A deep foundation pit steel support surface loose soil cleaning robot

Abstract

This invention discloses a robot for cleaning loose soil from the surface of steel supports in deep foundation pits, comprising: a semi-annular shell, with a first crescent-shaped shell on the lower right side and a second crescent-shaped shell on the lower left side; an inner plate, fixedly installed on the left and right sides of the upper part of the semi-annular shell by screws; an electric telescopic rod fixedly installed on the lower end of the inner plate by screws; a side frame fixedly installed on the outer end of the electric telescopic rod by screws; a rotating rod rotatably installed inside the side frame; and a limit block provided on the inner side of the upper end of the rotating rod at the outer end of the electric telescopic rod. This invention, through the cooperation of the electric telescopic rod and the rotating rod, enables the cleaning robot to traverse the steel support flange structure. By controlling the retraction of the electric telescopic rod, the rotating rod engages the flange structure, pulling the robot to move. A return spring and a grooved roller raised by the telescopic inner rod are used to overcome obstacles, achieving flexible movement and efficient cleaning of the robot outside the steel support structure.

Description

Technical Field

[0001] This invention relates to the field of building construction, and in particular to a robot for cleaning loose soil from the surface of steel supports in deep foundation pits. Background Technology

[0002] Deep foundation pit steel bracing is a temporary support structure installed during the excavation of deep foundation pits to ensure the stability of the pit slopes and prevent soil collapse. Utilizing the high strength of steel, it forms a stable support system through proper arrangement and connection, bearing the lateral pressure of the soil on the pit sidewalls and ensuring construction safety.

[0003] During the excavation of the foundation pit, after the soil is excavated by excavators or manual labor, some soil may be scattered on the surface of the steel support due to vibration, collision or wind. In order to keep the surface of the steel support clean and the stability of the support system, 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 may easily injure people if it is knocked down.

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

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

[0006] To address the shortcomings of existing technologies, this invention provides a robot for cleaning loose soil from the surface of steel supports in deep foundation pits, thereby solving the problems mentioned in the background section.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a robot for cleaning loose soil from the surface of steel supports in deep foundation pits, comprising: A semi-annular shell, wherein a first crescent shell is provided on the lower right side of the semi-annular shell and a second crescent shell is provided on the lower left side of the semi-annular shell; The first inner cavity is located on the front and rear sides of the upper part 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. The first inner cavity and the second inner cavity are both equipped with lifting drive wheels. The lifting drive wheel includes a telescopic inner rod. A return spring is installed on the outside of the telescopic inner rod. A C-shaped frame is fixedly installed on one end of the telescopic inner rod. A third servo motor is fixed on one side of the C-shaped frame by screws. The output end of the third servo motor is located inside the C-shaped frame and a grooved roller is fixedly installed. The grooved roller is rotatably connected to the C-shaped frame. The inner plate is fixedly installed on the left and right sides of the upper part of the semi-annular shell by screws. The lower end of the inner plate is fixedly installed with an electric telescopic rod by screws. The outer end of the electric telescopic rod is fixedly installed with a side frame by screws. A rotating rod is rotatably installed inside the side frame. A limit block is set on the inner side of the upper end of the rotating rod at the outer end of the electric telescopic rod, and the limit block is fixed to the electric telescopic rod by screws. A purging mechanism is located at the outer front end of the semi-annular shell, and a cleaning mechanism is provided at the outer front end of the purging mechanism.

