Foundation pit digging robot

Abstract

The foundation pit digging robot comprises a fixed cylinder and a feeding cylinder which is located in the fixed cylinder and slidably connected with the fixed cylinder in the vertical direction, and a feeding output structure is further arranged between the feeding cylinder and the fixed cylinder; a supporting mechanism is arranged outside the fixed cylinder and is supported on the wall of the foundation pit; the upper end and the lower end of the feeding cylinder extend out of the fixed cylinder, an excavating mechanism is arranged at the lower end of the feeding cylinder, and a muck collecting box is arranged at the upper end of the feeding cylinder. The device further comprises a soil lifting mechanism, the soil lifting mechanism passes through the interior of the feeding cylinder, and the soil lifting mechanism lifts the muck from the digging mechanism to the muck collecting box. The mechanical degree and the construction efficiency of power transmission line engineering construction are improved, time and labor are saved, safe construction is achieved, further improvement of the hole digging pile foundation construction process level is promoted, and the problem of line erecting hole digging pile construction is fundamentally solved.

Description

Technical Field

[0001] The invention belongs to the technical field of foundation pit excavation in power transmission line construction, and in particular relates to a foundation pit excavation robot. Background Art

[0002] In the construction of power grid and transmission lines, the excavation of foundation pit is undoubtedly an indispensable part of the construction. How to complete the excavation of foundation pit with high efficiency and high quality in the construction of power grid is the direction that my country has been committed to researching.

[0003] In traditional foundation pit excavation for cable laying construction, there are generally two types of construction methods. One is a drilling method in which construction workers enter the foundation hole to work, and the other is a drilling method in which construction workers do not enter the foundation hole to work.

[0004] The drilling method in which construction workers enter the foundation hole to work has low manual excavation construction cost, occupies a small area, and has simple requirements for construction machinery and equipment, so it is widely used in pile foundation projects.

[0005] However, during foundation pit excavation construction, manual excavation mainly has the following problems.

[0006] (1) During construction, workers use shovels or electric pickaxes to break the ground, which is labor-intensive.

[0007] (2) The construction efficiency is low. It usually takes 6-7 days to complete the excavation of a foundation pit, which is quite time-consuming and laborious.

[0008] (3) Manual excavation involves working in the pit, which carries risks such as suffocation, falling objects, and foundation pit collapse, which is quite dangerous.

[0009] The pile hole foundation where the construction workers do not enter the foundation hole for operation generally adopts the connected beam cast-in-place pile foundation, which is characterized by connecting the foundations of each tower leg with four surface beams. There are several problems with the transfer excavation.

[0010] (1) The existing small and medium-sized rotary drilling rigs have small hole diameters: Most drilling rigs have relatively small hole diameters, but the pile hole diameters required by current engineering construction are getting larger and larger, so general small and medium-sized rotary drilling rigs cannot meet the requirements of engineering pile hole construction.

[0011] (2) Large equipment is difficult to transport. Large hole-forming equipment has a complex structure and is not easy to disassemble. In addition, each piece is heavy, making road transportation difficult.

[0012] (3) Construction conditions are limited. Large equipment takes up relatively large space and is not easy to use in places with small spaces and relatively dense populations.

[0013] (4) During the construction process, as the hole deepens, continuous disassembly is required, which reduces work efficiency.

[0014] In summary, for large diameter (foundation hole diameter greater than 1.2m) and medium depth pile holes (4~15m), the commonly used construction equipment at home and abroad is mainly rotary drilling rigs. However, in the construction of power transmission lines, due to the complex terrain and landforms that the lines pass through, and are often restricted by construction sites and transportation conditions, some large construction equipment is difficult to enter the construction site; and these large construction equipment require large output power, large structural dimensions, and heavy overall weight, which brings many difficulties to mechanical transportation. Therefore, large rotary drilling rigs have great limitations in the construction of power transmission line tower foundations, and the development of lightweight and efficient construction machinery needs to be strengthened.

