Intelligent low-clearance cast-in-place pile construction equipment, system and method

Abstract

The invention discloses intelligent low-clearance cast-in-place pile construction equipment, system and method. The construction site scanning and model building, paying-off and point position projection and correction, automatic construction path planning, drilling positioning, preparation work before drilling (burying of a soil layer structure integrity evaluation sensor), drilling construction and accurate control of perpendicularity and drilling depth, drilling lifting and in-hole environment detection are sequentially completed. And therefore, the intelligent construction operation of the cast-in-place pile is completed, the equipment has the construction characteristics of miniaturization and large drilling depth, and the intelligent construction operation under the low clearance working condition is perfectly achieved.

Description

Technical Field

[0001] The invention relates to the technical field of pile hole construction in building engineering, and in particular to intelligent low-headroom cast-in-place pile construction equipment, system and method. Background Art

[0002] As a modern engineering machinery, rotary drilling rigs have long been used in infrastructure construction, such as pile foundation construction of roads, bridges, tunnels and other projects. With the acceleration of urbanization and narrow building space, many traditional rotary drilling rigs are difficult to work in limited spaces due to their large structural height. Low-headroom cast-in-place pile drilling equipment has gradually appeared, and the design has been continuously optimized and the structure has been improved.

[0003] After searching, it was found that the public document CN202111104328.4 discloses a low-headroom rotary drilling rig, including a crawler vehicle, on which a downward pressure drilling mechanism is installed, the downward pressure drilling mechanism includes a drill rod, and a soil lifting mechanism is provided below the downward pressure drilling mechanism, the soil lifting mechanism includes a casing, and the casing is sleeved on the outside of the drill rod, and a bulldozer mechanism is installed below the crawler vehicle. The beneficial effect of the present invention is that the drilling rig provides power to the power box through two motors and four reducers, the power is stronger, and the motor can be installed on one side of the power box, reducing the height space it occupies, which is convenient for excavation in the tunnel.

[0004] Public document CN202121838118.3 discloses a low-headroom bored pile construction pile driver, which relates to the technical field of construction machinery, including a base, a derrick fixedly connected to the top of the base, a sliding bracket slidably connected to one side of the derrick, a transmission fixedly connected to one side of the sliding bracket, a power motor is arranged on the top of the transmission, the output end of the power motor is fixedly connected to the drill rod through the transmission, and a gravity hook is sleeved on the outer side of the drill rod. The low-headroom bored pile construction pile driver adds an open-body rotary drilling barrel to the spiral drill bit of the drilling rig, and the drill bit drives the drill barrel to cut the soil when drilling, thereby speeding up the hole-making speed, effectively preventing safety risks, reducing costs, and speeding up the progress of the project, achieving good results, and the drilling rig structure is flexible and simple, and the equipment can autonomously adjust the height of the drilling rig by increasing or decreasing the number of derricks, so as to achieve safe operation under low-headroom high-voltage lines.

[0005] With regard to the above-mentioned existing technologies, no specific description is given of the low-headroom bored pile construction operations, especially regarding intelligent construction operations, including intelligent layout and intelligent planning of construction paths, precise control of verticality and drilling depth during drilling, how to make targeted adjustments when the drill rod is deflected, and intelligent detection of hole quality. Summary of the invention

[0006] The technical problem to be solved by the present invention is: how to solve the problem of intelligent control of cast-in-place pile construction in low-headroom and large-drilling-depth pile foundation projects, including intelligent scanning and model building, intelligent line laying and point projection, intelligent planning of construction paths, intelligent positioning of drilling positions, intelligent posture adjustment, and intelligent control of verticality and depth.

[0007] In order to solve the above technical problems, the inventors have obtained the technical solution of the present invention through practice and summary. The present invention adopts the following technical solution: An intelligent low-headroom cast-in-place pile construction method, comprising: Step 1: Scan the construction site and build a model Perform a full-scale scan of the construction site to obtain accurate 3D point cloud data, convert the point cloud data into a 3D model through software, integrate it with the real-time data in the control system, and conduct a comprehensive monitoring and display of the construction site through data fusion; Step 2: Laying out lines, projecting points, and calibrating Lay out the boundaries of the construction area and calibrate the line setting and projection points through real-time data monitoring; Step 3: Automatically plan the construction path Reconstruct the 3D image of the construction area and use the automated path planning algorithm to generate the best travel route for the construction equipment. The drilling equipment will reach the construction point along the best travel route. Step 4: Drilling Positioning Mark the drilling position. When the drilling equipment moves to within 1 meter of the drilling position, it identifies the drilling position and inputs the relative signal of the drilling position into the industrial computer. After the industrial computer receives the signal of the drilling position, it calculates the time required for the drilling equipment to turn and move according to the measured relative distance, and inputs the signal to the PLC control system. At this time, the PLC control system controls the travel time and the steering time to make the distance between the drilling operation position and the center of the cast-in-place pile less than 5mm, and the positioning is completed at this moment; Step 5: Preparation before drilling Select four points around the drilling location. The cast-in-place pile is an inscribed circle of the four points and the four points are equidistant from the center of the cast-in-place pile. Install an acoustic wave detection sensor at each point to perform spectrum analysis and time domain analysis on the collected acoustic wave signals; The drilling equipment is adjusted to a horizontal state; Step 6: Drilling The verticality control component detects whether the drill pipe is in the horizontal and vertical positions; If the drill hole is in a vertical position, the drilling equipment drives the drill rod downward to perform drilling operations until the required drilling depth is reached; If the drill rod is shown to be deviated, the PLC control system will immediately give feedback to the operator. Based on the feedback from the verticality control component, the PLC control system will fine-tune the drill rod through the deviation correction component to ensure that the drill rod continues to maintain the preset angle. The acoustic wave detection sensor performs spectrum analysis and time domain analysis on the collected acoustic wave signals to determine whether the soil structure around the bored pile is damaged during the drilling process; According to the results of the sonic wave test, the drill speed and drilling pressure are adjusted to reduce the damage to the soil around the pile hole; Step 7: Drilling and hole monitoring After the pile hole is drilled, the drilling equipment lifts the drill rod out of the hole and monitors the environment inside the hole in real time during the drilling process.

[0008] In this application plan, the specific operations of step 2 are as follows: Step 21, setting the line reference point in the construction area; Step 22, using a laser marking instrument to mark the boundary of the construction area; Step 23, cooperate with real-time data monitoring to determine whether the boundary and line-laying points are incorrect; If there is an error, correct the line placement position and repeat steps 21 to 23 above; If correct, mark the layout position, record and archive the data, and complete the layout, point projection and correction work.

[0009] In this application plan, the specific operations of step 3 are as follows: Step 31, obtaining a three-dimensional image and the position of the hole by a laser scanner; Step 32, monitoring the device position and status by an absolutely defined method; Step 33, performing path planning according to the position of the preset hole; Step 34, the sensor monitors the device position and status in real time; Step 35, determine whether there is a dynamic obstacle; If yes, the alarm reminder is fed back to the display screen, and the PLC control system decelerates or stops, and repeats steps 33 to 35; If not, continue moving until the specified position to complete the automatic planning of the construction path.

[0010] In the present application, in step 5, intelligent posture adjustment is also included: The drilling equipment is provided with an attitude level sensor, the signal output end of the attitude level sensor is connected to the input end of the PLC control system, and the control signal output end of the PLC control system is connected to the electronically controlled hydraulic valve; Start the PLC control system and initialize the attitude level sensor, which detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system; The PLC control system determines the level of the drilling equipment based on the signal from the attitude level sensor and compares the measured level with the level preset by the system. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder that needs to be adjusted; The PLC control system sends a control signal to the electronically controlled hydraulic valve to adjust the extension of the piston rod of the leveling hydraulic cylinder until the frame is in a horizontal position.

[0011] In the present application, in step 6, the verticality control component includes two sets of laser level meters, and the deflection correction component includes two sets of deflection correction parts, the two sets of laser level meters are respectively arranged in the X and Y directions, and the two sets of deflection correction parts are also arranged in the X and Y directions; The steps for verticality control and deviation correction are as follows: Step 61, a laser level detects the horizontality of the frame in the X and Y directions; Step 62, determine whether it is horizontal in the X direction; Step 63, if it is not level, the deviation correcting member in the X direction fine-tunes the drill rod in the reverse direction until the frame is level in the X direction; if it is level, then the process ends; Step 64, determine whether it is horizontal in the Y direction; Step 65: if it is not level, the deviation correcting member in the Y direction will fine-tune the drill rod in the reverse direction until the frame is level in the Y direction; if it is level, then the process ends.

