Robot for cleaning loose soil on surface of steel support of deep foundation pit

Abstract

The deep foundation pit steel support surface loose soil cleaning robot comprises a semi-ring shell, a first crescent shell is arranged on the right side of the lower end of the semi-ring shell, and a second crescent shell is arranged on the left side of the lower end of the semi-ring shell; the inner plates are fixedly mounted on the left side and the right side of the upper end of the interior of the semi-ring shell through screws, electric telescopic rods are fixedly mounted at the lower ends of the inner plates through screws, side frames are fixedly mounted at one ends of the exteriors of the electric telescopic rods through screws, and rotating rods are rotatably mounted in the side frames; and a limiting block is arranged on the inner side of the upper end of the rotating rod at one end outside the electric telescopic rod. Through cooperation of the electric telescopic rod and the rotating rod, the cleaning robot can cross a steel supporting flange structure, the electric telescopic rod is controlled to contract, the rotating rod clamps the flange structure to pull the robot to move, the reset spring and the telescopic inner rod are used for lifting the groove roller to cross an obstacle, and flexible movement and efficient cleaning of the robot outside the steel supporting structure are achieved.

Description

Technical Field

[0001] The present invention relates to the field of building construction, in particular to a robot for cleaning loose soil on the surface of a steel support of a deep foundation pit. Background Art

[0002] Deep foundation pit steel supports are temporary support structures installed during deep foundation pit excavation to ensure pit slope stability and prevent soil collapse. They utilize the high strength of steel and, through rational arrangement and connection, form a stable support system that withstands lateral pressure from the pit walls and ensures construction safety.

[0003] During the foundation pit excavation process, after the earth is excavated by an excavator or manually, some of the soil may be scattered on the steel support surface due to vibration, collision or wind. In order to keep the steel support surface clean and the support system stable, the scattered soil needs to be cleaned up in time. At the same time, if it is not cleaned up in time, it will harden over time and easily injure people when it falls down.

[0004] Common cleaning methods include: 1. Use brooms, shovels and other tools to sweep the loose soil on the surface of the steel support to the bottom of the foundation pit or a designated location; 2. Use a high-pressure water gun to flush the surface of the steel support to flush the loose soil to the bottom of the foundation pit; 3. For situations where the amount of loose soil is small and requires careful cleaning, use a vacuum cleaner to suck away the loose soil.

[0005] The above cleaning method is inefficient and inconvenient. Using a roller structure to drive the cleaning structure can improve the cleaning efficiency of the loose soil on the steel support surface. However, since the steel support structure is connected by a flange structure, the conventional roller structure cannot pass over the flange structure. The flange structure hinders the cleaning work. Therefore, a deep foundation pit steel support surface loose soil cleaning robot is proposed. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a robot for cleaning loose soil on the steel support surface of a deep foundation pit to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a robot for cleaning loose soil on the surface of steel supports in a deep foundation pit, comprising: A semi-annular shell, wherein a first crescent shell is provided on the right side of the lower end of the semi-annular shell, and a second crescent shell is provided on the left side of the lower end of the semi-annular shell; The first inner cavity is opened on the front and rear sides of the upper end of the semi-annular shell; The second inner cavity is opened on the front and rear sides of the inner walls of the first crescent shell and the second crescent shell. Lifting drive wheels are installed inside both the first inner cavity and the second inner cavity. The lifting drive wheel includes a telescopic inner rod, a return spring is installed outside the telescopic inner rod, a U-shaped frame is fixedly installed at one end outside the telescopic inner rod, a third servo motor is fixedly installed on one side outside the U-shaped frame through a screw, and the output end of the third servo motor is fixedly installed with a groove roller inside the U-shaped frame, and the groove roller is rotatably connected to the U-shaped frame; The inner plates are fixedly installed on the left and right sides of the upper end inside the semi-ring shell through screws. Electric telescopic rods are fixedly installed at the lower ends of the inner plates through screws. A side frame is fixedly installed at one end outside the electric telescopic rods through screws. A rotating rod is rotatably installed inside the side frame. A limiting block is arranged inside the upper end of the rotating rod at one end outside the electric telescopic rod, and the limiting block is fixedly connected to the electric telescopic rod through a screw; The purging mechanism is arranged at the front end outside the semi-ring shell, and a cleaning mechanism is arranged at the front end outside the purging mechanism.