[0015] Therefore, in response to the difficulties in on-site construction, it is necessary to develop a new type of foundation pit excavation robot to reduce manual labor, improve excavation efficiency, and ensure time-saving, labor-saving and safe construction. Summary of the invention

[0016] In order to solve the problems in the prior art, the present invention provides a foundation pit excavation robot.

[0017] In order to solve the above technical problems, the present invention adopts the following technical solutions: A foundation pit excavation robot comprises a fixed cylinder and a feeding cylinder located in the fixed cylinder and connected to the fixed cylinder in a sliding manner in an up-down direction, and a feeding output structure is provided between the feeding cylinder and the fixed cylinder; A supporting mechanism is arranged outside the fixed cylinder, and the supporting mechanism is supported on the foundation pit wall; The upper and lower ends of the feed tube extend from the fixed tube, a digging mechanism is provided at the lower end of the feed tube, and a slag collection box is provided at the upper end of the feed tube; It also includes a soil lifting mechanism, which passes through the feed tube and lifts the slag from the position of the digging mechanism to the position of the slag collecting box.

[0018] Preferably, the digging mechanism includes a power rotary head and a rotary digging tooth device; A rotating cylinder is coaxially sleeved at the lower end of the feed cylinder, and a slewing support is provided between the rotating cylinder and the feed cylinder; the inner ring of the slewing support is fixedly connected to the feed cylinder, and the outer ring of the slewing support is fixedly connected to the rotating cylinder; and a driving unit is also included, and the driving unit is drivingly connected to the outer ring of the slewing support; A power rotor is fixed at the lower end of the drum; A plurality of rotary gear-shaping devices are arranged in a circumferential direction of the rotary drum, and the rotary gear-shaping device comprises a gear-shaping shaft extending radially outward, the gear-shaping shaft passes through the rotary drum and is rotatably connected thereto, and a small bevel gear is fixed to the inner end of the gear-shaping shaft; A large bevel gear is fixedly sleeved at a corresponding position of the feed tube, and the small bevel gears of each rotary digging and planing gear device are meshed and connected with the large bevel gear.

[0019] Preferably, the driving unit is a hydraulic motor, a driving gear is installed at the output end of the hydraulic motor, the outer ring of the slewing support is a gear ring, and the driving gear is transmission-connected to the gear ring.

[0020] Preferably, the support mechanism includes a plurality of support arm sleeves distributed in the circumferential direction of the fixed cylinder, the support arm sleeve is a radially telescopic structure, a support arm is provided at the outer end of the support arm sleeve, and the shape of the support arm matches the foundation pit wall.

[0021] Preferably, the support arm sleeve comprises a support arm sleeve inner sleeve, a support arm sleeve outer sleeve and a support arm hydraulic cylinder, the inner end of the support arm sleeve outer sleeve is fixedly connected to the fixed sleeve, the support arm sleeve inner sleeve is slidably connected to the support arm sleeve outer sleeve, and the outer end of the support arm sleeve inner sleeve is fixedly connected to the support arm; One end of the support arm hydraulic cylinder is connected to the outer cylinder of the support arm sleeve, and the other end of the support arm hydraulic cylinder is connected to the inner cylinder of the support arm sleeve or the support arm.

[0022] Preferably, the feed output structure is a feed multi-stage hydraulic cylinder arranged in the up-down direction.

[0023] Preferably, the soil lifting mechanism is a bucket-type soil lifting mechanism, including a conveyor belt and a bucket, and the bucket on the conveyor belt is arranged alternately in forward and reverse directions.

[0024] Preferably, soil lifting mechanism fixing frames are respectively provided at the upper and lower ends of the feed cylinder for installing the soil lifting mechanism.

[0025] Preferably, a slag collection box positioning cylinder is provided at the upper end of the feed cylinder, which is used to fix and position the slag collection box; a conical hole is provided in the middle of the slag collection box, which cooperates with the slag collection box positioning cylinder; The upper end of the soil lifting mechanism passes through the conical hole of the slag collecting box.