[0008] Preferably, a first bushing is provided on both the left and right sides of the lower outer end of the semi-annular shell, and the first bushing is fixed to the semi-annular shell by screws. A second bushing is provided on the upper end of the first crescent shell and the second crescent shell, and the second bushing is fixed to the first crescent shell and the second crescent shell by screws. A rotating shaft is installed inside the first bushing and the second bushing, and the rotating shaft is rotatably connected to the first bushing and the second bushing. First, first bushings are installed on the lower left and right sides of the semi-annular shell and fixed with screws. Second bushings are installed on the upper ends of the first and second crescent shells and fixed with screws as well. This fixing method is stable and reliable, ensuring that all components are tightly connected and not easily loosened, thus guaranteeing the stability of the overall structure. Second, rotating shafts are installed inside the first and second bushings and are rotatably connected, allowing the semi-annular shell to rotate relatively flexibly with the first and second crescent shells. This makes it easy for the cleaning robot to be installed on the surface of the steel support. During installation, the first and second crescent shells are flipped outwards, the lower end of the semi-annular shell is placed on the upper end of the steel support structure, and then the first and second crescent shells are closed. This method facilitates the installation of the cleaning robot.

[0009] Preferably, a first L-shaped side bracket is provided on the outer side of the first bushing, and the first L-shaped side bracket is welded and fixed to the first bushing; a second L-shaped side bracket is provided on the outer side of the second bushing, and the second L-shaped side bracket is welded and fixed to the second bushing; and limit inserts are inserted inside the first L-shaped side bracket and the second L-shaped side bracket. The first bushing is welded to the outside of a first L-shaped side bracket, and the second bushing is welded to the outside of a second L-shaped side bracket. 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 bracket and the second L-shaped side bracket are fitted with limiting strips. The limiting strips limit the first L-shaped side bracket and the second L-shaped side bracket. After the limiting strips are inserted into the first L-shaped side bracket and the second L-shaped side bracket, the first bushing and the second bushing are also limited, thereby preventing the first crescent shell and the second crescent shell from rotating.

[0010] Preferably, a counterweight battery is installed on the lower outer side of both 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, ensuring that the counterweight battery is stably installed on the outside of the first and second crescent shells during operation, preventing it from loosening or falling off and guaranteeing the stability of the equipment operation. On the other hand, placing the counterweight battery on the lower outer side of the first and second crescent shells can effectively utilize space, making the overall structure of the equipment more compact. Moreover, the counterweight battery can act as a counterweight, maintaining the balance of the cleaning robot during movement and avoiding tilting due to an unstable center of gravity, thus improving the smoothness of the cleaning robot's movement and extending the service life of the equipment.

[0011] Preferably, the purging mechanism includes a semi-ring air guide shell, a crescent air guide shell, and an air compressor. The air compressor is fixedly installed on the upper end of the semi-ring shell by screws. The semi-ring air guide shell is fixed to the front end of the semi-ring shell by screws. The crescent air guide shell is fixed to the front end of the crescent air guide shell by screws. The semi-ring air guide shell and the crescent air guide shell are connected to the output end of the air compressor through pipes. The air compressor is fixed to the upper end of the semi-ring shell with screws. The semi-ring air guide shell and the crescent air guide shell are also fixed to their respective positions with screws. The screw fixing method is stable, ensuring that the connection of each component is tight and not easy to loosen, thus ensuring the stability of the overall structure. The semi-ring air guide shell and the crescent air guide shell are connected to the output end of the air compressor through pipes, which allows the airflow generated by the air compressor to be delivered to the designated area efficiently and accurately, achieving a good blowing effect. This layout makes the blowing mechanism compact, easy to install, and the components work together efficiently, which can effectively improve the cleaning efficiency and quality of the cleaning robot.

[0012] Preferably, a guide plate is installed at the air outlet of both the semi-annular air guide shell and the crescent-shaped air guide shell, and the guide plate is fixedly connected to the semi-annular air guide shell and the crescent-shaped air guide shell. The deflector plate guides the airflow, causing it to tilt as it exits the vent, thus increasing the force with which the airflow strips away loose soil and improving cleaning efficiency.

