029] The second horizontal sleeve and the second horizontal power mechanism are arranged on the upper base;

[0030] The second horizontal sleeve is a square tube with an open top; a second horizontal rack is provided at the top of one end of the second horizontal arm; the length of the second horizontal rack is the same as the length of the second horizontal sleeve; the second vertical sleeve is a square tube with an open side; a second vertical rack is provided on the top side of the second vertical arm; the length of the second vertical rack is the same as the length of the second vertical sleeve;

[0031] The second horizontal sleeve is welded to the upper base; the second horizontal rack is welded to the second horizontal arm and then inserted into the second horizontal sleeve; the left end of the second horizontal rack is flush with the left end of the second horizontal sleeve; the second vertical sleeve is fixed to the end of the second horizontal arm; the end of the second horizontal arm is provided with a groove for the second vertical rack to pass through;

[0032] The rammer is fixed to the second vertical arm via a rammer connecting pipe;

[0033] The rammer connecting pipe is an L-shaped square pipe and is provided on the side of the second vertical arm;

[0034] A mounting collar is sleeved on the rammer connecting pipe; the rammer is fixed to the mounting collar.

[0035] Furthermore, the second horizontal power mechanism includes fourth gear connecting plates provided on both sides of the top of the second horizontal sleeve, fourth gear shafts provided on the two fourth gear connecting plates, a fourth gear and a fourth transmission wheel provided on the fourth gear shaft, and a fourth motor driving the fourth transmission wheel to rotate; the fourth gear is meshed and connected to the second horizontal rack;

[0036] The fourth gear and the fourth gear shaft are fixed as a whole through mechanical connection; the fourth transmission wheel and the fourth gear shaft are fixed as a whole through mechanical connection; the fourth transmission wheel is connected to the fourth motor through the fourth transmission belt; the fourth motor is fixed to the upper base through the fourth motor mounting bolt; the fourth motor is connected to the electrical control unit; the electrical control unit controls the horizontal extension and retraction of the tamping robot arm, driving the tamping machine to perform horizontal adjustment movement.

[0037] Furthermore, the second vertical power mechanism includes a fifth gear connecting plate provided on both sides of the top of the second vertical sleeve, a fifth gear shaft provided on the two fifth gear connecting plates, a fifth gear and a fifth transmission wheel provided on the fifth gear shaft, and a fifth motor driving the fifth transmission wheel to rotate; the fifth gear is meshed and connected to the second vertical rack;

[0038] The fifth gear and the fifth gear shaft are fixed as a whole through mechanical connection; the fifth transmission wheel and the fifth gear shaft are fixed as a whole through mechanical connection; the fifth transmission wheel is connected to the fifth motor through the fifth transmission belt; the fifth motor is fixed to the fifth motor mounting plate through the fifth motor mounting bolt; the fifth motor mounting plate is fixed to the side of the second vertical sleeve; the fifth motor is connected to the electrical control unit; the vertical extension and retraction of the tamping robot arm is controlled by the electrical control unit, driving the tamping machine to make vertical adjustment movements.

[0039] A second aspect of the present invention provides a method for tamping a manhole, which is implemented using the manhole tamping system, and includes the following steps:

[0040] S1: Lift the inspection well tamping system to the upper opening of the inspection well. According to the location and size of the inspection well, pull out the horizontal clamping arms on the clamping and fixing mechanism to the appropriate length, insert the pins, and fix the horizontal clamping arms to the bottom supporting square tube; rotate the clamping screws on the vertical clamping arms so that each clamping screw is clamped and fixed to the outer wall of the upper opening of the inspection well;

[0041] S2: According to construction needs, the electrical control unit is used to control the bottom gear transmission unit on the rotating base, the first horizontal power mechanism and the first vertical power mechanism on the leveling robot arm, and the second horizontal power mechanism and the second vertical power mechanism on the compacting robot arm to start respectively. The upper base is driven to rotate by the bottom gear transmission unit, driving the leveling robot arm and the compacting robot arm to rotate, thereby realizing the rotational movement of the scraper and the tamping machine; the horizontal extension and retraction of the first horizontal arm controlled by the first horizontal power mechanism is realized, thereby realizing the horizontal movement of the scraper; the vertical extension and retraction of the first vertical arm controlled by the first vertical power mechanism is realized, thereby realizing the vertical movement of the scraper; the extension and retraction of the second horizontal arm controlled by the second horizontal power mechanism is realized, thereby realizing the horizontal movement of the tamping machine; the vertical extension and retraction of the second vertical arm controlled by the second vertical power mechanism is realized, thereby realizing the automated leveling and tamping operations of the inspection well tamping in a narrow space environment.

[0042] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0043] The inspection well tamping system and method of the present invention are as follows: the electric control unit controls the start of the bottom gear transmission unit provided on the rotating base, the first motor controls the annular rack on the upper base to perform rotational movement, and drives the leveling mechanical arm and the tamping mechanical arm welded on the upper base to perform rotational movement, thereby realizing the rotational movement of the scraper and the tamping machine; the electric control unit controls the start of the first horizontal power mechanism provided on the rotating base, the second motor controls the horizontal extension and retraction of the first horizontal arm, thereby realizing the horizontal extension and retraction of the leveling mechanical arm, thereby driving the scraper to perform horizontal adjustment movement; the electric control unit controls the start of the first vertical power mechanism provided on the first vertical casing, the third motor controls the vertical extension or retraction of the first vertical arm, thereby realizing the vertical extension and retraction of the leveling mechanical arm, thereby driving the scraper to perform vertical adjustment movement; the electric control unit controls the start of the second horizontal power mechanism provided on the rotating base, the fourth motor controls the start of the second horizontal arm, thereby realizing the vertical extension and retraction of the second horizontal mechanical arm, thereby driving the scraper to perform vertical adjustment movement. Extension and retraction realize horizontal extension and retraction of the compacting robot arm, driving the rammer to make horizontal adjustment movements; the electrical control unit controls the start-up of the second vertical power mechanism arranged on the rotating base, and the fifth motor controls the vertical extension and retraction of the second vertical arm, realizing the vertical extension and retraction of the compacting robot arm, driving the rammer to make vertical adjustment movements; thereby realizing the automated tamping operation of the inspection well in an environment where the surrounding space is small and the working surface is insufficient; by setting a leveling robot arm connected to the scraper and a compacting robot arm connected to the rammer, no manual labor or large equipment is required to enter the foundation pit for operation; the problem of small space and insufficient working surface is solved; by setting a leveling robot arm and a scraper, and by controlling the horizontal, vertical and rotational movements of the leveling robot arm, mechanized leveling of soil is realized; by setting an electrical control unit connected to the leveling robot arm and the compacting robot arm, automatic mechanized leveling and compacting operations are realized through electrical control, solving the problem of large amount of manual labor in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the overall structure of an automated inspection well tamping system according to an embodiment of the present invention;