[0008] Preferably, first bushings are arranged on the left and right sides of the lower end outside the semi-ring shell, and the first bushings are fixedly connected to the semi-ring shell through screws. Second bushings are arranged at the upper ends of the first crescent shell and the second crescent shell, and the second bushings are fixedly connected to the first crescent shell and the second crescent shell through screws. A rotating shaft is installed inside the first bushings and the second bushings, and the rotating shaft is rotatably connected to the first bushings and the second bushings; First, first bushings are arranged on the left and right sides of the lower end outside the semi-ring shell and fixed with screws, and second bushings are arranged at the upper ends of the first crescent shell and the second crescent shell and also fixed with screws. This fixing method is stable and reliable, ensuring that the connection of each component is tight, not easy to loosen, and guaranteeing the stability of the overall structure. Secondly, a rotating shaft is installed inside the first bushings and the second bushings and rotatably connected, enabling the semi-ring shell to rotate relatively flexibly with the first crescent shell and the second crescent shell. Thus, it is convenient for the cleaning robot to be installed on the surface of the steel support. During installation, the first crescent shell and the second crescent shell are turned outwards. After the lower end of the semi-ring shell is placed on the upper end of the steel support structure, the first crescent shell and the second crescent shell are closed. In this way, the installation of the cleaning robot is facilitated.

[0009] Preferably, a first L-shaped side frame is arranged on one side outside the first bushing, and the first L-shaped side frame is fixedly connected to the first bushing by welding. A second L-shaped side frame is arranged on one side outside the second bushing, and the second L-shaped side frame is fixedly connected to the second bushing by welding. A limiting insert bar is inserted inside the first L-shaped side frame and the second L-shaped side frame; The first L-shaped side frame is welded to the outside of the first shaft sleeve, and the second L-shaped side frame is welded to the outside of the second shaft sleeve. The welding and fixing method is firm, which can enhance the stability of the overall structure and make the connection of each component more reliable. The first L-shaped side frame and the second L-shaped side frame are internally inserted with limiting strips, and the first L-shaped side frame and the second L-shaped side frame are limited by the limiting strips. After the limiting strips are inserted into the first L-shaped side frame and the second L-shaped side frame, the first shaft sleeve and the second shaft sleeve are limited accordingly, thereby preventing the first crescent shell and the second crescent shell from rotating.

[0010] Preferably, a counterweight battery is installed on the outer side of the lower end of the first crescent shell and the second crescent shell, and the counterweight battery is fixed to the first crescent shell and the second crescent shell by bolts; The bolt fixing method is firm and reliable, which can ensure that the counterweight battery is stably installed on the outside of the first crescent shell and the second crescent shell during operation, and is not easy to loosen or fall off, thereby ensuring the stability of the equipment operation. On the other hand, setting the counterweight battery on the outside of the lower end of the first crescent shell and the second crescent shell can effectively utilize the space and make the overall structure of the equipment more compact. Moreover, the counterweight battery can play a counterweight role, maintaining balance during the movement of the cleaning robot, avoiding tilting due to unstable center of gravity, improving the smoothness of the movement of the cleaning robot, and extending the service life of the equipment.

[0011] Preferably, the purge mechanism includes a semi-annular air guide housing, a crescent air guide housing and an air compressor, the air compressor is fixed to the upper end of the semi-annular housing by screws, the semi-annular air guide housing is fixed to the front end of the semi-annular housing by screws, the crescent air guide housing is fixed to the front end of the crescent air guide housing by screws, and the semi-annular air guide housing and the crescent air guide housing are connected to the output end of the air compressor through a pipe; The air compressor is fixed to the upper end of the semi-annular shell with screws, and the semi-annular air guide shell and the crescent air guide shell are also fixed to the corresponding positions with screws respectively. The screw fixing method is stable, ensuring that the components are tightly connected and not easy to loosen, thereby ensuring the stability of the overall structure. The semi-annular air guide shell and the crescent air guide shell are connected to the output end of the air compressor through a pipe, which can allow the airflow generated by the air compressor to be efficiently and accurately delivered to the designated area, achieving a good purge effect. This layout makes the purge mechanism compact and easy to install, and the various components work together efficiently, which can effectively improve the cleaning efficiency and quality of the cleaning robot.

[0012] Preferably, deflectors are installed at the air outlets of the semi-ring air guide housing and the crescent air guide housing, and the deflectors are fixedly connected to the semi-ring air guide housing and the crescent air guide housing; The guide plate guides the airflow, causing the airflow to tilt after being blown out from the air outlet, thereby increasing the force of the airflow to peel off the loose soil and thus improving the cleaning efficiency.

