Vertical rod double-arm pit digging robot for electric power system construction

Abstract

The invention relates to the technical field of construction auxiliary robots, and discloses a vertical rod double-arm pit digging robot for electric power system construction. Soil blocks fall into a bib of a U-shaped structure formed by a soil dragging bag, after a pit is dug, a clamping claw rotates on a frame, the clamping claw rotates to the position beside a telegraph pole placed behind the frame, then the clamping claw clamps and fixes the lower portion of the telegraph pole, the clamping claw drives the telegraph pole to rotate, and the telegraph pole rotates to be vertically placed in the pit; meanwhile, the soil dragging bag is rolled, so that the soil dragging bag drives the soil blocks to be dragged from the lower portion of the frame to the front portion of the frame, the soil blocks are synchronously backfilled into the pit, the telegraph pole is buried in the land, the soil blocks are compacted by workers, and therefore the telegraph pole is automatically installed in a construction site; and workers are assisted to install the telegraph pole more quickly and conveniently, the working efficiency of construction is improved, and waste of resource use is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of construction auxiliary robots, and in particular to a pole-standing double-arm pit digging robot used for power system construction. Background Art

[0002] The laying of electric poles in the construction of power infrastructure is an indispensable project. This process requires the use of a lot of mechanical equipment, a large number of personnel, and a lot of resource costs. Therefore, auxiliary equipment is needed in the construction to reduce the waste of resource costs.

[0003] In the existing auxiliary equipment for installing electric poles, such as Chinese patent application CN106088788A, a traveling mechanism, a turntable, two base plates, a punching module, and a pole erecting module are provided. The turntable is slidably installed above the slide rail above the traveling mechanism, the two base plates are hinged on the platform, the punching module is slidably installed on the linear guide rail of one base plate, and the pole erecting module is slidably installed on the linear guide rail of the other base plate. The equipment can be used to automatically dig pole pits and automatically erect poles, which saves manpower, is simple in equipment, improves construction efficiency, and reduces work hazards.

[0004] However, there are still the following problems: after the auxiliary installation of the electric poles, the excavated pit needs to be backfilled, and the current auxiliary equipment processing process is to place the electric poles in the pit and then backfill the soil and compact it. In addition, because the auxiliary equipment grabs the electric poles, the backfilling work requires additional equipment or manpower to perform, resulting in low overall work efficiency and some waste of resource utilization. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a pole-erecting double-arm pit-digging robot for power system construction, which has the advantages of automatically installing electric poles in the construction site, assisting workers to install electric poles more quickly and conveniently, improving construction work efficiency, avoiding waste of resource use, etc. It solves the problem of needing to backfill the dug pit after the auxiliary installation of the electric poles, while the current auxiliary equipment processing flow is to place the electric poles in the pit and then backfill and compact the soil, and because the auxiliary equipment grabs the electric poles, the backfilling work still needs additional equipment or manpower to perform, resulting in low overall work efficiency and some waste of resource use.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pole-standing double-arm pit-digging robot for power system construction, comprising a frame, a pit-digging mechanism arranged on the frame, and a pole-standing mechanism arranged on the frame, the pit-digging mechanism comprising a knife cylinder and a conveyor belt, one end of the frame is provided with the knife cylinder, the knife cylinder is pressed against the ground and performs pit-digging processing on the ground, the knife cylinder transfers the excavated soil blocks to the upper end of the knife cylinder and throws them above the frame, the frame is provided with the conveyor belt, one end of the conveyor belt is located at one end of the frame, the other end of the conveyor belt is located at the other end of the frame, one end of the conveyor belt is adjacent to the knife cylinder, and one end of the conveyor belt is located below the upper end of the knife cylinder, so that the soil blocks thrown out by the knife cylinder fall on the conveyor belt; The pole erecting mechanism comprises a clamping claw and a soil-dragging bag. The clamping claws are arranged on both sides of the frame and rotate on the frame. The clamping claws clamp and fix the electric pole as a whole. The soil-dragging bag is arranged on the frame and is located below the frame. The soil-dragging bag is in a "U"-shaped structure. The overall coverage length of the "U"-shaped structure of the soil-dragging bag is greater than the length of the frame, so that the soil blocks conveyed by the conveyor belt fall into the "U"-shaped structure of the soil-dragging bag, and the soil-dragging bag drags the soil blocks from the other end of the frame to one end of the frame.

[0007] Preferably, the digging mechanism also includes sprocket wheels, and a plurality of sprocket wheels are rotatably matched on both sides of the frame, the sprocket wheels on each side are evenly distributed on both sides of the frame, and tracks are tensioned on the sprocket wheels on each side, and the bottom ends of the tracks are lower than the bottom ends of the frame, and shaft connecting plates are provided on the shafts of the sprocket wheels on each side, and the sprocket wheels on each side are rotatably matched with the shaft connecting plates on each side, and the sprocket wheels are located between the shaft connecting plates and the frame, and a drive motor is fixedly mounted on the frame, and the drive motor is power-connected to the sprocket wheels.