[0045] Figure 2 This is a structural schematic diagram of a clamping and fixing mechanism of a manhole tamping system according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of a partially exploded structure of a clamping and fixing mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the overall structure of a rotating base of an automated inspection well tamping system according to an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the exploded structure of a rotating base of an automated inspection well tamping system according to an embodiment of the present invention;

[0049] Figure 6 This is a structural schematic diagram of a bottom gear transmission unit of an automated inspection well tamping system according to an embodiment of the present invention;

[0050] Figure 7 This is a structural schematic diagram of a leveling robot arm of an automated inspection well tamping system according to an embodiment of the present invention;

[0051] Figure 8 This is a partially enlarged structural schematic diagram of a first horizontal rack of an automated inspection well tamping system according to an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the installation position structure of a first vertical power mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0053] Figure 10 This is a structural schematic diagram of a first horizontal power mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0054] Figure 11 This is a schematic diagram of the installation structure of a first vertical power mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0055] Figure 12 This is a structural schematic diagram of a compacting robot arm of an automated inspection well compacting system according to an embodiment of the present invention;

[0056] Figure 13 This is a schematic structural diagram of a second horizontal rack of an automated inspection well tamping system according to an embodiment of the present invention;

[0057] Figure 14 This is a schematic diagram of the installation structure of a second vertical power mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0058] Figure 15 This is a structural schematic diagram of a second horizontal power mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0059] Figure 16 This is a structural schematic diagram of a second vertical power mechanism of an automated inspection well tamping system according to an embodiment of the present invention;

[0060] Figure 17 This is a schematic diagram of the installation structure of a tamping machine based on an automated inspection well tamping system according to an embodiment of the present invention;

[0061] Figure 18 The present invention is a flowchart of an automated inspection well tamping method.

[0062] In all the drawings, the same reference numerals represent the same technical features, specifically: 1- clamping and fixing mechanism, 101- bottom supporting square tube, 102- latch, 103- square sleeve, 104- horizontal clamping arm, 105- vertical clamping arm, 106- clamping screw, 1031- first hole, 1041- second hole, 1051- internal thread hole, 2- rotating base, 201- lower base, 2011- third hole, 202- annular rack, 203- upper base, 204- base connecting screw, 205- nut, 206- base supporting square tube, 207- first gear connecting plate, 208- first gear shaft, 209-first gear, 210-first gear transmission wheel, 211-first gear transmission belt, 212-first motor, 213-first motor mounting plate, 214-first motor fixing bolt, 3-leveling robot arm, 301-first horizontal sleeve, 302-first horizontal rack, 303 first horizontal arm, 304-first horizontal power mechanism, 3041-second gear connecting plate, 3042-second gear shaft, 3043-second gear, 3044-second gear transmission wheel, 3045-second gear transmission belt, 3046-second motor, 3047-second motor mounting bolt, 305-first vertical sleeve , 306-first vertical rack, 307-first vertical arm, 308-first vertical power mechanism, 3081-third gear connecting plate, 3082 third gear shaft, 3083-third gear, 3084-third gear transmission wheel, 3085-third gear transmission belt, 3086-third motor, 3087-third motor mounting bolt, 3088-third motor mounting plate, 4-tamping robot arm, 401-second horizontal sleeve, 402-second horizontal rack, 403-second horizontal arm, 404-second horizontal power mechanism, 4041-fourth gear connecting plate, 4042-fourth gear shaft, 4043- The fourth gear, 4044-the fourth gear transmission wheel, 4045-the fourth gear transmission belt, 4046-the fourth motor, 4047-the fourth motor mounting bolt, 405-the second vertical sleeve, 406-the second vertical rack, 407-the second vertical arm, 408-the second vertical power structure, 4081-the fifth gear connecting plate, 4082-the fifth gear shaft, 4083-the fifth gear, 4084-the fifth gear transmission wheel, 4085-the fifth transmission belt, 4086-the fifth motor, 4087-the fifth motor mounting bolt, 4088-the fifth motor mounting plate, 409-the rammer connecting pipe, 5-the scraper, 6-the rammer. DETAILED DESCRIPTION

[0063] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0064] like Figures 1-17 As shown, one aspect of the present invention provides an automated inspection well tamping system, comprising a clamping and fixing mechanism 1, a rotating base 2 arranged on the clamping and fixing mechanism 1, a leveling robot arm 3 and a tamping robot arm 4 arranged on both sides of the rotating base 2, a scraper 5 arranged at the bottom of the leveling robot arm 3 and a tamping machine 6 arranged at the bottom of the tamping robot arm 4, and an electrical control unit connected to the rotating base 2, the leveling robot arm 3 and the tamping robot arm 4 for controlling the horizontal, vertical and rotational movements of the scraper 5 and the tamping machine 6; the leveling robot arm 3 and the tamping robot arm 4 have the same structure and are respectively arranged on both sides of the rotating base 2; according to construction needs, The electrical control unit controls the leveling robot arm 3 and the compacting robot arm 4 to drive the scraper 5 and the rammer 6 to extend and retract horizontally and vertically, controls the rotation of the rotating base 2, drives the leveling robot arm 3 and the compacting robot arm 4 to rotate, and then drives the scraper 5 and the rammer 6 to rotate, thereby realizing the automated leveling and tamping operations of the inspection well in a narrow space environment; the present invention is designed for tamping around the inspection well, and is suitable for operations in a narrow space around the inspection well; by setting the leveling robot arm and the compacting robot arm, the soil leveling and soil compacting operations are mechanized, thereby improving the operation efficiency; at the same time, due to the reduction of manual operations, the quality problems caused by manual operations are avoided, and the filling and compaction quality is improved.