[0026] Preferably, a U-shaped lifting ring is fixed on the top of the slag collection box for connecting to a lifting device.

[0027] Beneficial effects of the present invention: The present invention can not only meet the needs of bored pile foundation construction of power transmission lines, but also improve the mechanization degree and construction efficiency of power transmission line construction compared with traditional construction methods, realize time-saving, labor-saving and safe construction, and promote the further improvement of the construction technology level of bored pile foundation, fundamentally solving the problem of bored pile construction of line erection, which is of great significance to the foundation construction of power transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 The internal structure of the present invention is shown in FIG. Figure 1 ; Figure 3 The internal structure of the present invention is shown in FIG. Figure 2 ; Figure 4 is a top view of the support mechanism in the present invention; Figure 5 is a cross-sectional view of the support mechanism of the present invention; Figure 6 It is a schematic diagram of the feeding and outputting mechanism in the present invention; Figure 7 It is a schematic diagram of the digging mechanism in the present invention; Figure 8 It is a driving schematic diagram of the slewing bearing in the present invention; Fig. 9 It is a schematic diagram of the bucket type soil lifting mechanism in the present invention; Fig.10 It is a schematic diagram of the slag collection box in the present invention.

[0029] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] like Figures 1 to 10 As shown, this embodiment provides a foundation pit excavation robot, including a fixed cylinder 1, and a feeding cylinder 2 located inside the fixed cylinder and slidably connected thereto in the up and down directions, and a feeding output structure is also provided between the feeding cylinder 2 and the fixed cylinder 1.

[0032] A supporting mechanism 3 is provided outside the fixing cylinder 2, and the supporting mechanism is supported on the foundation pit wall, thereby providing a reliable supporting point for the foundation pit excavation robot to move forward steadily.

[0033] The upper and lower ends of the feed tube 2 extend from the fixed tube, and a digging mechanism is provided at the lower end of the feed tube 2, and the digging mechanism includes a power rotary head 40 and a rotary digging gear device 4. A slag collection box 5 is provided at the upper end of the feed tube 2.

[0034] The present invention adopts the arrangement of the functional modules to ensure that the excavating robot can achieve the functional requirements of upper part support and lower part rotary excavation.

[0035] A bucket-type soil lifting mechanism 6 is provided in the feed tube 2 , and the bucket-type soil lifting mechanism 6 ensures that the slag can be smoothly lifted from the digging mechanism to the slag collecting box 5 .

[0036] The structural composition and connection relationship of the above-mentioned components are described in detail below.

[0037] In this embodiment, the feed output structure is a feed multi-stage hydraulic cylinder 12 arranged along the up and down directions. The reason for using a multi-stage hydraulic cylinder is that compared with an ordinary hydraulic cylinder, a multi-stage hydraulic cylinder of the same volume can provide a larger stroke. The larger the stroke of the multi-stage hydraulic cylinder, the greater the feed amount of the excavation robot feeding downward in each work step (since the foundation pit is generally deeper, the excavation robot needs to stop as the depth of the foundation pit deepens, retract the support arm, and let the excavation robot fall, and one stop is counted as one work step), thereby increasing work efficiency.

[0038] In this embodiment, the connection between the feed cylinder 2 and the fixed cylinder 1 is a sliding groove or keyway connection, which can ensure that each feeding can be smooth and convenient, thereby reducing the workload of the hydraulic cylinder.

[0039] The specific configuration of the power rotary head 40 and the rotary digging gear device 4 is as follows: A rotating drum 7 is coaxially sleeved at the lower end of the feed drum 2, and a slewing support 8 is provided between the rotating drum 7 and the feed drum 2; the inner ring of the slewing support 8 is fixedly connected to the feed drum 2, and the outer ring of the slewing support 8 is fixedly connected to the rotating drum 7. A power rotary head is fixed at the lower end of the rotating drum.

