Robot for detecting support force of pile bottom of cast-in-place pile and control method thereof

Abstract

The application discloses a bored pile bottom support force detection robot and a control method thereof, belongs to the technical field of bored pile bottom detection, can obtain a rock core sample of a pile hole bottom of a bored pile, can perform impact testing on the pile hole bottom, and can also arrange sensors at the pile hole bottom; four functions of core drilling sampling, core hole polishing, impact testing and sensor arrangement are integrated, multiple devices need not be cooperated, a detection process is simplified, detection efficiency is improved, manual participation is not needed for autonomous operation of the robot, labor cost is reduced, the device is small in size, flexible in movement, short in detection period, and capable of meeting the rapid detection demand of batch pile bodies; the sensors can be arranged to reduce and exempt from expensive 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 testing, laboratory core sample analysis and later sensor monitoring" is constructed, error influence of single data is reduced, and detection precision is continuously improved through continuous data fusion.

Description

Technical Field

[0001] This invention relates to the field of pile bottom testing technology for cast-in-place piles, and in particular to a robot for testing the support force at the bottom of cast-in-place piles and its control method. Background Technology

[0002] Cast-in-place piles are a commonly used foundation type in building construction, and their bearing capacity directly affects the safety and stability of the superstructure. The pile bottom support force is one of the core factors determining the bearing capacity of a cast-in-place pile. After the pile hole is formed, the support force at the bottom of the hole needs to be tested on-site to verify the rationality of the cast-in-place pile foundation design and the construction quality.

[0003] Currently, there is no economical and efficient on-site testing equipment for pile foundation support capacity in the industry, which cannot meet the actual needs of rapid acceptance and batch testing on engineering sites. Summary of the Invention

[0004] This invention aims to solve the technical problems existing in the above-mentioned related technologies, and proposes a robot for detecting the bottom support force of cast-in-place piles and its control method.

[0005] According to a first aspect of the present invention, a robot for detecting the pile bottom support force of cast-in-place piles includes:

[0006] Chassis;

[0007] A rotating mechanism is located on the top of the chassis, and the rotating mechanism rotates about a vertical axis;

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] The pile bottom support force detection robot of the present invention has at least the following beneficial effects: The chassis is hoisted to the bottom of the pile hole; the first lifting mechanism of the core sampling assembly drives the first driving mechanism and the core drill bit to move downwards; the first driving mechanism drives the core drill bit to rotate, causing the core drill bit to drill a core sample from the bottom of the pile hole, forming a sampling hole at the bottom of the pile hole; the first lifting mechanism drives the core drill bit to move upwards, carrying the 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 head to move downwards; the second driving mechanism drives the polishing head to rotate, causing the polishing head to polish and grind the inner wall of the sampling hole to remove impurities from the inner wall of the sampling hole. The first lifting mechanism has a raised section to prevent it from affecting the impact testing of the impact testing assembly. The second lifting mechanism drives the polishing head to move upward and disengage from the sampling hole. The rotating mechanism drives the impact testing assembly to rotate above the sampling hole. The third lifting mechanism drives the probe to move downward, so that the probe impacts the bottom wall of the sampling hole to obtain impact test data. The third lifting mechanism drives the probe to move upward and disengage from the sampling hole. The rotating mechanism drives the sensor placement assembly to rotate above the sampling hole. The fourth lifting mechanism drives the placement tube to move downward, so that the placement tube extends into the sampling hole. The placement tube places the sensor in the sampling hole. The sensor can obtain the pressure data at the bottom of the pile hole in subsequent processes. The fourth lifting mechanism drives the placement tube to move upward and disengage from the sampling hole.

[0013] Therefore, the pile bottom support force testing robot can obtain core samples from the bottom of the pile hole, conduct impact tests on the bottom of the pile hole, and deploy sensors at the bottom of the pile hole, meeting the actual needs of rapid acceptance and batch testing on engineering sites. 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. The robot operates autonomously, requiring minimal human intervention, thus reducing labor costs. The equipment is small in size, highly mobile, and has a short testing cycle, meeting the rapid testing needs of batch piles. Furthermore, it can deploy sensors to reduce the need for multiple expensive specialized tests later, significantly reducing the overall testing cost of the project. It constructs a multi-source data comparison mechanism of "on-site impact testing, laboratory core sample analysis, and subsequent sensor monitoring," reducing the impact of errors from single data sources and continuously improving testing accuracy through continuous data fusion.