[0065] Furthermore, if Figures 1-17As shown, the clamping and fixing mechanism 1 includes a plurality of square sleeves 103 arranged at uniform intervals along the circumference, a bottom supporting square tube 101 arranged between two adjacent square sleeves 103, a horizontal clamping arm 104 arranged on the side of the square sleeve 103 away from the center of the circumference, and a vertical clamping arm 105 vertically arranged below the end of the horizontal clamping arm 104; the rotating base 2 includes a lower base 201, an annular rack 202, and an upper base 203 arranged from bottom to top, and a plurality of bottom gear transmission units meshed with the annular rack 202 and arranged on the lower base 201 at uniform intervals along the circumference; the leveling robot arm 3 includes a first horizontal sleeve 301 and a first horizontal power mechanism 304 arranged on the top of the upper base 203, one end of the first horizontal arm 303 sleeved inside the first horizontal sleeve 301, a first horizontal arm 303 vertically arranged at the The first vertical sleeve 305 at the end of the first horizontal arm 303, the first vertical power mechanism 308 provided on the first vertical sleeve 305, and the first vertical arm 307 sleeved on the bottom inner side of the first vertical sleeve 305; the scraper 5 is provided on the bottom side of the first vertical arm 307; the tamping mechanical arm 4 includes a second horizontal sleeve 401 and a second horizontal power mechanism 404 provided on the top of the upper base 203, a second horizontal arm 403 with one end sleeved inside the second horizontal sleeve 401, a second vertical sleeve 405 vertically provided at the end of the second horizontal arm 403, a second vertical power mechanism 408 provided on the second vertical sleeve 405, and a second vertical arm 407 sleeved on the bottom inner bottom of the second vertical sleeve 405; the tamping machine 6 is provided on the bottom side of the second vertical arm 407.

[0066] Furthermore, if Figures 1-17As shown, the bottom supporting square tube 101 is welded and fixed to the square sleeve 103; one end of the horizontal clamping arm 104 is inserted into the interior of the square sleeve 103 and fixed by the latch 102; when not in use, one end of the horizontal clamping arm 104 is inserted into the interior of the square sleeve 103, and the latch 102 is not installed; when it is needed, the horizontal clamping arm 104 is pulled out of the square sleeve 103 to a suitable length and fixed by the latch 102; the square sleeve 103 is provided with a first hole 1031 that is adapted to the latch 102, and the horizontal clamping arm 104 is provided with a plurality of second holes 1041 that are adapted to the first holes 1031 along the longitudinal centerline axis; the size of the second holes 1041 is adapted to the latch 102; After the horizontal clamping arm 104 is inserted into the square sleeve 103, the pin 102 is inserted into the first hole 1031 and the second hole 1041 to fix it; the vertical clamping arm 105 is welded to the horizontal clamping arm 104; there is an internal threaded hole 1051 on the vertical clamping arm 105, and the internal threaded hole 1051 matches the clamping screw 106; the clamping screw 106 is rotated and screwed into the internal threaded hole 1051; when working, the horizontal clamping arms 104 on the clamping and fixing mechanism 1 are pulled out to the appropriate length according to the position and size of the inspection well, and the pin 102 is inserted to fix the horizontal clamping arm 104 to the bottom supporting square tube 101; the clamping screw 106 on the vertical clamping arm 105 is rotated so that the clamping screws 106 are clamped and fixed to the outer wall of the upper opening of the inspection well.

[0067] Furthermore, if Figures 1-17 As shown, the lower base 201 is a circular iron plate with a third hole 2011 in the middle; the upper base 203 is a circular iron plate; the annular rack 202 is welded to the upper base 203; a base connecting screw 204 is welded to the bottom center of the upper base 203; the other end of the base connecting screw 204 passes through the third hole 2011 and is connected with a nut 205; a number of vertical supporting square tubes 206 are evenly spaced at the bottom of the lower base 201, the upper ends of the vertical supporting square tubes 206 are welded to the lower base 201, and the lower ends are welded to the bottom supporting square tubes 101 on the clamping and fixing mechanism 1; the number of vertical supporting square tubes 206 and the bottom supporting square tubes 101 are the same and the positions correspond.

[0068] Furthermore, if Figures 1-17As shown, the bottom gear transmission unit includes a first gear connecting plate 207 provided on the lower base 201, a first gear shaft 208 vertically passing through the center of the first gear connecting plate 207, a first gear 209 and a first gear transmission wheel 210 provided on both sides of the first gear connecting plate 207 on the first gear shaft 208, and a first motor 212 that drives the first gear transmission wheel 210 to rotate; the first gear 209 and the first gear transmission wheel 210 are mechanically fixed to the first gear shaft 208 respectively; the first gear transmission wheel 210 is connected to the first motor 212 through a first transmission belt 211; the first motor 212 is connected to the first motor mounting plate 213 through a first motor fixing bolt 214; the first motor The machine mounting plate 213 is welded to the bottom supporting square tube 101; the first motor 212 is connected to the electrical control unit; the first motor 212 is controlled to start by the electrical control unit, and the first gear transmission wheel 210 is controlled to transmit by the first motor 212, and the first gear transmission wheel 210 is driven to rotate by the first transmission belt 211; the first gear transmission wheel 210 drives the first gear 209 to rotate; the first gear 209 drives the annular rack 202 on the upper base 203 to rotate; the annular rack 202 is welded to the upper base 203, and the two rotate together; the rotation of the upper base 203 drives the leveling robot arm 3 and the tamping robot arm 4 fixed on the upper base 203 to rotate, thereby realizing the rotation of the scraper 5 and the tamping machine 6.

[0069] Furthermore, if Figures 1-17 As shown, the first horizontal sleeve 301 is a square tube with an open top; a first horizontal rack 302 is provided on the top of one end of the first horizontal arm 303; the length of the first horizontal rack 302 is the same as the length of the first horizontal sleeve 301; the first vertical sleeve 305 is a square tube with an open side; a first vertical rack 306 is provided on the top side of the first vertical arm 307; the length of the first vertical rack 306 is the same as the length of the first vertical sleeve 305; the first horizontal sleeve 301 is welded to the upper base 203; the first horizontal rack 302 is welded to the first horizontal arm 303 and then inserted into the first horizontal sleeve 301; The right end of the first horizontal rack 302 is flush with the right end of the first horizontal sleeve 301; the first vertical sleeve 305 is welded to the end of the first horizontal arm 303; the first vertical rack 306 is welded to the first vertical arm 307 and then inserted into the first vertical sleeve 305; the upper end of the first vertical rack 306 is flush with the upper end of the first vertical sleeve 305; the end of the first horizontal arm 303 is provided with a groove for the first vertical rack 306 to pass through; the scraper 5 is welded to the lower end of the first vertical arm 307; the first vertical rack 306 is provided on the side of the first vertical sleeve 305 close to the first horizontal arm 303.