[0008] Preferably, a bracket is fixedly mounted on one end of the frame, and the bracket extends to the outer side of one end of the frame, and the knife barrel is slidably fitted on the bracket, and the knife barrel passes through the bracket, and the knife barrel is arranged perpendicular to the frame, and a through opening is provided on the upper end side wall of the knife barrel, and the through opening of the knife barrel is adjacent to the frame, and a spiral digging cutter is rotatably fitted in the knife barrel, and the spiral digging cutter is adapted to the inside of the knife barrel, and the spiral digging cutter is a spiral structure, and the top of the spiral blade of the spiral digging cutter is located at the same height as the through opening of the knife barrel, and a first stepper motor is fixedly mounted on the top of the knife barrel, and the shaft of the first stepper motor passes through the top wall of the knife barrel, and the first stepper motor is poweredly connected to the spiral digging cutter.

[0009] Preferably, a second stepper motor is arranged on the frame, and the height of the second stepper motor is higher than the height of the first stepper motor. A support frame is provided between the second stepper motor and the frame, and the support frame is fixedly connected to the frame, and the support frame is fixedly connected to the second stepper motor. A first screw is rotatably fitted on the support frame, and the first screw is arranged perpendicular to the frame. The first screw is dynamically connected to the second stepper motor. A moving part is slidably fitted on the support frame, and the first screw passes through the moving part. The first screw is threadedly fitted with the moving part. A connecting frame is provided on the moving part, and one end of the connecting frame is fixedly connected to the moving part, and the other end of the connecting frame is fixedly connected to the knife cylinder.

[0010] Preferably, a cylinder is provided on the frame, and the cylinder is located on the other end of the frame. The cylinder fixed rod is rotatably matched with the frame. A slide groove is provided on the frame, and one end of the slide groove is located at one end of the frame, and one end of the slide groove is rotatably matched with the frame. The other end of the slide groove is located at the other end of the frame, and the other end of the slide groove is rotatably matched with the extension rod of the cylinder.

[0011] Preferably, a plurality of pulleys are rotatably fitted in the slide groove, the pulleys are symmetrically distributed at both ends of the slide groove, the conveyor belt is tensioned on the overall pulley, a conveying motor is fixedly mounted on the slide groove, and the conveying motor is power-connected to a single pulley.

[0012] Preferably, the upright mechanism also includes a fixing frame, the fixing frames are provided on both sides of the frame, the fixing frames are symmetrically distributed on the frame, the fixing frames are rotatably matched with upright arms, the upright arms are located in the middle of the frame, the distance between the upright arms on both sides is greater than the width of the frame, the length of the upright arms is greater than half of the length of the frame, two telescopic rods are provided between the upright arms and the shaft connecting plates, the fixed rods of the telescopic rods are rotatably matched with the shaft connecting plates, the extending rods of the telescopic rods are rotatably matched with the upright arms, the telescopic rods on each side are symmetrically distributed on both sides of the upright arms on each side, and the extending rods of the telescopic rods are adjacent to one end of the upright arms.

[0013] Preferably, a hydraulic rod is fixedly mounted on the other end of the vertical pole arm, the extension rods of the hydraulic rod are facing each other, and the clamping claw is fixedly mounted on the extension rod of the hydraulic rod, and the size of the clamping claw is adapted to the cross-sectional size of the electric pole.

[0014] Preferably, the fixed frames are rotatably equipped with gears, the gears are located between the fixed frames on both sides, the gears on each side are respectively connected to the vertical rod arms on each side, the fixed frames are rotatably equipped with second screws, the second screws on each side are respectively meshed with the gears on each side, first servo motors are fixedly installed on both sides of the frame, couplings are respectively arranged between the first servo motors on each side and the second screws on each side, the couplings on each side are respectively connected to the first servo motors on each side, and the couplings on each side are respectively connected to the second screws on each side.

[0015] Preferably, the bottom ends of both sides of the frame are rotatably matched with mesh bag winding wheels, and the mesh bag winding wheels are located at one end of the frame. The soil-dragging bag is arranged between the mesh bag winding wheels, and the two ends of the soil-dragging bag are respectively connected to the winding ends of the mesh bag winding wheels on each side, so that the mesh bag winding wheels can wind up the soil-dragging bag. Second servo motors are fixedly installed on both sides of the frame, and the second servo motors on each side are respectively connected to the mesh bag winding wheels on each side for power.

