Sinking part fishing device and method for foundation reinforcement equipment

Abstract

The invention relates to a submerged part salvage device and method of foundation reinforcement equipment, relates to the technical field of part salvage, and aims to adjust according to specifications and shapes of different submerged parts, accurately judge positions and depths of the submerged parts and realize safe and rapid salvage operation under complex geological conditions. Comprising a moving system, a salvage system, an installation system, a monitoring system and a control system, the salvage system comprises a mechanical arm, a lifting mechanism and a salvage mechanism, the mechanical arm is rotatably installed on the moving system, the lifting mechanism is installed at the free end of the mechanical arm, the tail end of the lifting mechanism is fixedly connected with a rotating mechanism, and the salvage mechanism comprises a plurality of different salvage assemblies; the mounting system comprises a moving platform, one end of the moving platform is fixedly connected to the vehicle body, and a plurality of fixed placing mechanisms are arranged on the moving platform; the monitoring system is mounted on the rotating mechanism; and the control system is electrically connected with the moving system, the fishing system, the mounting system and the monitoring system.

Description

Technical Field

[0001] The present invention relates to the technical field of component salvage, and more particularly to a device and method for salvaging sunken components of a foundation reinforcement device. Background Art

[0002] Foundation reinforcement devices play a crucial role in modern civil engineering, especially when dealing with complex geological conditions such as collapsible loess and soft soil foundations. These devices enhance the stability and bearing capacity of the foundation through different mechanisms and methods, thus ensuring the safety and durability of buildings. However, in actual operation, sunken components of foundation reinforcement devices (such as drill pipes, piles, etc.) may fall underground due to various reasons (such as operation errors, complex geological conditions, etc.), which not only interrupts the reinforcement operation but may also cause equipment damage and economic losses.

[0003] Currently, salvaging sunken components of foundation reinforcement devices faces challenges in multiple aspects. Firstly, the specifications and shapes of sunken components vary, including but not limited to drill pipes, piles, reinforcement blocks, etc., which increases the complexity of salvage. Secondly, the position and depth of sunken components are often difficult to accurately determine, which requires the salvage device to have high flexibility and adaptability. Moreover, the diversity of geological conditions (such as soil quality, water content, etc.) also poses a severe test to the salvage operation.

[0004] In the prior art, salvaging sunken components of foundation reinforcement devices usually relies on traditional salvage methods, such as using heavy equipment like cranes and excavators for excavation and extraction. However, these methods are not only inefficient but may also cause damage to the surrounding environment. In addition, some special salvage tools, such as internal hooks and external hooks, although improve the accuracy of salvage to a certain extent, still have problems such as complex operation and limited application scope.

[0005] In view of the above challenges, it is particularly important to develop an efficient, flexible and adaptable device and method for salvaging sunken components of foundation reinforcement devices. Such a device should be able to adjust according to the specifications and shapes of different sunken components, accurately determine their positions and depths, and achieve safe and rapid salvage operations under complex geological conditions. Summary of the Invention

[0006] Aiming at the deficiencies in the prior art, the present invention provides a device and method for salvaging sunken components of a foundation reinforcement device, aiming to be able to adjust according to the specifications and shapes of different sunken components, accurately determine their positions and depths, and achieve safe and rapid salvage operations under complex geological conditions.

[0007] To achieve the above object, a device for salvaging sunken components of a foundation reinforcement device provided by the present invention includes: A mobile system, the mobile system comprising a vehicle body and an automatic driving system, the automatic driving system being mounted on the vehicle body; A salvage system, the salvage system comprising a mechanical arm, a lifting mechanism and a salvage mechanism, the mechanical arm being rotatably mounted on the vehicle body, the lifting mechanism being mounted on the free end of the mechanical arm, the end of the lifting mechanism being fixedly connected to a rotating mechanism, the salvage mechanism comprising a plurality of different salvage components, each of the salvage components comprising a connecting piece for detachably connecting to the rotating mechanism; An installation system, the installation system comprising a mobile platform, one end of which is fixedly connected to the vehicle body, and a plurality of fixed placement mechanisms are provided on the mobile platform, the fixed placement mechanisms are used to place salvage components and assist in the connection and disassembly work between the connecting member and the rotating mechanism; A monitoring system, which is installed on the rotating mechanism and is used to view the surrounding conditions in real time; A control system, wherein the control system is electrically connected to the automatic driving system, the robotic arm, the lifting mechanism, the rotating mechanism, the salvaging mechanism, the fixed placement mechanism and the monitoring system.

[0008] With this arrangement, through the mutual coordination of the mobile system, salvage system, installation system, monitoring system and control system, the effect of automatic movement and real-time viewing of the specific conditions of the sunken components can be achieved, and suitable salvage components can be selected according to the actual situation to salvage the sunken components, thereby improving the adaptability and flexibility of the overall salvage device and the work efficiency of the salvage work. The improvement in the degree of automation can also achieve the purpose of safe and rapid salvage under complex geological conditions.

[0009] Furthermore, the lifting mechanism includes a first installation box, a first motor and a cable, the first installation box is fixedly installed on the free end of the robotic arm, a winding shaft is rotatably installed in the first installation box, one end of the cable is fixedly wound on the winding shaft, and the other end is fixedly connected to the rotating mechanism; the first motor is fixedly installed on the first installation box, and the first motor is transmission-connected to the winding shaft; a telescopic sleeve is fixedly connected between the rotating mechanism and the first installation box, and the telescopic sleeve is used to limit the self-rotation of the cable.

[0010] Furthermore, the rotating mechanism includes a first mounting cylinder and a second motor. The first mounting cylinder is fixedly connected to the end of the telescopic sleeve. The second motor is fixedly installed inside the first mounting cylinder. A first connecting rod is arranged inside the first mounting cylinder. One end of the first connecting rod is in transmission connection with the second motor. A support ring is fixedly installed on the inner wall at one end of the first mounting cylinder. A number of balls are rotatably installed on the support ring. The vertical cross-section of the first connecting rod is convex. The protruding part of the first connecting rod abuts against the balls. An internally threaded connection hole is formed at the end of the first connecting rod away from the second motor. The connecting piece is set as a threaded connection shaft, and the threaded connection shaft is threadedly connected in the internally threaded connection hole.