[0040] The power rotary head 40 is driven by a hydraulic motor 9 , a driving gear 10 is installed at the output end of the hydraulic motor 9 , the outer ring of the slewing support 8 is a gear ring, and the driving gear 10 is drivingly connected to the gear ring.

[0041] The revolution of the power turret 40 is realized by driving the outer ring of the slewing bearing 8 to rotate through the hydraulic motor 9, thereby driving the rotating drum 7 connected to the outer ring of the slewing bearing to rotate, thereby realizing the revolution of the power turret 40.

[0042] A plurality of rotary gear-shaping devices 4 are distributed in the circumferential direction of the drum 7 , and the rotary gear-shaping device comprises a gear-shaping shaft 41 extending radially outward, the gear-shaping shaft 41 passes through the drum 7 and is rotatably connected thereto, and a small bevel gear 42 is fixed to the inner end of the gear-shaping shaft 41 .

[0043] A large bevel gear 43 is fixedly sleeved at a corresponding position of the feed tube 2 , and the small bevel gears 42 of each rotary digging and gear-planing device are meshed and connected with the large bevel gear 43 .

[0044] Implementation of the self-rotation and revolution of the rotary gear-planing device 4: while the power rotary head 40 rotates, it will drive the rotary gear-planing mechanism to revolve through the rotating drum 7. Since the small bevel gear 42 coaxial with the gear-planing shaft 41 is in a meshing state with the large bevel gear 43, and since the large bevel gear 43 is in a fixed state, the revolution of the rotary gear-planing device will cause the large bevel gear 43 to give the small bevel gear 42 a counter-torque, thereby allowing the small bevel gear 42 to roll along the large bevel gear, thereby realizing the self-rotation of the rotary gear-planing device.

[0045] Since the rotary digging tooth device 4 and the power rotary head 40 are both earth-breaking mechanisms, in order to prevent the debris from blocking the power mechanism during operation, the transmission parts need to be packaged and sealed to ensure the smooth operation of the transmission mechanism.

[0046] The specific configuration of the supporting mechanism 3 is as follows: The support mechanism 3 includes a plurality of support arm sleeves distributed in the circumferential direction of the fixed cylinder. The support arm sleeves are telescopic structures along the radial direction. A support arm 31 is provided at the outer end of the support arm sleeve.

[0047] Specifically, the support arm sleeve includes a support arm sleeve inner cylinder 32, a support arm sleeve outer cylinder 33 and a support arm hydraulic cylinder 34. The inner end of the support arm sleeve outer cylinder 33 is fixedly connected to the fixed cylinder 1, the support arm sleeve inner cylinder 32 is slidably connected to the support arm sleeve outer cylinder 33, and the outer end of the support arm sleeve inner cylinder 32 is fixedly connected to the support arm 31. One end of the support arm hydraulic cylinder 34 is connected to the support arm sleeve outer cylinder 33, and the other end of the support arm hydraulic cylinder 34 is connected to the support arm sleeve inner cylinder 32 or the support arm 31.

[0048] The support arm sleeve adopts a telescopic structure, which can prevent the transmitted torque force from acting on the hydraulic cylinder piston rod and protect the hydraulic cylinder.

[0049] Since the bottom of the excavation robot rotates and the upper part plays a supporting and fixing role when the excavation robot is rotating, the shape of the support arm 31 should match the foundation pit wall to increase the force contact area between the support arm and the foundation pit wall as much as possible, so as to ensure that the support is reliable and stable when the excavation robot is rotating.

[0050] The upper end of the feed tube 2 is provided with a slag collection box positioning tube 50, which is used to fix and position the slag collection box 5. A conical hole is provided in the middle of the slag collection box 5, which cooperates with the slag collection box positioning tube. In this way, the slag collection box 5 can be conveniently fixed and positioned on the top of the excavation robot through the conical surface, thereby ensuring the smooth progress of the slag collection work.