[0016] Compared with the prior art, the present invention provides a pole-standing dual-arm pit digging robot for power system construction, which has the following beneficial effects: 1. The pole-standing double-arm pit digging robot for power system construction moves the robot to the position where the electric pole needs to be installed, first loosens the soil bag, so that when the robot moves to the position where the electric pole is installed, the soil bag drags the ground and unfolds to the rear of the frame, so that the soil bag forms a "U"-shaped bib behind the frame, and then the robot moves to the construction position to start the pit digging mechanism, the knife drum moves to the ground, and the land is dug in the knife drum. The knife drum digs the soil into the knife drum and moves the soil to the upper end of the knife drum. The knife drum then throws the soil from the upper end of the knife drum onto the conveyor belt. The conveyor belt moves the soil to the rear of the frame and drops the soil into the "U"-shaped bib formed by the soil bag. In the bib of the U" shape structure, after the pit is dug, the clamping claw revolves on the frame, so that the clamping claw turns to the electric pole placed behind the frame, and then the clamping claw clamps and fixes the lower part of the electric pole, and the clamping claw drives the electric pole to rotate, so that the electric pole turns vertically and is placed in the pit, and at the same time, the dragging soil bag is rolled up, so that the dragging soil bag drives the soil blocks to be dragged from the bottom of the frame to the front of the frame, so as to synchronously backfill the soil blocks into the pit, so as to bury the electric pole in the land, and the workers compact the soil blocks, so as to automatically install the electric pole in the construction site, assist the workers to install the electric pole more quickly and conveniently, improve the work efficiency of the construction, and avoid the waste of resource use.

[0017] 2. The pole-mounted double-arm digging robot used for power system construction blocks the side of the sprocket wheel through the setting of the shaft connecting plate, preventing debris such as soil from entering between the sprocket wheel and the crawler to affect the movement of the robot, thereby ensuring the stable operation of the robot.

[0018] 3. The pole-standing double-arm digging robot used for power system construction adjusts the inclination angle of the chute through the setting of the cylinder to ensure that the inclination angle of the conveyor belt on the chute maintains a sufficient parabolic angle, so as to ensure that the soil blocks on the conveyor belt can stably fall into the bib formed by the "U"-shaped structure of the drag bag, thereby improving the stability of the robot's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the pit digging robot of the present invention; Figure 2 This is a schematic diagram of the structure of the pit digging mechanism of the present invention; Figure 3 This is a schematic diagram of the structure distribution of the spiral digging cutter of the present invention; Figure 4 It is a schematic diagram of the structure distribution of the conveyor belt of the present invention; Figure 5 It is a schematic diagram of the structure of the pole erecting mechanism of the present invention; Figure 6 It is a schematic diagram of the structure distribution of the vertical pole arm of the present invention; Figure 7 for Figure 6 The enlarged structural diagram at A in the middle; Figure 8 It is a schematic diagram of the structural distribution of the soil bag dragging part of the present invention.

[0020] In the figure: 1. frame; 2. digging mechanism; 21. sprocket wheel; 22. crawler track; 23. shaft connecting plate; 24. driving motor; 25. bracket; 26. knife barrel; 27. spiral digging knife; 28. first stepping motor; 29. ​​second stepping motor; 210. first screw; 211. moving part; 212. connecting frame; 213. cylinder; 214. slideway; 215. pulley; 216. conveyor belt; 217. conveying motor; 3. pole mechanism; 31. fixed frame; 32. pole arm; 33. telescopic rod; 34. hydraulic rod; 35. clamping claw; 36. gear; 37. second screw; 38. first servo motor; 39. coupling; 310. net bag reel; 311. soil bag; 312. second servo motor. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a pole-standing dual-arm pit digging robot for power system construction.

[0023] Embodiment 1:

[0024] In a typical implementation of the present application, Figure 1 As shown, a pole-standing double-arm pit-digging robot for power system construction includes a frame 1, a pit-digging mechanism 2 arranged on the frame 1, and a pole-standing mechanism 3 arranged on the frame 1. The pit-digging mechanism 2 includes a knife barrel 26 and a conveyor belt 216. The frame 1 is provided with a knife barrel 26 at one end, and the knife barrel 26 is pressed against the ground and performs pit-digging processing on the ground. The knife barrel 26 transfers the excavated soil blocks to the upper end of the knife barrel 26 and throws them above the frame 1. The frame 1 is provided with a conveyor belt 216, one end of the conveyor belt 216 is located at one end of the frame 1, and the other end of the conveyor belt 216 is located at the other end of the frame 1. One end of the conveyor belt 216 is adjacent to the knife barrel 26, and one end of the conveyor belt 216 is located below the upper end of the knife barrel 26, so that the soil blocks thrown out by the knife barrel 26 fall on the conveyor belt 216; The pole erecting mechanism 3 includes a clamping claw 35 and a soil bag 311. The clamping claws 35 are arranged on both sides of the frame 1. The clamping claws 35 rotate on the frame 1, and the clamping claws 35 clamp and fix the electric pole as a whole. The frame 1 is provided with a soil bag 311, and the soil bag 311 is located below the frame 1. The soil bag 311 is in a "U" shape. The length of the overall coverage position of the "U" shape structure of the soil bag 311 is greater than the length of the frame 1, so that the soil blocks conveyed by the conveyor belt 216 fall into the "U" shape structure of the soil bag 311, and the soil bag 311 drags the soil blocks from the other end of the frame 1 to one end of the frame 1.