[0012] Also disclosed is an intelligent low-headroom bored pile construction device for implementing the above-mentioned intelligent low-headroom bored pile construction method, the intelligent low-headroom bored pile construction device comprising: The traveling assembly includes a frame, a traveling mechanism and a steering mechanism, wherein the traveling mechanism and the steering mechanism are used for traveling and steering of the equipment respectively; The precision-controlled multi-section drill rod assembly includes a stand, a lifting frame, a threaded drill rod, a rotary cutter drill bit, a lower retaining frame, a laser level, a laser rangefinder, a deviation correction piece, and an acoustic wave detection sensor; the stand is mounted on the vehicle frame, the lifting frame is mounted on the stand and can be adjusted up and down relative to the stand, a driver is mounted on the lifting frame, and a reducer is connected to the output end of the driver; the threaded drill rod is connected to the reducer and the rotary cutter drill bit through male and female threaded heads, and two adjacent threaded drill rods are connected through head and tail threads; the lower retaining frame is mounted on the vehicle frame and is sleeved on the drill rod outside; two groups of laser levels are provided and both are installed on the frame, one group is located at the front end of the threaded drill rod, and the other group is located at the side end of the drill rod, and the two groups are arranged at 90 degrees; a laser rangefinder is installed on the frame, and the laser rangefinder is used to monitor the distance between the bottom surface of the lifting frame and the laser rangefinder in real time; two groups of correction parts are provided and both are installed on the frame, which are used to correct the threaded drill rod in the front and back and left and right directions; four groups of sonic detection sensors are provided, which are distributed on the outside of the pile hole respectively, and the pile hole is located in the inscribed circle of the four groups of sonic detection sensors; The suction separation and spiral soil extraction component includes a high-pressure fan, a cyclone separator and a pressure sensor. The high-pressure fan is connected to the cyclone separator through a pipeline and a dust bag is provided at the air outlet of the high-pressure fan. The cyclone separator is connected to the connecting pipe through a hose. The connecting pipe is installed on the lifting frame and communicated with the inside of the threaded drill rod. The pressure sensor is used to detect the pressure data in the component and feed it back to the control system.

[0013] In the solution of the present application, a sealing structure is provided on the outer side of the top of the rotary cutter drill bit, and the sealing structure is used to seal the gap between the top of the rotary cutter drill bit and the hole wall.

[0014] In the present application scheme, the sealing structure includes airbag body 1 and airbag body 2 distributed lower and upper, and a fixed sleeve is provided on the inner side of airbag body 1 and airbag body 2, and an air inlet and an exhaust port connected to the airbag body are preset in the fixed sleeve. The fixed sleeve is fixed on the outer side of the rotary drill bit, and airbag body 1 and airbag body 2 work alternately.

[0015] In the present application, the sealing structure includes an annular capsule, an inner sleeve is mounted on the inner side of the annular capsule, the inner sleeve is sleeved on the outer side of the top of the rotary drill bit and will not rotate relatively, and the top and bottom of the inner sleeve are both provided with limit plates, and the outer diameter of the limit plates is smaller than the hole diameter; Elastic spiral ribs are pre-embedded on the annular sac, and transmission spiral ribs are arranged on the outside of the inner sleeve. When the rotary drilling knife drill bit is used for rotary drilling, the transmission spiral ribs cooperate with the elastic spiral ribs on the inner wall of the annular sac to drive the annular sac to rotate between the two limit plates and keep the outer wall always in contact with the hole wall.

[0016] In the present application, the rotary cutter drill bit includes a drill bit body and blade one and blade two axially distributed outside the drill bit body. The bottom of the drill bit body is an open structure, and blade one is located at the bottom of blade two.

[0017] In the present application, the second blade includes a cutter body whose bottom is rotatably mounted on the outside of the drill body, a push rod is installed on the top inner side of the cutter body, one end of the push rod is rotatably mounted on the cutter body, and the other end is rotatably connected to a slider, the slider is slidably fitted on the outside of the drill body along the axial direction of the drill body, and the axial position of the slider relative to the drill body is adjustable.

[0018] In the present application, a protective shell is installed on the outside of the drill body, a detection part is installed inside the protective shell, a sealing plate is rotatably installed on the bottom of the protective shell, an electric telescopic rod is rotatably installed on the bottom of the sealing plate, and the output end of the electric telescopic rod is rotatably installed on the slider.

[0019] In the present application, an axial guide rail is installed on the outer side of the drill body, and the axial guide rail is used to install a sliding block. A back-off tooth groove strip is arranged in the middle of the axial guide rail, and a notch is arranged on the sliding block. A T-shaped block is slidably fitted in the notch, and the movement direction of the T-shaped block is perpendicular to the layout direction of the axial guide rail. An over-groove and an adjustment groove are provided on the T-shaped block. The adjustment groove and the over-groove are connected and the two are arranged vertically. The output end of the electric telescopic rod passes through the over-groove and is connected to a connecting block. The connecting block is slidably fitted in the adjusting groove, and the adjusting groove gradually deviates from the axial guide rail in the direction away from the electric telescopic rod. An elastic back-off block is provided on the side of the T-shaped block close to the back-off tooth groove strip for adapting to the back-off tooth groove strip.

[0020] In the present application, the elastic backstop block includes an installation groove arranged on the side of the T-shaped block close to the backstop tooth groove bar, a spring body and a movable body are installed in the installation groove, a limiting plate is mounted on the outer side of the movable body, the limiting plate is fixed on the side of the T-shaped block close to the backstop tooth groove bar, and a one-way tooth block is fixed on the end of the movable body away from the installation groove, and the one-way tooth block and the backstop tooth groove bar are adapted.

[0021] An intelligent low-headroom cast-in-place pile construction system, comprising: Construction area scanning and modeling module, including laser scanner, for full-scale scanning of the construction site; The construction boundary marking and construction point marking are projection modules, including a laser marking instrument, which is used to mark the boundaries of the construction area; The construction equipment walking and construction path planning system module includes an ultrasonic sensor and an automatic path planning module. The ultrasonic sensor is used to detect dynamic obstacles during the movement. The automatic path planning module automatically plans the route based on the three-dimensional image reconstructed by the laser scanner and the dynamic obstacles during the movement. A drilling positioning module, including a visual camera, which is used to identify the drilling position and input the relative signal of the drilling position into the industrial computer; The intelligent low-headroom cast-in-place pile construction equipment as described above is used to perform drilling operations at the drilling location; The automatic leveling module includes a posture level sensor, a leveling hydraulic cylinder, and an electronically controlled hydraulic valve. The posture level sensor is used to detect the tilt angle of the construction equipment in real time. On the drilling equipment where the leveling hydraulic cylinder is distributed, the electronically controlled hydraulic valve is used to adjust the extension of the piston rod of the leveling hydraulic cylinder. The PLC control system is connected to the industrial computer, the PLC control system is connected to the industrial computer, and the PLC control system is connected to the laser scanner, laser laying-out instrument, ultrasonic sensor, visual camera, posture level sensor, and electronically controlled hydraulic valve.

[0022] Compared with the prior art, the present invention has the following beneficial effects: 1. The construction scheme of the present invention adopts an intelligent control method to realize automated construction. A laser scanner is used to scan the construction site to obtain a three-dimensional model and integrate and fuse the data with the real-time data in the control system to comprehensively monitor and display the construction site; a laser line-laying instrument is used to lay out the boundaries of the construction area, and a laser scanner is used to reconstruct the three-dimensional image, and an automatic path planning algorithm is used to generate the best walking route; the visual camera is used to identify the drilling position, and the drilling position is input into the industrial computer. After calculating and adjusting the action time of the traveling mechanism and the steering mechanism, the drill bit is adjusted to a relative distance of less than 5 mm from the drilling positioning position, and an acoustic wave detection sensor is buried around the cast-in-place pile to detect the quality of the hole wall. During the drilling construction, two sets of laser levels are used to detect the verticality of the drill rod in the X and Y directions. When a deviation occurs, the drill rod is corrected by the corresponding correction member. Finally, after the drilling is completed, the environment in the hole can be detected when the drill is lifted. During this period, the hole wall is prevented from collapsing and no problems with the quality of the cast-in-place pile are found.

[0023] 2. The present invention has the function of intelligent line-setting operation. After obtaining the three-dimensional model of the construction site area, the site area is monitored and displayed in real time through data fusion. In conjunction with the intelligent line-setting operation, the construction site area is automatically marked to mark the drilling positions.

[0024] 3. The present invention has the function of intelligently and automatically planning the construction route. It reconstructs the three-dimensional image and drilling position according to the laser scanner, and uses the automatic path planning algorithm to generate the best walking path for the construction equipment to enter the target location area.