[0013] Preferably, the cleaning mechanism includes a semi-ring slide rail and a crescent slide rail, the semi-ring slide rail is fixed to the semi-ring air guide shell by screws, two crescent slide rails are provided, and the two crescent slide rails are respectively fixed to the front end of the crescent air guide shell by screws, and a semi-circular sliding ring is slidably installed on the inner front end of the crescent slide rail, and the outer part of the semi-circular sliding ring is embedded with equidistantly distributed balls along the ring, and the balls are movably connected to the semi-circular sliding ring; The semi-ring slide rail and the semi-ring air guide shell, as well as the crescent slide rail and the crescent air guide shell are all fixed with screws, and the connection is firm, which ensures the stability of the overall structure of the cleaning mechanism and enables each component to maintain its relative position unchanged during operation. A semi-circular sliding ring is installed at the front end of the crescent slide rail, and evenly distributed ball bearings are embedded on the outside of the semi-circular sliding ring and movably connected. The ball bearings can reduce the friction when the semi-circular sliding ring slides, making the sliding smoother. This design enables the cleaning components to move flexibly, expands the cleaning range, improves the cleaning efficiency, and at the same time reduces the wear caused by friction and extends the service life of the cleaning mechanism.

[0014] Preferably, a semi-ring plate is fixedly provided at the outer front end of the semi-circular slip ring, bristles are installed on the inner side of the semi-ring plate, and the bristles are adhered and fixed to the semi-ring plate; The bristles are used to sweep the outside of the steel support structure, thereby sweeping off loose soil.

[0015] Preferably, a transmission gear ring is provided on the outer edge of the semi-annular plate, and the transmission gear ring is fixedly connected to the semi-annular plate; The transmission gear ring makes it easier for the half ring plate to be driven by the driven gear.

[0016] Preferably, a first servo motor is installed on both left and right sides of the lower front end of the semi-ring air guide housing, and the first servo motor and the semi-ring air guide housing are fixed by a fixing frame, a first driving gear is fixedly installed on the output end of the first servo motor, a second servo motor is installed on the upper front end of the first crescent housing and the second crescent housing, and the second servo motor is fixed to the first crescent housing and the second crescent housing respectively by a fixing frame, a second driving gear is fixedly installed on the output end of the second servo motor, the first driving gear is meshed with the transmission gear ring, and the second driving gear is adapted to the transmission gear ring; The first servo motor and the second servo motor are controlled to start, and the first drive gear at the output end of the first servo motor and the second drive gear at the output end of the second servo motor rotate. Under the meshing action of the transmission ring and the first drive gear and the second drive gear, the transmission ring rotates around the center of the semi-ring slide rail and the crescent slide rail through the semi-circular slip ring and the ball with the center of the semi-ring shell as the axis, so that the bristles clean the outside of the steel support structure.

[0017] In summary, compared with the prior art, the present invention provides a robot for cleaning loose soil on the steel support surface of a deep foundation pit, which has the following beneficial effects: The cleaning robot of the present invention adopts a combined structure of a semi-ring shell and a crescent shell, making it convenient to install the cleaning robot on the surface of the steel support; Through the electric telescopic rod cooperating with the rotating rod structure, after the rotating rod crosses the flange structure of the steel support and resets, control the electric telescopic rod to contract and cooperate with the rotating rod to clamp the flange structure, thereby pulling the cleaning robot towards the flange structure. Through the pulling force, cooperate with the reset spring and the telescopic inner rod to make the groove roller rise and cross the flange structure, so that the cleaning robot can move outside the steel support structure connected by the flange structure and carry out cleaning work through the blowing mechanism and the cleaning mechanism, solving the problems raised in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] <00000�6>is a three-dimensional view of the overall structure of the present invention.

[0019] Figure 2 is a schematic diagram of the opened state of the first crescent shell and the second crescent shell of the present invention.

[0020] Figure 3 is a schematic diagram of the separated state of the semi-circular sliding ring and the semi-ring slide rail of the present invention.

[0021] Figure 4 is a cross-sectional view of the semi-ring shell structure of the present invention.

[0022] Figure 5 is a schematic diagram of the robot in the working state installed outside the steel support in the deep foundation pit.