[0025] When using the present invention: The robot is moved to the position where the electric pole needs to be installed, and the soil bag 311 is first loosened. When the robot moves to the position where the electric pole is installed, the soil bag 311 drags the ground and unfolds to the rear of the frame 1, so that the soil bag 311 forms a "U"-shaped bib behind the frame 311. Then the robot moves to the construction position and starts the digging mechanism 2. The knife cylinder 26 moves to the ground, and the land is dug in the knife cylinder 26. The knife cylinder 26 digs the soil into the knife cylinder 26 and moves the soil to the upper end of the knife cylinder 26. The knife cylinder 26 then throws the soil from the upper end of the knife cylinder 26 onto the conveyor belt 216. The conveyor belt 216 moves the soil to the rear of the frame 1 and drops the soil into the "U" shaped structure formed by the soil bag 311. In the bib of the shaped structure, after the pit is dug, the clamping claw 35 rotates on the frame 1, so that the clamping claw 35 turns to the electric pole placed behind the frame 1, and then the clamping claw 35 clamps and fixes the lower part of the electric pole, and the clamping claw 35 drives the electric pole to rotate, so that the electric pole is turned vertically and placed in the pit, and at the same time, the dragging bag 311 is rolled up, so that the dragging bag 311 drives the soil blocks to be dragged from the bottom of the frame 1 to the front of the frame 1, so as to synchronously backfill the soil blocks into the pit, so as to bury the electric pole in the land, and the workers compact the soil blocks, so as to automatically install the electric pole in the construction site, assist the workers to install the electric pole more quickly and conveniently, improve the construction work efficiency, and avoid waste of resource use.

[0026] Embodiment 2:

[0027] like Figure 2-Figure 4 As shown, the difference from the above embodiment is that the digging mechanism 2 also includes a sprocket wheel 21, and a plurality of sprocket wheels 21 are rotatably matched on both sides of the frame 1, and the sprocket wheels 21 on each side are evenly distributed on both sides of the frame 1, and a track 22 is tensioned on the sprocket wheels 21 on each side, and the bottom end of the track 22 is lower than the bottom end of the frame 1, and an axis connecting plate 23 is provided on the axis of the sprocket wheels 21 on each side, and the sprocket wheels 21 on each side are rotatably matched with the axis connecting plates 23 on each side, and the sprocket wheels 21 are located between the axis connecting plates 23 and the frame 1, and a drive motor 24 is fixedly installed on the frame 1, and the drive motor 24 is power-connected to the sprocket wheels 21.

[0028] When the robot is moved, the drive motor 24 is started, the drive motor 24 drives the sprocket wheel 21 to rotate, the sprocket wheel 21 drives the track 22 to rotate, so that the track 22 drives the robot to move, and the shaft connecting plate 23 is used to block the side of the sprocket wheel 21 to prevent soil and other debris from entering between the sprocket wheel 21 and the track 22 to affect the movement of the robot, thereby ensuring the stable operation of the robot.

[0029] Furthermore, a bracket 25 is fixedly installed on one end of the frame 1, and the bracket 25 extends to the outside of one end of the frame 1. A knife cylinder 26 is slidably fitted on the bracket 25, and the knife cylinder 26 passes through the bracket 25. The knife cylinder 26 is arranged perpendicular to the frame 1. A through opening is opened on the upper end side wall of the knife cylinder 26, and the through opening of the knife cylinder 26 is adjacent to the frame 1. A spiral digging tool 27 is rotatably fitted in the knife cylinder 26, and the spiral digging tool 27 is adapted to the inside of the knife cylinder 26. The spiral digging tool 27 is a spiral structure, and the top of the spiral blade of the spiral digging tool 27 is located at the same height as the through opening of the knife cylinder 26. A first stepper motor 28 is fixedly installed on the top of the knife cylinder 26, and the shaft of the first stepper motor 28 passes through the top wall of the knife cylinder 26, and the first stepper motor 28 is powered and connected to the spiral digging tool 27.