[0025] 4. The present invention has the function of intelligent drilling positioning. It uses a visual camera to identify the drilling position near the target position area, and inputs its relative signal into the industrial computer to calculate the parameters for equipment adjustment. Since the travel speed and turning speed are fixed, the PLC control system controls the travel time and turning time to adjust the equipment to the set position. The relative distance between the drill bit and the drilling position is less than 5mm.

[0026] 5. The present invention has the functions of intelligent verticality control and drilling depth, and uses two sets of laser levels to realize real-time detection on the horizontal plane. When there is a verticality problem, the PLC control system and the industrial computer intelligently adjust and control the corresponding correction parts to realize intelligent fine-tuning of the drill rod. In the initial stage of drilling, the drill bit is controlled to just touch the ground, and a laser rangefinder is installed on the frame to measure the distance between the bottom surface of the lifting frame and the laser rangefinder in the initial stage, and set it as x0. Let m be the number of drill rods that have been drilled, the initial value is 0, and the value of m increases by 1 each time the rod is changed. During the drilling process, the distance between the laser rangefinder and the bottom surface of the lifting frame is measured in real time as x1 and fed back to the PLC. When x0-x1=L, L is the length of a single section of drill rod. The current drill rod is drilled to the limit position, stops drilling and starts to change rods. After the rod change is completed, drilling continues. It can be seen that the real-time total drilling depth x3=mL+(x0-x1), and the drilling depth of the drill bit can be accurately controlled.

[0027] 6. The present invention has the ability to intelligently evaluate the integrity of the soil layer structure during drilling, and bury acoustic wave monitoring sensors within the marked circular area of ​​the soil. Each acoustic wave monitoring sensor is about 50-60 cm away from the marked point. The acoustic wave monitoring sensor can judge the integrity of the soil layer structure by collecting acoustic wave feedback between the drill rod and the formation, and adjust the drilling operation according to the feedback data.

[0028] 7. The present invention has the function of intelligent posture leveling, starts the PLC control system, and initializes the posture level sensor. The posture level sensor detects the tilt angle of the equipment in real time and transmits the measured data to the PLC control system; the PLC control system determines the horizontality of the frame according to the signal of the posture level sensor, and compares the measured horizontality with the system preset horizontality. If a tilt or height deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder that needs to be adjusted; the PLC control system sends a control signal to the electronically controlled hydraulic valve to adjust the extension of the piston rod of the leveling hydraulic cylinder until the frame is in a horizontal posture.

[0029] 8. The drilling equipment adopted in the present invention is a precision-controlled multi-section drill rod system. The drill rod is assembled and connected with male and female threaded heads. A rotary knife drill bit is installed on one end and a reducer and a corresponding drive motor are connected on the other end. The motor drives the drill bit to rotate and dig a pile hole of corresponding depth. The length of the multi-section drill rod is a standard length, which is conducive to the precise control of the drilling depth. The suction separation and spiral soil extraction components can realize the external discharge of the internal pile soil. The pressure in the soil discharge system is monitored in real time through a pressure sensor. Once the pressure is too high, it indicates a blockage, and then the system is stopped and repaired to ensure that the equipment will not be damaged.

[0030] 9. The drill bit used in the present invention is a plugging structure, which is beneficial to the bottom sealing. Compared with the previous hole cleaning structure, the difference is that the seal of the present application is a dynamic seal. The difficulty is that while the drill bit is continuously rotating downward, a sealing structure is used at the top of the drill bit to increase the negative pressure at the bottom of the drill bit, thereby completing the efficient and timely discharge of the internal pile soil. If only the negative pressure power is increased, although the effect of pile soil discharge can be improved, the power consumption is greatly increased and the high-pressure fan is large in size, which does not meet the original intention of equipment miniaturization; secondly, the noise and external exhaust airflow are also relatively obvious, and due to the low clearance environment, it is easy to damage the soil layer structure near the construction area (top or side); thirdly, the vibration is aggravated, affecting the soil layer structure in the pile hole and easily leading to an increase in the error probability of the acoustic sensor. The use of a dynamic sealing method can also apply a certain degree of hole wall pressure to the hole wall structure to reduce the risk of hole collapse and earthwork falling due to loose soil on the hole wall. Finally, the dynamic sealing method can also ensure the problem of deviation of the end drill bit when drilling, and further fundamentally solve the deviation probability of the rotary drilling drill.

[0031] 10. The present invention adopts two states of the blade on the top of the drill bit. One state is a rotated unfolded state, at which the detection part is in the protective shell and does not work; the other state is a retracted drill lifting state, at which the detection part is exposed from the protective shell. On the one hand, it ensures that the blade will not touch the hole wall, which will reduce the problem of collapsed hole and falling earth during the drilling process; on the other hand, the detection part can detect the environment in the hole during the drilling process, find the collapsed hole and fallen earth and missing in the pile hole, and then repair them in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of the construction method of the present invention.

[0033] Figure 2 This is a flow chart of the laying out, point projection and correction of the present invention.

[0034] Figure 3 This is a flow chart of the automatic planning of construction paths of the present invention.

[0035] Figure 4 This is a verticality control flow chart of the present invention.

[0036] Figure 5 This is a control schematic diagram of the construction system of the present invention.

[0037] Figure 6 It is a schematic diagram of the construction equipment structure of the present invention.

[0038] Figure 7 for Figure 6 A partial enlarged view of point A in the middle.

[0039] Figure 8 The rotary drill bit structure of the present invention is shown in FIG. Figure 1 .

[0040] Fig. 9 The rotary drill bit structure of the present invention is shown in FIG. Figure 2 .

[0041] Fig.10 for Fig. 9 The state diagram of the middle airbag after it moves upward.

[0042] Fig.11 for Fig. 9 A partial enlarged view of point B in the middle.

[0043] Fig.12 for Fig.11 Connection diagram of the middle slider and T-block.

[0044] Fig.13 It is a structural schematic diagram of the slider of the present invention.

[0045] Fig.14 It is a schematic structural diagram of the elastic stop block of the present invention.

[0046] Fig.15 The rotary drill bit structure of the present invention is shown in FIG. Figure 3 .

[0047] Fig.16 for Fig.15 Schematic diagram of the structure of the middle ring capsule.

[0048] Fig.17 It is a schematic structural diagram of the protective shell of the present invention.

[0049] Fig.18 It is a schematic structural diagram of the lower retainer of the present invention.

[0050] Fig.19 It is a schematic structural diagram of the deviation-correcting component of the present invention.

[0051] Fig. 20 It is a structural schematic diagram of the rotary tool holder transfer robot 1 of the present invention.

[0052] Fig.21It is a structural schematic diagram of the rotary tool holder transfer robot 2 of the present invention.

[0053] Fig. 22 It is a structural schematic diagram of the drill rod storage frame of the present invention.

[0054] Fig.23 It is a schematic structural diagram of the walking assembly of the present invention.

[0055] Fig.24 It is a schematic diagram of the layout of the sound wave detection sensor of the present invention.

[0056] In the figure: 100, walking assembly; 101, frame; 102, traveling mechanism; 103, steering mechanism.

[0057] 200, precision control multi-section drill rod assembly; 201, stand; 202, lifting frame; 203, threaded drill rod; 204, rotary drill bit; 2041, drill bit body; 2042, blade one; 2043, blade two; 20431, cutter body; 20432, push rod; 20433, slider; 20434, protective shell; 20435, electric telescopic rod; 20436, detection part; 20437, axial guide rail; 20438, T-shaped block; 20439, through-through groove; 204310, connecting block; 204311, adjustment groove; 204312, elastic stop block; 2043121, spring body; 20 43122, moving body; 2043123, limiting plate; 2043124, one-way gear block; 204313, back-off tooth groove strip; 205, lower retaining frame; 206, laser level; 207, laser rangefinder; 208, deviation correction part; 209, acoustic wave detection sensor; 210, sealing structure; 211, airbag body one; 212, airbag body two; 213, annular bag body; 214, inner sleeve; 215, limiting plate; 216, elastic spiral rib; 217, transmission spiral rib; 218, fixed sleeve; 219, rotating tool holder transfer manipulator one; 220, rotating tool holder transfer manipulator two; 221, drill rod storage frame.

[0058] 300. Suction separation and spiral soil extraction assembly; 301. High-pressure fan; 302. Cyclone separator; 303. Pressure sensor; 304. Connecting pipe.

