Cast-in-place pile bottom supporting force detection robot and control method thereof

Abstract

The invention discloses a cast-in-place pile bottom supporting force detection robot and a control method thereof, belongs to the technical field of cast-in-place pile bottom detection, and aims at obtaining a rock core sample at the bottom of a pile hole of a cast-in-place pile, performing an impact test on the bottom of the pile hole and arranging a sensor at the bottom of the pile hole. The four functions of core drilling sampling, core hole polishing, impact testing and sensor arrangement are integrated, cooperation of multiple devices is not needed, the detection process is simplified, and the detection efficiency is improved; robot autonomous operation is adopted, a large amount of manual participation is not needed, and labor cost is reduced; the equipment is small in size, flexible to move, short in detection period and capable of meeting the rapid detection requirement of batch pile bodies; sensors can be arranged to reduce and avoid multiple special detections with high cost in the later period, so that the overall detection cost of the project is greatly reduced; a multi-source data comparison mechanism of on-site impact testing, laboratory core sample analysis and later sensor monitoring is constructed, the error influence of single data is reduced, and the detection precision is continuously improved through continuous data fusion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pile bottom detection of cast-in-place piles, and particularly to a cast-in-place pile bottom supporting force detection robot and a control method thereof. BACKGROUND

[0002] As a common foundation form in construction engineering, the bearing capacity of a cast-in-place pile is directly related to the safety and stability of the upper structure, and the pile bottom supporting force is one of the core factors determining the bearing capacity of the cast-in-place pile. After the pile hole of the cast-in-place pile is formed, the supporting force at the bottom of the pile hole needs to be detected on site to verify the rationality of the design of the cast-in-place pile foundation and the construction quality.

[0003] At present, there is no economic and fast pile bottom supporting force on-site detection equipment in the industry, which cannot meet the actual needs of rapid acceptance and batch detection on the construction site. SUMMARY

[0004] The present application aims to solve the technical problems existing in the above-mentioned related technologies, and proposes a cast-in-place pile bottom supporting force detection robot and a control method thereof.

[0005] According to the cast-in-place pile bottom supporting force detection robot of the first aspect of the embodiment of the present application, the following are included: a chassis; a rotating mechanism arranged on the top of the chassis, the rotating mechanism rotating around a vertical axis; a coring assembly connected to the rotating mechanism, the coring assembly including a first lifting mechanism, a first driving mechanism and a coring drill bit connected in sequence, the first lifting mechanism driving the first driving mechanism to move vertically, and the first driving mechanism driving the coring drill bit to rotate around a vertical axis; a polishing assembly connected to the rotating mechanism, the polishing assembly including a second lifting mechanism, a second driving mechanism and a polishing grinding head connected in sequence, the second lifting mechanism driving the second driving mechanism to move vertically, and the second driving mechanism driving the polishing grinding head to rotate around a vertical axis; an impact test assembly connected to the rotating mechanism, the impact test assembly including a third lifting mechanism and a probe, the third lifting mechanism driving the probe to move vertically; a sensor layout assembly connected to the rotating mechanism, the sensor layout assembly including a fourth lifting mechanism and a layout tube, the fourth lifting mechanism driving the layout tube to move vertically, and the layout tube being used for placing a sensor.

[0006] The pile bottom support force detection robot of the embodiment of the present application has at least the following beneficial effects: the chassis is hoisted to the bottom of the pile hole of the cast-in-place pile, the first lifting mechanism of the coring assembly drives the first driving mechanism and the coring drill bit to move downward, the first driving mechanism drives the coring drill bit to rotate, the coring drill bit drills the rock core sample at the bottom of the pile hole to form a sampling hole at the bottom of the pile hole, and the first lifting mechanism drives the coring drill bit to move upward to carry the rock core sample away from the sampling hole; the rotating mechanism drives the polishing assembly to rotate above the sampling hole, the second lifting mechanism drives the second driving mechanism and the polishing grinding head to move downward, the second driving mechanism drives the polishing grinding head to rotate, the polishing grinding head polishes the inner wall of the sampling hole to eliminate the protrusions on the inner wall of the sampling hole, so as to avoid the influence of the protrusions on the impact test of the impact test assembly, and the second lifting mechanism drives the polishing grinding head to move upward to separate from the sampling hole; the rotating mechanism drives the impact test assembly to rotate above the sampling hole, the third lifting mechanism drives the probe to move downward, the probe impacts the bottom wall of the sampling hole along the sampling hole to obtain impact test data, and the third lifting mechanism drives the probe to move upward to separate from the sampling hole; the rotating mechanism drives the sensor layout assembly to rotate above the sampling hole, and the fourth lifting mechanism drives the layout pipe to move downward, so that the layout pipe extends into the sampling hole, the layout pipe places the sensor in the sampling hole, the sensor can obtain pressure data of the bottom of the pile hole in a subsequent process, and the fourth lifting mechanism drives the layout pipe to move upward to separate from the sampling hole.