[0030] Furthermore, a second stepper motor 29 is provided on the frame 1, and the height of the second stepper motor 29 is higher than the height of the first stepper motor 28. A support frame is provided between the second stepper motor 29 and the frame 1, and the support frame is fixedly connected to the frame 1, and the support frame is fixedly connected to the second stepper motor 29. A first screw 210 is rotatably matched on the support frame, and the first screw 210 is arranged perpendicular to the frame 1. The first screw 210 is power-connected with the second stepper motor 29. A moving part 211 is slidably matched on the support frame, and the first screw 210 penetrates the moving part 211. The first screw 210 is threadedly matched with the moving part 211. A connecting frame 212 is provided on the moving part 211, and one end of the connecting frame 212 is fixedly connected to the moving part 211, and the other end of the connecting frame 212 is fixedly connected to the knife cylinder 26.

[0031] When digging a hole, start the second stepper motor 29, the second stepper motor 29 drives the first screw 210 to rotate, the first screw 210 drives the moving part 211 to move on the support frame, the moving part 211 drives the connecting frame 212 to move, the connecting frame 212 drives the knife barrel 26 to move on the bracket 25, so that the knife barrel 26 moves to the ground, and then start the first stepper motor 28, the first stepper motor 28 drives the spiral digging cutter 27 to rotate, so that the spiral digging cutter 27 digs the ground and sends the soil blocks to the upper end opening of the knife barrel 26.

[0032] Furthermore, a cylinder 213 is provided on the frame 1, and the cylinder 213 is located on the other end of the frame 1. The fixed rod of the cylinder 213 is rotatably matched with the frame 1. A slide groove 214 is provided on the frame 1, and one end of the slide groove 214 is located at one end of the frame 1, and one end of the slide groove 214 is rotatably matched with the frame 1. The other end of the slide groove 214 is located at the other end of the frame 1, and the other end of the slide groove 214 is rotatably matched with the extension rod of the cylinder 213.

[0033] Furthermore, a plurality of pulleys 215 are rotatably arranged in the slide groove 214 , and the pulleys 215 are symmetrically distributed at both ends of the slide groove 214 . A conveyor belt 216 is tensioned on the integral pulley 215 , and a conveying motor 217 is fixedly mounted on the slide groove 214 , and the conveying motor 217 is power-connected to a single pulley 215 .

[0034] Among them, the extension and contraction of the cylinder 213 is used to drive the slide 214 to deflect, so as to adjust the inclination angle of the slide 214, and start the transmission motor 217, which drives the pulley 215 to rotate, and the pulley 215 drives the conveyor belt 216 to rotate, so that the conveyor belt 216 drives the soil blocks thrown from the opening of the knife cylinder 26 onto the conveyor belt 216 to be transferred to the rear of the frame 1, so as to send the soil blocks into the "U"-shaped bib formed by the drag bag 311.

[0035] Embodiment 3:

[0036] like Figure 5-Figure 8 As shown, the difference from the above embodiment is that the pole mechanism 3 also includes a fixing frame 31, and the fixing frames 31 are arranged on both sides of the frame 1, and the fixing frames 31 are symmetrically distributed on the frame 1, and the fixing frames 31 are rotatably matched with pole arms 32, and the pole arms 32 are located in the middle of the frame 1, and the distance between the pole arms 32 on both sides is greater than the width of the frame 1, and the length of the pole arms 32 is greater than half of the length of the frame 1, and two telescopic rods 33 are arranged between the pole arms 32 and the shaft connecting plate 23, and the fixed rod of the telescopic rod 33 is rotatably matched with the shaft connecting plate 23, and the extension rod of the telescopic rod 33 is rotatably matched with the pole arm 32, and the telescopic rods 33 on each side are symmetrically distributed on both sides of the pole arms 32 on each side, and the extension rod of the telescopic rod 33 is adjacent to one end of the pole arm 32.

[0037] Furthermore, a hydraulic rod 34 is fixedly installed at the other end of the vertical pole arm 32, and the extension rods of the hydraulic rod 34 face each other. A clamping claw 35 is fixedly installed on the extension rod of the hydraulic rod 34, and the size of the clamping claw 35 is adapted to the cross-sectional size of the electric pole.

[0038] Furthermore, the fixed frames 31 are all rotatably equipped with gears 36, the gears 36 are located between the fixed frames 31 on both sides, the gears 36 on each side are respectively connected to the vertical rod arms 32 on each side, and the fixed frames 31 are all rotatably equipped with second screws 37, the second screws 37 on each side are respectively meshed with the gears 36 on each side, and first servo motors 38 are fixedly installed on both sides of the frame 1, couplings 39 are respectively arranged between the first servo motors 38 on each side and the second screws 37 on each side, the couplings 39 on each side are respectively connected to the first servo motors 38 on each side, and the couplings 39 on each side are respectively connected to the second screws 37 on each side.