[0023] Description of the reference numerals: 1. Semi-ring shell; 2. First crescent shell; 3. Second crescent shell; 4. Counterweight battery; 5. First bushing; 6. Second bushing; 7. First L-shaped side frame; 8. Second L-shaped side frame; 9. Limit insertion strip; 10. Semi-ring air guide shell; 11. Crescent air guide shell; 12. Deflector; 13. Semi-ring slide rail; 14. Crescent slide rail; 15. Semi-circular sliding ring; 16. Ball; 17. Semi-ring plate; 1ǝ. Transmission gear ring; 19. Brush; 20. First servo motor; 21. First driving gear; 22. Second servo motor; 23. Second driving gear; 24. First inner cavity; Figure 1 25. Second inner cavity; 26. Telescopic inner rod; 27. C-shaped frame; 28. Third servo motor; 29. Groove roller; 30. Inner plate; 31. Electric telescopic rod; 32. Side frame; 33. Rotating rod; 34. Limit block; 35. Rotating shaft; 36. Air compressor; 37. Reset spring; 38. Deep foundation pit; 39. Steel support structure. DETAILED DESCRIPTION OF THE EMBODIMENTS [[ID=Ͷ3]]

[0024] The present invention provides a technical solution, a robot for cleaning loose soil on the surface of a steel support in a deep foundation pit. Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , including: A semi - ring shell 1, with a first crescent shell 2 arranged on the right side of the lower end of the semi - ring shell 1, and a second crescent shell 3 arranged on the left side of the lower end of the semi - ring shell 1; A first inner cavity 24, opened on the front and rear sides of the upper end inside the semi - ring shell 1; A second inner cavity 25, opened on the front and rear sides of the inner walls of the first crescent shell 2 and the second crescent shell 3. Lifting drive wheels are installed inside both the first inner cavity 24 and the second inner cavity 25. The lifting drive wheel includes a telescopic inner rod 26, a return spring 37 is installed outside the telescopic inner rod 26, a C - shaped frame 27 is fixedly installed at one end outside the telescopic inner rod 26, a third servo - motor 28 is fixedly installed on one side outside the C - shaped frame 27 through a screw, the output end of the third servo - motor 28 is fixedly installed with a groove roller 29 inside the C - shaped frame 27, and the groove roller 29 is rotatably connected to the C - shaped frame 27; Inner plates 30, fixedly installed on the left and right sides of the upper end inside the semi - ring shell 1 through screws. Electric telescopic rods 31 are fixedly installed at the lower ends of the inner plates 30 through screws. A side frame 32 is fixedly installed at one end outside the electric telescopic rods 31 through screws. A rotating rod 33 is rotatably installed inside the side frame 32. A limiting block 34 is arranged inside the upper end of the rotating rod 33 at one end outside the electric telescopic rod 31, and the limiting block 34 is fixedly installed with the electric telescopic rod 31 through a screw; A purging mechanism, arranged at the front end outside the semi - ring shell 1, and a cleaning mechanism is arranged at the front end outside the purging mechanism; Control all the third servo motors 28 to start, and the groove roller 29 at the output end of the third servo motor 28 rotates. Under the action of friction, the groove roller 29 and the outside of the steel support structure convert the rotational motion of the groove roller 29 into linear motion of the semi-annular shell 1. When the semi-annular shell 1 moves to the flange connection of the steel support structure, after the rotating rod 33 contacts the flange structure, the end of the rotating rod 33 close to the flange structure flips toward the direction of the electric telescopic rod 31 until the rotating rod 33 moves to the outside of the flange structure. Then the electric telescopic rod 31 is controlled to retract, and the end of the rotating rod 33 close to the flange structure contacts the flange structure. At the same time, the end of the rotating rod 33 away from the flange structure is fitted with the limit block 34 and is limited. As the electric telescopic rod 31 contracts, the semi-annular shell 1 is pulled, cooperating with the groove roller 29 The groove roller 29 near the rotating rod 33 is in contact with the flange structure, and the electric telescopic rod 31 is pulled and the groove roller 29 on the side away from the flange structure is driven, so that the return spring 37 outside the groove roller 29 near the rotating rod 33 is compressed, thereby causing the telescopic inner rod 26 to shrink. The groove roller 29 rises and moves along the flange structure until the flange structure of the groove roller 29 is reached. Subsequently, the groove roller 29 at the rear end of the semi-annular shell 1 moves to the flange structure. Under the rotation of the groove roller 29 at the rear end of the semi-annular shell 1 and the pulling of the groove roller 29 that has turned over the flange structure, the groove roller 29 at the rear end cooperates with the return spring 37 to shrink, so that the groove roller 29 rises and turns over the flange structure, so that the groove roller 29 is convenient for turning over the flange connection part of the steel support.