[0007] Therefore, the pile bottom support force detection robot of the cast-in-place pile can obtain the rock core sample at the bottom of the pile hole of the cast-in-place pile, can perform impact test on the bottom of the pile hole, and can also lay the sensor in the bottom of the pile hole, so as to meet the actual needs of rapid acceptance and batch detection of the engineering site; the four functions of core drilling sampling, core hole polishing, impact test and sensor layout are integrated, multiple devices are not needed to cooperate, the detection process is simplified, and the detection efficiency is improved; the robot is used for autonomous operation, a large number of manual operations are not needed, and the labor cost is reduced; the device has small size, is flexible to move, has short detection period, and can meet the rapid detection needs of batch pile bodies; the sensor can be laid to reduce the cost of special detection in the later period, and the total detection cost of the project is greatly reduced; a multi-source data comparison mechanism of "field impact test, laboratory core sample analysis and later sensor monitoring" is constructed, the error influence of single data is reduced, and the detection accuracy is continuously improved through continuous data fusion.

[0008] According to some embodiments of the present application, the bottom of the chassis is provided with a support mechanism, and the support mechanism comprises: a plurality of support feet, each of which is connected to the chassis in a sliding manner; a plurality of clamping devices arranged on the chassis, each of which is connected to one of the support feet, and the clamping device clamps or releases the support foot.

[0009] According to some embodiments of the present application, the pile bottom support force detection robot for cast-in-place pile further comprises: a housing connected to the rotating mechanism, the housing covering the periphery of the rotating mechanism, the coring assembly, the polishing assembly, the impact test assembly and the sensor layout assembly, the bottom of the chassis being provided with a positioning hole, the rotating mechanism driving any one of the coring assembly, the polishing assembly, the impact test assembly or the sensor layout assembly to move above the positioning hole.

[0010] According to some embodiments of the present application, the sensor layout assembly further comprises a cable unwinder for unwinding the cable of the sensor.

[0011] According to some embodiments of the present application, the sensor layout assembly further comprises: a glue injection mechanism connected to the fourth lifting mechanism, the glue injection mechanism being used for injecting adhesive downward.

[0012] According to some embodiments of the present application, the pile bottom support force detection robot for cast-in-place pile further comprises: a moving assembly; a hoisting assembly connected to the moving assembly, the moving assembly driving the hoisting assembly to move, the hoisting assembly being connected to the chassis, the hoisting assembly being used for hoisting the chassis.

[0013] According to some embodiments of the present application, the hoisting assembly comprises: a swivel plate connected to the moving assembly; a hoist arm connected to the swivel plate; a winch connected to the swivel plate, the swivel plate driving the hoist arm and the winch to rotate around a vertical axis; a fixed pulley provided on the hoist arm; a rope connected to the winch and the fixed pulley, the winch winding or unwinding the rope, the end of the rope being connected to the chassis.

[0014] The control method of the pile bottom support force detection robot for cast-in-place pile according to the second aspect of the embodiments of the present application is applied to the pile bottom support force detection robot for cast-in-place pile described in the above embodiments, and the control method comprises: hoisting the chassis to the bottom of the pile hole; controlling the coring assembly to drill a rock core sample at the bottom of the pile hole, so that a sampling hole is formed at the bottom of the pile hole; controlling the rotating mechanism to drive the polishing assembly to move above the sampling hole, and controlling the polishing assembly to polish the inner wall of the sampling hole; controlling the rotating mechanism to drive the impact test assembly to move above the sampling hole, and controlling the impact test assembly to perform impact test on the bottom wall of the sampling hole; controlling the rotating mechanism to drive the sensor laying assembly to move above the sampling hole, and controlling the sensor laying assembly to lay the sensor in the sampling hole.

[0015] According to the control method of the bored pile bottom support force detection robot provided in the embodiments of the present application, the bored pile bottom support force detection robot can obtain a core sample of the bottom of a pile hole of a bored pile, can perform impact test on the bottom of the pile hole, and can lay a sensor at the bottom of the pile hole, thereby meeting the actual needs of rapid acceptance and batch detection in an engineering site; the four functions of core drilling sampling, core hole polishing, impact test, and sensor laying are integrated, so that the detection process is simplified and the detection efficiency is improved; the robot is used for autonomous operation, so that a large number of manual operations are not needed, and the labor cost is reduced; the device has a small size and is flexible to move, and has a short detection period, so that the rapid detection needs of batch pile bodies can be met; the sensor can be laid to reduce the cost of special detection in the later period, thereby greatly reducing the overall detection cost of the project; a multi-source data comparison mechanism of “on-site impact test, laboratory core sample analysis, and later sensor monitoring” is constructed, the error influence of single data is reduced, and the detection accuracy is continuously improved through continuous data fusion.

[0016] According to some embodiments of the present application, the control of the impact test assembly to perform impact test on the bottom wall of the sampling hole comprises: controlling the third lifting mechanism to drive the probe to move downward and impact the bottom wall of the sampling hole; controlling the probe to collect an impact energy loss feedback value in real time. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of a bored pile bottom support force detection robot according to an embodiment of the present application; Figure 2 is an exploded schematic diagram of a bored pile bottom support force detection robot according to an embodiment of the present application; Figure 3 is a structural schematic diagram of a chassis dismounting shell according to an embodiment of the present application; Figure 4 is a flowchart of a control method of a bored pile bottom support force detection robot according to an embodiment of the present application; Figure 5 is a flowchart of impact test according to an embodiment of the present application.