[0070] Furthermore, if Figures 1-17 As shown, the first horizontal power mechanism 304 includes a second gear connecting plate 3041 provided on both sides of the top of the first horizontal sleeve 301, a second gear shaft 3042 provided on the two second gear connecting plates 3041, a second gear 3043 provided on the second gear shaft 3042 and a second transmission wheel 3044, and a second motor 3046 that drives the second transmission wheel 3044 to rotate; the second gear 3043 is meshed with the first horizontal rack 302; the second gear connecting plate 3041 has a total of two pieces, a circular hole is provided on the upper part, the diameter of the circular hole matches the second gear shaft 3042, and the lower part of the second gear connecting plate 3041 is welded to the top of the first horizontal sleeve 301; the second gear shaft 3042 passes through the hole of the second gear connecting plate 3041, and the second gear shaft 3042 is connected to the second gear connecting plate 3041 through a bearing to keep the second gear shaft 3042 able to rotate; the second gear 3043 is meshed with the second gear shaft 3043 042 is fixed as a whole through mechanical connection; the second transmission wheel 3044 and the second gear shaft 3042 are fixed as a whole through mechanical connection; the second transmission wheel 3044 is connected to the second motor 3046 through the second transmission belt 3045; the second motor 3046 is fixed to the upper base 203 through the second motor mounting bolt 3047; the second motor 3046 is connected to the electrical control unit; the second motor 3046 is controlled to start by the electrical control unit, and the second transmission belt 3045 is controlled to transmit by the second motor 3046, and the second transmission wheel 3044 is driven to rotate by the second transmission belt 3045; the second transmission wheel 3044 drives the second gear 3043 to rotate; the second gear 3043 drives the first horizontal rack 302 to extend or retract; the first horizontal rack 302 is welded to the first horizontal arm 303, thereby driving the first horizontal arm 303 to extend or retract, realizing the horizontal extension and retraction of the leveling robot arm 3, and driving the scraper 5 to make horizontal adjustment movements.

[0071] Furthermore, if Figures 1-17As shown, the first vertical power mechanism 308 includes a third gear connecting plate 3081 provided on both sides of the top of the first vertical sleeve 305, a third gear shaft 3082 provided on the two third gear connecting plates 3081, a third gear 3083 and a third transmission wheel 3084 provided on the third gear shaft 3082, and a third motor 3086 for driving the third transmission wheel 3084 to rotate; the third gear 3083 is meshed and connected with the first vertical rack 306; the third gear There are two connecting plates 3081, each with a circular hole on the top. The diameter of the circular hole matches the third gear shaft 3082. The end of the third gear connecting plate 3081 is welded to the first vertical sleeve 305. The third gear shaft 3082 passes through the hole of the third gear connecting plate 3081. The third gear shaft 3082 is connected to the third gear connecting plate 3081 through a bearing to keep the third gear shaft 3082 able to rotate. The third gear 3083 is fixed to the third gear shaft 3082 as a whole through a mechanical connection. The driving wheel 3084 and the third gear shaft 3082 are fixed as a whole through a mechanical connection; the third transmission wheel 3084 is connected to the third motor 3086 via a third transmission belt 3085; the third motor 3086 is fixed to the third motor mounting plate 3088 via third motor mounting bolts 3087; the third motor mounting plate 3088 is welded and fixed to the side of the first vertical sleeve 305; the third motor 3086 is connected to the electrical control unit; the electrical control unit controls the activation of the third motor 3086, which in turn controls the transmission of the third transmission belt 3085, thereby driving the third transmission wheel 3084 to rotate; the third transmission wheel 3084 drives the third gear 3083 to rotate; the third gear 3083 drives the first vertical rack 306 to extend or retract; the first vertical rack 306 is welded to the first vertical arm 307, thereby driving the first vertical arm 307 to extend or retract, thereby achieving vertical extension and retraction of the leveling robot arm 3 and driving the scraper 5 to perform vertical adjustment movement.

[0072] Furthermore, if Figures 1-17As shown, the second horizontal sleeve 401 is a square tube with an open top; a second horizontal rack 402 is provided on the top of one end of the second horizontal arm 403; the length of the second horizontal rack 402 is the same as the length of the second horizontal sleeve 401; the second vertical sleeve 405 is a square tube with an open side; a second vertical rack 406 is provided on the top side of the second vertical arm 407; the length of the second vertical rack 406 is the same as the length of the second vertical sleeve 405; the second horizontal sleeve 401 is welded to the upper base 203; the second horizontal rack 402 is welded to the second horizontal arm 403 and then inserted into the second horizontal sleeve 401; the left end of the second horizontal rack 402 is flush with the left end of the second horizontal sleeve 401; the second vertical sleeve 405 is aligned with the second horizontal arm 40 3 is welded; the second vertical rack 406 is welded to the second vertical arm 407 and then inserted into the second vertical sleeve 405; the upper end of the second vertical rack 406 is flush with the upper end of the second vertical sleeve 405; the end of the second horizontal arm 403 is provided with a groove for the second vertical rack 406 to pass through; the ramming machine 6 is fixed to the second vertical arm 407 through a ramming machine connecting pipe 409; the ramming machine connecting pipe 409 is an L-shaped square tube, which is provided on the side of the second vertical arm 407 and one end is welded to the second vertical arm 407; the L-shaped space faces the second vertical arm 407; the ramming machine 6 is installed on the side of the ramming machine connecting pipe 409 away from the second vertical arm 407; the second vertical rack 406 is provided on the side of the second vertical sleeve 405 close to the second horizontal arm 403.