[0013] Preferably, the cleaning mechanism includes a semi-circular slide rail and a crescent slide rail. The semi-circular slide rail is fixed to the semi-circular air guide shell by screws. Two crescent slide rails are provided. The two crescent slide rails are respectively fixed to the front end of the crescent air guide shell by screws. A semi-circular slip ring is slidably installed on the front end of the inner side of the crescent slide rail. The outer side of the semi-circular slip ring is circumferentially embedded with equally spaced balls, and the balls are movably connected to the semi-circular slip ring. The semi-circular slide rail and the semi-circular air guide shell, as well as the crescent slide rail and the crescent air guide shell, are all fixed with screws, ensuring a stable connection and guaranteeing the overall stability of the cleaning mechanism. This allows each component to maintain its relative position during operation. A semi-circular slip ring is slidably installed at the front end of the crescent slide rail, and equidistantly distributed ball bearings are embedded on the outside of the semi-circular slip ring and are movably connected. The ball bearings reduce the friction when the semi-circular slip ring slides, making the sliding smoother. This design allows the cleaning components to move flexibly, expanding the cleaning range and improving cleaning efficiency. At the same time, it reduces 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, and 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 brush bristles are used to clean the exterior of the steel support structure, thereby sweeping away loose soil.

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

[0016] Preferably, a first servo motor is installed on both the lower left and right sides of the front end of the semi-ring air guide shell, and the first servo motor is fixed to the semi-ring air guide shell by a fixing bracket. A first drive gear is fixedly installed at the output end of the first servo motor. A second servo motor is installed on the upper front end of the first crescent shell and the second crescent shell, and the second servo motor is fixed to the first crescent shell and the second crescent shell by a fixing bracket. A second drive gear is fixedly installed at the output end of the second servo motor. The first drive gear is meshed with the transmission gear ring, and the second drive gear is adapted to the transmission gear ring. The first servo motor and the second servo motor are started. 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. The transmission gear ring meshes with the first drive gear and the second drive gear. Through the semi-circular slip ring and the ball, the gear rotates around the center of the semi-circular shell in the semi-circular slide rail and the crescent slide rail, thereby making 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 from the surface of steel supports in deep foundation pits, which has the following beneficial effects: The cleaning robot of this invention adopts a combination structure of semi-ring shell and crescent shell, which makes it easy to install the cleaning robot on the steel support surface; By using an electric telescopic rod in conjunction with a rotating rod structure, the rotating rod returns to its original position after passing over the flange structure supported by steel. Controlling the retraction of the electric telescopic rod, in conjunction with the rotating rod, locks the flange structure, thereby pulling the cleaning robot toward the flange structure. Through the pulling force, in conjunction with the return spring and the telescopic inner rod, the grooved roller rises and passes over the flange structure, thus enabling the cleaning robot to move outside the steel support structure connected by the flange structure to perform cleaning work through the blowing mechanism and the sweeping mechanism, solving the problems mentioned in the background technology. Attached Figure Description

[0018] Figure 1 This is a three-dimensional view of the overall structure of the invention.

[0019] Figure 2 This is a schematic diagram of the first and second crescent-shaped shells of the invention in their unfolded state.

[0020] Figure 3 This is a schematic diagram of the semicircular slip ring and the semicircular slide rail of the invention in their separated state.

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

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

[0023] Explanation of reference numerals in the attached figures: 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. Limiting strip; 10. Semi-ring air guide shell; 11. Crescent air guide shell; 12. Guide plate; 13. Semi-ring slide rail; 14. Crescent slide rail; 15. Semi-circular slip ring; 16. Ball bearing; 17. Semi-ring plate; 18. Transmission gear ring; 19. Brush bristles; 20. First servo motor 21. First drive gear; 22. Second servo motor; 23. Second drive gear; 24. First inner cavity; 25. Second inner cavity; 26. Telescopic inner rod; 27. C-shaped frame; 28. Third servo motor; 29. ​​Grooved roller; 30. Inner plate; 31. Electric telescopic rod; 32. Side frame; 33. Rotating rod; 34. Limiting block; 35. Rotating shaft; 36. Air compressor; 37. Return spring; 38. Deep foundation pit; 39. Steel support structure. Detailed Implementation