[0018] Reference signs: chassis 100, positioning hole 101, support mechanism 110, support foot 111, rotating mechanism 200, coring assembly 300, first lifting mechanism 310, first driving mechanism 320, coring drill bit 330, polishing assembly 400, second lifting mechanism 410, second driving mechanism 420, polishing grinding head 430, impact test assembly 500, third lifting mechanism 510, probe 520, sensor laying assembly 600, fourth lifting mechanism 610, laying pipe 620, unwinder 630, housing 700, moving assembly 800, hoisting assembly 900, hoist arm 910, winch 920, rope 930. DETAILED DESCRIPTION

[0019] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary, only for the purpose of explaining the present application, and cannot be understood as a limitation on the present application.

[0020] In the description of the present application, it is understood that the orientation or positional relationship indicated by the terms front, back, up, down, axial, circumferential, etc. is based on the orientation or positional relationship shown in the drawings, only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as a limitation on the present application.

[0021] In the description of the present application, the meaning of multiple is more than two, greater than, less than, more than, etc. is not included in the number, above, below, etc. is understood to include the number. If it is described as first, second, only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0022] In the description of the present application, it is noted that the words such as setting, mounting, connecting, etc. should be understood broadly, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0023] The technical solutions of the present application will be described below in conjunction with the drawings. Obviously, the following described embodiments are part of the embodiments of the present application, not all embodiments.

[0024] As a common foundation form in building engineering, the bearing capacity of cast-in-place pile is directly related to the safety and stability of the superstructure, and the support force at the bottom of the pile hole is one of the core factors determining the bearing capacity of the cast-in-place pile. After the pile hole is formed, the support force at the bottom of the pile hole needs to be detected on site to verify the rationality of the pile foundation design and the construction quality.

[0025] At present, there is no economic and fast pile hole bottom supporting force on-site detection equipment in the industry: the traditional detection method or relies on large detection instruments, the equipment is inconvenient to carry, the detection cost is high; or manual auxiliary sampling detection is adopted, the operation is cumbersome, the efficiency is low, and the detection data accuracy is easily affected by human factors, which cannot meet the actual needs of rapid acceptance and batch detection on the engineering site. In addition, the prior art lacks a multi-source data cross-validation mechanism, the reliability of single detection data is limited, and it is difficult to continuously optimize the detection accuracy. Therefore, it is urgent to develop an integrated, intelligent and convenient operation on-site detection equipment that can improve the accuracy through multi-source data fusion to solve the pain points of the prior art.

[0026] The purpose of the present application is to overcome the shortcomings of the prior art, provide a cast-in-place pile bottom supporting force detection robot, realize the integrated operation of pile bottom core sampling, core hole polishing, impact testing and sensor layout, continuously improve the detection data accuracy through the comparison and fusion of multi-source data such as "on-site impact test data + core sample laboratory mechanical property data + post-pile bottom pressure monitoring data", achieve economic and fast, accurate and efficient on-site detection effect, reduce detection cost, and improve engineering acceptance efficiency.

[0027] Referring to Figures 1 to 3 The present application provides a cast-in-place pile bottom supporting force detection robot.

[0028] The cast-in-place pile bottom supporting force detection robot comprises a chassis 100, a rotating mechanism 200, a coring assembly 300, a polishing assembly 400, an impact testing assembly 500, a sensor layout assembly 600, a shell 700, a moving assembly 800 and a hoisting assembly 900.

[0029] The bottom of the chassis 100 is provided with a supporting mechanism 110, the supporting mechanism 110 comprises a plurality of supporting feet 111 and a plurality of clamps, the plurality of supporting feet 111 are distributed at intervals, each supporting foot 111 is connected to the chassis 100 in a sliding manner up and down, the plurality of clamps are distributed at intervals on the bottom of the chassis 100, the plurality of clamps are arranged one by one on the side of the plurality of supporting feet 111, each clamp is provided with an electrically controlled clamping mechanism, the clamping mechanism clamps or loosens the corresponding supporting foot 111, and the clamp clamps the corresponding supporting foot 111 to fix the position of the supporting foot 111 relative to the chassis 100.

[0030] The chassis 100 is provided with a positioning hole 101 penetrating in the up-down direction, and the supporting mechanism 110 is arranged in a staggered manner with the positioning hole 101, so that the positioning hole 101 is not blocked by objects below.

[0031] The rotating mechanism 200 is arranged on the top of the chassis 100, and is provided with an electric rotating device that rotates the rotating mechanism 200 relative to the chassis 100 about a vertical axis. The rotating mechanism 200 is provided with four mounting holes that penetrate in the up-down direction, and the four mounting holes are arranged in a circular array around the axis of the rotating mechanism 200, and the distance from each mounting hole to the axis of the rotating mechanism 200 is equal to the distance from the positioning hole 101 to the axis of the rotating mechanism 200. The rotating mechanism 200 rotates the four mounting holes, so that any one of the mounting holes can be rotated directly above the positioning hole 101.