[0073] Furthermore, if Figures 1-17As shown, the second horizontal power mechanism 404 includes a fourth gear connecting plate 4041 provided on both sides of the top of the second horizontal sleeve 401, a fourth gear shaft 4042 provided on the two fourth gear connecting plates 4041, a fourth gear 4043 and a fourth transmission wheel 4044 provided on the fourth gear shaft 4042, and a fourth motor 4046 that drives the fourth transmission wheel 4044 to rotate; the fourth gear 4043 is meshed and connected with the second horizontal rack 402; the fourth gear connecting plate 4041 has a total of two pieces, a circular hole is provided on the upper part, the diameter of the circular hole matches the fourth gear shaft 4042, and the lower part of the fourth gear connecting plate 4041 is welded to the top of the second horizontal sleeve 401; the fourth gear shaft 4042 passes through the hole of the fourth gear connecting plate 4041, and the fourth gear shaft 4042 is connected to the fourth gear connecting plate 4041 through a bearing to keep the fourth gear shaft 4042 able to rotate; the fourth gear 4043 is meshed with the fourth gear shaft 4042 042 is fixed as a whole through mechanical connection; the fourth transmission wheel 4044 and the fourth gear shaft 4042 are fixed as a whole through mechanical connection; the fourth transmission wheel 4044 is connected to the fourth motor 4046 through the fourth transmission belt 4045; the fourth motor 4046 is fixed to the upper base 203 through the fourth motor mounting bolt 4047; the fourth motor 4046 is connected to the electrical control unit; the fourth motor 4046 is controlled to start by the electrical control unit, and the fourth transmission belt 4045 is controlled to transmit by the fourth motor 4046, and the fourth transmission wheel 4044 is driven to rotate through the fourth transmission belt 4045; the fourth transmission wheel 4044 drives the fourth gear 4043 to rotate; the fourth gear 4043 drives the second horizontal rack 402 to extend or retract; the second horizontal rack 402 is welded to the second horizontal arm 403, thereby driving the second horizontal arm 403 to extend or retract, realizing the horizontal extension and retraction of the tamping robot arm 4, and driving the tamping machine 6 to make horizontal adjustment movements.

[0074] Furthermore, if Figures 1-17As shown, the second vertical power mechanism 408 includes a fifth gear connecting plate 4081 provided on both sides of the top of the second vertical sleeve 405, a fifth gear shaft 4082 provided on the two fifth gear connecting plates 4081, a fifth gear 4083 and a fifth transmission wheel 4084 provided on the fifth gear shaft 4082, and a fifth motor 4086 for driving the fifth transmission wheel 4084 to rotate; the fifth gear 4083 is meshed and connected with the second vertical rack 406; the fifth gear There are two connecting plates 4081, each with a circular hole on the top. The diameter of the circular hole matches the fifth gear shaft 4082. The end of the fifth gear connecting plate 4081 is welded to the second vertical sleeve 405; the fifth gear shaft 4082 passes through the hole of the fifth gear connecting plate 4081. The fifth gear shaft 4082 is connected to the fifth gear connecting plate 4081 through a bearing to keep the fifth gear shaft 4082 able to rotate; the fifth gear 4083 and the fifth gear shaft 4082 are fixed as a whole through a mechanical connection; the fifth gear The driving wheel 4084 and the fifth gear shaft 4082 are fixed as a whole through mechanical connection; the fifth transmission wheel 4084 is connected to the fifth motor 4086 through the fifth transmission belt 4085; the fifth motor 4086 is fixed to the fifth motor mounting plate 4088 through the fifth motor mounting bolt 4087; the fifth motor mounting plate 4088 is welded and fixed to the side of the second vertical sleeve 405; the fifth motor 4086 is connected to the electrical control unit; the fifth motor 4086 is started by the electrical control unit, and the fifth transmission belt 4085 is controlled by the fifth motor 4086 to drive, and the fifth transmission belt 4085 drives the fifth transmission wheel 4084 to rotate; the fifth transmission wheel 4084 drives the fifth gear 4083 to rotate; the fifth gear 4083 drives the second vertical rack 406 to extend or retract; the second vertical rack 406 is welded to the second vertical arm 407, thereby driving the second vertical arm 407 to extend or retract, realizing the vertical extension and retraction of the tamping robot arm 4, and driving the tamping machine 6 to make vertical adjustment movements.

[0075] Furthermore, if Figures 1-17 As shown, a mounting collar 4091 is provided on the rammer connecting pipe 409; the rammer 6 is fixed to the mounting collar 4091; the rammer 6 is a vertical rammer, which is a finished product on the market; the mounting collar 4091 is a round steel bent into a U shape, and both ends of the U shape are welded to the vertical rammer.

[0076] like Figure 18 As shown, the second aspect of the present invention provides a method for tamping a manhole, which is implemented by applying the manhole tamping system, and includes the following steps:

[0077] S1: Lift the inspection well tamping system to the upper opening of the inspection well, pull out each horizontal clamping arm 104 on the clamping and fixing mechanism 1 to an appropriate length according to the position and size of the inspection well, insert the latch 102, and fix the horizontal clamping arm 104 to the bottom supporting square tube 101; rotate the clamping screw 106 on the vertical clamping arm 105 so that each clamping screw 106 is clamped and fixed to the outer wall of the upper opening of the inspection well;

[0078] S2: According to construction needs, the electrical control unit is used to control the bottom gear transmission unit on the rotating base 2, the first horizontal power mechanism 304 and the first vertical power mechanism 308 on the leveling robot arm 3, and the second horizontal power mechanism 404 and the second vertical power mechanism 408 on the tamping robot arm 4 to start respectively, and the upper base 203 is driven to rotate by the bottom gear transmission unit, driving the leveling robot arm 3 and the tamping robot arm 4 to rotate, thereby realizing the rotational movement of the scraper 5 and the tamping machine 6; the horizontal extension and retraction of the first horizontal arm 303 controlled by the first horizontal power mechanism 304 is realized, thereby realizing the horizontal movement of the scraper 5; the vertical extension and retraction of the first vertical arm 307 controlled by the first vertical power mechanism 308 is realized, thereby realizing the vertical movement of the scraper 5; the extension and retraction of the second horizontal arm 403 controlled by the second horizontal power mechanism 404 is realized, thereby realizing the horizontal movement of the tamping machine 6; the vertical extension and retraction of the second vertical arm 407 controlled by the second vertical power mechanism 408 is realized, thereby realizing the automated leveling and tamping operations of the inspection well tamping in a narrow space environment.