[0059] 400, laser scanner; 500, laser line laying instrument; 600, ultrasonic sensor; 700, visual camera; 800, attitude level sensor; 900, leveling hydraulic cylinder; 1000, electronically controlled hydraulic valve. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0061] like Figure 1 As shown, an intelligent low-headroom cast-in-place pile construction method comprises: Step 1: Scan the construction site and build a model Perform a full-scale scan of the construction site to obtain accurate 3D point cloud data, convert the point cloud data into a 3D model through software, integrate it with the real-time data in the control system, and conduct a comprehensive monitoring and display of the construction site through data fusion; Step 2: Laying out lines, projecting points, and calibrating Lay out the boundaries of the construction area and calibrate the line setting and projection points through real-time data monitoring; Step 3: Automatically plan the construction path Reconstruct the 3D image of the construction area and use the automated path planning algorithm to generate the best travel route for the construction equipment. The drilling equipment will reach the construction point along the best travel route. Step 4: Drilling Positioning Mark the drilling position. When the drilling equipment moves to within 1 meter of the drilling position, it identifies the drilling position and inputs the relative signal of the drilling position into the industrial computer. After the industrial computer receives the signal of the drilling position, it calculates the time required for the drilling equipment to turn and move according to the measured relative distance, and inputs the signal to the PLC control system. At this time, the PLC control system controls the travel time and the steering time to make the distance between the drilling operation position and the center of the cast-in-place pile less than 5mm, and the positioning is completed at this moment; Step 5: Preparation before drilling Select four points around the drilling location. The cast-in-place pile is an inscribed circle of the four points and the four points are equidistant from the center of the cast-in-place pile. Install an acoustic wave detection sensor 209 at each point to perform spectrum analysis and time domain analysis on the collected acoustic wave signals; The drilling equipment is adjusted to a horizontal state; Step 6: Drilling The verticality control component detects whether the drill pipe is in the horizontal and vertical positions; If the drill hole is in a vertical position, the drilling equipment drives the drill rod downward to perform drilling operations until the required drilling depth is reached; If the drill rod is shown to be deviated, the PLC control system will immediately give feedback to the operator. Based on the feedback from the verticality control component, the PLC control system will fine-tune the drill rod through the deviation correction component to ensure that the drill rod continues to maintain the preset angle. Performing spectrum analysis and time domain analysis on the collected sound wave signals according to the sound wave detection sensor 209 to determine whether the soil structure around the bored pile is damaged during the drilling process; According to the results of the sonic wave test, the drill speed and drilling pressure are adjusted to reduce the damage to the soil around the pile hole; Step 7: Drilling and hole monitoring After the pile hole is drilled, the drilling equipment lifts the drill rod out of the hole and monitors the environment inside the hole in real time during the drilling process.

[0062] like Figure 2 As shown, the specific operations of step 2 are as follows: Step 21, setting the line reference point in the construction area; Step 22, using a laser marking instrument 500 to mark out the boundary of the construction area; Step 23, cooperate with real-time data monitoring to determine whether the boundary and line-laying points are incorrect; If there is an error, correct the line placement position and repeat steps 21 to 23 above; If correct, mark the layout position, record and archive the data, and complete the layout, point projection and correction work.

[0063] like Figure 3 As shown, the specific operations of step 3 are as follows: Step 31, obtaining a three-dimensional image and the position of the hole by a laser scanner 400; Step 32, monitoring the device position and status by an absolutely defined method; Step 33, performing path planning according to the position of the preset hole; Step 34, the sensor monitors the device position and status in real time; Step 35, determine whether there is a dynamic obstacle; If yes, the alarm reminder is fed back to the display screen, and the PLC control system decelerates or stops, and repeats steps 33 to 35; If not, continue moving until the specified position to complete the automatic planning of the construction path.

[0064] In step 5, smart posture adjustment is also included: The drilling equipment is provided with an attitude level sensor 800, the signal output end of the attitude level sensor 800 is connected to the input end of the PLC control system, and the control signal output end of the PLC control system is connected to the electronically controlled hydraulic valve 1000; Start the PLC control system and initialize the attitude level sensor 800, which detects the tilt angle of the device in real time and transmits the measurement data to the PLC control system; The PLC control system determines the level of the drilling equipment based on the signal of the attitude level sensor 800, and compares the measured level with the level preset by the system. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder 900 that needs to be adjusted; The PLC control system sends a control signal to the electronically controlled hydraulic valve 1000 to adjust the extension of the piston rod of the leveling hydraulic cylinder 900 until the vehicle frame 101 is in a horizontal posture.

[0065] like Figure 4 As shown, the specific operations of step 6 are as follows: Step 61, the laser level 206 detects the horizontality of the frame 101 in the X and Y directions; Step 62, determine whether it is horizontal in the X direction; Step 63, if it is not level, the deviation correcting member 208 in the X direction fine-tunes the drill rod in the reverse direction until the frame 101 is level in the X direction; if it is level, then the process ends; Step 64, determine whether it is horizontal in the Y direction; Step 65: If it is not level, the deviation correcting member 208 in the Y direction will fine-tune the drill rod in the reverse direction until the frame 101 is level in the Y direction; if it is level, then the process ends.

[0066] like Figure 6 As shown, an intelligent low-headroom cast-in-place pile construction equipment is used to implement the above-mentioned intelligent low-headroom cast-in-place pile construction method, and the intelligent low-headroom cast-in-place pile construction equipment includes: The traveling assembly 100 includes a frame 101, a traveling mechanism 102 and a steering mechanism 103, wherein the traveling mechanism 102 and the steering mechanism 103 are respectively used for traveling and steering of the equipment; The travel mechanism 102 includes a battery pack, a 7.5KW motor, a pulley transmission system, a reducer, a differential, a PLC-controlled touch screen, and a speed encoder. The steering mechanism 103 includes a differential. The battery pack is connected to the 7.5KW motor to provide power. The forward and reverse rotation and speed of the motor are adjusted by the PLC programmable controller. The 7.5kW motor transmits power to the reducer through the pulley transmission system. The reducer reduces the motor speed and increases the torque, which is transmitted to the differential, and the differential distributes the power to the left and right wheels. The speed encoder is installed on the motor output shaft and is used to feedback the running speed of the crawler vehicle. The PLC-controlled touch screen performs closed-loop control according to the feedback signal of the speed encoder. The system status can be monitored and controlled through the touch screen interface to achieve comprehensive control of the 7.5KW motor speed, direction, start and stop and other functions.

[0067] like Figures 6 to 20 As shown, the precision-controlled multi-section drill rod assembly 200 includes a stand 201, a lifting frame 202, a threaded drill rod 203, a rotary drill bit 204, a lower retaining frame 205, a laser level 206, a laser rangefinder 207, a correction part 208, an acoustic wave detection sensor 209, a rotary tool holder transfer robot 1 219, a rotary tool holder transfer robot 220 and a drill rod storage frame 221, wherein the multi-section threaded drill rod 203 is neatly placed in the drill rod storage frame 221, the rotary tool holder transfer robot 220 takes the threaded drill rod 203 out of the drill rod storage frame 221, and assembles it at the docking port of the reducer and the corresponding threaded drill rod 203 through the rotary tool holder transfer robot 1 219. The rotary tool holder transfer robot 1 219 and the rotary tool holder transfer robot 2 220 can perform the picking and placing operations of the drill rod by rotating it on the horizontal plane and adjusting its up and down position in the vertical direction, so as to realize the picking and placing and disassembly operations of the drill rod.

[0068] Among them, the vertical frame 201 is installed on the frame 101, the lifting frame 202 is installed on the vertical frame 201 and can be adjusted up and down relative to the vertical frame 201, the lifting frame 202 is vertically slidably fitted on the vertical frame 201, and a driving mechanism is installed on the vertical frame 201. The driving mechanism can be a hydraulic cylinder or used to drive the lifting frame 202 to reciprocate up and down.

[0069] A driver (preferably a servo motor) is installed on the lifting frame 202, and a reducer is connected to the output end of the driver; the threaded drill rod 203 is connected to the reducer and the rotary cutter drill bit 204 through male and female threaded heads, and two adjacent threaded drill rods 203 are connected through head and tail threads; the lower retaining frame 205 is installed on the frame 101 and sleeved on the outside of the drill rod, which is used to keep the drill hole within a certain vertical range during drilling to prevent excessive deflection from causing jamming and damage to the equipment. The driver drives the threaded drill rod 203 and the rotary cutter drill bit 204 to rotate and dig the earth at the drilling position through the reducer, and at the same time, the driving mechanism drives the lifting frame 202 to act and move it downward, digging the earth for drilling operations. When the top of a section of threaded drill rod 203 descends to the set depth, its top is separated from the reducer, and the driving mechanism drives the lifting frame 202 to reset. The manipulator will take another section of threaded drill rod 203 and install it on the top of the lower drill rod in conjunction with the driver to form a whole, and the top and the reducer are connected to complete the assembly. After assembly, continue to drill downward until the set depth is reached, reverse the operation, and take out the threaded drill rods 203 from the borehole one by one to complete the drilling operation.