[0032] The shell 700 is arranged on the periphery of the rotating mechanism 200, and is connected with the rotating mechanism 200. The shell 700 rotates with the rotating mechanism 200, and can rotate relative to the chassis 100. The shell 700 and the rotating mechanism 200 enclose a mounting cavity.

[0033] The coring assembly 300, the polishing assembly 400, the impact test assembly 500, and the sensor layout assembly 600 are arranged in the mounting cavity.

[0034] The coring assembly 300 includes a first lifting mechanism 310, a first driving mechanism 320, and a coring drill bit 330.

[0035] The first lifting mechanism 310 is an electric push rod, and includes a drive seat and a push rod. The drive seat drives the push rod to move in the up-down direction. The drive seat is connected to the top of the shell 700. The bottom of the push rod is connected to the first driving mechanism 320. The first driving mechanism 320 is a rotary driving device, and includes a driving motor and a speed reducer arranged in the up-down direction. The driving motor is connected to the push rod of the first lifting mechanism 310. The output shaft of the driving motor is connected to the input end of the speed reducer. The output end of the speed reducer is connected to the coring drill bit 330. Thus, the first lifting mechanism 310 drives the coring drill bit 330 and the first driving mechanism 320 to move in the up-down direction. The first driving mechanism 320 drives the coring drill bit 330 to rotate about a vertical axis.

[0036] The polishing assembly 400 includes a second lifting mechanism 410, a second driving mechanism 420, and a polishing grinding head 430.

[0037] The second lifting mechanism 410 is an electric push rod, and the second lifting mechanism 410 comprises a driving seat and a push rod. The driving seat drives the push rod to move in the up-down direction. The driving seat is connected to the top of the shell 700. The bottom of the push rod is connected to the second driving mechanism 420. The second driving mechanism 420 is a rotary driving device. The second driving mechanism 420 comprises a driving motor and a speed reducer arranged in the up-down direction. The driving motor is connected to the push rod of the second lifting mechanism 410. The output shaft of the driving motor is connected to the input end of the speed reducer. The output end of the speed reducer is connected to the polishing grinding head 430. Thus, the second lifting mechanism 410 drives the polishing grinding head 430 and the second driving mechanism 420 to move in the up-down direction. The second driving mechanism 420 drives the polishing grinding head 430 to rotate around the vertical axis.

[0038] The impact test assembly 500 comprises a third lifting mechanism 510 and a probe 520.

[0039] The third lifting mechanism 510 is an electric push rod, and the third lifting mechanism 510 comprises a driving seat and a push rod. The driving seat drives the push rod to move in the up-down direction. The driving seat is connected to the top of the shell 700. The bottom of the push rod is connected to the probe 520. The third lifting mechanism 510 drives the probe 520 to move in the up-down direction.

[0040] The sensor laying assembly 600 comprises a fourth lifting mechanism 610, a laying pipe 620 and a spooler 630.

[0041] The fourth lifting mechanism 610 is an electric push rod, and the fourth lifting mechanism 610 comprises a driving seat and a push rod. The driving seat drives the push rod to move in the up-down direction. The driving seat is connected to the top of the shell 700. The bottom of the push rod is connected to the spooler 630 and the laying pipe 620. The fourth lifting mechanism 610 drives the spooler 630 and the laying pipe 620 to move in the up-down direction. The laying pipe 620 is provided with an accommodating hole penetrating in the up-down direction. The accommodating hole is used for placing a sensor. The cable of the sensor is wound on the spooler 630 through the laying pipe. The spooler 630 is used for paying out the cable.

[0042] The sensor laying assembly 600 further comprises a glue injection mechanism. The glue injection mechanism is connected to the fourth lifting mechanism 610. The fourth lifting mechanism 610 drives the glue injection mechanism to move in the up-down direction. The glue injection mechanism is provided with a glue injection pipe. The glue injection pipe is arranged on the side wall of the laying pipe 620. The glue injection pipe extends to the bottom end of the laying pipe 620. The glue injection mechanism injects adhesive glue below the laying pipe 620 through the glue injection pipe.

[0043] The core drill bit 330, the polishing grinding head 430, the probe 520 and the laying pipe 620 are arranged in the four mounting holes of the rotary mechanism 200 one by one. The rotary mechanism 200 rotates to enable the core drill bit 330, the polishing grinding head 430, the probe 520 or the laying pipe 620 to move downward and pass through the positioning hole 101.

[0044] The moving assembly 800 is an electric tracked walking assembly. The top of the moving assembly 800 is connected to the lifting assembly 900, which includes a rotary table, a boom 910, a winch 920, a fixed pulley, and a rope 930.