[0079] Furthermore, in step S2, the upper base 203 is driven to rotate by the bottom gear transmission unit, driving the leveling robot arm 3 and the tamping robot arm 4 to perform rotational motion, thereby realizing the rotational motion of the scraper 5 and the tamping machine 6; including: controlling the bottom gear transmission unit provided on the rotating base 2 to start by the electrical control unit, controlling the transmission of the first gear transmission wheel 210 by the first motor 212, and driving the first gear transmission wheel 210 to rotate by the first transmission belt 211; the first gear transmission wheel 210 drives the first gear 209 to rotate; the first gear 209 drives the annular rack 202 on the upper base 203 to perform rotational motion; the annular rack 202 is welded to the upper base 203 and rotates together; the upper base 203 drives the leveling robot arm 3 and the tamping robot arm 4 welded on the upper base 203 to perform rotational motion, thereby realizing the rotational motion of the scraper 5 and the tamping machine 6.

[0080] Furthermore, in step S2, the horizontal movement of the scraper 5 is achieved by horizontal extension and retraction of the first horizontal arm 303 controlled by the first horizontal power mechanism 304; including: controlling the first horizontal power mechanism 304 provided on the rotating base 2 to start by the electrical control unit, controlling the transmission of the second transmission belt 3045 by the second motor 3046, and driving the second transmission wheel 3044 to rotate by the second transmission belt 3045; the second transmission wheel 3044 drives the second gear 3043 to rotate; the second gear 3043 drives the first horizontal rack 302 to extend or retract; the first horizontal rack 302 is welded to the first horizontal arm 303, thereby driving the first horizontal arm 303 to extend or retract, realizing the horizontal extension and retraction of the leveling robot arm 3, and driving the scraper 5 to make horizontal adjustment movements.

[0081] Furthermore, in step S2, the first vertical arm 307 is controlled to be vertically extended and retracted by the first vertical power mechanism 308 to realize the vertical movement of the scraper 5; including: the first vertical power mechanism 308 provided on the first vertical sleeve 305 is controlled to start by the electrical control unit, the third transmission belt 3085 is controlled to be transmitted by the third motor 3086, and the third transmission belt 3085 is driven to rotate by the third transmission belt 3085; the third transmission wheel 3084 drives the third gear 3083 to rotate; the third gear 3083 drives the first vertical rack 306 to extend or retract; the first vertical rack 306 is welded to the first vertical arm 307, thereby driving the first vertical arm 307 to extend or retract vertically, realizing the vertical extension and retraction of the leveling robot arm 3, and driving the scraper 5 to make vertical adjustment movement.

[0082] Furthermore, in step S2, the extension and retraction of the second horizontal arm 403 is controlled by the second horizontal power mechanism 404 to realize the horizontal movement of the rammer 6; including: controlling the second horizontal power mechanism 404 provided on the rotating base 2 to start by the electrical control unit, controlling the transmission of the fourth transmission belt 4045 by the fourth motor 4046, and driving the fourth transmission wheel 4044 to rotate by the fourth transmission belt 4045; the fourth transmission wheel 4044 drives the fourth gear 4043 to rotate; the fourth gear 4043 drives the second horizontal rack 402 to extend or retract; the second horizontal rack 402 is welded to the second horizontal arm 403, thereby driving the second horizontal arm 403 to extend or retract, realizing the horizontal extension and retraction of the tamping robot arm 4, and driving the rammer 6 to make horizontal adjustment movements.

[0083] Furthermore, in step S2, the vertical extension and retraction of the second vertical arm 407 is controlled by the second vertical power mechanism 408 to realize the vertical movement of the rammer 6, including: the second vertical power mechanism 408 provided on the rotating base 2 is controlled to start by the electrical control unit, the fifth transmission belt 4085 is controlled to transmit by the fifth motor 4086, and the fifth transmission belt 4085 drives the fifth transmission wheel 4084 to rotate; the fifth transmission wheel 4084 drives the fifth gear 4083 to rotate; the fifth gear 4083 drives the second vertical rack 406 to extend or retract; the second vertical rack 406 is welded to the second vertical arm 407, thereby driving the second vertical arm 407 to extend or retract, realizing the vertical extension and retraction of the compacting robot arm 4, and driving the rammer 6 to make vertical adjustment movements.

[0084] In order to solve the problem of insufficient working surface due to narrow space around the inspection well, the present invention provides a leveling robot arm connected to a scraper and a compacting robot arm connected to a rammer, which eliminates the need for manual labor or large equipment to enter the foundation pit for operations; it solves the problem of insufficient working surface due to narrow space; in order to solve the problem that soil materials cannot be leveled mechanically, a leveling robot arm and a scraper are provided, and the mechanized leveling of soil materials is achieved by controlling the horizontal, vertical and rotational movements of the leveling robot arm; in order to solve the problem of large manual labor workload, an electrical control unit connected to the leveling robot arm and the compacting robot arm is provided, and automatic mechanized leveling and compacting operations are achieved through electrical control, which solves the problem of large manual labor workload in the prior art.

[0085] It will be easily understood by those skilled in the art that the above description is only 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 in the scope of protection of the present invention.

Claims

1. An automated inspection well tamping system, characterized by: The invention comprises a clamping and fixing mechanism (1), a rotating base (2) arranged on the clamping and fixing mechanism (1), a leveling mechanical arm (3) and a tamping mechanical arm (4) arranged on both sides of the rotating base (2), a scraper (5) arranged at the bottom of the leveling mechanical arm (3) and a tamping machine (6) arranged at the bottom of the tamping mechanical arm (4), and an electrical control unit connected to the rotating base (2), the leveling mechanical arm (3) and the tamping mechanical arm (4) for controlling the horizontal, vertical and rotational movements of the scraper (5) and the tamping machine (6); wherein, The leveling robot arm (3) includes a first horizontal sleeve (301) and a first horizontal power mechanism (304) provided on the top of the rotating base (2), a first horizontal arm (303) with one end sleeved inside the first horizontal sleeve (301), a first vertical sleeve (305) vertically provided at the end of the first horizontal arm (303), and a first vertical power mechanism (308) provided on the first vertical sleeve (305); the compacting robot arm (4) includes a second horizontal sleeve (401) and a second horizontal power mechanism (404) provided on the top of the rotating base (2), a second horizontal arm (403) with one end sleeved inside the second horizontal sleeve (401), a second vertical sleeve (405) vertically provided at the end of the second horizontal arm (403), and a second vertical power mechanism (408) provided on the second vertical sleeve (405); According to construction needs, the electrical control unit controls the first horizontal power mechanism (304), the first vertical power mechanism (308), the second horizontal power mechanism (404) and the second vertical power mechanism (408) to start, thereby controlling the leveling mechanical arm (3) and the tamping mechanical arm (4) to drive the scraper (5) and the tamping machine (6) to perform horizontal and vertical extension and contraction, and controls the rotating base (2) to rotate, thereby driving the leveling mechanical arm (3) and the tamping mechanical arm (4) to rotate, thereby driving the scraper (5) and the tamping machine (6) to perform rotational movement, thereby realizing the automated leveling and tamping operation of the inspection well in a narrow space environment.