[0011] Furthermore, the monitoring system includes a first mounting bracket, a camera, and a lighting lamp. The first mounting bracket is fixedly installed on the first connecting rod. The camera and the lighting lamp are both installed on the first mounting bracket, and the lighting range of the lighting lamp coincides with the viewing angle range of the camera.

[0012] Furthermore, the fixed placement mechanism includes a second mounting bracket, a first mounting box, and a third motor. The second mounting bracket is fixedly installed on the top of the moving platform. The first mounting box is fixedly installed on the mounting bracket. The third motor is fixedly installed on the first mounting box. A first fixing rod and a second fixing rod are symmetrically installed inside the first mounting box. A worm is arranged inside the first mounting box. The third motor is in transmission connection with the worm. Two worm wheels are symmetrically meshed on both sides of the worm. The worm wheels are rotatably installed on the first fixing rod. A first connecting plate is fixedly connected to the worm wheel. A fixed clamping block is fixedly connected to the end of the first connecting plate. A second connecting plate is rotatably installed on the second fixing rod. One end of the second connecting plate is fixedly connected to the fixed clamping block. The two fixed clamping blocks are used for clamping the fishing component.

[0013] Furthermore, the multiple fishing components are respectively set as a cutting component, an outer hook component, an inner hook component, a suction cup component, a magnet component, and a clamping component. The cutting component, the outer hook component, the inner hook component, the suction cup component, the magnet component, and the clamping component are all fixedly connected to the corresponding threaded connection shaft.

[0014] Furthermore, the cutting assembly includes a second mounting box, a second mounting box, a fourth motor, and a cutting wheel. A second connecting rod is fixedly connected to the second mounting box, and the threaded connecting shaft is fixedly connected to the top of the second connecting rod. The fourth motor is fixedly installed in the second mounting box, and a first pulley is fixedly sleeved on the output shaft of the fourth motor. A transmission shaft penetrates through the center of the cutting wheel, and a second pulley is fixedly sleeved on one end of the transmission shaft. A belt is tensioned between the first pulley and the second pulley. One end of the second mounting box is fixedly communicated with the second mounting box. One end of the transmission shaft and the belt are both arranged in the second mounting box. A fixed bracket is fixedly connected to the second mounting box. One end of the transmission shaft is rotatably installed in the second mounting box, and the other end is rotatably installed on the fixed bracket.

[0015] Furthermore, the clamping assembly includes a second mounting cylinder and a first electric push rod. The threaded connecting shaft is fixedly connected to the top of the second mounting cylinder. The first electric push rod is fixedly installed in the second mounting cylinder. A plurality of third connecting rods are rotatably connected to the movable end of the first electric push rod at equal intervals. A plurality of clamping jaws are rotatably connected to the end of the second mounting cylinder at equal intervals. The free end of the third connecting rod is rotatably connected to the clamping jaw.

[0016] Furthermore, the inner hook assembly includes a third mounting cylinder and a second electric push rod. The threaded connecting shaft is fixedly connected to the top of the third mounting cylinder. The second electric push rod is fixedly installed in the third mounting cylinder. The movable end of the second electric push rod is fixedly connected to an inner hook body. A plurality of hook claws are rotatably installed on the outer side of the inner hook body at equal intervals. A spring is fixedly connected between each hook claw and the inner hook body.

[0017] A salvage method, which is applicable to the salvage device for sunken components of the above-mentioned foundation reinforcement equipment, is characterized by including the following steps: S1: First, use the automatic driving system to drive the vehicle body to the foundation to be salvaged and stop the vehicle body stably. S2: Start the fifth motor and the robotic arm, adjust the first mounting box above the foundation pit, and then start the first motor to achieve the effect of lowering the cable, so as to extend the first connecting rod into the foundation to be salvaged. S3: Start the second motor. The camera and the lighting lamp rotate with the first connecting rod driven by the output shaft of the second motor. The camera converts the acquired information into a signal and transmits it to the control system. At the same time, during this process, the fifth motor, the robotic arm, and the first motor are started according to the actual situation to continuously adjust the monitoring range. S4: The control system determines whether the sunken component needs to be cut according to the signal transmitted back by the camera. If not, execute S5; if so, execute S6; S5: If it is not needed, determine what salvage component is required. After determination, start the first motor to wind up the cable, that is, pull out the first connecting rod from inside the foundation. Subsequently, start the fifth motor and the robotic arm, move the first connecting rod directly above the threaded connecting shaft of the required salvage component, then start the second motor and the first motor, rotate the first connecting rod, and lower the first connecting rod at a predetermined speed, so as to achieve the effect of threadedly connecting the first connecting rod with the threaded connecting shaft; Start the corresponding third motor. The two fixed clamping blocks on the fixed placement mechanism rotate outward with the worm gear driven by the first connecting plate. Subsequently, start the fifth motor, the robotic arm and the first motor, move the corresponding salvage component beside the sunken component, and fix and connect the salvage component to the sunken component in different ways according to different salvage components. Then start the first motor to wind up the cable, that is, pull out the first connecting rod from inside the foundation. Subsequently, start the first motor, the fifth motor and the robotic arm again, place the sunken component at the designated place. Finally, the salvage component releases the sunken component and returns to its original position under the mutual cooperation of the first motor, the second motor, the third motor, the fifth motor and the robotic arm for the next use; S6: If it is needed, start the first motor to wind up the cable, that is, pull out the first connecting rod from inside the foundation. Subsequently, start the fifth motor and the robotic arm, move the first connecting rod directly above the threaded connecting shaft of the cutting component, then start the second motor and the first motor, rotate the first connecting rod, and lower the first connecting rod at a predetermined speed, so as to achieve the effect of threadedly connecting the first connecting rod with the threaded connecting shaft; Start the corresponding third motor. The two fixed clamping blocks on the fixed placement mechanism rotate outward with the worm gear driven by the first connecting plate. Subsequently, start the fifth motor, the robotic arm and the first motor, move the cutting component beside the sunken component for cutting work. At the same time, the second motor can be started to achieve the effect of rotating the cutting wheel direction; After cutting is completed, start the second motor. The camera and the lighting lamp rotate again with the first connecting rod driven by the output shaft of the second motor. The camera converts the acquired information into a signal and transmits it to the control system; The control system determines what salvage component to use to salvage the sunken component according to the signal transmitted back by the camera. At the same time, under the mutual cooperation of the first motor, the second motor, the third motor, the fifth motor and the robotic arm, the cutting component is returned to its original position for the next use; After determining the salvage component, repeat step S5; S7: Repeat steps S1 - S6 until all the sunken components in the entire site are salvaged.