[0051] A U-shaped lifting ring is fixed on the top of the slag collection box 5, which is connected to the lifting device 11 (electric hoist or hanger) through a wire rope. After the slag is fully collected, it is convenient to directly lift the slag collection box out of the pit.

[0052] The upper and lower ends of the feed tube 2 are respectively provided with soil lifting mechanism fixing frames 60 for installing the bucket type soil lifting mechanism 6. The upper end of the bucket type soil lifting mechanism 6 passes through the conical hole of the slag collecting box.

[0053] The bucket type soil lifting mechanism 6 comprises a conveying belt 61, a forward bucket 62 and a reverse bucket 63, which are arranged alternately on the conveying belt. When working, the bucket 62 scoops up the soil, and then vertically transports it to the top of the excavating robot through the belt, and then throws the soil in the bucket out, and under the action of the centrifugal force, the soil is thrown into the soil collection box located on the top of the excavating robot.

[0054] Since the slag collection box is positioned and fixed by the conical surface on the top of the excavation robot, the slag collection box is evenly distributed on both sides of the bucket-type soil lifting mechanism. In order to ensure the unbalanced loading phenomenon during the soil collection box lifting process, the bucket-type soil lifting mechanism is required to throw soil to both sides. Therefore, the bucket installation method is designed to be one positive and one negative. In this way, when the positive bucket fills one side of the slag collection box with slag, the hydraulic motor is controlled to reverse, and the reversed bucket starts to shovel the soil and starts to throw the slag to the other side of the slag collection box. After the slag is full, the slag collection box is lifted out of the pit by a wire rope.

[0055] The overall working principle of the present invention is as follows: The excavation robot adopts full hydraulic drive and split installation design. It can be quickly installed on site and has functions such as self-rotation cutting, revolution breaking ground positioning, automatic slag collection and soil lifting, automatic cutting and feeding, etc. During construction, firstly, a certain depth (no more than 1.5m) is excavated manually, and then the excavation robot is installed next to the foundation pit. After installation, the operator can realize the operation and control of the equipment on the upper operating surface of the foundation pit.

[0056] First, the support arm hydraulic cylinder 34 connected to the support arm 31 is controlled to support the support arm 31 on the foundation pit wall to provide a safe and reliable support point for the excavation robot. Then, the hydraulic motor that controls the rotation of the power rotary head 40 at the bottom of the excavation robot is started, so that the excavation robot starts to automatically break the ground and position. While the power rotary head 40 at the bottom of the excavation robot revolves, the small bevel gear 42 connected to the planer gear shaft 41 obtains a reaction force and starts to rotate, realizing the planing action in the foundation pit operation. After the planing action starts, the slag will gradually move closer to the middle of the excavation robot. At this time, Start the hydraulic motor on the bucket lifting mechanism, and the bucket on the device begins to shovel the approaching debris, and then lifts the debris to the top of the excavating robot through belt transmission. After the bucket reaches the top, the debris will be thrown out, and then the debris will fall smoothly into the debris collection box 5 located on the top of the excavating robot under the action of centrifugal force. After one side of the debris collection box 5 is full, control the hydraulic motor to reverse, and the debris begins to fall into the other side of the debris collection box 5. After the debris collection box is full, stop the excavating robot, and then use the lifting device to lift the debris out of the pit from the debris collection box.

[0057] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

[0058] If the words "first", "second", etc. are used in this document to limit components, those skilled in the art should know that the use of "first" and "second" is only to facilitate the description of the present invention and simplify the description. Unless otherwise stated, the above words have no special meaning.