2. The automated inspection well tamping system according to claim 1, characterized in that: The clamping and fixing mechanism (1) comprises a plurality of square sleeves (103) arranged at even intervals along the circumference, a bottom supporting square tube (101) provided between two adjacent square sleeves (103), a horizontal clamping arm (104) provided on the side of the square sleeves (103) away from the circumferential center, and a vertical clamping arm (105) provided vertically below the end of the horizontal clamping arm (104); One end of the horizontal clamping arm (104) is inserted into the interior of the square sleeve (103) and fixed by a latch (102); The square sleeve (103) is provided with a first hole (1031) adapted to the latch (102), and the horizontal clamping arm (104) is provided with a plurality of second holes (1041) adapted to the first hole (1031) along the longitudinal centerline axis direction; The size of the second hole (1041) is adapted to the latch (102); An internal threaded hole (1051) is provided on the vertical clamping arm (105), and the internal threaded hole (1051) matches the clamping screw (106).

3. The automated inspection well tamping system according to claim 2, characterized in that: The rotating base (2) comprises a lower base (201), an annular rack (202), and an upper base (203) arranged from bottom to top, and a plurality of bottom gear transmission units arranged on the lower base (201) at even intervals in the circumferential direction and meshing with the annular rack (202); A third hole (2011) is provided in the middle of the lower base (201); the annular rack (202) is fixed to the upper base (203); a base connecting screw (204) is provided at the bottom center of the upper base (203); the other end of the base connecting screw (204) passes through the third hole (2011) and is connected using a nut (205); The bottom of the lower base (201) is evenly spaced and provided with a plurality of vertical supporting square tubes (206); One end of the vertical support square tube (206) is fixed to the lower base (201), and the other end is fixed to the bottom support square tube (101) on the clamping and fixing mechanism (1); The vertical supporting square tubes (206) and the bottom supporting square tubes (101) are the same in number and have corresponding positions; The bottom gear transmission unit comprises a first gear connecting plate (207) provided on the lower base (201), a first gear shaft (208) vertically passing through the center of the first gear connecting plate (207), a first gear (209) and a first gear transmission wheel (210) provided on both sides of the first gear connecting plate (207) on the first gear shaft (208), and a first motor (212) for driving the first gear transmission wheel (210) to rotate; The first gear (209) and the first gear transmission wheel (210) are respectively mechanically fixed to the first gear shaft (208); the first gear transmission wheel (210) is connected to the first motor (212) via a first transmission belt (211); the first motor (212) is connected to the first motor mounting plate (213) via a first motor fixing bolt (214); the first motor mounting plate (213) is welded to the bottom supporting square tube (101); the first motor (212) is connected to the electrical control unit; the electrical control unit controls the leveling mechanical arm (3) and the tamping mechanical arm (4) to perform rotational motion, thereby realizing the rotational motion of the scraper (5) and the tamping machine (6).

4. The automated inspection well tamping system according to claim 3, characterized in that: The leveling mechanical arm (3) further comprises a first vertical arm (307) sleeved on the bottom of the first vertical sleeve (305); the scraper (5) is arranged on the bottom side of the first vertical arm (307); The first horizontal sleeve (301) and the first horizontal power mechanism (304) are arranged on the upper base (203); The leveling mechanical arm (3) and the compacting mechanical arm (4) have the same structure and are respectively arranged on both sides of the rotating base (2); The first horizontal sleeve (301) is a square tube with an open top; a first horizontal rack (302) is provided on the top of one end of the first horizontal arm (303); the length of the first horizontal rack (302) is the same as the length of the first horizontal sleeve (301); the first vertical sleeve (305) is a square tube with an open side; a first vertical rack (306) is provided on the top side of the first vertical arm (307); the length of the first vertical rack (306) is the same as the length of the first vertical sleeve (305); The first vertical sleeve (305) is welded to the end of the first horizontal arm (303); the end of the first horizontal arm (303) is provided with a groove for the first vertical rack (306) to pass through.

5. The automated inspection well tamping system according to claim 4, characterized in that: The first horizontal power mechanism (304) comprises second gear connecting plates (3041) provided on both sides of the top of the first horizontal sleeve (301), second gear shafts (3042) provided on the two second gear connecting plates (3041), a second gear (3043) and a second transmission wheel (3044) provided on the second gear shaft (3042), and a second motor (3046) for driving the second transmission wheel (3044) to rotate; the second gear (3043) is meshedly connected to the first horizontal rack (302); The second gear (3043) and the second gear shaft (3042) are fixed as a whole through a mechanical connection; the second transmission wheel (3044) and the second gear shaft (3042) are fixed as a whole through a mechanical connection; the second transmission wheel (3044) is connected to the second motor (3046) through a second transmission belt (3045); the second motor (3046) is fixed to the upper base (203) through a second motor mounting bolt (3047); the second motor (3046) is connected to the electrical control unit; the electrical control unit controls the start-up of the second motor (3046), and the second motor (3046) controls the horizontal extension and retraction of the leveling robot arm (3), thereby driving the scraper (5) to perform horizontal adjustment movement.

6. The automated inspection well tamping system according to claim 5, characterized in that: The first vertical power mechanism (308) comprises a third gear connecting plate (3081) provided on both sides of the top of the first vertical sleeve (305), a third gear shaft (3082) provided on the two third gear connecting plates (3081), a third gear (3083) and a third transmission wheel (3084) provided on the third gear shaft (3082), and a third motor (3086) for driving the third transmission wheel (3084) to rotate; the third gear (3083) is meshedly connected to the first vertical rack (306); The third gear (3083) and the third gear shaft (3082) are fixed as a whole through a mechanical connection; the third transmission wheel (3084) and the third gear shaft (3082) are fixed as a whole through a mechanical connection; the third transmission wheel (3084) is connected to the third motor (3086) through a third transmission belt (3085); the third motor (3086) is fixed to the third motor mounting plate (3088) through a third motor mounting bolt (3087); the third motor mounting plate (3088) is fixed to the side of the first vertical sleeve (305); the third motor (3086) is connected to the electrical control unit; the electrical control unit controls the vertical extension and contraction of the leveling robot arm (3), thereby driving the scraper (5) to perform vertical adjustment movement.