[0018] The beneficial effects of the present invention are: 1. Through the mutual cooperation of the moving system, salvage system, installation system, monitoring system, and control system, the effects of automatic movement and real-time viewing of the specific conditions of the sunken components are achieved. Moreover, appropriate salvage components can be selected according to the actual situation to salvage the sunken components, improving the adaptability and flexibility of the overall salvage device, enhancing the working efficiency of the salvage work, and the improvement of the automation level can also achieve the purpose of safe and rapid salvage under complex geological conditions. 2. Through the mutual cooperation of the rotating mechanism, connecting piece, salvage component, and fixed placement mechanism, a modular connection method is formed to achieve the effect of rapid installation and disassembly of the salvage component. Moreover, the entire installation and disassembly process does not require manual labor, which not only improves the working efficiency but also enhances the safety. 3. Through the mutual cooperation of the second installation box, telescopic sleeve, first installation cylinder, second motor, first connecting rod, support ring, and ball, when the first connecting rod rotates, the telescopic sleeve stabilizes the cable so that it does not shake or rotate accordingly, avoiding affecting the normal rotation of the first connecting rod. 4. Through the mutual cooperation of the first connecting rod, camera, and lighting lamp, the effect of 360° monitoring of the pit to be salvaged is achieved. The camera and lighting lamp can be rotated according to actual needs to obtain more comprehensive salvage-related information, which is conducive to the smooth progress of the subsequent salvage work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the overall structural schematic diagram of the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 2 is the Figure 1 enlarged view of the partial A in the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 3 is the Figure 1 enlarged view of the partial B in the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 4 is the partial structural schematic diagram of the salvage system in the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 5 is the Figure 4 enlarged view of the partial C in the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 6 is the sectional structural schematic diagram of the cutting component in the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 7 is the structural schematic diagram of the inner hook component in the sunken component salvage device of the foundation reinforcement equipment according to the embodiment of the present invention; Figure 8Schematic cross-sectional structure diagram of the fixed placement component in the salvage device for the sunken component of the foundation reinforcement equipment according to an embodiment of the present invention.

[0020] Among them, vehicle body 1; Robotic arm 20; Lifting mechanism 21, first mounting box 210, first motor 211, cable reel 212, cable 213, telescopic sleeve 214; Rotating mechanism 22, first mounting cylinder 220, second motor 221, first connecting rod 222, support ring 223, ball 224; Clamping component 23, second mounting cylinder 230, first electric push rod 231, clamping jaw 232, third connecting rod 233; Cutting component 24, second connecting rod 240, second mounting box 241, fourth motor 242, first pulley 243, belt 244, second pulley 245, transmission shaft 246, second mounting box 247, cutting wheel 248, fixed bracket 249; Inner hook component 25, third mounting cylinder 250, second electric push rod 251, inner hook body 252, hook claw 253, spring 254, Suction cup component 26; Sixth connecting rod 271, magnet 272; Fourth connecting rod 281, fishing hook 282; Threaded connecting shaft 29; First mounting bracket 30, camera 31, lighting lamp 32; Moving platform 4, fixed placement mechanism 41, second mounting bracket 410, third motor 411, first mounting box 412, worm 413, worm gear 414, first connecting plate 415, second connecting plate 416, fixed clamping block 417, first fixing rod 418, second fixing rod 419. Detailed implementation manners

[0021] The specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described here are only for illustrative purposes and are not used to limit the present invention. In the following description, in order to provide a thorough understanding of the present invention, a large number of specific details are set forth. However, it is obvious to those of ordinary skill in the art that the present invention does not have to employ these specific details. In other instances, well-known circuits, software, or methods have not been specifically described to avoid obscuring the present invention.

[0022] Throughout the specification, references to "one embodiment", "an embodiment", "an example", or "an illustration" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Thus, the phrases "in one embodiment", "in an embodiment", "an example", or "an illustration" that appear throughout the specification do not necessarily all refer to the same embodiment or example. In addition, the particular features, structures, or characteristics may be combined in any suitable combination and / or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will understand that the diagrams provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0023] An embodiment of a device and method for salvaging a sunken component of a ground reinforcement device according to the present invention will be described with reference to Figure 1-2 , the device for salvaging a sunken component of the ground reinforcement device includes: a moving system, a salvaging system, a mounting system, a monitoring system, and a control system. The moving system includes a vehicle body 1 and an automatic driving system. The automatic driving system is installed on the vehicle body 1. During use, the vehicle body 1 is automatically moved through the automatic driving system to improve the degree of automation. In this embodiment, the salvaging system includes a robotic arm 20, a lifting mechanism 21, and a salvaging mechanism. The robotic arm 20 is rotatably mounted on the vehicle body 1. The lifting mechanism 21 is installed at the free end of the robotic arm 20. A rotating mechanism 22 is fixedly connected to the end of the lifting mechanism 21. The salvaging mechanism includes a plurality of different salvaging components. Each salvaging component includes a connecting member for detachably connecting to the rotating mechanism 22. During use, a suitable salvaging component can be selected according to the actual situation to salvage the sunken component of the ground reinforcement device, improving the adaptability and flexibility of the overall salvaging device and also improving the working efficiency of the salvaging operation. In this embodiment, the robotic arm 20 is rotatably mounted on the vehicle body 1. A fifth motor is fixedly installed on the vehicle body 1. The fifth motor is in transmission connection with the robotic arm 20. When it is necessary to rotate the robotic arm 20, the fifth motor is started to achieve the effect of rotating the robotic arm 20.