[0025] See also Figure 1 and Figure 2 , first sleeves 5 are provided on both sides of the left and right sides of the lower end of the outer half of the semi-annular shell 1, and the first sleeve 5 is fixed to the semi-annular shell 1 by screws, and second sleeves 6 are provided on the upper ends of the first crescent shell 2 and the second crescent shell 3, and the second sleeve 6 is fixed to the first crescent shell 2 and the second crescent shell 3 by screws, and a rotating shaft 35 is installed inside the first sleeve 5 and the second sleeve 6, and the rotating shaft 35 is rotatably connected to the first sleeve 5 and the second sleeve 6; First, first sleeves 5 are set on the left and right sides of the lower end of the semi-circular shell 1 and fixed with screws. Second sleeves 6 are set on the upper ends of the first crescent shell 2 and the second crescent shell 3 and fixed with screws. This fixing method is stable and reliable, ensuring that the components are tightly connected and not easy to loosen, thereby ensuring the stability of the overall structure. Secondly, the first sleeve 5 and the second sleeve 6 are internally installed with a rotating shaft 35 and are rotatably connected, so that the semi-circular shell 1 and the first crescent shell 2 and the second crescent shell 3 can rotate relatively flexibly, thereby making it easy for the cleaning robot to be installed on the surface of the steel support. During installation, the first crescent shell 2 and the second crescent shell 3 are opened outward, and the lower end of the semi-circular shell 1 is placed on the upper end of the steel support structure, and then the first crescent shell 2 and the second crescent shell 3 are closed. This method facilitates the installation of the cleaning robot.

[0026] See also Figure 1 and Figure 2 A first L-shaped side frame 7 is provided on the outer side of the first shaft sleeve 5, and the first L-shaped side frame 7 is welded and fixed to the first shaft sleeve 5. A second L-shaped side frame 8 is provided on the outer side of the second shaft sleeve 6, and the second L-shaped side frame 8 is welded and fixed to the second shaft sleeve 6. A limiting insert 9 is inserted inside the first L-shaped side frame 7 and the second L-shaped side frame 8; The first L-shaped side frame 7 is welded to the outside of the first shaft sleeve 5, and the second L-shaped side frame 8 is welded to the outside of the second shaft sleeve 6. The welding fixing method is firm, which can enhance the stability of the overall structure and make the connection of each component more reliable. The first L-shaped side frame 7 and the second L-shaped side frame 8 are internally inserted with a limiting strip 9, and the first L-shaped side frame 7 and the second L-shaped side frame 8 are limited by the limiting strip 9. After the limiting strip 9 is inserted into the first L-shaped side frame 7 and the second L-shaped side frame 8, the first shaft sleeve 5 and the second shaft sleeve 6 are limited accordingly, thereby preventing the first crescent shell 2 and the second crescent shell 3 from rotating.

[0027] See also Figure 1 and Figure 2 , a counterweight battery 4 is installed on the outer side of the lower end of the first crescent shell 2 and the second crescent shell 3, and the counterweight battery 4 is fixed to the first crescent shell 2 and the second crescent shell 3 by bolts; The bolt fixing method is firm and reliable, which can ensure that the counterweight battery 4 is stably installed on the outside of the first crescent shell 2 and the second crescent shell 3 during operation, and is not easy to loosen or fall off, thereby ensuring the stability of the equipment operation. On the other hand, the counterweight battery 4 is set on the outside of the lower end of the first crescent shell 2 and the second crescent shell 3, which can effectively utilize the space and make the overall structure of the equipment more compact. Moreover, the counterweight battery 4 can play the role of counterweight, maintaining balance during the movement of the cleaning robot, avoiding tilting due to unstable center of gravity, improving the smoothness of the movement of the cleaning robot, and extending the service life of the equipment.

[0028] See also Figure 1 、 Figure 2 and Figure 3 The purge mechanism includes a semi-annular air guide housing 10, a crescent air guide housing 11 and an air compressor 36. The air compressor 36 is fixed to the upper end of the semi-annular housing 1 by screws, the semi-annular air guide housing 10 is fixed to the front end of the semi-annular housing 1 by screws, and the crescent air guide housing 11 is fixed to the front end of the crescent air guide housing 11 by screws. The semi-annular air guide housing 10 and the crescent air guide housing 11 are connected to the output end of the air compressor 36 through a pipe. The air compressor 36 is fixed to the upper end of the semi-annular shell 1 with screws, and the semi-annular air guide shell 10 and the crescent air guide shell 11 are also fixed to the corresponding positions with screws respectively. The screw fixing method is stable, ensuring that the components are tightly connected and not easy to loosen, thereby ensuring the stability of the overall structure. The semi-annular air guide shell 10 and the crescent air guide shell 11 are connected to the output end of the air compressor 36 through a pipe, which can allow the airflow generated by the air compressor 36 to be efficiently and accurately delivered to the designated area, achieving a good purge effect. This layout makes the purge mechanism compact and easy to install, and the various components work together efficiently, which can effectively improve the cleaning efficiency and quality of the cleaning robot.