[0024] This invention provides a technical solution: a robot for cleaning loose soil from the surface of steel supports in deep foundation pits. Please refer to [link / reference]. Figure 1 , Figure 2 , Figure 3 and Figure 4 ,include: A semi-annular shell 1 is provided with a first crescent shell 2 on the lower right side of the semi-annular shell 1, and a second crescent shell 3 is provided on the lower left side of the semi-annular shell 1. The first inner cavity 24 is opened on the front and rear sides of the upper end of the semi-annular shell 1. The second inner cavity 25 is opened on the front and rear sides of the inner wall of the first crescent shell 2 and the second crescent shell 3. The first inner cavity 24 and the second inner cavity 25 are both equipped with lifting drive wheels. The lifting drive wheel includes a telescopic inner rod 26. A return spring 37 is installed on the outside of the telescopic inner rod 26. A C-shaped frame 27 is fixedly installed on one end of the telescopic inner rod 26. A third servo motor 28 is fixed on one side of the C-shaped frame 27 by screws. The output end of the third servo motor 28 is located inside the C-shaped frame 27 and a grooved roller 29 is fixedly installed thereon. The grooved roller 29 is rotatably connected to the C-shaped frame 27. The inner plate 30 is fixedly installed on the left and right sides of the upper part of the semi-annular shell 1 by screws. The lower end of the inner plate 30 is fixedly installed with an electric telescopic rod 31 by screws. The outer end of the electric telescopic rod 31 is fixedly installed with a side frame 32 by screws. The inside of the side frame 32 is rotatably installed with a rotating rod 33. The outer end of the electric telescopic rod 31 is provided with a limit block 34 on the inner side of the upper end of the rotating rod 33, and the limit block 34 is fixed to the electric telescopic rod 31 by screws. A purging mechanism is located at the outer front end of the semi-annular shell 1, and a cleaning mechanism is provided at the outer front end of the purging mechanism. All third servo motors 28 are started, and the grooved roller 29 at the output end of the third servo motor 28 rotates. Under the action of friction, the rotational motion of the grooved roller 29 is converted into the linear motion of the semi-annular shell 1 by the outside of the steel support structure. When the semi-annular shell 1 moves to the flange connection of the steel support structure, the rotating rod 33 contacts the flange structure, and the end of the rotating rod 33 near the flange structure flips towards 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 near 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 limiting block 34 and is limited. As the electric telescopic rod 31 retracts, it pulls the semi-annular shell 1, cooperating with the grooved roller 29. As the rotating rod 33 rotates, the grooved roller 29 near the rotating rod 33 comes into contact with the flange structure. With the pulling of the electric telescopic rod 31 and the driving of the grooved roller 29 on the side away from the flange structure, the return spring 37 on the outside of the grooved roller 29 near the rotating rod 33 is compressed, which in turn causes the telescopic inner rod 26 to retract. The grooved roller 29 rises and moves along the flange structure until it reaches the flange structure. Then, the grooved roller 29 at the rear end of the semi-annular shell 1 moves to the flange structure. Under the rotation of the grooved roller 29 at the rear end of the semi-annular shell 1 and the pulling of the grooved roller 29 that flips over the flange structure, the grooved roller 29 at the rear end, in conjunction with the retraction of the return spring 37, causes the grooved roller 29 to rise and flip over the flange structure. In this way, the grooved roller 29 can easily flip over the flange connection part supported by the steel.