[0014] According to some embodiments of the present invention, a support mechanism is provided at the bottom of the chassis, the support mechanism comprising:

[0015] Multiple support feet, each of which is slidably connected to the chassis vertically;

[0016] 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.

[0017] According to some embodiments of the present invention, the pile bottom support force detection robot further includes:

[0018] 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.

[0019] According to some embodiments of the present invention, the sensor deployment assembly further includes an unwinder for unwinding the cable of the sensor.

[0020] According to some embodiments of the present invention, the sensor deployment assembly further includes:

[0021] The glue injection mechanism is connected to the fourth lifting mechanism, and the glue injection mechanism is used to inject adhesive downwards.

[0022] According to some embodiments of the present invention, the pile bottom support force detection robot further includes:

[0023] Mobile components;

[0024] 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.

[0025] According to some embodiments of the present invention, the hoisting assembly includes:

[0026] A rotary table is connected to the moving component;

[0027] The boom is connected to the rotary table;

[0028] A winch is connected to the rotary table, and the rotary table drives the boom and the winch to rotate around a vertical axis;

[0029] A fixed pulley is provided on the boom;

[0030] 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.

[0031] According to the control method of the pile bottom support force detection robot of the second aspect of the present invention, applied to the pile bottom support force detection robot of the above embodiment, the control method includes:

[0032] The chassis is hoisted to the bottom of the pile hole;

[0033] 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;

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The control method for the pile bottom support force detection robot of the present invention has at least the following beneficial effects: The pile bottom support force detection robot can obtain rock core samples from the bottom of the pile hole, perform impact tests on the bottom of the pile hole, and deploy sensors at the bottom of the pile hole, meeting the actual needs of rapid acceptance and batch testing on the engineering site; 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; it adopts autonomous robot operation, eliminating the need for a large number of manual laborers, thus reducing labor costs; the equipment is small in size, flexible in movement, and has a short testing cycle, meeting the needs of rapid testing of batch piles; it can also deploy sensors to reduce the cost of many expensive special tests in the later stages, significantly reducing the overall testing cost of the project; it constructs a multi-source data comparison mechanism of "on-site impact testing, laboratory core sample analysis, and subsequent sensor monitoring," reducing the impact of errors from single data sources and continuously improving testing accuracy through continuous data fusion.

[0038] According to some embodiments of the present invention, controlling the impact testing assembly to perform an impact test on the bottom wall of the sampling hole includes:

[0039] The third lifting mechanism is controlled to move the probe downward and impact the bottom wall of the sampling hole;

[0040] The probe is controlled to collect the impact energy loss feedback value in real time. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a robot for detecting the bottom support force of cast-in-place piles according to an embodiment of the present invention;

[0042] Figure 2 This is an exploded view of a robot for detecting the bottom support force of cast-in-place piles according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the chassis disassembly housing in one embodiment of the present invention;

[0044] Figure 4 This is a flowchart of a control method for a robot for detecting the bottom support force of cast-in-place piles according to an embodiment of the present invention;

[0045] Figure 5 This is a flowchart of an impact test in one embodiment of the present invention.

[0046] Reference numerals: chassis 100, positioning hole 101, support mechanism 110, support foot 111, rotating mechanism 200, core sampling assembly 300, first lifting mechanism 310, first drive mechanism 320, core drill bit 330, polishing assembly 400, second lifting mechanism 410, second drive mechanism 420, polishing head 430, impact testing assembly 500, third lifting mechanism 510, probe 520, sensor deployment assembly 600, fourth lifting mechanism 610, deployment tube 620, unwinder 630, housing 700, moving assembly 800, hoisting assembly 900, boom 910, winch 920, rope 930. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of this invention, it should be understood that the terms front, back, up, down, axial, circumferential, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0049] In the description of this invention, "multiple" means two or more; "greater than," "less than," and "exceeding" are understood to exclude the stated number; "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0050] In the description of this invention, it should be noted that terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0051] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0052] Cast-in-place piles are a commonly used foundation type in building construction, and their bearing capacity directly affects the safety and stability of the superstructure. The supporting 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 casting hole is formed, the supporting force at the bottom of the pile hole needs to be tested on-site to verify the rationality of the pile foundation design and the construction quality.