[0045] A rotary table is located on top of the moving assembly 800. The rotary table rotates around a vertical axis and is an electric rotary table. A boom 910 and a winch 920 are mounted on the rotary table. The rotary table drives the boom 910 and the winch 920 to rotate around a vertical axis. The boom 910 extends outside the moving assembly 800. A fixed pulley is located at the end of the boom 910. A rope 930 is wound around the winch 920. The winch 920 winds up or unwinds the rope 930. The end of the rope 930 passes over the fixed pulley and is connected downwards to the top of the housing 700. By winding up or unwinding the rope 930 by the winch 920, the chassis 100, the rotating mechanism 200, the core extraction assembly 300, the polishing assembly 400, the impact testing assembly 500, the sensor placement assembly 600, and the housing 700 can move vertically.

[0046] Specifically, the intelligent robot for detecting the bottom support force of cast-in-place piles mainly consists of three parts: an upper host, a lifting arm, and a lower detection manipulator. The lower detection manipulator includes a chassis 100, a rotating mechanism 200, a core sampling assembly 300, a polishing assembly 400, an impact testing assembly 500, a sensor deployment assembly 600, and a housing 700. The structure and connection relationship of each part are as follows.

[0047] (a) Upper host.

[0048] Enclosure and Protection: It adopts an IP68 protection-rated impact-resistant metal enclosure, which is waterproof, dustproof and impact-resistant, and can adapt to the complex environment of the engineering site.

[0049] Core components: an internal integrated energy system (providing power to the whole machine), an intelligent data processing module (receiving and analyzing detection data, supporting multi-source data storage and comparison), and a human-machine interface (allowing operators to remotely operate, view data and results).

[0050] The mobile component 800 is a small electric tracked walking assembly with flexible mobility, which can move autonomously or remotely to the target pile hole location on the construction site.

[0051] Installation structure: The outer shell is equipped with a dedicated installation box (including a core sample storage compartment), which is used to store the hoisting assembly 900, the lower detection robot, and the core samples after core extraction.

[0052] (II) Lifting Component 900. Installation method: The rotary table at the bottom of the boom 910 is fixedly connected to the top of the tracked travel assembly of the upper host, and the rotary table and the tracked travel assembly are rigidly connected. Core components: including winch 920, rope 930, pulley block, lifting motor, rotary table, and electrically controlled telescopic boom 910; Connection: One end of the rope 930 is wound around the winch 920, and the other end passes through the pulley block and is connected to the lower detection manipulator; the hoisting motor is connected to the winch 920 for driving the winch 920 to raise and lower the rope 930; the rotary table can enable the boom 910 to rotate 360° around the vertical axis, and the electric control telescopic boom can realize the length extension and retraction adjustment of the boom 910.

[0053] Function: By extending and retracting the rotary table and telescopic boom, the vertical line-laying pulley at the end of the boom 910 is adjusted to be roughly above the center position of the pile hole; by reversing the hoisting motor, the rope 930 is controlled to be extended and retracted, thereby realizing the lifting and lowering of the lower detection robot.

[0054] (iii) Lower end detection robot arm.

[0055] The housing 700 and the chassis 100 form a closed cavity (protecting the internal components).

[0056] Rotating mechanism 200: A cylindrical rotating mechanism 200 is installed inside the housing 700. The rotating mechanism 200 is coaxially arranged with the housing 700. The rotating mechanism 200 has four downward through mounting holes evenly distributed along the vertical height direction. The four through holes correspond to the installation of the core drill bit 330, the polishing head 430, the probe 520, and the laying tube 620, respectively. Probe drive: The four components with different functions (core drill bit 330, polishing head 430, probe 520, and laying tube 620) are all equipped with independent lifting mechanisms. The lifting mechanisms can drive each component to move up and down along the direction of the mounting hole (to realize working feed and reset).

[0057] The rotating mechanism 200 has a rotating shaft at its center. Both ends of the rotating shaft are connected to the chassis 100 through bearings. The rotating shaft is equipped with a rotary drive motor, which drives the rotating mechanism 200 to rotate around the central shaft (to achieve the position switching of the four functional components).

[0058] Three gravity-locked one-way support feet 111 are evenly distributed at the bottom of the chassis 100. The working principle of the gravity one-way lock is as follows: the support feet 111 extend downward under their own weight. When the support feet 111 at the bottom of the chassis 100 touch the bottom, they are pressed and move upward relative to the chassis 100. Pulling the rope 930 upward moves the chassis 100 upward, causing the support feet 111 to move downward relative to the chassis 100. This allows the position of the support feet 111 relative to the chassis 100 to be adjusted. Then, gravity balance is used to level the chassis 100, allowing the multiple support feet 111 to be leveled based on the bottom wall of the pile hole. At this time, the support feet automatically lock at the current height, ensuring that the detection robot is in a roughly horizontal state when set on the rock surface at the bottom of the pile hole.

[0059] Positioning drilling hole: The chassis 100 is provided with a positioning hole 101. The positioning hole 101 has the same diameter as the four mounting holes of the rotating mechanism 200. After the rotating mechanism 200 rotates, any one of the mounting holes is vertically aligned with the positioning hole 101. When the rotating mechanism 200 rotates to the point where a certain functional component is aligned with the positioning hole 101, the functional component can contact the bottom rock surface of the pile hole through the positioning hole 101 to perform the corresponding operation.