[0029] See also Figure 1 、 Figure 2 and Figure 3 , the air outlets of the semi-ring air guide shell 10 and the crescent air guide shell 11 are both equipped with guide plates 12, and the guide plates 12 are fixedly connected to the semi-ring air guide shell 10 and the crescent air guide shell 11; The guide plate 12 guides the airflow, causing the airflow to tilt after being blown out from the air outlet, thereby increasing the force of the airflow to peel off the loose soil and thus improving the cleaning efficiency.

[0030] See also Figure 1 、 Figure 2 and Figure 3 The cleaning mechanism includes a semi-ring slide 13 and a crescent slide 14. The semi-ring slide 13 is fixed to the semi-ring air guide shell 10 by screws. There are two crescent slides 14, and the two crescent slides 14 are fixed to the front end of the crescent air guide shell 11 by screws respectively. A semi-circular slip ring 15 is slidably installed at the front end of the inner side of the crescent slide 14. Balls 16 are equidistantly distributed along the outer side of the semi-circular slip ring 15. The balls 16 are movably connected to the semi-circular slip ring 15. The semi-ring slide 13 and the semi-ring air guide shell 10, and the crescent slide 14 and the crescent air guide shell 11 are all fixed with screws, and the connection is firm, which ensures the stability of the overall structure of the cleaning mechanism and enables each component to maintain a relative position unchanged during operation. A semi-circular slip ring 15 is slidably installed at the front end of the crescent slide 14, and equidistantly distributed balls 16 are embedded on the outside of the semi-circular slip ring 15 and movably connected. The balls 16 can reduce the friction when the semi-circular slip ring 15 slides, making the sliding smoother. This design enables the cleaning components to move flexibly, expands the cleaning range, improves the cleaning efficiency, and at the same time reduces the wear caused by friction and extends the service life of the cleaning mechanism.

[0031] See also Figure 1 、 Figure 2 and Figure 3 A semi-circular plate 17 is fixedly provided on the outer front end of the semi-circular slip ring 15, and bristles 19 are installed on the inner side of the semi-circular plate 17, and the bristles 19 are adhered and fixed to the semi-circular plate 17; The bristles 19 are used to clean the outside of the steel support structure, thereby sweeping off loose soil.

[0032] See also Figure 1 、 Figure 2 and Figure 3 , a transmission gear ring 18 is provided on the outer edge of the semi-annular plate 17, and the transmission gear ring 18 is fixedly connected to the semi-annular plate 17; The transmission gear ring 18 enables the half ring plate 17 to be driven by the driven gear.

[0033] See also Figure 1 、 Figure 2 and Figure 3 , a first servo motor 20 is installed on both sides of the left and right sides of the lower front end of the semi-ring air guide housing 10, and the first servo motor 20 is fixed to the semi-ring air guide housing 10 by a fixing frame, and a first driving gear 21 is fixedly installed on the output end of the first servo motor 20, and a second servo motor 22 is installed on the upper front end of the first crescent housing 2 and the second crescent housing 3, and the second servo motor 22 is fixed to the first crescent housing 2 and the second crescent housing 3 respectively by a fixing frame, and a second driving gear 23 is fixedly installed on the output end of the second servo motor 22, the first driving gear 21 is meshed with the transmission gear ring 18, and the second driving gear 23 is adapted to the transmission gear ring 18; The first servo motor 20 and the second servo motor 22 are controlled to start, and the first drive gear 21 at the output end of the first servo motor 20 and the second drive gear 23 at the output end of the second servo motor 22 rotate. The transmission gear ring 18 and the first drive gear 21 and the second drive gear 23 are engaged with each other, and rotate around the center of the semi-annular slide 13 and the crescent slide 14 through the semi-circular slip ring 15 and the ball 16 with the center of the semi-annular shell 1 as the axis, so that the bristles 19 clean the outside of the steel support structure.