[0025] Please see Figure 1 and Figure 2 The lower left and right sides of the outer side of the semi-annular shell 1 are provided with first bushings 5, and the first bushings 5 ​​are fixed to the semi-annular shell 1 by screws. The upper ends of the first crescent shell 2 and the second crescent shell 3 are provided with second bushings 6, and the second bushings 6 are fixed to the first crescent shell 2 and the second crescent shell 3 by screws. The first bushings 5 ​​and the second bushings 6 are equipped with rotating shafts 35, and the rotating shafts 35 are rotatably connected to the first bushings 5 ​​and the second bushings 6. First, first bushings 5 ​​are installed on the lower left and right sides of the outer side of the semi-annular shell 1 and fixed with screws. Second bushings 6 are installed on the upper ends of the first crescent shell 2 and the second crescent shell 3 and fixed with screws in the same way. This fixing method is stable and reliable, ensuring that the connection of each component is tight and not easy to loosen, thus ensuring the stability of the overall structure. Second, rotating shafts 35 are installed inside the first bushings 5 ​​and the second bushings 6 and are rotatably connected, so that the semi-annular shell 1 can rotate relatively flexibly with the first crescent shell 2 and the second crescent shell 3. This makes 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 flipped outwards, the lower end of the semi-annular 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] Please see Figure 1 and Figure 2 A first L-shaped side bracket 7 is provided on the outer side of the first bushing 5, and the first L-shaped side bracket 7 is welded and fixed to the first bushing 5. A second L-shaped side bracket 8 is provided on the outer side of the second bushing 6, and the second L-shaped side bracket 8 is welded and fixed to the second bushing 6. Limiting inserts 9 are inserted inside the first L-shaped side bracket 7 and the second L-shaped side bracket 8. The first bushing 5 is welded to the outside of the first L-shaped side frame 7, and the second bushing 6 is welded to the outside of the second L-shaped side frame 8. 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 7 and the second L-shaped side frame 8 are inserted with limiting strips 9. The limiting strips 9 limit the first L-shaped side frame 7 and the second L-shaped side frame 8. After the limiting strips 9 are inserted into the first L-shaped side frame 7 and the second L-shaped side frame 8, the first bushing 5 and the second bushing 6 are also limited, thereby preventing the first crescent shell 2 and the second crescent shell 3 from rotating.

[0027] Please see Figure 1 and Figure 2 The lower outer sides of the first crescent shell 2 and the second crescent shell 3 are each equipped with a counterweight battery 4, 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, ensuring 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, thus ensuring the stability of equipment operation. On the other hand, setting the counterweight battery 4 on the lower outer side of the first crescent shell 2 and the second crescent shell 3 can effectively utilize space, making the overall structure of the equipment more compact. Moreover, the counterweight battery 4 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 cleaning robot's movement, and extending the service life of the equipment.

[0028] Please see Figure 1 , Figure 2 and Figure 3 The purging mechanism includes a semi-ring air guide shell 10, a crescent air guide shell 11, and an air compressor 36. The air compressor 36 is fixedly installed on the upper end of the semi-ring shell 1 by screws. The semi-ring air guide shell 10 is fixed to the front end of the semi-ring shell 1 by screws. The crescent air guide shell 11 is fixed to the front end of the crescent air guide shell 11 by screws. The semi-ring air guide shell 10 and the crescent air guide shell 11 are connected to the output end of the air compressor 36 through pipes. The air compressor 36 is fixed to the upper end of the semi-ring shell 1 with screws. The semi-ring air guide shell 10 and the crescent air guide shell 11 are also fixed to their respective positions with screws. The screw fixing method is stable, ensuring that the connection of each component is tight and not easy to loosen, thus ensuring the stability of the overall structure. The semi-ring air guide shell 10 and the crescent air guide shell 11 are connected to the output end of the air compressor 36 through pipes, which can efficiently and accurately deliver the airflow generated by the air compressor 36 to the designated area, achieving a good blowing effect. This layout makes the blowing mechanism compact, easy to install, and the components work together efficiently, which can effectively improve the cleaning efficiency and quality of the cleaning robot.

[0029] Please see Figure 1 , Figure 2 and Figure 3 Both the semi-annular air guide shell 10 and the crescent-shaped air guide shell 11 have guide plates 12 installed at their air outlets, and the guide plates 12 are fixedly connected to the semi-annular air guide shell 10 and the crescent-shaped air guide shell 11. The baffle plate 12 guides the airflow, causing the airflow to tilt after it is blown out of the air outlet, thereby increasing the force of the airflow to peel away loose soil and thus improving the cleaning efficiency.