[0039] When moving the electric pole, the first servo motor 38 is started, the first servo motor 38 drives the coupling 39 to rotate, the coupling 39 drives the second screw 37 to rotate, the second screw 37 drives the gear 36 to rotate, the gear 36 drives the vertical pole arm 32 to deflect, so that the vertical pole arm 32 turns to the side of the electric pole placed behind the frame 1, and at the same time, the telescopic rod 33 adaptively telescopes to assist in supporting the vertical pole arm 32, supports and protects the vertical pole arm 32, and then starts the hydraulic rod 34, the hydraulic rod 34 drives the clamping claw 35 to move, so that the clamping claw 35 abuts against the electric pole, so that the clamping claw 35 clamps and fixes the electric pole, and the vertical pole arm 32 drives the electric pole to deflect, so that the electric pole rotates and moves into the pit.

[0040] Furthermore, the bottom ends of both sides of the frame 1 are rotatably matched with mesh bag winding wheels 310, and the mesh bag winding wheels 310 are located at one end of the frame 1. A soil bag 311 is arranged between the mesh bag winding wheels 310. The two ends of the soil bag 311 are respectively connected to the winding ends of the mesh bag winding wheels 310 on each side, so that the mesh bag winding wheels 310 can wind up the soil bag 311. Second servo motors 312 are fixedly installed on both sides of the frame 1, and the second servo motors 312 on each side are respectively connected to the mesh bag winding wheels 310 on each side.

[0041] Among them, after the electric pole is moved into the pit, the second servo motor 312 is started, and the second servo motor 312 drives the mesh bag winding wheel 310 to operate, so that the mesh bag winding wheel 310 winds up the dragging soil bag 311, so that the dragging soil bag 311 drags the soil blocks in the "U"-shaped structure from under the frame 1 to the pit in front of the robot to backfill the pit with soil blocks.

[0042] The overall working principle of the digging robot: The robot is moved to the position where the electric pole needs to be installed, and the soil bag 311 is first loosened. When the robot moves to the position where the electric pole is installed, the soil bag 311 drags the ground and unfolds to the rear of the frame 1, so that the soil bag 311 forms a "U"-shaped bib behind the frame 311. Then the robot moves to the construction position and starts the digging mechanism 2. The knife cylinder 26 moves to the ground, and the land is dug in the knife cylinder 26. The knife cylinder 26 digs the soil into the knife cylinder 26 and moves the soil to the upper end of the knife cylinder 26. The knife cylinder 26 then throws the soil from the upper end of the knife cylinder 26 onto the conveyor belt 216. The conveyor belt 216 moves the soil to the rear of the frame 1 and drops the soil into the "U" shaped structure formed by the soil bag 311. In the bib of the shaped structure, after the pit is dug, the clamping claw 35 rotates on the frame 1, so that the clamping claw 35 rotates to the side of the electric pole placed behind the frame 1, and then the clamping claw 35 clamps and fixes the lower part of the electric pole, and the clamping claw 35 drives the electric pole to rotate, so that the electric pole is rotated to be vertical and placed in the pit, and at the same time, the dragging soil bag 311 is rolled up, so that the dragging soil bag 311 drives the soil blocks to be dragged from the bottom of the frame 1 to the front of the frame 1, so as to synchronously backfill the soil blocks into the pit, so as to bury the electric pole in the land, and the workers compact the soil blocks, so as to automatically install the electric pole in the construction site, assist the workers to install the electric pole more quickly and conveniently, improve the work efficiency of the construction, and avoid the waste of resource use; When the robot is moved, the driving motor 24 is started, the driving motor 24 drives the sprocket wheel 21 to rotate, the sprocket wheel 21 drives the crawler 22 to rotate, so that the crawler 22 drives the robot to move, and the shaft connecting plate 23 is used to block the side of the sprocket wheel 21 to prevent debris such as soil from entering between the sprocket wheel 21 and the crawler 22 to affect the movement of the robot, thereby ensuring the stable operation of the robot; When digging a pit, the second stepper motor 29 is started, the second stepper motor 29 drives the first screw 210 to rotate, the first screw 210 drives the moving member 211 to move on the support frame, the moving member 211 drives the connecting frame 212 to move, the connecting frame 212 drives the cutter barrel 26 to move on the bracket 25, so that the cutter barrel 26 moves to the ground, and then the first stepper motor 28 is started, the first stepper motor 28 drives the spiral digging cutter 27 to rotate, so that the spiral digging cutter 27 digs the ground and sends the soil blocks to the upper end opening of the cutter barrel 26; The cylinder 213 is extended and retracted to drive the slide 214 to deflect, so as to adjust the inclination angle of the slide 214, and the transmission motor 217 is started, and the transmission motor 217 drives the pulley 215 to rotate, and the pulley 215 drives the conveyor belt 216 to rotate, so that the conveyor belt 216 drives the soil blocks thrown from the opening of the knife cylinder 26 onto the conveyor belt 216 to move to the rear of the frame 1, so as to send the soil blocks into the "U"-shaped bib formed by the dragging soil bag 311; When moving the electric pole, the first servo motor 38 is started, the first servo motor 38 drives the coupling 39 to rotate, the coupling 39 drives the second screw 37 to rotate, the second screw 37 drives the gear 36 to rotate, the gear 36 drives the vertical pole arm 32 to deflect, so that the vertical pole arm 32 turns to the electric pole placed behind the frame 1, and at the same time, the telescopic rod 33 is adaptively extended to assist in supporting the vertical pole arm 32, and the vertical pole arm 32 is supported and protected, and then the hydraulic rod 34 is started, and the hydraulic rod 34 drives the clamping claw 35 to move, so that the clamping claw 35 is against the electric pole, so that the clamping claw 35 clamps and fixes the electric pole, and the vertical pole arm 32 drives the electric pole to deflect, so that the electric pole is rotated and moved into the pit; After the electric pole is moved into the pit, the second servo motor 312 is started, and the second servo motor 312 drives the mesh bag reel 310 to operate, so that the mesh bag reel 310 reels the soil bag 311, so that the soil bag 311 drags the soil in the "U"-shaped structure from under the frame 1 to the pit in front of the robot to backfill the pit with soil.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pole erecting dual-arm pit digging robot for use in power system construction, comprising a frame (1), a pit digging mechanism (2) disposed on the frame (1), and a pole erecting mechanism (3) disposed on the frame (1), characterized in that: The digging mechanism (2) comprises a knife cylinder (26) and a conveyor belt (216); the knife cylinder (26) is arranged at one end of the frame (1); the knife cylinder (26) is pressed against the ground and digs the ground; the knife cylinder (26) moves the excavated soil to the upper end of the knife cylinder (26) and throws it above the frame (1); the conveyor belt (216) is arranged on the frame (1); one end of the conveyor belt (216) is located at one end of the frame (1); the other end of the conveyor belt (216) is located at the other end of the frame (1); one end of the conveyor belt (216) is adjacent to the knife cylinder (26); one end of the conveyor belt (216) is located below the upper end of the knife cylinder (26), so that the soil thrown by the knife cylinder (26) falls on the conveyor belt (216); The pole erecting mechanism (3) comprises a clamping claw (35) and a soil bag (311). The clamping claw (35) is arranged on both sides of the frame (1). The clamping claw (35) rotates on the frame (1). The clamping claw (35) clamps and fixes the electric pole as a whole. The soil bag (311) is arranged on the frame (1). The soil bag (311) is located below the frame (1). The soil bag (311) is in a "U"-shaped structure. The length of the "U"-shaped structure of the soil bag (311) as a whole covering a position is greater than the length of the frame (1), so that the soil blocks conveyed by the conveyor belt (216) fall into the "U"-shaped structure of the soil bag (311). The soil bag (311) drags the soil blocks from the other end of the frame (1) to one end of the frame (1).