[0070] Two groups of laser levels 206 are provided and both are installed on the frame 101, one group is located at the front end (X direction) of the threaded drill rod 203, and the other group is located at the side end (Y direction) of the drill rod, and the two groups are arranged at 90 degrees; the laser rangefinder 207 is installed on the frame 101. The two groups of laser levels 206 constitute a verticality control component. The two laser beams emitted show whether the drill rod is in a vertical state. When it is displayed in a deflected state, the PLC control system will control the correction component 208 to reversely fine-tune the drill rod until it is in a preset position. The verticality control component detects whether the drill rod is in a horizontal position and a vertical position; if it is displayed that the drill hole is in a vertical position, the drilling equipment drives the drill rod downward to perform drilling operations until the required depth of the drill hole is reached; if it is displayed that the drill rod is deviated, the PLC control system will immediately feedback to the operator, and the operator will fine-tune the drill rod through the correction component according to the feedback on the verticality control component to ensure that the drill rod continues to remain at the preset angle.

[0071] The specific steps are: 1. The laser level 206 in the X and Y directions detects the horizontality of the frame 101; 2. Determine whether it is horizontal in the X direction; 3. If it is not horizontal, the correcting piece 208 in the X direction will fine-tune the drill rod in the reverse direction, and proceed to step 4; if it is horizontal, end; 4. Repeat steps 1 and 3 until the frame 101 is horizontal in the X direction; 5. Determine whether it is horizontal in the Y direction; 6. If it is not horizontal, the correcting piece 208 in the Y direction will fine-tune the drill rod in the reverse direction, and proceed to step 7; if it is horizontal, end; 7. Repeat steps 1, 5 and 6 until the frame 101 is horizontal in the Y direction.

[0072] Two sets of correcting members 208 are provided and both are installed on the vehicle frame 101, and are used to correct the threaded drill rod 203 in the front-to-back and left-to-right directions. The correcting members 208 are two electric clamps, and the electric clamps are used to fine-tune the position of the threaded drill rod 203 in the front-to-back and left-to-right directions. The two sets of correcting members 208 constitute a correcting assembly.

[0073] The laser rangefinder 207 is used to monitor the distance between the bottom surface of the lifting frame 202 and the laser rangefinder 207 in real time, so as to accurately control the drilling depth according to the number of installed drill pipe sections.

[0074] In the initial stage of drilling, the drill bit is controlled to just touch the ground. Since a laser rangefinder 207 is installed on the frame 101 in advance, the distance between the bottom surface of the lifting frame 202 and the laser rangefinder 207 is measured in the initial stage and set as x0. Let m be the number of drill rods that have been drilled, with an initial value of 0, and the value of m increases by 1 each time the rod is changed. During the drilling process, the distance between the laser rangefinder 207 and the bottom surface of the lifting frame 202 is measured in real time as x1, and fed back to the PLC. When x0-x1=L, L is the length of a single section of drill rod. The current drill rod is drilled to the limit position, drilling stops and rod change begins. After the rod change is completed, drilling continues. It can be seen that the real-time total drilling depth x3=mL+(x0-x1), and the drilling depth of the drill bit can be accurately controlled.

[0075] During the drilling operation, there will be a chain reaction when the earth is excavated downward, causing the earth on the hole wall to loosen, so it is necessary to evaluate the soil layer structure of the hole wall.

[0076] Four groups of acoustic wave detection sensors 209 are provided, which are respectively distributed on the outside of the pile hole and the pile hole is located at the inscribed circle of the four groups of acoustic wave detection sensors 209. Each group of acoustic wave detection sensors 209 is 50-60 cm away from the pile hole. Taking the 9m deep cast-in-place pile in this embodiment as an example, it is buried 4.5m below the soil layer. The system performs spectrum analysis and time domain analysis on the collected acoustic wave signals to determine whether the soil structure around the cast-in-place pile is damaged during the drilling process; according to the acoustic wave detection results, the drill speed and drilling pressure are adjusted to reduce the damage to the soil around the pile hole. By using ultrasonic detection technology, by using ultrasonic waves to propagate through the medium, reflection and refraction will occur when encountering problems such as collapsed holes and cracks, so the internal structure of the cast-in-place pile can be judged by the received ultrasonic signal. When a collapsed hole occurs, the collapsed objects in the hole are cleared, and some cement slurry or curing agent is injected into the collapsed hole wall to further reinforce the hole wall to prevent further collapse.

[0077] The suction separation and spiral soil extraction component 300 includes a high-pressure fan 301, a cyclone separator 302 and a pressure sensor 303. The high-pressure fan 301 is connected to the cyclone separator 302 through a pipeline and a dust bag is provided at the air outlet of the high-pressure fan 301. The cyclone separator 302 is connected to the connecting pipe 304 through a hose. The connecting pipe 304 is installed on the lifting frame 202 and communicates with the inside of the threaded drill rod 203. The pressure sensor 303 is used to detect the pressure data in the component and feed it back to the control system. The high-pressure fan 301 cooperates with the hollow structure of the drill rod and the drill bit to realize the discharge of loess in the hole, and the solid phase is separated by the cyclone separator 302. The discharged soil enters the soil storage tank for centralized treatment. The gas is filtered by the dust bag and then directly discharged for treatment.

[0078] Since the earth is discharged by rotary drilling and suction, due to the characteristics of loess and the open structure of the top of the drill bit, it is impossible to ensure timely and efficient discharge of earth during drilling and rotary drilling under the limited power of the high-pressure fan 301, which can easily lead to congestion of earth at the drill bit outlet and block the outlet. If the power of the high-pressure fan 301 is simply increased, the equipment volume will increase and the external exhaust flow rate will be large. In a low-headroom working environment, it is easy to affect the nearby soil structure and does not meet the original intention of the miniaturization of the equipment of the present invention.

[0079] In the above construction equipment, a sealing structure 210 is provided on the outer side of the top of the rotary drill bit 204, and the sealing structure 210 is used to seal the gap between the top of the rotary drill bit 204 and the hole wall. This kind of seal is a dynamic seal structure, which can effectively ensure the rapid discharge of earth during rotary drilling compared to the static seal method of the traditional emptying operation.

[0080] A method of implementing dynamic sealing, such as Fig. 9 and Fig.10 As shown, the sealing structure 210 includes an airbag body 1 211 and an airbag body 212 distributed from top to bottom, and a fixing sleeve 218 is provided on the inner side of the airbag body 1 211 and the airbag body 212. The fixing sleeve 218 is preset with an air inlet and an exhaust port connected to the airbag body. The fixing sleeve 218 is fixed on the outer side of the rotary drill bit 204, and the airbag body 1 211 and the airbag body 212 work alternately.

[0081] During the rotary drilling of the rotary drill bit 204, the air inlet and the exhaust port of the corresponding airbag are controlled to work, so that the airbag 1 211 and the airbag 2 212 work alternately, thereby achieving the sealing operation of the top area of ​​the drill bit. Fig. 9 and 10 As shown, only a part of the side of the airbag body 1 211 and the airbag body 212 contacting the fixing sleeve 218 is embedded in the fixing sleeve 218, and the rest of the airbag body 211 and the airbag body 212 can independently move upward a certain distance relative to the corresponding fixing sleeve 218 during drilling. Fig.10As shown, when the airbag body 1 211 is working, the bulging outer wall of the airbag body 1 211 is attached to the surface of the hole wall, and the airbag body 2 212 is in a deflated state (loose state) and will not contact the surface of the hole wall. As the rotary drill bit 204 is rotating downward, the outer wall of the airbag body 1 211 is blocked on the surface of the hole wall, and the airbag body 1 211 moves upward for a distance relative to the rotary drill bit 204. Similarly, when the airbag body 212 is working, the bulging outer wall of the airbag body 2 212 is attached to the surface of the hole wall, and the airbag body 1 211 is in a deflated state (loose state) and will not contact the surface of the hole wall. As the rotary drill bit 204 is rotating downward, the outer wall of the airbag body 2 212 is blocked on the surface of the hole wall. Through the reciprocating alternating operation of the airbag body 1 211 and the airbag body 2 212, the rotary drill bit 204 can continuously rotate and drill. During the operation, the airbag can also be used to perform preliminary squeezing of the soil on the hole wall to prevent the loose soil from falling. This is also the reason why the present application does not set a top structure for collecting and discharging the fallen soil.