[0030] Please see Figure 1 , Figure 2 and Figure 3 The cleaning mechanism includes a semi-circular slide rail 13 and a crescent slide rail 14. The semi-circular slide rail 13 is fixed to the semi-circular air guide shell 10 by screws. There are two crescent slide rails 14. The two crescent slide rails 14 are respectively fixed to the front end of the crescent air guide shell 11 by screws. A semi-circular slip ring 15 is slidably installed at the front end of the inner side of the crescent slide rail 14. The outer side of the semi-circular slip ring 15 is circumferentially embedded with equally spaced balls 16, and the balls 16 are movably connected to the semi-circular slip ring 15. The semi-circular slide rail 13 and the semi-circular air guide shell 10, and the crescent slide rail 14 and the crescent air guide shell 11 are all fixed with screws, ensuring a stable connection and guaranteeing the overall stability of the cleaning mechanism. This allows each component to maintain its relative position during operation. The crescent slide rail 14 has a semi-circular slip ring 15 slidably installed at its front end, and the semi-circular slip ring 15 is fitted with equally spaced balls 16 that are movably connected. The balls 16 can reduce the friction when the semi-circular slip ring 15 slides, making the sliding smoother. This design allows the cleaning components to move flexibly, expands the cleaning range, improves cleaning efficiency, and at the same time reduces wear caused by friction, extending the service life of the cleaning mechanism.

[0031] Please see Figure 1 , Figure 2 and Figure 3 A semi-circular slip ring 15 is fixedly provided with a semi-circular plate 17 at its outer front end, and a brush bristle 19 is installed on the inner side of the semi-circular plate 17, and the brush bristle 19 is adhered and fixed to the semi-circular plate 17. Brush 19 is used to clean the exterior of the steel support structure, thereby sweeping away loose soil.

[0032] Please see Figure 1 , Figure 2 and Figure 3 A transmission gear ring 18 is provided on the outer edge of the semi-ring plate 17, and the transmission gear ring 18 is fixedly connected to the semi-ring plate 17. The transmission gear ring 18 makes it easier for the semi-ring plate 17 to be driven by the drive gear.

[0033] Please see Figure 1 , Figure 2 and Figure 3 The lower left and right sides of the front end of the semi-ring air guide shell 10 are equipped with first servo motors 20, and the first servo motors 20 are fixed to the semi-ring air guide shell 10 by a fixing bracket. The output end of the first servo motor 20 is fixedly installed with a first drive gear 21. The upper front end of the first crescent shell 2 and the second crescent shell 3 are equipped with second servo motors 22, and the second servo motors 22 are fixed to the first crescent shell 2 and the second crescent shell 3 by fixing brackets respectively. The output end of the second servo motor 22 is fixedly installed with a second drive gear 23. The first drive gear 21 is meshed with the transmission gear ring 18, and the second drive gear 23 is adapted to the transmission gear ring 18. The first servo motor 20 and the second servo motor 22 are started. 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, in meshing with the first drive gear 21 and the second drive gear 23, rotates around the center of the semi-annular shell 1 in the semi-annular slide rail 13 and the crescent slide rail 14 through the semi-circular slip ring 15 and the ball 16, thereby enabling the bristles 19 to clean the outside of the steel support structure.