2. A pole-standing dual-arm digging robot for power system construction according to claim 1, characterized in that: The digging mechanism (2) further comprises a sprocket wheel (21), and a plurality of sprocket wheels (21) are rotatably matched on both sides of the frame (1). The sprocket wheels (21) on each side are evenly distributed on both sides of the frame (1), and a track (22) is tensioned on the sprocket wheels (21) on each side, and the bottom end of the track (22) is lower than the bottom end of the frame (1). A shaft connecting plate (23) is provided on the shaft of the sprocket wheels (21) on each side, and the sprocket wheels (21) on each side are rotatably matched with the shaft connecting plates (23) on each side. The sprocket wheels (21) are located between the shaft connecting plates (23) and the frame (1), and a drive motor (24) is fixedly mounted on the frame (1), and the drive motor (24) is power-connected to the sprocket wheels (21).

3. The double-arm digging robot for electric power system construction according to claim 2, characterized in that: A bracket (25) is fixedly mounted on one end of the frame (1), the bracket (25) extends to the outer side of one end of the frame (1), the bracket (25) is slidably fitted with the knife barrel (26), the knife barrel (26) passes through the bracket (25), the knife barrel (26) is arranged perpendicular to the frame (1), a through opening is opened on the upper end side wall of the knife barrel (26), the through opening of the knife barrel (26) is adjacent to the frame (1), and a spiral screw is rotatably fitted inside the knife barrel (26). A digging cutter (27), wherein the spiral digging cutter (27) is adapted to the interior of the knife barrel (26), the spiral digging cutter (27) is a spiral structure, the top of the spiral blade of the spiral digging cutter (27) and the opening of the knife barrel (26) are located at the same height, a first stepping motor (28) is fixedly mounted on the top of the knife barrel (26), the shaft of the first stepping motor (28) passes through the top wall of the knife barrel (26), and the first stepping motor (28) is connected to the spiral digging cutter (27) in power.