[0060] Details of each functional component are as follows.

[0061] Core sampling assembly 300: Equipped with a rotary motor, which is connected to the core drill bit 330 to provide rotary cutting power for the core drill bit 330, enabling core sampling at the bottom of the pile hole; after sampling, the core sample can be temporarily stored in the sample storage slot built into the core drill bit 330, and sent to the core sample storage chamber of the upper host when retrieved.

[0062] Polishing assembly 400: Equipped with a rotary motor, which is connected to the polishing head 430 for polishing the inner wall of the sampling hole after core taking, to ensure the accuracy of subsequent impact testing.

[0063] Impact testing component 500: Equipped with a linear impact motor, which drives the probe 520 to impact the rock surface at the bottom of the pile hole. At the same time, the probe 520 has a built-in energy detection module to read the impact energy loss feedback value in real time and transmit it to the intelligent data processing module of the upper host via wired connection.

[0064] Sensor deployment assembly 600: used to support the pile bottom monitoring sensor (wired connection method), the sensor has a built-in miniature unwinder 630 (for storing the connecting cable); after the sensor deployment tube 620 is aligned with the positioning hole 101 and lowered to the preset position at the bottom of the pile hole, the sensor is fixed in the sampling hole by glue injection to ensure monitoring stability; the sensor is used to collect the pressure change values ​​between the pile bottom end face and the supporting rock surface in real time during the grouting process of the cast-in-place pile.

[0065] (iv) Overall control logic and data processing.

[0066] Control connection: The intelligent data processing module of the upper host and the drive motors of the boom (lifting motor, telescopic boom motor, rotary table motor) and the drive motors of the lower detection manipulator (motor of the rotating mechanism 200, probe lifting motor, rotating motor of the core drill bit 330 and polishing head 430, impact motor) are all connected via wired or wireless communication.

[0067] Operation and control: Operators send control commands through the human-machine interface to achieve fully intelligent control of robot walking, hoisting arm adjustment, detection manipulator lifting and lowering, functional component switching and operation, and data acquisition and analysis.

[0068] Data fusion: The intelligent data processing module supports multi-source data storage and comparative analysis, cross-validating energy loss data from on-site impact tests, mechanical property data from core sample laboratory tests (such as compressive strength, elastic modulus, etc.), and pressure change data collected by sensors in the later stages. Through algorithm models, the calculation accuracy of key parameters such as pile bottom support force and pile foundation compaction is continuously optimized.

[0069] Integrated design: It integrates four major functions: core sampling, core hole polishing, impact testing, and sensor deployment, eliminating the need for multiple devices, simplifying the testing process, and improving testing efficiency.

[0070] Economical and fast: The intelligent robot operates autonomously, eliminating the need for extensive human intervention and reducing labor costs; the equipment is small in size, flexible in movement, and has a short testing cycle, which can meet the rapid testing needs of batch piles; and by integrating multi-source data, it eliminates many expensive specialized tests in the later stages, significantly reducing the overall testing cost of the project.

[0071] Precise detection: The chassis is automatically leveled by gravity-driven unidirectional locking of the support feet, ensuring the stability of impact testing and sampling; a multi-source data comparison mechanism of "on-site impact testing + laboratory core sample analysis + post-sensor monitoring" is constructed to reduce the impact of errors from single data and continuously improve detection accuracy through continuous data fusion.

[0072] Strong environmental adaptability: The upper main unit adopts an IP68 protection-rated anti-collision shell and a tracked walking chassis, which can adapt to the complex environment of muddy and obstacle-riding construction sites. Its waterproof and dustproof performance meets the requirements for operation inside pile holes.

[0073] Easy to operate: It can be remotely operated through a human-computer interaction interface, eliminating the need for operators to enter dangerous areas, ensuring high safety and low operating threshold.

[0074] Data traceability: The intelligent data processing module stores complete test data and comparison results, which facilitates traceability of engineering quality and reference for later operation and maintenance.

[0075] ReferenceFigures 4 to 5 As shown, the present invention also provides a control method for a robot for detecting the bottom support force of cast-in-place piles.

[0076] Reference Figure 4 As shown, the control method for the pile bottom support force detection robot of the cast-in-place pile is applied to the pile bottom support force detection robot described in the above embodiment. The control method includes the following steps.

[0077] Step S100: Hoist the chassis 100 to the bottom of the pile hole; Step S200: Control the core sampling assembly 300 to drill core samples from the bottom of the pile hole, so that a sampling hole is formed at the bottom of the pile hole. In step S300, the rotating mechanism 200 is controlled to move the polishing assembly 400 above the sampling hole, and the polishing assembly 400 is controlled to polish the inner wall of the sampling hole. Step S400: Control the rotating mechanism 200 to move the impact testing assembly 500 above the sampling hole, and control the impact testing assembly 500 to perform an impact test on the bottom wall of the sampling hole. In step S500, the rotating mechanism 200 is controlled to move the sensor placement assembly 600 above the sampling hole, and the sensor placement assembly 600 is controlled to place the sensor into the sampling hole.