[0034] like Figure 5 As shown, in the working state, this scheme uses equipment (such as a suspended platform or crane) that allows workers to easily lift and move the robot inside the deep foundation pit 38 to lift it to the upper end of the steel support structure 39 that needs to be cleaned. Then, the limiting insert 9 is pulled out, and the limiting insert 9's restriction on the first L-shaped side frame 7 and the second L-shaped side frame 8 is removed, thereby allowing the first crescent shell 2 and the second crescent shell 3 to rotate along the rotating shaft 35. The device controlling the lifting and moving places the semi-annular shell 1 towards the steel support structure 39 from top to bottom, with the outer part of the semi-annular shell 1 close to the half... With one side of the ring plate 17 facing the direction that the steel support structure 39 needs to be cleaned, the grooved rollers 29 inside the semi-ring shell 1 are placed on the upper outer side of the steel support. Then, the first crescent shell 2 and the second crescent shell 3 are flipped downwards. Subsequently, 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 hug 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 attached to both sides of the lower end of the steel support structure 39, and the connection between the lifting mobile device and the cleaning robot is released. Subsequently, the first servo motor 20 and the second servo motor 22 are started. 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. Under the meshing action of the transmission gear ring 18, the first drive gear 21 and the second drive gear 23 rotate around the center of the semi-ring shell 1 in the semi-ring slide rail 13 and the crescent slide rail 14 through the semi-circular slip ring 15 and the ball 16. This causes the bristles 19 to clean the outside of the steel support structure 39 and remove the loose soil. At the same time, the air compressor 36 is started. The air compressor 36 transmits air through the pipeline and blows it out from the air outlet of the semi-ring air guide shell 10 and the crescent air guide shell 11. The high-pressure airflow sweeps away the loose soil and improves the cleaning efficiency of the loose soil. All third servo motors 28 are started, and the grooved roller 29 at the output end of the third servo motor 28 rotates. Under the action of friction, the rotational motion of the grooved roller 29 is converted into the linear motion of the semi-annular shell 1 by the outside of the steel support structure 39. 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 near the flange structure flips towards 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 moves closer to the flange structure. One end of the rod 33 contacts the flange structure, while the end of the rod 33 away from the flange structure is in contact with the limiting block 34 and is limited. As the electric telescopic rod 31 retracts, it pulls the semi-annular shell 1. With the rotation of the grooved roller 29, the grooved roller 29 near the rod 33 contacts the flange structure. With the pulling of the electric telescopic rod 31 and the driving of the grooved roller 29 away from the flange structure, the return spring 37 outside the grooved roller 29 near the rod 33 is compressed, which causes the telescopic inner rod 26 to retract. The grooved roller 29 rises and moves along the flange structure until the grooved roller 29 is on the flange structure. Subsequently, the grooved roller 29 at the rear end of the semi-annular shell 1 moves to the flange structure. Under the rotation of the grooved roller 29 at the rear end of the semi-annular shell 1 and the pull of the grooved roller 29 that flips over the flange structure, the grooved roller 29 at the rear end, in conjunction with the retraction of the return spring 37, causes the grooved roller 29 to rise and flip over the flange structure. In this way, the semi-annular shell 1 completely crosses the flange structure so that the loose soil on the surface of the steel support can be cleaned.

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

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for cleaning loose soil from the surface of steel supports in deep foundation pits, characterized in that, include: A semi-annular shell (1) is provided with a first crescent shell (2) on the lower right side of the semi-annular shell (1) and a second crescent shell (3) on the lower left side of the semi-annular shell (1). The first inner cavity (24) is located on the front and rear sides of the upper part of the semi-annular shell (1); The 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). The first inner cavity (24) and the second inner cavity (25) are both equipped with lifting drive wheels. The lifting drive wheel includes a telescopic inner rod (26). A return spring (37) is installed on the outside of the telescopic inner rod (26). A guilloché frame (27) is fixedly installed on one end of the telescopic inner rod (26). A third servo motor (28) is fixed on one side of the guilloché frame (27) by screws. The output end of the third servo motor (28) is located inside the guilloché frame (27) and a grooved roller (29) is fixedly installed. The inner plate (30) is fixedly installed on the left and right sides of the upper part of the semi-annular shell (1) by screws. The lower end of the inner plate (30) is fixedly installed with an electric telescopic rod (31) by screws. The outer end of the electric telescopic rod (31) is fixedly installed with a side frame (32) by screws. The inside of the side frame (32) is rotatably installed with a rotating rod (33). The outer end of the electric telescopic rod (31) is provided with a limit block (34) on the inner side of the upper end of the rotating rod (33). A purging mechanism is located at the outer front end of the semi-annular shell (1), and a cleaning mechanism is provided at the outer front end of the purging mechanism.