[0053] Currently, there is no economical and efficient on-site testing equipment for the bottom support force of pile holes in the industry. Traditional testing methods either rely on large testing instruments, which are inconvenient to transport and have high testing costs; or they use manual sampling and testing, which is cumbersome, inefficient, and the accuracy of the test data is easily affected by human factors, failing to meet the actual needs of rapid acceptance and batch testing in engineering projects. In addition, existing technologies lack a multi-source data cross-validation mechanism, and the reliability of single test data is limited, making it difficult to continuously optimize the testing accuracy. Therefore, there is an urgent need to develop an integrated, intelligent, and easy-to-operate on-site testing device that can improve accuracy through multi-source data fusion to solve the pain points of existing technologies.

[0054] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a robot for detecting the bottom support force of cast-in-place piles. This robot integrates core sampling, core hole polishing, impact testing, and sensor deployment at the pile bottom. By comparing and fusing multi-source data, including on-site impact test data, core sample laboratory mechanical performance data, and subsequent pile bottom pressure monitoring data, the robot continuously improves the accuracy of the test data, achieving economical, fast, accurate, and efficient on-site testing results, reducing testing costs, and improving project acceptance efficiency.

[0055] Reference Figures 1 to 3 As shown, the present invention provides a robot for detecting the bottom support force of cast-in-place piles.

[0056] The pile bottom support force testing robot for cast-in-place piles 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, a housing 700, a moving assembly 800, and a hoisting assembly 900.

[0057] A support mechanism 110 is provided at the bottom of the chassis 100. The support mechanism 110 includes multiple support feet 111 and multiple clamps. The multiple support feet 111 are spaced apart and each support foot 111 is slidably connected to the chassis 100. The multiple clamps are spaced apart at the bottom of the chassis 100 and are arranged one-to-one with each of the multiple support feet 111. Each clamp is provided with an electrically controlled clamping mechanism. The clamping mechanism clamps or releases the corresponding support foot 111. The clamping of the corresponding support foot 111 fixes the position of the support foot 111 relative to the chassis 100.

[0058] The chassis 100 is provided with a positioning hole 101 that runs through the vertical direction. The support mechanism 110 is offset from the positioning hole 101 to ensure that there are no objects blocking the positioning hole 101.

[0059] The rotating mechanism 200 is located on the top of the chassis 100. The rotating mechanism 200 is equipped with an electric rotating device, which causes the rotating mechanism 200 to rotate relative to the chassis 100 around a vertical axis. The rotating mechanism 200 is provided with four mounting holes that run through the vertical direction. The four mounting holes are arranged in a circular array with the axis of the rotating mechanism 200 as the center. 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 can rotate the four mounting holes so that any one of the mounting holes can be rotated to be directly above the positioning hole 101.

[0060] The housing 700 is placed around the rotating mechanism 200. The housing 700 is connected to the rotating mechanism 200. The housing rotates with the rotating mechanism 200. The housing 700 can rotate relative to the chassis 100. The housing 700 and the rotating mechanism 200 form an installation cavity.

[0061] The core extraction assembly 300, polishing assembly 400, impact testing assembly 500, and sensor placement assembly 600 are disposed in the mounting cavity.

[0062] The core extraction assembly 300 includes a first lifting mechanism 310, a first driving mechanism 320, and a core extraction drill bit 330.