[0059] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A foundation pit excavation robot, characterized in that: It includes a fixed cylinder and a feeding cylinder located in the fixed cylinder and connected with the fixed cylinder in a sliding manner in the up and down direction, and a feeding output structure is also provided between the feeding cylinder and the fixed cylinder; A supporting mechanism is arranged outside the fixed cylinder, and the supporting mechanism is supported on the foundation pit wall; The upper and lower ends of the feed tube extend from the fixed tube, a digging mechanism is provided at the lower end of the feed tube, and a slag collection box is provided at the upper end of the feed tube; It also includes a soil lifting mechanism, which passes through the feed tube and lifts the slag from the position of the digging mechanism to the position of the slag collecting box.

2. The foundation pit excavation robot according to claim 1, characterized in that: The digging mechanism includes a power rotary head and a rotary digging tooth device; A rotating cylinder is coaxially sleeved at the lower end of the feed cylinder, and a slewing support is provided between the rotating cylinder and the feed cylinder; the inner ring of the slewing support is fixedly connected to the feed cylinder, and the outer ring of the slewing support is fixedly connected to the rotating cylinder; and a driving unit is also included, and the driving unit is drivingly connected to the outer ring of the slewing support; A power rotor is fixed to the lower end of the drum; A plurality of rotary gear-shaping devices are arranged in a circumferential direction of the rotary drum, and the rotary gear-shaping device comprises a gear-shaping shaft extending radially outward, the gear-shaping shaft passes through the rotary drum and is rotatably connected thereto, and a small bevel gear is fixed to the inner end of the gear-shaping shaft; A large bevel gear is fixedly sleeved at a corresponding position of the feed tube, and the small bevel gears of each rotary digging and planing gear device are meshed and connected with the large bevel gear.

3. The foundation pit excavation robot according to claim 2, characterized in that: The driving unit is a hydraulic motor, the output end of the hydraulic motor is equipped with a driving gear, the outer ring of the slewing support is a gear ring, and the driving gear is drivingly connected with the gear ring.

4. The foundation pit excavation robot according to claim 1, characterized in that: The support mechanism includes a plurality of support arm sleeves distributed in the circumferential direction of the fixed cylinder. The support arm sleeves are telescopic structures along the radial direction. A support arm is provided at the outer end of the support arm sleeve. The shape of the support arm matches the foundation pit wall.

5. The foundation pit excavation robot according to claim 4, characterized in that: The support arm sleeve comprises a support arm sleeve inner sleeve, a support arm sleeve outer sleeve and a support arm hydraulic cylinder, the inner end of the support arm sleeve outer sleeve is fixedly connected to the fixed sleeve, the support arm sleeve inner sleeve is slidably connected to the support arm sleeve outer sleeve, and the outer end of the support arm sleeve inner sleeve is fixedly connected to the support arm; One end of the support arm hydraulic cylinder is connected to the outer cylinder of the support arm sleeve, and the other end of the support arm hydraulic cylinder is connected to the inner cylinder of the support arm sleeve or the support arm.

6. The foundation pit excavation robot according to claim 1, characterized in that: The feeding output structure is a feeding multi-stage hydraulic cylinder arranged in the up-down direction.

7. The foundation pit excavation robot according to claim 1, characterized in that: The soil lifting mechanism is a bucket-type soil lifting mechanism, comprising a conveying belt and a bucket, and the bucket on the conveying belt is arranged alternately in positive and negative directions.

8. The foundation pit excavation robot according to claim 1, characterized in that: The upper and lower ends of the feed cylinder are respectively provided with soil lifting mechanism fixing frames for installing the soil lifting mechanism.

9. The foundation pit excavation robot according to claim 1, characterized in that: A slag collection box positioning cylinder is provided at the upper end of the feed cylinder, which is used to fix and position the slag collection box; a conical hole is provided in the middle of the slag collection box, which cooperates with the slag collection box positioning cylinder; The upper end of the soil lifting mechanism passes through the conical hole of the slag collecting box.

10. The foundation pit excavation robot according to claim 9, characterized in that: A U-shaped lifting ring is fixed on the top of the slag collecting box for connecting with a lifting device.

Images