[0024] Please refer to Figure 1-3, in this embodiment, the installation system includes a mobile platform 4. One end of the mobile platform 4 is fixedly connected to the vehicle body 1. A plurality of fixed placement mechanisms 41 are arranged on the mobile platform 4. Each fixed placement mechanism 41 is used to place the salvage assembly and assist in the connection and disassembly between the connecting member and the rotating mechanism 22. That is, when replacing the salvage assembly, no manual labor is required, avoiding the risk of danger to the staff during salvage and enhancing safety; at the same time, the degree of automation is improved, and the work efficiency is also improved. In this embodiment, the monitoring system is installed on the rotating mechanism 22, which is used to view the surrounding situation in real time, and can accurately judge the environment, specific position and depth of the sunken components, facilitating the smooth progress of the subsequent salvage work, not only improving the work efficiency, but also effectively avoiding the situation of some sunken components being left out, making the salvage work more thorough.

[0025] Please refer to Figure 1-3 , in this embodiment, the control system is electrically connected to the automatic driving system, the robotic arm 20, the lifting mechanism 21, the rotating mechanism 22, the salvage mechanism, the fixed placement mechanism 41 and the monitoring system. The automatic operation of the overall device is controlled through the control system, improving the degree of automation, making the entire salvage site without manual labor, avoiding the risk of danger to the staff during salvage and enhancing safety; at the same time, the degree of automation is improved, and the work efficiency is also improved, and the purpose of safe and rapid salvage under complex geological conditions can be achieved.

[0026] Please refer to Figure 1 and Figure 4 , in this embodiment, the lifting mechanism 21 includes a first installation box 210, a first motor 211 and a cable 213. The first installation box 210 is fixedly installed at the free end of the robotic arm 20. A cable reel 212 is rotatably installed in the first installation box 210. One end of the cable 213 is fixedly wound around the cable reel 212, and the other end is fixedly connected to the rotating mechanism 22; the first motor 211 is fixedly installed on the first installation box 210, the first motor 211 is in transmission connection with the cable reel 212, and the first motor 211 is electrically connected to the control system. When in use, the first motor 211 is started, and the output shaft of the first motor 211 drives the cable reel 212 to rotate, so as to achieve the effect of winding or lengthening the cable 213, that is, to achieve the purpose of lifting and lowering the rotating mechanism 22. In this embodiment, a telescopic sleeve 214 is fixedly connected between the rotating mechanism 22 and the first installation box 210. The telescopic sleeve 214 is used to limit the self-rotation of the cable 213. When in use, the telescopic sleeve 214 expands and contracts with the cable 213 and does not affect the expansion and contraction of the cable 213; at the same time, it can effectively prevent the cable 213 from rotating self, avoiding the situation that the work efficiency is affected due to the self-rotation of the cable 213 during cutting or salvage in the later stage.

[0027] Please refer to Figure 4-5, in this embodiment, the rotating mechanism 22 includes a first mounting cylinder 220 and a second motor 221. The first mounting cylinder 220 is fixedly connected to the end of the telescopic sleeve 214. The second motor 221 is fixedly installed inside the first mounting cylinder 220. A first connecting rod 222 is arranged inside the first mounting cylinder 220. One end of the first connecting rod 222 is in transmission connection with the second motor 221. The monitoring system is fixedly installed on the first connecting rod 222. An internal threaded connection hole is provided at the end of the first connecting rod 222 away from the second motor 221. The connecting member is set as a threaded connection shaft 29. The threaded connection shaft 29 is threadedly connected in the internal threaded connection hole. The second motor 221 is electrically connected to the control system. When in use, the second motor 221 is started, and the output shaft of the second motor 221 drives the first connecting rod 222 to rotate, which is beneficial to the smooth progress of the subsequent work. In this embodiment, a support ring 223 is fixedly installed on the inner wall of one end of the first mounting cylinder 220. A plurality of balls 224 are rotatably installed on the support ring 223. The vertical cross-section of the first connecting rod 222 is convex, and the protruding part of the first connecting rod 222 abuts against the balls 224. The support ring 223 and the balls 224 are used to provide a support for the first connecting rod 222. At the same time, the use of the balls 224 enables the first mounting cylinder 220 and the support ring 223 not to affect the normal rotation of the first connecting rod 222.

[0028] Please refer to Figure 2 , in this embodiment, the monitoring system includes a first mounting bracket 30, a camera 31 and a lighting lamp 32. The first mounting bracket 30 is fixedly installed on the first connecting rod 222. The camera 31 and the lighting lamp 32 are both installed on the first mounting bracket 30, and the lighting range of the lighting lamp 32 coincides with the viewing angle range of the camera 31. The camera 31 and the lighting lamp 32 are both electrically connected to the control system, and both the camera 31 and the lighting lamp 32 use storage batteries, avoiding the trouble of using wires. When in use, the camera 31 is used to view the environment situation of the area where the salvage work needs to be carried out in real time. At the same time, the lighting lamp 32 is used to illuminate the surrounding area, facilitating the camera 31 to capture clear pictures, so that the subsequent salvage work can be carried out better, improving the work efficiency. In addition, the second motor 221 is started, and the output shaft of the second motor 221 drives the first connecting rod 222 to rotate, so as to achieve the effect of rotating the monitoring system and the cutting assembly 24. It can not only monitor the pit to be salvaged 360°, but also adjust the cutting angle during cutting to achieve a better cutting effect.