[0082] A method of implementing dynamic sealing, such as Fig.15 and Fig.16 As shown, the sealing structure 210 includes an annular capsule 213, and an inner sleeve 214 is installed on the inner side of the annular capsule 213. The inner sleeve 214 is mounted on the outer side of the top of the rotary drill bit 204 and will not rotate relatively. The top and bottom of the inner sleeve 214 are both provided with a limit plate 215, and the outer diameter of the limit plate 215 is smaller than the hole diameter.

[0083] Elastic spiral ribs 216 are pre-embedded on the annular sac 213. The elastic spiral ribs 216 located outside the annular sac 213 are stretched and thinned, and the elastic spiral ribs 216 located inside are compressed and thickened to protrude outward to form transmission spiral ribs. Transmission spiral ribs 217 are arranged on the outside of the inner sleeve 214. When the rotary drilling knife drill bit is rotary, the transmission spiral ribs 217 cooperate with the elastic spiral ribs 216 on the inner wall of the annular sac 213 to drive the annular sac 213 to rotate between the two limit plates 215 in a transmission manner. While the annular sac 213 rotates, the outer wall of the annular sac 213 is always in contact with the hole wall.

[0084] During implementation, since the inner sleeve 214 rotates with the rotary drill bit 204, a certain amount of gas is filled in the annular sac 213 in advance to ensure that the annular sac 213 can fit on the surface of the hole wall when the rotary drill bit 204 is rotary digging earth. The inner sleeve 214 rotates through the transmission spiral rib 217 to drive the elastic spiral rib 216 on the inner side of the annular sac 213 to transmit downward, so that the annular sac 213 rolls upward on the outside of the two limit plates 215 and rolls downward on the inside, so that the outer wall of the annular sac 213 is always in contact with the hole wall. Since the gas in the annular sac 213 can squeeze the annular sac 213 to fit on the hole wall, a certain degree of squeezing effect on the hole wall can be achieved, and the problem of loose earth falling off on the hole wall can also be reduced. When the drill is lifted, the gas inside the annular sac 213 is released. When releasing the gas, an electromagnetic one-way diaphragm can be selected to shrink the annular sac 213 to a certain thickness, thereby preventing damage to the hole wall during the process of lifting the drill.

[0085] In the above construction equipment, the rotary drill bit 204 includes a drill bit body 2041 and blades 1 2042 and 2043 axially distributed outside the drill bit body 2041. The bottom of the drill bit body 2041 is an open structure, and blade 1 2042 is located at the bottom of blade 2 2043. The coverage area of ​​blade 2 2043 is larger than that of blade 1 2042, thereby realizing two rotary drilling operations on the earthwork, avoiding the problem of large-scale excessive wear caused by directly using one rotary drilling, and being more conducive to efficient rotary drilling and drilling of earthwork. For example, using Figure 8 The fixed blade structure shown.

[0086] In the above construction equipment, the above fixed blade structure is adjusted to have two states of inward and outward extension, such as Fig. 9 and Fig.15 As shown, the blade 2043 includes a cutter body 20431 whose bottom is rotatably mounted on the outside of the drill body 2041, a push rod 20432 is mounted on the top inner side of the cutter body 20431, one end of the push rod 20432 is rotatably mounted on the cutter body 20431, and the other end is rotatably connected to a slider 20433, the slider 20433 is slidably fitted on the outside of the drill body 2041 along the axial direction of the drill body 2041, and the axial position of the slider 20433 relative to the drill body 2041 is adjustable. The cutter body 20431 can be extended and retracted by adjusting the axial position of the slider 20433, and two states of the cutter body 20431 can be freely switched, one is extended downward rotation operation, and the other is retracted drilling construction, so as to avoid scratching the hole wall and causing the hole wall soil to fall off, affecting the quality of the thickness cast-in-place pile.

[0087] Among the above-mentioned construction equipment, Fig. 9 and Fig.15As shown, a protective shell 20434 is installed on the outer side of the drill body 2041, a detection part 20436 is installed inside the protective shell 20434, a sealing plate is rotatably installed on the bottom of the protective shell 20434, an electric telescopic rod 20435 is rotatably installed on the bottom of the sealing plate, and the output end of the electric telescopic rod 20435 is rotatably installed on the slider 20433.

[0088] The slider 20433 is driven by the electric telescopic rod 20435 to move axially along the drill body 2041, and the state of retraction and extension can be switched freely. When the drill is retracted and lifted, the blocking plate will be flipped down to open the bottom of the protective shell 20434, and the internal detection part 20436 will be exposed to perform in-hole inspection operations and timely discover the problem of earth falling off. When the drilling is extended, the blocking plate will be flipped up to block the bottom of the protective shell 20434, and the detection part 20436 will be in the protective shell 20434 and will not be affected by the earth excavation in the hole.

[0089] Among the above-mentioned construction equipment, Figures 9 to 14 As shown, an axial guide rail 20437 is installed on the outer side of the drill body 2041, and blocking plates are arranged at both ends of the axial guide rail 20437 to limit the amount of retraction and extension of the cutter body 20431. The slider 20433 is installed in the axial guide rail 20437, and a tooth groove bar 204313 is arranged in the middle of the axial guide rail 20437. The slider 20433 is provided with a notch, and a T-shaped block 20438 is slidably matched in the notch. The movement direction of the T-shaped block 20438 is perpendicular to the layout direction of the axial guide rail 20437, and the T-shaped block 20438 is provided with an over-through groove 204 39 and the adjusting groove 204311, the adjusting groove 204311 and the through groove 20439 are connected and the two are arranged vertically, the output end of the electric telescopic rod 20435 passes through the through groove 20439 and is connected with a connecting block 204310, the connecting block 204310 is slidably fitted in the adjusting groove 204311, and the adjusting groove 204311 gradually deviates from the axial guide rail 20437 in the direction away from the electric telescopic rod 20435, and an elastic backstop block 204312 is provided on the side of the T-shaped block 20438 close to the backstop tooth groove bar 204313 for adapting to the backstop tooth groove bar 204313.

[0090] During implementation, due to the large resistance to downward rotary drilling, if only the pushing effect of the electric telescopic rod 20435 is used, the downward rotary drilling force of the cutter body 20431 cannot be met. When encountering hard rocks or underground buildings in the underground space, the downward rotary drilling resistance will be too large, which can easily lead to the collapse of the electric telescopic rod 20435. In order to solve this problem, the cutter body 20431 has two states and can also ensure the ability of downward rotary drilling operations. In this solution, the slider 20433 is guided axially to the final position along the drill bit body 2041 by the axial guide rail 20437, and the slider 20433 is locked by the outward extension of the piston rod of the electric telescopic rod 20435. The elastic stop block 204312 cooperates with the stop tooth groove bar 204313 to ensure that the slider 20433 does not retreat when drilling downward, thereby releasing the piston end force of the electric telescopic rod 20435. When the axial position of the slider 20433 is adjusted inwardly and upwardly, the T-shaped block 20438 is first moved to the side away from the stop tooth groove bar 204313 through the connecting block 204310, so that the elastic stop block 204312 is separated from the stop tooth groove bar 204313. Continuing to retract the piston end can retract the cutter body 20431, which is convenient for lifting the drill rod and will not scratch the earth on the side wall of the pile hole.

[0091] Among the above-mentioned construction equipment, Fig.11 and Fig.12 As shown, the elastic stop block 204312 includes a mounting groove arranged on the side of the T-shaped block 20438 close to the stop tooth groove strip 204313, a spring body 2043121 and a movable body 2043122 are installed in the mounting groove, a limiting plate 2043123 is mounted on the outer side of the movable body 2043122, the limiting plate 2043123 is fixed on the side of the T-shaped block 20438 close to the stop tooth groove strip 204313, a one-way tooth block 2043124 is fixed on the end of the movable body 2043122 away from the mounting groove, and the one-way tooth block 2043124 and the stop tooth groove strip 204313 are adapted to each other. After the blade body 20431 is expanded outward, the one-way tooth block 2043124 can be pressed against the surface of the anti-retraction tooth groove bar 204313 through the spring body 2043121, so as to limit the position of the slider 20433 to prevent it from retreating and release the piston end force of the electric telescopic rod 20435.