[0078] Equipment preparation: Check the power of the upper host power system and ensure that all components are reliably connected; store the lower probe robot in the upper host housing box, check the cleanliness of the core sample storage compartment and the cable storage status of the built-in miniature unwinder of the sensor, as well as the reliability of the glue dispensing mechanism, and complete the equipment debugging.

[0079] On-site relocation: Operators remotely control the robot through the human-machine interface and use the tracked walking assembly to move the equipment to the pile hole of the pile to be inspected.

[0080] Lifting boom adjustment: Start the rotary table and electric control telescopic boom, adjust the vertical line laying pulley at the end of the boom 910 so that it is aligned with the approximate center position above the pile hole.

[0081] Lowering the detection robot: Start the hoisting motor, release rope 930, and slowly lower the lower detection robot to the bottom of the pile hole; after the chassis touches the bottom, slightly pull rope 930 upwards, and use gravity balance to make the chassis 100 automatically level. At this time, the three gravity one-way locking support feet are locked to ensure that the detection robot is horizontal and stable.

[0082] Core sampling: Sending instructions through the human-machine interface to drive the rotating mechanism 200 to rotate, so that the core drill bit 330 is aligned with the positioning hole 101 on the chassis; start the first drive mechanism 320 and the first lifting mechanism 310 of the core drill bit 330, the core drill bit 330 feeds downward and rotates to cut, and completes the core sampling at the bottom of the pile; after sampling, the core sample is temporarily stored in the sample storage slot of the core drill bit 330, and the core drill bit 330 is driven to reset.

[0083] Core sample recovery: When the entire probe is recovered to the upper host, the rock core sample in the sample collection tank is transferred to the core sample storage chamber and then sent to the laboratory for mechanical property testing (such as compressive strength, elastic modulus testing, etc.).

[0084] Sampling hole polishing: Drive the rotating mechanism 200 to rotate and switch the polishing head 430 to the positioning hole 101 position; start the second driving mechanism 420 and the second lifting mechanism 410 of the polishing head 430, and the polishing head 430 feeds downward and rotates to polish the inner wall of the sampling hole; after polishing is completed, drive the polishing head 430 to reset.

[0085] Impact test: Drive the rotating mechanism 200 to rotate, switch the probe 520 to the position of the positioning hole 101; start the linear impact motor, drive the probe 520 to impact the rock surface at the bottom of the pile hole, and at the same time, the energy detection module collects the impact energy loss feedback value in real time and transmits it to the upper host intelligent data processing module.

[0086] Sensor deployment: Drive the rotating mechanism 200 to rotate, switch the deployment tube 620 to the position of the positioning hole 101; start the fourth lifting mechanism 610 to feed the deployment tube 620 downward to the sampling hole at the bottom of the pile hole; start the glue injection mechanism to fix the sensor in the test hole by glue injection; after fixing, the fourth lifting mechanism 610 drives the deployment tube 620 to reset upward, and the built-in miniature unwinder releases the sensor's connection cable simultaneously; when the detection robot arm is retrieved, the cable is simultaneously dragged to the top of the pile hole along with the rope 930, and then the cable is connected to the subsequent monitoring instrument.

[0087] Equipment recovery: Start the hoisting motor, recover rope 930, and lift the lower detection robot into the upper main unit housing; remotely control the robot to move to the next detection position or leave the site.

[0088] Data comparison and accuracy optimization: The mechanical performance data of the core sample provided by the laboratory is entered into the intelligent data processing module of the upper host and cross-compared with the field impact test data and the pressure change data collected by the sensors later; the calculation results of key parameters such as pile bottom support force are corrected by the preset algorithm model to continuously improve the data accuracy.

[0089] Results output: The host computer displays the original test data, multi-source data comparison results and optimized final test report through a human-computer interaction interface, and supports data export and archiving.

[0090] Reference Figure 5 As shown, step S400 includes the following steps.

[0091] Step S410: Control the third lifting mechanism 510 to drive the probe 520 downward and impact the bottom wall of the sampling hole; Step S420: Control probe 520 to collect impact energy loss feedback value in real time.

[0092] Impact test: Drive the rotating mechanism 200 to rotate, switch the probe 520 to the position of the positioning hole 101; start the linear impact motor, drive the probe 520 to impact the rock surface at the bottom of the pile hole, and at the same time, the energy detection module collects the impact energy loss feedback value in real time and transmits it to the upper host intelligent data processing module.

[0093] This invention also provides a controller, including a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the control method described in the above embodiments.

[0094] Taking the example of a system where the processor and memory can be connected via a bus, memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the controller via a network.

[0095] The non-transient software program and instructions required to implement the control method of the above embodiments are stored in memory. When executed by a processor, the control method of the above embodiments is executed. For example, executing... Figure 4 Method steps S100 to S500 Figure 5 The method steps S410 to S420, etc.

[0096] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for performing the control method described above. Exemplarily, the above-described control method is performed... Figures 4 to 5 The methods and steps in the text.