[0034] like Figure 5 As shown, in the working state, the present invention uses a device (such as a hanging basket or a crane) that can facilitate workers to move up and down inside the deep foundation pit 38 to lift the cleaning robot to the upper end of the steel support structure 39 that needs to be cleaned, and then the limiting insert 9 is pulled out, canceling the limiting insert 9 on the first L-shaped side frame 7 and the second L-shaped side frame 8, so that the first crescent shell 2 and the second crescent shell 3 can rotate along the rotating shaft 35, and the device for controlling the lifting and moving places the semi-annular shell 1 from top to bottom toward the steel support structure 39, and the outer side of the semi-annular shell 1 is close to the semi-annular shell 39. One side of the ring plate 17 faces the direction of the steel support structure 39 to be cleaned. After the grooved roller 29 inside the semi-annular shell 1 is placed on the outer upper end of the steel support, the first crescent shell 2 and the second crescent shell 3 are flipped downward, and then the limiting insert 9 is inserted into the first L-shaped side frame 7 and the second L-shaped side frame 8, so that the first crescent shell 2 and the second crescent shell 3 tightly embrace the steel support structure 39. At this time, the grooved rollers 29 inside the first crescent shell 2 and the second crescent shell 3 are in contact with both sides of the lower end of the steel support structure 39, and the connection between the lifting and moving equipment and the cleaning robot is released; Then, the first servo motor 20 and the second servo motor 22 are controlled to start, and the first drive gear 21 at the output end of the first servo motor 20 and the second drive gear 23 at the output end of the second servo motor 22 rotate. The transmission gear ring 18 and the first drive gear 21 and the second drive gear 23 are meshed with each other, and rotate around the center of the semi-annular slide rail 13 and the crescent slide rail 14 through the semi-circular slip ring 15 and the ball 16, so that the bristles 19 clean the outside of the steel support structure 39 and remove the loose soil. At the same time, the air compressor 36 is started, and the air compressor 36 transmits the airflow through the pipeline and blows it out from the air outlet of the semi-annular air guide shell 10 and the crescent air guide shell 11. The high-pressure airflow sweeps the loose soil, thereby improving the cleaning efficiency of the loose soil. Control all the third servo motors 28 to start, and the groove roller 29 at the output end of the third servo motor 28 rotates. Under the action of friction, the groove roller 29 and the outside of the steel support structure 39 convert the rotational motion of the groove roller 29 into linear motion of the semi-annular shell 1. When the semi-annular shell 1 moves to the flange connection of the steel support structure 39, the rotating rod 33 contacts the flange structure, and the end of the rotating rod 33 close to the flange structure flips toward the direction of the electric telescopic rod 31 until the rotating rod 33 moves to the outside of the flange structure. Then, the electric telescopic rod 31 is controlled to retract, and the rotating rod 33 is close to the flange structure. The end of the rotating rod 33 contacts the flange structure, and the end of the rotating rod 33 away from the flange structure is fitted with the limit block 34 and is limited. As the electric telescopic rod 31 contracts, the semi-annular shell 1 is pulled, and the grooved roller 29 rotates. The grooved roller 29 close to the rotating rod 33 contacts the flange structure. The pulling of the electric telescopic rod 31 and the driving of the grooved roller 29 on the side away from the flange structure cause the return spring 37 outside the grooved roller 29 close to the rotating rod 33 to be compressed, thereby causing the telescopic inner rod 26 to contract. The grooved roller 29 rises and moves along the flange structure until it reaches the flange structure. Subsequently, the groove roller 29 at the rear end of the semi-annular shell 1 moves to the flange structure. Under the rotation of the groove roller 29 at the rear end of the semi-annular shell 1 and the pulling of the groove roller 29 over the flange structure, the groove roller 29 at the rear end cooperates with the return spring 37 to contract, so that the groove roller 29 rises and over the flange structure. In this way, the semi-annular shell 1 completely passes the flange structure, so that the loose soil on the steel support surface can be cleaned.