[0092] An intelligent low-headroom cast-in-place pile construction system, comprising: The construction area scanning and modeling module includes a laser scanner 400, which is used to scan the construction site in all directions, obtain accurate 3D point cloud data, convert the point cloud data into a 3D model through software, integrate it with the real-time data in the control system, and conduct comprehensive monitoring and display of the construction site through data fusion; The construction boundary and construction point projection module includes a laser line-laying instrument 500, which is used to lay out the boundaries of the construction area, and calibrate the line-laying and projection points through real-time data monitoring. The specific steps are: 1. The system sets the line-laying reference point in the construction area; 2. The laser line-laying instrument 500 lays out the boundary of the construction area; 3. Cooperate with the real-time monitoring system (laser scanner) to determine whether the boundary and line-laying points are correct; if there are any errors, calibrate the line-laying position and repeat the above steps 1 to 3; if there are no errors, mark the line-laying position, record and archive the data, and complete the line-laying and point projection and calibration operations.

[0093] The construction equipment walking and construction path planning system module includes an ultrasonic sensor 600 and an automatic path planning module. The ultrasonic sensor 600 is used to detect dynamic obstacles during the movement. The automatic path planning module automatically plans the travel route in accordance with the three-dimensional image reconstructed by the laser scanner 400 and the dynamic obstacles during the movement. The three-dimensional image and drilling position of the construction area are reconstructed in cooperation with the laser scanner 400, and the automatic path planning algorithm embedded in the automatic path planning module is used to generate the best walking route for the drilling equipment. The drilling equipment arrives at the construction point along the best walking route, monitors the equipment position and status through an absolutely defined method, and plans the path according to the position of the preset hole. The ultrasonic sensor 600 monitors the equipment position and status in real time to determine whether there are dynamic obstacles. If so, an alarm reminder is fed back to the display screen, and the PLC control system slows down or stops, automatically plans the equipment position and determines the dynamic obstacles. If not, the equipment continues to move until the specified position to complete the automatic planning of the construction path operation.

[0094] The drilling positioning module includes a visual camera 700. The visual camera 700 is used to identify the drilling position and input the relative signal of the drilling position into the industrial computer to mark the drilling position. When the drilling equipment moves to within 1 meter of the drilling position, the visual camera 700 identifies the drilling position and inputs the relative signal of the drilling position into the industrial computer. After the industrial computer receives the signal of the drilling position, the industrial computer calculates the time required for the turning and moving of the drilling equipment according to the measured relative distance, and inputs the signal to the PLC control system. At this time, the PLC control system controls the moving action time and the steering action time to make the distance between the drilling operation position and the center of the cast-in-place pile less than 5 mm, and the positioning is completed at this moment.

[0095] The intelligent low-headroom bored pile construction equipment of the above-mentioned embodiment is used to perform drilling operations at the drilling positions.

[0096] The automatic leveling module includes an attitude level sensor 800, a leveling hydraulic cylinder 900, and an electronically controlled hydraulic valve 1000. The attitude level sensor 800 is used to detect the inclination angle of the construction equipment in real time. On the drilling equipment where the leveling hydraulic cylinder 900 is distributed, the electronically controlled hydraulic valve 1000 is used to adjust the piston rod extension amount of the leveling hydraulic cylinder 900; the PLC control system is started and the attitude level sensor 800 is initialized. The attitude level sensor 800 detects the inclination angle of the equipment in real time and transmits the measurement data to the PLC control system; the PLC control system determines the horizontality of the drilling equipment according to the signal of the attitude level sensor 800, and compares the measured horizontality with the system preset horizontality. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder 900 that needs to be adjusted; the PLC control system sends a control signal to the electronically controlled hydraulic valve 1000 to adjust the piston rod extension amount of the leveling hydraulic cylinder 900 until the frame 101 is in a horizontal attitude.

[0097] The PLC control system is connected to the industrial computer, and the PLC control system is connected to the laser scanner 400, the laser line laying instrument 500, the ultrasonic sensor 600, the visual camera 700, the posture level sensor 800, and the electric-controlled hydraulic valve 1000.

Claims

1. An intelligent low-headroom cast-in-place pile construction method, characterized in that: include: Step 1: Scan the construction site and build a model Step 2: Laying out lines, projecting points, and calibrating Step 3: Automatically plan the construction path Step 4: Drilling Positioning Step 5: Preparation before drilling Select four points around the drilling location. The cast-in-place pile is an inscribed circle of the four points and the four points are equidistant from the center of the cast-in-place pile. Installing an acoustic wave detection sensor (209) at each point, and performing spectrum analysis and time domain analysis on the collected acoustic wave signals; The drilling equipment is adjusted to a horizontal state; Step 6: Drilling The verticality control component detects whether the drill pipe is in the horizontal and vertical positions; If the drill hole is in a vertical position, the drilling equipment drives the drill rod downward to perform drilling operations until the required drilling depth is reached; If the drill rod is displayed as deviated, the drill rod is fine-tuned through the deviation correction component to ensure that the drill rod continues to maintain the preset angle; Performing spectrum analysis and time domain analysis on the collected sound wave signals according to the sound wave detection sensor (209) to determine whether the soil structure around the bored pile is damaged during the drilling process; According to the results of the sonic wave test, the drill speed and drilling pressure are adjusted to reduce the damage to the soil around the pile hole; Step 7: Drilling and hole monitoring After the pile hole is drilled, the drilling equipment lifts the drill rod out of the hole and monitors the environment inside the hole in real time during the drilling process.

2. The intelligent low-headroom bored pile construction method according to claim 1 is characterized in that: The specific operations of step 2 are as follows: Step 21, setting the line reference point in the construction area; Step 22, using a laser marking instrument (500) to mark out the boundaries of the construction area; Step 23, cooperate with real-time data monitoring to determine whether the boundary and line-laying points are incorrect; If there is an error, correct the line placement position and repeat steps 21 to 23 above; If correct, mark the layout position, record and archive the data, and complete the layout, point projection and correction work.

3. The intelligent low-headroom cast-in-place pile construction method according to claim 2 is characterized in that: The specific operations of step 3 are as follows: Step 31, obtaining a three-dimensional image and the position of the hole by means of a laser scanner (400); Step 32, monitoring the device position and status by an absolutely defined method; Step 33, performing path planning according to the position of the preset hole; Step 34, the sensor monitors the device position and status in real time; Step 35, determine whether there is a dynamic obstacle; If yes, the alarm reminder is fed back to the display screen, and the PLC control system decelerates or stops, and repeats steps 33 to 35; If not, continue moving until the specified position to complete the automatic planning of the construction path.

4. The intelligent low-headroom bored pile construction method according to claim 1 is characterized in that: In step 5, smart posture adjustment is also included: The drilling equipment is provided with a posture level sensor (800), the signal output end of the posture level sensor (800) is connected to the input end of the PLC control system, and the control signal output end of the PLC control system is connected to the electric-controlled hydraulic valve (1000); Starting the PLC control system and initializing the attitude level sensor (800), the attitude level sensor (800) detects the tilt angle of the device in real time and transmits the measurement data to the PLC control system; The PLC control system determines the horizontality of the drilling equipment according to the signal of the posture level sensor (800), and compares the measured horizontality with the system preset horizontality. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder (900) that needs to be adjusted; The PLC control system sends a control signal to the electronically controlled hydraulic valve (1000) to adjust the extension amount of the piston rod of the leveling hydraulic cylinder (900) until the vehicle frame (101) is in a horizontal posture.

5. The intelligent low-headroom bored pile construction method according to claim 1 is characterized in that: In step 6, the verticality control component includes two sets of laser level meters (206), and the deflection correction component includes two sets of deflection correction components (208), the two sets of laser level meters (206) are respectively arranged in the X and Y directions, and the two sets of deflection correction components (208) are also arranged in the X and Y directions; The steps for verticality control and deviation correction are as follows: Step 61, using a laser level (206) to detect the horizontality of the vehicle frame (101) in the X and Y directions; Step 62, determine whether it is horizontal in the X direction; Step 63, if it is not level, the deviation correcting member (208) in the X direction fine-tunes the drill rod in the reverse direction until the frame (101) is level in the X direction; if it is level, then the process ends; Step 64, determine whether it is horizontal in the Y direction; Step 65: if it is not level, the deviation correcting member (208) in the Y direction will fine-tune the drill rod in the reverse direction until the frame (101) is level in the Y direction; if it is level, the process ends.