2. The deep foundation pit steel support surface soil cleaning robot according to claim 1, characterized in that: The lower left and right sides of the outer side of the semi-annular shell (1) are provided with first bushings (5), and the first bushings (5) are fixed to the semi-annular shell (1) by screws. The upper ends of the first crescent shell (2) and the second crescent shell (3) are provided with second bushings (6), and the second bushings (6) are fixed to the first crescent shell (2) and the second crescent shell (3) by screws. The first bushings (5) and the second bushings (6) are equipped with rotating shafts (35), and the rotating shafts (35) are rotatably connected to the first bushings (5) and the second bushings (6).

3. The deep foundation pit steel support surface soil cleaning robot according to claim 2, characterized in that: The first bushing (5) has a first L-shaped side bracket (7) on its outer side, and the first L-shaped side bracket (7) is welded and fixed to the first bushing (5). The second bushing (6) has a second L-shaped side bracket (8) on its outer side, and the second L-shaped side bracket (8) is welded and fixed to the second bushing (6). Limiting inserts (9) are inserted inside the first L-shaped side bracket (7) and the second L-shaped side bracket (8).

4. The deep foundation pit steel support surface soil cleaning robot according to claim 1, characterized in that: The lower outer sides of the first crescent shell (2) and the second crescent shell (3) are each equipped with a counterweight battery (4), and the counterweight battery (4) is fixed to the first crescent shell (2) and the second crescent shell (3) by bolts.

5. The deep foundation pit steel support surface soil cleaning robot according to claim 1, characterized in that: The purging mechanism includes a semi-ring air guide shell (10), a crescent air guide shell (11), and an air compressor (36). The air compressor (36) is fixedly installed on the upper end of the semi-ring shell (1) by screws. The semi-ring air guide shell (10) is fixed to the front end of the semi-ring shell (1) by screws. The crescent air guide shell (11) is fixed to the front end of the crescent air guide shell (11) by screws. The semi-ring air guide shell (10) and the crescent air guide shell (11) are connected to the output end of the air compressor (36) through pipes.

6. The deep foundation pit steel support surface soil cleaning robot according to claim 5, characterized in that: Both the semi-annular air guide shell (10) and the crescent-shaped air guide shell (11) are equipped with guide plates (12) at their air outlets, and the guide plates (12) are fixedly connected to the semi-annular air guide shell (10) and the crescent-shaped air guide shell (11).

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

8. The deep foundation pit steel support surface soil cleaning robot according to claim 7, characterized in that: The semicircular slip ring (15) has a semicircular plate (17) fixedly installed at its outer front end. The inner side of the semicircular plate (17) is fitted with bristles (19), and the bristles (19) are adhered and fixed to the semicircular plate (17).

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

10. A robot for cleaning loose soil from the surface of a steel support in a deep foundation pit according to claim 9, characterized in that: The lower left and right sides of the front end of the semi-ring air guide shell (10) are equipped with first servo motors (20), and the first servo motors (20) and the semi-ring air guide shell (10) are fixed by a fixing frame. The output end of the first servo motor (20) is fixedly equipped with a first drive gear (21). The upper front end of the first crescent shell (2) and the second crescent shell (3) are equipped with second servo motors (22), and the second servo motors (22) are fixed to the first crescent shell (2) and the second crescent shell (3) respectively by a fixing frame. The output end of the second servo motor (22) is fixedly equipped with a second drive gear (23), and the first drive gear (21) is meshed with the transmission gear ring (18).

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