[0035] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0036] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robot for cleaning loose soil on the steel support surface of a deep foundation pit, characterized in that: Comprising: A semi - ring shell (1), a first crescent shell (2) is provided on the right side of the lower end of the semi - ring shell (1), and a second crescent shell (3) is provided on the left side of the lower end of the semi - ring shell (1); A first inner cavity (24) is opened on the front and rear sides of the upper end inside the semi - ring shell (1); A second inner cavity (25) is opened on the front and rear sides of the inner walls of the first crescent shell (2) and the second crescent shell (3). Lifting drive wheels are installed inside both the first inner cavity (24) and the second inner cavity (25). The lifting drive wheel comprises a telescopic inner rod (26). A return spring (37) is installed outside the telescopic inner rod (26). One end of the outside of the telescopic inner rod (26) is fixedly installed with a U - shaped frame (27). A third servo - motor (28) is fixed on one side of the outside of the U - shaped frame (27) by screws. The output end of the third servo - motor (28) is fixedly installed with a groove roller (29) inside the U - shaped frame (27); Inner plates (30) are fixed on the left and right sides of the upper end inside the semi - ring shell (1) by screws. Electric telescopic rods (31) are fixed at the lower ends of the inner plates (30) by screws. One end of the outside of the electric telescopic rod (31) is fixed with a side frame (32) by screws. A rotating rod (33) is rotatably installed inside the side frame (32). A limiting block (34) is provided inside the upper end of the rotating rod (33) at one end of the outside of the electric telescopic rod (31); A purging mechanism is provided at the front end outside the semi - ring shell (1), and a cleaning mechanism is provided at the front end of the purging mechanism; 2. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 1, characterized in that: On the left and right sides of the lower end outside the semi - ring shell (1), first shaft sleeves (5) are provided, and the first shaft sleeves (5) and the semi - ring shell (1) are fixed by screws. Second shaft sleeves (6) are provided at the upper ends of the first crescent shell (2) and the second crescent shell (3), and the second shaft sleeves (6) and the first crescent shell (2) and the second crescent shell (3) are fixed by screws. A rotating shaft (35) is installed inside the first shaft sleeve (5) and the second shaft sleeve (6), and the rotating shaft (35) is rotatably connected to the first shaft sleeve (5) and the second shaft sleeve (6); 3. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 2, characterized in that: On one side of the outside of the first shaft sleeve (5), a first L - shaped side frame (7) is provided, and the first L - shaped side frame (7) is welded and fixed to the first shaft sleeve (5). On one side of the outside of the second shaft sleeve (6), a second L - shaped side frame (8) is provided, and the second L - shaped side frame (8) is welded and fixed to the second shaft sleeve (6). A limiting insert bar (9) is inserted inside the first L - shaped side frame (7) and the second L - shaped side frame (8); 4. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 1, characterized in that: Counterweight batteries (4) are installed on the outer sides of the lower ends of the first crescent shell (2) and the second crescent shell (3), and the counterweight batteries (4) and the first crescent shell (2) and the second crescent shell (3) are fixed by bolts; 5. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 1, characterized in that: The purge mechanism comprises a semi-annular air guide housing (10), a crescent air guide housing (11) and an air compressor (36), wherein the air compressor (36) is fixed to the upper end of the semi-annular housing (1) by screws, the semi-annular air guide housing (10) is fixed to the front end of the semi-annular housing (1) by screws, and the crescent air guide housing (11) is fixed to the front end of the crescent air guide housing (11) by screws, and the semi-annular air guide housing (10) and the crescent air guide housing (11) are connected to the output end of the air compressor (36) through a pipeline.

6. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 5, characterized in that: A guide plate (12) is installed at the air outlet of the semi-ring air guide shell (10) and the crescent air guide shell (11), and the guide plate (12) is fixedly connected to the semi-ring air guide shell (10) and the crescent air guide shell (11).

7. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 5, characterized in that: The cleaning mechanism includes a semi-ring slide rail (13) and a crescent slide rail (14), the semi-ring slide rail (13) and the semi-ring air guide shell (10) are fixed by screws, two crescent slide rails (14) are provided, and the two crescent slide rails (14) are respectively fixed to the front end of the crescent air guide shell (11) by screws, and a semi-circular slip ring (15) is slidably installed on the inner front end of the crescent slide rail (14), and the outer part of the semi-circular slip ring (15) is embedded with equidistantly distributed balls (16) along the ring shape, and the balls (16) are movably connected to the semi-circular slip ring (15).

8. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 7, characterized in that: A semi-circular plate (17) is fixedly provided at the outer front end of the semi-circular slip ring (15), and bristles (19) are installed on the inner side of the semi-circular plate (17), and the bristles (19) are adhered and fixed to the semi-circular plate (17).

9. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 8, characterized in that: A transmission gear ring (18) is provided on the outer edge of the semi-annular plate (17), and the transmission gear ring (18) is fixedly connected to the semi-annular plate (17).

10. The robot for cleaning loose soil on the steel support surface of a deep foundation pit according to claim 9, characterized in that: A first servo motor (20) is mounted on both left and right sides of the lower front end of the semi-circular air guide housing (10), and the first servo motor (20) and the semi-circular air guide housing (10) are fixed via a fixing frame. A first driving gear (21) is fixedly mounted on the output end of the first servo motor (20). A second servo motor (22) is mounted on the upper front end of each of the first crescent housing (2) and the second crescent housing (3), and the second servo motor (22) is fixed to the first crescent housing (2) and the second crescent housing (3) via a fixing frame, respectively. A second driving gear (23) is fixedly mounted on the output end of the second servo motor (22), and the first driving gear (21) is meshedly connected to the transmission gear ring (18).

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