6. An intelligent low-headroom bored pile construction device for implementing the intelligent low-headroom bored pile construction method according to any one of claims 1 to 5, characterized in that: The intelligent low-headroom cast-in-place pile construction equipment comprises: A traveling assembly (100) comprises a frame (101), a traveling mechanism (102) and a steering mechanism (103), wherein the traveling mechanism (102) and the steering mechanism (103) are respectively used for traveling and steering of the device; A precision-controlled multi-section drill rod assembly (200) comprises a stand (201), a lifting frame (202), a threaded drill rod (203), a rotary drill bit (204), a lower retaining frame (205), a laser level (206), a laser rangefinder (207), a deviation correction member (208), and a sonic wave detection sensor (209); the stand (201) is mounted on a vehicle frame (101); the lifting frame (202) is mounted on the stand (201) and can be adjusted up and down relative to the stand (201); a driver is mounted on the lifting frame (202), and a reducer is connected to the output end of the driver; the threaded drill rod (203) is connected to the reducer and the rotary drill bit (204) via male and female threaded heads, and two adjacent threaded drill rods (203) are connected via head and tail threads; the lower retaining frame (20 5) is mounted on the vehicle frame (101) and sleeved on the outside of the drill rod; two groups of laser levels (206) are provided and both are installed on the vehicle frame (101), one group is located at the front end of the threaded drill rod (203), and the other group is located at the side end of the drill rod, and the two groups are arranged at 90 degrees; a laser rangefinder (207) is installed on the vehicle frame (101), and the laser rangefinder (207) is used to monitor the distance between the bottom surface of the lifting frame (202) and the laser rangefinder (207) in real time; two groups of deviation correction members (208) are provided and both are installed on the vehicle frame (101), and are used to correct the threaded drill rod (203) in the front and back and left and right directions; four groups of sonic wave detection sensors (209) are provided, which are respectively distributed on the outside of the pile hole, and the pile hole is located at the inscribed circle of the four groups of sonic wave detection sensors (209); A suction separation and spiral soil extraction component (300) comprises a high-pressure fan (301), a cyclone separator (302) and a pressure sensor (303); the high-pressure fan (301) is connected to the cyclone separator (302) via a pipeline and a dust removal bag is provided at the air outlet of the high-pressure fan (301); the cyclone separator (302) is connected to a connecting pipe (304) via a hose; the connecting pipe (304) is installed on a lifting frame (202) and communicates with the inside of a threaded drill rod (203); and the pressure sensor (303) is used to detect pressure data in the component and feed it back to a control system.

7. The intelligent low-headroom bored pile construction equipment according to claim 6 is characterized in that: A sealing structure (210) is provided on the outer side of the top of the rotary cutter drill bit (204), and the sealing structure (210) is used to seal the gap between the top of the rotary cutter drill bit (204) and the hole wall.

8. The intelligent low-headroom bored pile construction equipment according to claim 7 is characterized in that: The sealing structure (210) comprises an airbag body 1 (211) and an airbag body 2 (212) which are arranged in a downward and upward manner. A fixing sleeve (218) is arranged on the inner side of each of the airbag bodies 1 (211) and 2 (212). An air inlet and an air outlet which are in communication with the airbag bodies are preset in the fixing sleeve (218). The fixing sleeve (218) is fixed on the outer side of the rotary drill bit (204). The airbag body 1 (211) and the airbag body 2 (212) work alternately.

9. The intelligent low-headroom bored pile construction equipment according to claim 7, characterized in that: The sealing structure (210) comprises an annular capsule (213), an inner sleeve (214) is mounted on the inner side of the annular capsule (213), the inner sleeve (214) is sleeved on the outer side of the top of the rotary drill bit (204) and does not rotate relatively, and a limit plate (215) is arranged on the top and bottom of the inner sleeve (214), and the outer diameter of the limit plate (215) is smaller than the hole diameter; An elastic spiral rib (216) is pre-buried on the annular sac (213), and a transmission spiral rib (217) is arranged on the outer side of the inner sleeve (214). When the rotary drill bit is used for rotary drilling, the transmission spiral rib (217) cooperates with the elastic spiral rib (216) on the inner wall of the annular sac (213), driving the annular sac (213) to rotate between the two limit plates (215) and keep the outer wall of the annular sac always in contact with the hole wall.

10. The intelligent low-headroom bored pile construction equipment according to claim 6, characterized in that: The rotary cutter drill bit (204) comprises a drill bit body (2041) and a blade 1 (2042) and a blade 2 (2043) axially distributed outside the drill bit body (2041); the bottom of the drill bit body (2041) is an open structure, and the blade 1 (2042) is located at the bottom of the blade 2 (2043).

11. The intelligent low-headroom bored pile construction equipment according to claim 10, characterized in that: The second blade (2043) comprises a cutter body (20431) whose bottom is rotatably mounted on the outside of the drill body (2041); a push rod (20432) is mounted on the inner side of the top of the cutter body (20431); one end of the push rod (20432) is rotatably mounted on the cutter body (20431) and the other end is rotatably connected to a slider (20433); the slider (20433) is slidably fitted on the outside of the drill body (2041) along the axial direction of the drill body (2041); and the axial position of the slider (20433) relative to the drill body (2041) is adjustable.

12. The intelligent low-headroom bored pile construction equipment according to claim 11, characterized in that: A protective shell (20434) is installed on the outside of the drill body (2041), a detection component (20436) is installed inside the protective shell (20434), a blocking plate is rotatably installed on the bottom of the protective shell (20434), an electric telescopic rod (20435) is rotatably installed on the bottom of the blocking plate, and an output end of the electric telescopic rod (20435) is rotatably installed on the slider (20433).

13. The intelligent low-headroom bored pile construction equipment according to claim 12, characterized in that: An axial guide rail (20437) is installed on the outer side of the drill body (2041), and a slider (20433) is installed in the axial guide rail (20437). A back-off tooth groove (204313) is arranged in the middle of the axial guide rail (20437). A notch is arranged on the slider (20433), and a T-shaped block (20438) is slidably fitted in the notch. The movement direction of the T-shaped block (20438) is perpendicular to the arrangement direction of the axial guide rail (20437). The T-shaped block (20438) is provided with an over-through groove (20439) and an adjustment groove (204311). The adjustment groove (20431 1) is connected to the through-slot (20439) and the two are arranged vertically, the output end of the electric telescopic rod (20435) passes through the through-slot (20439) and is connected to a connecting block (204310), the connecting block (204310) is slidably fitted in the adjustment slot (204311), the adjustment slot (204311) gradually deviates from the axial guide rail (20437) in a direction away from the electric telescopic rod (20435), and an elastic backstop block (204312) is provided on one side of the T-shaped block (20438) close to the backstop tooth groove bar (204313) for adapting to the backstop tooth groove bar (204313).

14. The intelligent low-headroom bored pile construction equipment according to claim 13, characterized in that: The elastic backstop block (204312) comprises a mounting groove arranged on a side of the T-shaped block (20438) close to the backstop tooth groove strip (204313), a spring body (2043121) and a moving body (2043122) are installed in the mounting groove, a limiting plate (2043123) is sleeved on the outer side of the moving body (2043122), the limiting plate (2043123) is fixed on a side of the T-shaped block (20438) close to the backstop tooth groove strip (204313), a one-way tooth block (2043124) is fixed on the end of the moving body (2043122 away from the mounting groove, and the one-way tooth block (2043124) and the backstop tooth groove strip (204313) are adapted to each other.

15. An intelligent low-headroom cast-in-place pile construction system, characterized in that: include: A construction area scanning and modeling module, including a laser scanner (400) for scanning the construction site in all directions; The construction boundary and construction point are projected into a module, including a laser marking instrument (500), which is used to mark the boundary of the construction area; A construction equipment walking and construction path planning system module, comprising an ultrasonic sensor (600) and an automatic path planning module, wherein the ultrasonic sensor (600) is used to detect dynamic obstacles during the walking process, and the automatic path planning module automatically plans the walking route in accordance with the three-dimensional image reconstructed by the laser scanner (400) and the dynamic obstacle conditions during the walking process; A drilling positioning module, comprising a visual camera (700), wherein the visual camera (700) is used to identify the drilling position and input a relative signal of the drilling position into an industrial computer; The intelligent low-headroom bored pile construction equipment according to any one of claims 6 to 14, used for performing drilling operations at drilling locations; An automatic leveling module comprises a posture level sensor (800), a leveling hydraulic cylinder (900), and an electronically controlled hydraulic valve (1000), wherein the posture level sensor (800) is used to detect the tilt angle of the construction equipment in real time, and the electronically controlled hydraulic valve (1000) is used to adjust the extension amount of the piston rod of the leveling hydraulic cylinder (900) on the drilling equipment where the leveling hydraulic cylinder (900) is distributed; The PLC control system is connected to the industrial computer, and the PLC control system is connected to the industrial computer. The PLC control system is connected to a laser scanner (400), a laser line laying instrument (500), an ultrasonic sensor (600), a visual camera (700), a posture level sensor (800), and an electric-controlled hydraulic valve (1000).

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