[0098] It is worth noting that, since the computer-readable storage medium of the present invention is capable of executing the control method of any of the above embodiments, the specific implementation and technical effects of the computer-readable storage medium of the present invention can be referred to the specific implementation and technical effects of the control method of any of the above embodiments.

[0099] Furthermore, one embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the control method described above. Exemplarily, the above-described... Figures 4 to 5 The methods and steps in the text.

[0100] It is worth noting that, since the computer program product of the present invention can execute the control method of any of the above embodiments, the specific implementation method and technical effect of the computer program product of the present invention can be referred to the specific implementation method and technical effect of the control method of any of the above embodiments.

[0101] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

Claims

1. A robot for detecting the bottom support force of cast-in-place piles, characterized in that, include: Chassis; A rotating mechanism is located on the top of the chassis, and the rotating mechanism rotates about a vertical axis; A core-taking assembly is connected to the rotating mechanism. The core-taking assembly includes a first lifting mechanism, a first driving mechanism, and a core-taking drill bit connected in sequence. The first lifting mechanism drives the first driving mechanism to move vertically, and the first driving mechanism drives the core-taking drill bit to rotate around a vertical axis. A polishing assembly is connected to the rotating mechanism. The polishing assembly includes a second lifting mechanism, a second driving mechanism, and a polishing head connected in sequence. The second lifting mechanism drives the second driving mechanism to move vertically, and the second driving mechanism drives the polishing head to rotate around a vertical axis. An impact testing assembly is connected to the rotating mechanism. The impact testing assembly includes a third lifting mechanism and a probe. The third lifting mechanism drives the probe to move vertically. A sensor placement assembly is connected to the rotating mechanism. The sensor placement assembly includes a fourth lifting mechanism and a placement tube. The fourth lifting mechanism drives the placement tube to move vertically. The placement tube is used to place the sensor.

2. The pile bottom support force detection robot according to claim 1, characterized in that, The chassis has a support mechanism at its bottom, the support mechanism comprising: Multiple support feet, each of which is slidably connected to the chassis vertically; Multiple clamps are provided on the chassis, and the multiple clamps are connected one-to-one with the multiple support legs. The clamps clamp or release the support legs.

3. The pile bottom support force detection robot according to claim 1, characterized in that, The robot for detecting the bottom support force of grouted piles also includes: The housing is connected to the rotating mechanism. The housing covers the periphery of the rotating mechanism, the core-taking assembly, the polishing assembly, the impact testing assembly, and the sensor placement assembly. The bottom of the chassis is provided with a positioning hole. The rotating mechanism drives any one of the core-taking assembly, the polishing assembly, the impact testing assembly, or the sensor placement assembly to move above the positioning hole.

4. The pile bottom support force detection robot according to claim 1, characterized in that, The sensor deployment assembly also includes an unwinder for unwinding the sensor cable.

5. The pile bottom support force detection robot according to claim 1, characterized in that, The sensor deployment assembly also includes: The glue injection mechanism is connected to the fourth lifting mechanism, and the glue injection mechanism is used to inject adhesive downwards.

6. The pile bottom support force detection robot according to claim 1, characterized in that, The robot for detecting the bottom support force of grouted piles also includes: Mobile components; A hoisting assembly is connected to the moving assembly, the moving assembly drives the hoisting assembly to move, the hoisting assembly is connected to the chassis, and the hoisting assembly is used to hoist the chassis.

7. The pile bottom support force detection robot according to claim 6, characterized in that, The hoisting assembly includes: A rotary table is connected to the moving component; The boom is connected to the rotary table; A winch is connected to the rotary table, and the rotary table drives the boom and the winch to rotate around a vertical axis; A fixed pulley is provided on the boom; A rope connects the winch and the fixed pulley; the winch winds up or unwinds the rope; and the end of the rope is connected to the base plate.

8. A control method for a robot for detecting the bottom support force of cast-in-place piles, characterized in that, The control method for the robot used in the pile bottom support force detection of cast-in-place piles according to any one of claims 1 to 7 includes: The chassis is hoisted to the bottom of the pile hole; The core sampling assembly is controlled to drill core samples from the bottom of the pile hole, thereby forming a sampling hole at the bottom of the pile hole; The rotating mechanism is controlled to move the polishing assembly above the sampling hole, and the polishing assembly is controlled to polish the inner wall of the sampling hole. The rotating mechanism is controlled to move the impact testing assembly above the sampling hole, and the impact testing assembly is controlled to perform an impact test on the bottom wall of the sampling hole. The rotating mechanism is controlled to move the sensor placement assembly above the sampling hole, and the sensor placement assembly is controlled to place the sensor into the sampling hole.

9. The control method for the robot for detecting the bottom support force of cast-in-place piles according to claim 8, characterized in that, The control of the impact testing assembly to perform an impact test on the bottom wall of the sampling hole includes: The third lifting mechanism is controlled to move the probe downward and impact the bottom wall of the sampling hole; The probe is controlled to collect the impact energy loss feedback value in real time.

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