[0029] Please refer to Figure 3 and Figure 8, in this embodiment, the fixed placement mechanism 41 includes a second mounting bracket 410, a first mounting box 412, and a third motor 411. The second mounting bracket 410 is fixedly installed on the top of the mobile platform 4, and the first mounting box 412 is fixedly installed on the mounting bracket 410. The third motor 411 is fixedly installed on the first mounting box 412 and is electrically connected to the control system. Inside the first mounting box 412, a first fixing rod 418 and a second fixing rod 419 are symmetrically installed. A worm 413 is arranged inside the first mounting box 412. The third motor 411 is drivingly connected to the worm 413. On both sides of the worm 413, worm wheels 414 are symmetrically engaged. The worm wheels 414 are rotatably installed on the first fixing rod 418. A first connecting plate 415 is fixedly connected to the worm wheel 414. The end of the first connecting plate 415 is rotatably connected to a fixed clamping block 417. A second connecting plate 416 is rotatably installed on the second fixing rod 419. One end of the second connecting plate 416 is rotatably connected to the fixed clamping block 417. During use, the fishing component is fixedly clamped by the two fixed clamping blocks 417. At the same time, when one of the fishing components needs to be threadedly connected to the first connecting rod 222, the two fixed clamping blocks 417 are used to keep the fishing component fixed, and the first connecting rod 222 is rotated to successfully complete the threaded connection. When the fishing component needs to be taken out or placed, the third motor 411 is started. The output shaft of the third motor 411 drives the worm 413 to rotate, and the worm 413 drives the worm wheels 414 on both sides to rotate in opposite directions. The first connecting plates 415 on both sides rotate with the corresponding worm wheels 414, so that the two fixed clamping blocks 417 approach or move away from each other in cooperation with the second connecting plate 416, that is, the purpose of clamping or releasing the fishing component is achieved.

[0030] During the actual use process, a plurality of support frames can be fixedly installed at the bottom of the mobile platform 4, and rollers are installed under each support frame to share the weight of the mobile platform 4 and enable it to move normally with the vehicle body 1 without affecting the movement of the vehicle body 1. During the actual use process, different placement platforms can be set on the mobile platform 4 according to the actual requirements according to the shapes and sizes of different fishing components, and the placement platforms and the mobile platform 4 are set to be detachably connected, so that the corresponding placement platforms can be quickly replaced when the fishing components are replaced.

[0031] Please refer to Figure 3, in this embodiment, the multiple fishing components are respectively set as the cutting component 24, the outer hook component, the inner hook component 25, the suction cup component 26, the magnet component and the clamping component 23. The cutting component 24, the outer hook component, the inner hook component 25, the suction cup component 26, the magnet component and the clamping component 23 are all fixedly connected to the corresponding threaded connection shaft 29, achieving the effect of modular connection, enabling the first connecting rod 222 to be fixedly connected to any fishing component, simplifying the installation and disassembly processes, thereby improving the installation and disassembly efficiency, and eliminating the need for manual installation and disassembly, reducing the installation and disassembly costs, as well as the maintenance costs; at the same time, the threaded connection also improves the connection stability and reliability. Additionally, the convenient connection method for replacing the fishing component also enhances the flexibility and adaptability of fishing.

[0032] Please refer to Figure 6, in this embodiment, the cutting assembly 24 includes a second mounting box 241, a second mounting box 247, a fourth motor 242 and a cutting wheel 248. A second connecting rod 240 is fixedly connected to the second mounting box 241, and the threaded connecting shaft 29 is fixedly connected to the top of the second connecting rod 240; the fourth motor 242 is fixedly installed in the second mounting box 241, the fourth motor 242 is electrically connected to the control system, and a first pulley 243 is fixedly sleeved on the output shaft of the fourth motor 242. A transmission shaft 246 is fixedly penetrated through the center of the cutting wheel 248, and a second pulley 245 is fixedly sleeved on one end of the transmission shaft 246. A belt 244 is tensioned between the first pulley 243 and the second pulley 245; one end of the second mounting box 247 is fixedly communicated with the second mounting box 241, one end of the transmission shaft 246 and the belt 244 are both arranged in the second mounting box 247. A fixed bracket 249 is fixedly connected to the second mounting box 241. One end of the transmission shaft 246 is rotatably installed in the second mounting box 247, and the other end is rotatably installed on the fixed bracket 249. When salvaging sunken components, the camera 31 and the lighting lamp 32 will be used to detect the place where salvage is needed. If the sunken component to be salvaged is too large or in a special position, the cutting assembly 24 is first threadedly connected to the internal threaded connection hole through the threaded connecting shaft 29, that is, the fixed connection between the cutting assembly 24 and the first connecting rod 222 is completed. Subsequently, the cutting assembly 24 is lowered along with the first connecting rod 222 to the side of the sunken component to be cut. The fourth motor 242 is started, and the output shaft of the fourth motor 242 drives the first pulley 243 to rotate, so as to drive the cutting wheel 248 to rotate correspondingly through the belt 244, the second pulley 245 and the transmission shaft 246 in sequence, that is, to cut the sunken component, making the sunken component easier to salvage. At the same time, during the cutting process, the second motor 221 can be started, and the output shaft of the second motor 221 drives the first connecting rod 222 to rotate, so as to achieve the effect of rotating the direction of the cutting wheel 248 and making the cutting work completed smoothly. In this embodiment, the belt 244 is arranged in the second mounting box 247, which can effectively prevent the influence of other sundries on the operation of the belt 244 during the salvage process, so that the belt 244 can operate normally without being affected by the outside world.

[0033] Please refer to Figure 4, in this embodiment, the clamping assembly 23 includes a second mounting cylinder 230 and a first electric push rod 231. The threaded connection shaft 29 is fixedly connected to the top of the second mounting cylinder 230. The first electric push rod 231 is fixedly installed inside the second mounting cylinder 230. The first electric push rod 231 is electrically connected to the control system. A plurality of third connecting rods 233 are rotatably connected to the movable end of the first electric push rod 231 at equal intervals. A plurality of clamping jaws 232 are rotatably connected to the end of the second mounting cylinder 230 at equal intervals. Optionally, there are four clamping jaws 232 and four third connecting rods 233. The free end of the third connecting rod 233 is rotatably connected to the clamping jaw 232. During use, the threaded connection shaft 29 is threadedly connected to the internal threaded connection hole, that is, the clamping assembly 23 is fixedly connected to the first connecting rod 222, which facilitates the normal progress of the subsequent salvage work. When the clamping jaws 232 are beside the sunken component to be clamped, the first electric push rod 231 is started. The piston of the first electric push rod 231 pushes the third connecting rod 233, and then pushes the clamping jaws 232 outwards, so that the plurality of clamping jaws 232 open outwards, facilitating the clamping of the sunken component. When the clamping jaws 232 are at a position on the sunken component where it is convenient to clamp, the first electric push rod 231 is started again. The piston of the first electric push rod 231 contracts the third connecting rod 233, and then contracts the clamping jaws 232 inwards, so that the clamping jaws 232 clamp the sunken component. Subsequently, the clamping assembly 23 rises with the first connecting rod 222, thus completing the salvage work.