4. The double-arm digging robot for electric power system construction according to claim 3, characterized in that: The frame (1) is provided with a second stepper motor (29), the height of the second stepper motor (29) being higher than the height of the first stepper motor (28), a support frame being provided between the second stepper motor (29) and the frame (1), the support frame being fixedly connected to the frame (1), the support frame being fixedly connected to the second stepper motor (29), a first screw rod (210) being rotatably engaged with the support frame, the first screw rod (210) being provided perpendicular to the frame (1), the first screw rod (210) being provided at a position perpendicular to the frame (1), and the first screw rod (210) being provided at a position perpendicular to the frame (1). The rod (210) is connected to the second stepping motor (29) by power, a moving part (211) is slidably matched on the support frame, the first screw rod (210) passes through the moving part (211), the first screw rod (210) is threadedly matched with the moving part (211), a connecting frame (212) is provided on the moving part (211), one end of the connecting frame (212) is fixedly connected to the moving part (211), and the other end of the connecting frame (212) is fixedly connected to the knife cylinder (26).

5. The pole-standing dual-arm digging robot for power system construction according to claim 4, characterized in that: The frame (1) is provided with a cylinder (213), the cylinder (213) is located at the other end of the frame (1), the fixed rod of the cylinder (213) is rotationally matched with the frame (1), the frame (1) is provided with a slide groove (214), one end of the slide groove (214) is located at one end of the frame (1), one end of the slide groove (214) is rotationally matched with the frame (1), the other end of the slide groove (214) is located at the other end of the frame (1), and the other end of the slide groove (214) is rotationally matched with the extension rod of the cylinder (213).

6. The pole-standing dual-arm digging robot for power system construction according to claim 5, characterized in that: A plurality of pulleys (215) are rotatably engaged in the slide groove (214); the pulleys (215) are symmetrically distributed at both ends of the slide groove (214); the conveyor belt (216) is tensioned on the integral pulley (215); a conveying motor (217) is fixedly mounted on the slide groove (214); and the conveying motor (217) is power-connected to a single pulley (215).

7. The pole-standing dual-arm digging robot for power system construction according to claim 6, characterized in that: The upright mechanism (3) further comprises a fixing frame (31), the fixing frames (31) being arranged on both sides of the frame (1), the fixing frames (31) being symmetrically distributed on the frame (1), the upright arms (32) being rotatably matched on the fixing frames (31), the upright arms (32) being located in the middle of the frame (1), the distance between the upright arms (32) on both sides being greater than the width of the frame (1), and the length of the upright arms (32) being greater than the width of the frame (1). The frame (1) is half the length of the vertical arm (32), two telescopic rods (33) are arranged between the vertical arm arm (32) and the shaft connecting plate (23), the fixed rod of the telescopic rod (33) is rotationally matched with the shaft connecting plate (23), and the extension rod of the telescopic rod (33) is rotationally matched with the vertical arm (32), the telescopic rods (33) on each side are symmetrically distributed on both sides of the vertical arm (32) on each side, and the extension rod of the telescopic rod (33) is adjacent to one end of the vertical arm (32).

8. The pole-standing dual-arm pit digging robot for power system construction according to claim 7, characterized in that: A hydraulic rod (34) is fixedly mounted on the other end of the vertical pole arm (32), the extension rods of the hydraulic rod (34) face each other, and the clamping claw (35) is fixedly mounted on the extension rod of the hydraulic rod (34), and the size of the clamping claw (35) is compatible with the cross-sectional size of the electric pole.

9. The pole-standing dual-arm digging robot for power system construction according to claim 8, characterized in that: The fixed frame (31) is rotatably equipped with a gear (36), the gear (36) is located between the fixed frames (31) on both sides, the gear (36) on each side is respectively connected to the vertical rod arm (32) on each side by power, the fixed frame (31) is rotatably equipped with a second screw (37), the second screw (37) on each side is respectively meshed with the gear (36) on each side, the first servo motor (38) is fixedly installed on both sides of the frame (1), a coupling (39) is respectively arranged between the first servo motor (38) on each side and the second screw (37) on each side, the coupling (39) on each side is respectively connected to the first servo motor (38) on each side by power, and the coupling (39) on each side is respectively connected to the second screw (37) on each side by power.

10. The pole-standing dual-arm digging robot for power system construction according to claim 9, characterized in that: The bottom ends of both sides of the vehicle frame (1) are rotatably matched with mesh bag reeling wheels (310), and the mesh bag reeling wheels (310) are located at one end of the vehicle frame (1). The soil-moving bag (311) is arranged between the mesh bag reeling wheels (310), and the two ends of the soil-moving bag (311) are respectively connected to the reeling ends of the mesh bag reeling wheels (310) on each side, so that the mesh bag reeling wheels (310) reel up the soil-moving bag (311). Second servo motors (312) are fixedly installed on both sides of the vehicle frame (1), and the second servo motors (312) on each side are respectively connected to the mesh bag reeling wheels (310) on each side for power.

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