7. The automated inspection well tamping system according to claim 4, characterized in that: The compacting mechanical arm (4) further comprises a second vertical arm (407) sleeved on the bottom of the second vertical sleeve (405); the tamping machine (6) is arranged on the bottom side of the second vertical arm (407); The second horizontal sleeve (401) and the second horizontal power mechanism (404) are arranged on the upper base (203); The second horizontal sleeve (401) is a square tube with an open top; a second horizontal rack (402) is provided on the top of one end of the second horizontal arm (403); the length of the second horizontal rack (402) is the same as the length of the second horizontal sleeve (401); the second vertical sleeve (405) is a square tube with an open side; a second vertical rack (406) is provided on the top side of the second vertical arm (407); the length of the second vertical rack (406) is the same as the length of the second vertical sleeve (405); The second horizontal sleeve (401) is welded to the upper base (203); the second horizontal rack (402) is welded to the second horizontal arm (403) and then inserted into the second horizontal sleeve (401); the left end of the second horizontal rack (402) is flush with the left end of the second horizontal sleeve (401); the second vertical sleeve (405) is fixed to the end of the second horizontal arm (403); the end of the second horizontal arm (403) is provided with a groove for the second vertical rack (406) to pass through; The tamping machine (6) is fixed to the second vertical arm (407) via a tamping machine connecting pipe (409); The tamping machine connecting pipe (409) is an L-shaped square pipe and is provided on the side of the second vertical arm (407); A mounting collar (4091) is sleeved on the rammer connecting pipe (409); the rammer (6) is fixed to the mounting collar (4091).

8. The automated inspection well tamping system according to claim 7, characterized in that: The second horizontal power mechanism (404) comprises fourth gear connecting plates (4041) provided on both sides of the top of the second horizontal sleeve (401), a fourth gear shaft (4042) provided on the two fourth gear connecting plates (4041), a fourth gear (4043) and a fourth transmission wheel (4044) provided on the fourth gear shaft (4042), and a fourth motor (4046) for driving the fourth transmission wheel (4044) to rotate; the fourth gear (4043) is meshedly connected to the second horizontal rack (402); The fourth gear (4043) and the fourth gear shaft (4042) are fixed as a whole through a mechanical connection; the fourth transmission wheel (4044) and the fourth gear shaft (4042) are fixed as a whole through a mechanical connection; the fourth transmission wheel (4044) is connected to the fourth motor (4046) through a fourth transmission belt (4045); the fourth motor (4046) is fixed to the upper base (203) through a fourth motor mounting bolt (4047); the fourth motor (4046) is connected to the electrical control unit; the electrical control unit controls the horizontal extension and contraction of the compacting mechanical arm (4), thereby driving the compacting machine (6) to perform horizontal adjustment movement.

9. The automated inspection well tamping system according to claim 8, characterized in that: The second vertical power mechanism (408) comprises a fifth gear connecting plate (4081) provided on both sides of the top of the second vertical sleeve (405), a fifth gear rotating shaft (4082) provided on the two fifth gear connecting plates (4081), a fifth gear (4083) and a fifth transmission wheel (4084) provided on the fifth gear rotating shaft (4082), and a fifth motor (4086) for driving the fifth transmission wheel (4084) to rotate; the fifth gear (4083) and the second vertical rack (406) are meshed and connected; The fifth gear (4083) and the fifth gear shaft (4082) are fixed as a whole through a mechanical connection; the fifth transmission wheel (4084) and the fifth gear shaft (4082) are fixed as a whole through a mechanical connection; the fifth transmission wheel (4084) is connected to the fifth motor (4086) through a fifth transmission belt (4085); the fifth motor (4086) is fixed to the fifth motor mounting plate (4088) through a fifth motor mounting bolt (4087); the fifth motor mounting plate (4088) is fixed to the side of the second vertical sleeve (405); the fifth motor (4086) is connected to the electrical control unit; the electrical control unit controls the vertical extension and contraction of the compacting mechanical arm (4) to drive the compacting machine (6) to perform vertical adjustment movement.

10. A method for tamping a manhole, characterized in that: The method is implemented by using the inspection well ramming system according to claim 9, comprising the following steps: S1: The inspection well tamping system is hoisted to the upper opening of the inspection well. According to the position and size of the inspection well, each horizontal clamping arm (104) on the clamping and fixing mechanism (1) is pulled out to an appropriate length, and the pin (102) is inserted to fix the horizontal clamping arm (104) to the bottom supporting square tube (101); the clamping screw (106) on the vertical clamping arm (105) is rotated so that each clamping screw (106) is clamped and fixed to the outer wall of the upper opening of the inspection well; S2: According to the construction needs, the electrical control unit is used to control the bottom gear transmission unit on the rotating base (2), the first horizontal power mechanism (304) and the first vertical power mechanism (308) on the leveling mechanical arm (3), and the second horizontal power mechanism (404) and the second vertical power mechanism (408) on the tamping mechanical arm (4) to start respectively, and the bottom gear transmission unit is used to drive the upper base (203) to rotate, driving the leveling mechanical arm (3) and the tamping mechanical arm (4) to rotate, thereby realizing the rotation of the scraper (5) and the tamping machine (6); the first horizontal power mechanism (3 04) controls the horizontal extension and retraction of the first horizontal arm (303) to realize the horizontal movement of the scraper (5); controls the vertical extension and retraction of the first vertical arm (307) through the first vertical power mechanism (308) to realize the vertical movement of the scraper (5); controls the extension and retraction of the second horizontal arm (403) through the second horizontal power mechanism (404) to realize the horizontal movement of the ramming machine (6); controls the vertical extension and retraction of the second vertical arm (407) through the second vertical power mechanism (408) to realize the vertical movement of the ramming machine (6), thereby realizing the automated leveling and ramming operation of the inspection well ramming in a narrow space environment.

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