[0034] Please refer to Figure 6, in this embodiment, the inner hook assembly 25 includes a third mounting cylinder 250 and a second electric push rod 251. The threaded connection shaft 29 is fixedly connected to the top of the third mounting cylinder 250. The second electric push rod 251 is fixedly installed inside the third mounting cylinder 250. The second electric push rod 251 is electrically connected to the control system. The movable end of the second electric push rod 251 is fixedly connected to an inner hook body 252. Claw hooks 253 are rotatably installed on the outer side of the inner hook body 252 at uniform intervals. A spring 254 is fixedly connected between each claw hook 253 and the inner hook body 252. When it is necessary to salvage a hollow tubular sunken component, thread the threaded connection shaft 29 into the internal threaded connection hole, that is, fixedly connect the inner hook assembly 25 to the first connecting rod 222, so that the inner hook assembly 25 is lowered along with the first connecting rod 222 to the pipe orifice of the hollow tubular sunken component. Subsequently, start the second electric push rod 251, and push the inner hook body 252 into the hollow tubular sunken component through the piston of the second electric push rod 251. During this process, the claw hooks 253 are compressed against the spring 254 under the action of an external force, facilitating the smooth advancement of the inner hook body 252. When the external force disappears, the claw hooks 253 pop outwards under the elastic deformation of the spring 254, achieving the effect of hooking the hollow tubular sunken component. Subsequently, the inner hook assembly 25 rises along with the first connecting rod 222, thus completing the salvage work. During actual use, after the inner hook assembly 25 salvages the sunken component, since the claw hooks 253 cannot be automatically retracted, the inner hook assembly 25 can be first disassembled from the first connecting rod 222, and then the inner hook assembly 25 can be placed back at the fixed placement mechanism 41 through the clamping assembly 23 for the next use. Additionally, the spring 254 can also be replaced with a third electric push rod. One end of the third electric push rod is rotatably installed on the claw hook 253, and the other end is slidably installed on the inner hook body 252, thereby achieving the effect of automatically retracting the claw hooks 253.

[0035] In this embodiment, the first electric push rod 231, the second electric push rod 251, and the third electric push rod can all be selected from devices such as hydraulic cylinders or pneumatic cylinders.

[0036] Please refer to Figure 7, in this embodiment, the outer hook assembly includes a fourth connecting rod 281 and a fishing hook 282. The threaded connecting shaft 29 is fixedly connected to the top of the fourth connecting rod 281, and the fishing hook 282 is fixedly connected to the fourth connecting rod 281. The installation, disassembly, movement, and lifting methods are the same as those of the clamping assembly 23, and are used to hook some special sunken components, such as steel reinforcement cages. In this embodiment, the suction cup assembly 26 includes a fifth connecting rod and a suction cup. The threaded connecting shaft 29 is fixedly connected to the top of the fifth connecting rod, and the suction cup is fixedly connected to the end of the fifth connecting rod. The installation, disassembly, movement, and lifting are the same as those of the clamping assembly 23. The suction cup is adsorbed on the part of the sunken component exposed above the water body through negative pressure, so as to salvage the sunken component. In this embodiment, the magnet assembly includes a sixth connecting rod 271 and a magnet 272. The threaded connecting shaft 29 is fixedly connected to the top of the sixth connecting rod 271, and the magnet 272 is fixedly connected to the end of the sixth connecting rod 271. The installation, disassembly, movement, and lifting are the same as those of the clamping assembly 23. The magnet 272 adsorbs the iron-containing sunken components that are not conducive to clamping, hooking, and adsorption through the action of the magnetic field, so as to salvage the sunken component.

[0037] A salvage method for a sunken component salvage device of a foundation reinforcement equipment, which is applicable to the above-mentioned sunken component salvage device of a foundation reinforcement equipment. The steps of this method are as follows: S1: First, use the automatic driving system to drive the vehicle body 1 to the foundation where salvage is required and stop the vehicle body steadily; S2: Start the fifth motor and the robotic arm 20, adjust the first installation box 210 above the foundation pit, and then start the first motor 211 to achieve the effect of lowering the cable 213, so as to extend the first connecting rod 222 into the foundation where salvage is required; S3: Start the second motor 221. The camera 31 and the lighting lamp 32 rotate together with the first connecting rod 222 driven by the output shaft of the second motor 221. The camera 31 converts the obtained information into a signal and transmits it to the control system; at the same time, during this process, the fifth motor, the robotic arm 20, and the first motor 211 are started according to the actual situation to continuously adjust the monitoring range; S4: The control system determines whether the sunken component needs to be cut according to the signal transmitted back by the camera; if not, execute S5, if necessary, execute S6; S5: If not needed, determine what salvage component is required. After confirmation, start the first motor 211 to wind up the cable 213, i.e., pull out the first connecting rod 222 from inside the foundation. Then start the fifth motor and the robotic arm 20, move the first connecting rod 222 directly above the threaded connection shaft of the required salvage component, and then start the second motor 221 and the first motor 211 to rotate the first connecting rod 222 and lower the first connecting rod 222 at a predetermined speed, so as to achieve the effect of threadedly connecting the first connecting rod 222 with the threaded connection shaft; Start the corresponding third motor 411. The two fixed clamping blocks 417 on the fixed placement mechanism rotate outward with the worm gear 414 driven by the first connecting plate 415. Then start the fifth motor, the robotic arm 20 and the first motor 211, move the corresponding salvage component to the side of the sunken component, and fixedly connect the salvage component with the sunken component in different ways according to different salvage components. Then start the first motor 211 to wind up the cable 213, i.e., pull out the first connecting rod 222 from inside the foundation. Subsequently, start the first motor 211, the fifth motor and the robotic arm 20 again, place the sunken component at the designated place. Finally, the salvage component releases the sunken component and returns to its original position under the mutual cooperation of the first motor 211, the second motor 221, the third motor 411, the fifth motor and the robotic arm 20 for the next use; S6: If needed, start the first motor 211 to wind up the cable 213, i.e., pull out the first connecting rod 222 from inside the foundation. Then start the fifth motor and the robotic arm 20, move the first connecting rod 222 directly above the threaded connection shaft of the cutting component, and then start the second motor 221 and the first motor 211 to rotate the first connecting rod 222 and lower the first connecting rod 222 at a predetermined speed, so as to achieve the effect of threadedly connecting the first connecting rod 222 with the threaded connection shaft; Start the corresponding third motor 411. The two fixed clamping blocks 417 on the fixed placement mechanism rotate outward with the worm gear 414 driven by the first connecting plate 415. Then start the fifth motor, the robotic arm 20 and the first motor 211, move the cutting component to the side of the sunken component for cutting work. At the same time, the second motor 221 can be started to achieve the effect of rotating the cutting wheel 248; After cutting is completed, start the second motor 221. The camera 31 and the lighting lamp 32 rotate again with the first connecting rod 222 driven by the output shaft of the second motor 221. The camera 31 converts the acquired information into a signal and transmits it to the control system; The control system selects what salvage component to use for salvaging the sunken component according to the signal transmitted back by the camera 31. At the same time, under the mutual cooperation of the first motor 211, the second motor 221, the third motor 411, the fifth motor and the robotic arm 20, the cutting component is returned to its original position for the next use; After determining the fishing component, repeat step S5; S7: Repeat steps S1 - S6 until all the sunken components in the entire site are salvaged.

[0038] In summary, through the mutual cooperation of the moving system, fishing system, installation system, monitoring system and control system, the present invention achieves the effects of automatic movement and real - time viewing of the specific conditions of sunken components, and can select a suitable fishing component to salvage the sunken components according to the actual situation, improving the adaptability and flexibility of the overall fishing device, as well as the working efficiency of the fishing work. Moreover, the improvement of the automation level can also achieve the purpose of safe and rapid fishing under complex geological conditions. Therefore, the present invention effectively overcomes various shortcomings in the prior art.

[0039] Finally, it should be noted that: the above - mentioned embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the description of the present invention.

Claims

1. A salvaging device for sunken parts of foundation reinforcement equipment, characterized in that: include: A mobile system, the mobile system comprising a vehicle body and an automatic driving system, the automatic driving system being mounted on the vehicle body; A salvage system, the salvage system comprising a mechanical arm, a lifting mechanism and a salvage mechanism, the mechanical arm being rotatably mounted on the vehicle body, the lifting mechanism being mounted on the free end of the mechanical arm, the end of the lifting mechanism being fixedly connected to a rotating mechanism, the salvage mechanism comprising a plurality of different salvage components, each of the salvage components comprising a connecting piece for detachably connecting to the rotating mechanism; An installation system, the installation system comprising a mobile platform, one end of which is fixedly connected to the vehicle body, and a plurality of fixed placement mechanisms are provided on the mobile platform, the fixed placement mechanisms are used to place salvage components and assist in the connection and disassembly work between the connecting member and the rotating mechanism; A monitoring system, which is installed on the rotating mechanism and is used to view the surrounding conditions in real time; A control system, wherein the control system is electrically connected to the automatic driving system, the robotic arm, the lifting mechanism, the rotating mechanism, the salvaging mechanism, the fixed placement mechanism and the monitoring system.

2. The device for salvaging sunken parts of foundation reinforcement equipment according to claim 1, characterized in that: The lifting mechanism includes a first installation box, a first motor and a cable, the first installation box is fixedly installed at the free end of the mechanical arm, a winding shaft is rotatably installed in the first installation box, one end of the cable is fixedly wound around the winding shaft, and the other end is fixedly connected to the rotating mechanism; the first motor is fixedly installed on the first installation box, and the first motor is transmission-connected to the winding shaft; a telescopic sleeve is fixedly connected between the rotating mechanism and the first installation box, and the telescopic sleeve is used to limit the self-rotation of the cable.

3. The device for salvaging sunken parts of foundation reinforcement equipment according to claim 2, characterized in that: The rotating mechanism includes a first mounting tube and a second motor, the first mounting tube is fixedly connected to the end of the telescopic sleeve, the second motor is fixedly mounted in the first mounting tube, a first connecting rod is arranged in the first mounting tube, one end of the first connecting rod is drivingly connected to the second motor; a support ring is fixedly mounted on the inner wall of one end of the first mounting tube, a plurality of balls are rotatably mounted on the support ring, the vertical section of the first connecting rod is convex, the protruding part of the first connecting rod abuts against the balls, an internally threaded connecting hole is provided at the end of the first connecting rod away from the second motor, the connecting piece is arranged as a threaded connecting shaft, and the threaded connecting shaft is threadedly connected in the internally threaded connecting hole.

4. The device for salvaging a submerged component of a foundation reinforcement device according to claim 3, characterized in that: The monitoring system includes a first mounting bracket, a camera and a lighting lamp. The first mounting bracket is fixedly mounted on the first connecting rod. The camera and the lighting lamp are both mounted on the first mounting bracket, and the lighting range of the lighting lamp coincides with the viewing angle range of the camera.

5. The device for salvaging sunken parts of foundation reinforcement equipment according to claim 1, characterized in that: The fixed placement mechanism includes a second mounting bracket, a first mounting box and a third motor, the second mounting bracket is fixedly mounted on the top of the mobile platform, the first mounting box is fixedly mounted on the mounting bracket; the third motor is fixedly mounted on the first mounting box, a first fixing rod and a second fixing rod are symmetrically mounted in the first mounting box, a worm is arranged in the first mounting box, the third motor is drivingly connected to the worm, worm wheels are symmetrically meshed on both sides of the worm, and the worm wheel is rotatably mounted on the first fixing rod; a first connecting plate is fixedly connected to the worm wheel, a fixing clamp block is fixedly connected to the end of the first connecting plate, a second connecting plate is rotatably mounted on the second fixing rod, one end of the second connecting plate is fixedly connected to the fixing clamp block, and the two fixing clamp blocks are used to clamp the salvage assembly.

6. The device for salvaging a submerged component of a foundation reinforcement device according to claim 3, characterized in that: The multiple salvage components are respectively configured as cutting components, outer hook components, inner hook components, suction cup components, magnet components and clamping components, and the cutting components, the outer hook components, the inner hook components, the suction cup components, the magnet components and the clamping components are all fixedly connected to the corresponding threaded connection shafts.

7. The device for salvaging a submerged component of a foundation reinforcement device according to claim 6, characterized in that: The cutting assembly includes a second mounting box, a second mounting box, a fourth motor and a cutting wheel, the second mounting box is fixedly connected to a second connecting rod, and the threaded connecting shaft is fixedly connected to the top of the second connecting rod; the fourth motor is fixedly mounted in the second mounting box, a first pulley is fixedly sleeved on the output shaft of the fourth motor, a transmission shaft passes through the center of the cutting wheel, a second pulley is fixedly sleeved on one end of the transmission shaft, and a belt is tensioned between the first pulley and the second pulley; one end of the second mounting box is fixedly connected to the second mounting box, one end of the transmission shaft and the belt are both arranged in the second mounting box, a fixed bracket is fixedly connected to the second mounting box, one end of the transmission shaft is rotatably mounted in the second mounting box, and the other end is rotatably mounted on the fixed bracket.

8. The device for salvaging a submerged component of a foundation reinforcement device according to claim 6, characterized in that: The clamping assembly includes a second mounting tube and a first electric push rod, the threaded connecting shaft is fixedly connected to the top of the second mounting tube; the first electric push rod is fixedly installed in the second mounting tube, the movable end of the first electric push rod is rotatably connected to a plurality of third connecting rods at even intervals, the end of the second mounting tube is rotatably connected to a plurality of clamping claws at even intervals, and the free end of the third connecting rod is rotatably connected to the clamping claw.

9. The device for salvaging a submerged component of a foundation reinforcement device according to claim 6, characterized in that: The inner hook assembly includes a third mounting cylinder and a second electric push rod, the threaded connecting shaft is fixedly connected to the top of the third mounting cylinder, the second electric push rod is fixedly installed in the third mounting cylinder, the movable end of the second electric push rod is fixedly connected to the inner hook body, and hook claws are rotatably installed on the outer side of the inner hook body at uniform intervals, and a spring is fixedly connected between each hook claw and the inner hook body.

10. A salvage method, which is applicable to a salvage device for a submerged component of a foundation reinforcement device according to any one of claims 1 to 9, characterized in that: The steps include: S1: First, use the automatic driving system to drive the vehicle to the foundation that needs to be salvaged and stop the vehicle; S2: Start the fifth motor and the mechanical arm to adjust the first installation box to the top of the foundation pit, and then start the first motor to achieve the effect of lowering the cable, so as to extend the first connecting rod into the foundation to be salvaged; S3: Start the second motor, the camera and the lighting lamp rotate together with the first connecting rod under the drive of the second motor output shaft, and the camera converts the acquired information into signals and transmits them to the control system; at the same time, in this process, the fifth motor, the robotic arm and the first motor are started according to the actual situation to continuously adjust the monitoring range; S4: The control system selects whether the sunken part needs to be cut according to the signal sent back by the camera; if not, execute S5; if necessary, execute S6; S5: If not, determine what salvage component is needed, and after determining, start the first motor to reel in the cable, that is, pull the first connecting rod out of the foundation, then start the fifth motor and the mechanical arm, move the first connecting rod to the top of the threaded connection shaft of the required salvage component, and then start the second motor and the first motor to rotate the first connecting rod and move the first connecting rod downward at a predetermined speed, so as to achieve the effect of threading the first connecting rod to the threaded connection shaft; Start the corresponding third motor, and the two fixed clamps on the fixed placement mechanism rotate outward with the worm gear under the drive of the first connecting plate, then start the fifth motor, the mechanical arm and the first motor, move the corresponding salvage component to the side of the sunken component, and after the salvage component is fixedly connected to the sunken component in different ways according to different salvage components, start the first motor to reel in the cable, that is, pull the first connecting rod out of the foundation, and then start the first motor, the fifth motor and the mechanical arm to place the sunken component in a designated place, and finally release the sunken component from the salvage component, and put it back to its original position under the cooperation of the first motor, the second motor, the third motor, the fifth motor and the mechanical arm for next use; S6: if necessary, start the first motor to reel in the cable, that is, pull the first connecting rod out of the foundation, then start the fifth motor and the mechanical arm to move the first connecting rod to the top of the threaded connecting shaft of the cutting assembly, then start the second motor and the first motor to rotate the first connecting rod, and move the first connecting rod downward at a predetermined speed, so as to achieve the effect of threading the first connecting rod to the threaded connecting shaft; Start the corresponding third motor, and the two fixed clamps on the fixed placement mechanism rotate outward with the worm gear under the drive of the first connecting plate, and then start the fifth motor, the mechanical arm and the first motor to move the cutting assembly to the side of the sunken part for cutting. At the same time, the second motor can be started to achieve the effect of rotating the cutting wheel direction; After the cutting is completed, the second motor is started, and the camera and the lighting lamp rotate again together with the first connecting rod under the drive of the second motor output shaft, and the camera converts the acquired information into a signal and transmits it to the control system; The control system selects which salvage component to use to salvage the sunken component according to the signal sent back by the camera; at the same time, under the cooperation of the first motor, the second motor, the third motor, the fifth motor and the robotic arm, the cutting component is put back to its original position for next use; After the salvage component is determined, step S5 is repeated; S7: Repeat steps S1-S6 until all the sunken parts in the entire site are salvaged.

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