[0063] The first lifting mechanism 310 is an electric push rod. The first lifting mechanism 310 includes a drive base and a push rod. The drive base drives the push rod to move in the vertical direction. The drive base is connected to the top of the housing 700. The bottom of the push rod is connected to the first drive mechanism 320. The first drive mechanism 320 is a rotary drive device. The first drive mechanism 320 includes a drive motor and a reducer arranged vertically. The drive motor is connected to the push rod of the first lifting mechanism 310. The output shaft of the drive motor is connected to the input end of the reducer. The output end of the reducer is connected to the core drill bit 330. Then the first lifting mechanism 310 drives the core drill bit 330 and the first drive mechanism 320 to move in the vertical direction. The first drive mechanism 320 drives the core drill bit 330 to rotate around the vertical axis.

[0064] The polishing assembly 400 includes a second lifting mechanism 410, a second driving mechanism 420, and a polishing head 430.

[0065] The second lifting mechanism 410 is an electric push rod. The second lifting mechanism 410 includes a drive seat and a push rod. The drive seat drives the push rod to move in the vertical direction. The drive seat is connected to the top of the housing 700. The bottom of the push rod is connected to the second drive mechanism 420. The second drive mechanism 420 is a rotary drive device. The second drive mechanism 420 includes a drive motor and a reducer arranged vertically. The drive motor is connected to the push rod of the second lifting mechanism 410. The output shaft of the drive motor is connected to the input end of the reducer. The output end of the reducer is connected to the polishing head 430. Then, the second lifting mechanism 410 drives the polishing head 430 and the second drive mechanism 420 to move in the vertical direction. The second drive mechanism 420 drives the polishing head 430 to rotate around the vertical axis.

[0066] The impact testing assembly 500 includes a third lifting mechanism 510 and a probe 520.

[0067] The third lifting mechanism 510 is an electric push rod. The third lifting mechanism 510 includes a drive seat and a push rod. The drive seat drives the push rod to move in the up and down direction. The drive seat is connected to the top of the housing 700, and 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 and down direction.

[0068] The sensor deployment assembly 600 includes a fourth lifting mechanism 610, a deployment tube 620, and an unwinder 630.

[0069] The fourth lifting mechanism 610 is an electric push rod. The fourth lifting mechanism 610 includes a drive seat and a push rod. The drive seat drives the push rod to move in the vertical direction. The drive seat is connected to the top of the housing 700. The bottom of the push rod is connected to the unwinder 630 and the laying tube 620. The fourth lifting mechanism 610 drives the unwinder 630 and the laying tube 620 to move in the vertical direction. The laying tube 620 is provided with a receiving hole that runs through in the vertical direction. The receiving hole is used to place the sensor. The sensor cable passes through the laying tube and is wound onto the unwinder 630. The unwinder 630 is used to unwind the cable.

[0070] The sensor deployment assembly 600 also includes an adhesive injection mechanism, which is connected to the fourth lifting mechanism 610. The fourth lifting mechanism 610 drives the adhesive injection mechanism to move in the up and down direction. The adhesive injection mechanism is provided with an adhesive injection tube, which is located on the side wall of the deployment tube 620 and extends to the bottom end of the deployment tube 620. The adhesive injection mechanism injects adhesive into the lower part of the deployment tube 620 through the adhesive injection tube.

[0071] The core drill bit 330, polishing head 430, probe 520 and laying tube 620 are respectively installed in the four mounting holes of the rotating mechanism 200. The rotation of the rotating mechanism 200 allows the core drill bit 330, polishing head 430, probe 520 or laying tube 620 to move downward and pass through the positioning hole 101.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] (a) Upper host.

[0076] 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.

[0077] 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).

[0078] 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.

[0079] 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.

[0080] (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;

[0081] 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.

[0082] 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.

[0083] (iii) Lower end detection robot arm.

[0084] The housing 700 and the chassis 100 form a closed cavity (protecting the internal components).

[0085] 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.

[0086] 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).

[0087] 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).

[0088] 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.

[0089] 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.

[0090] Details of each functional component are as follows.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] (iv) Overall control logic and data processing.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] Reference Figures 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.

[0106] 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.

[0107] Step S100: Hoist the chassis 100 to the bottom of the pile hole;

[0108] 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.

[0109] Step S300: Control the rotating mechanism 200 to move the polishing component 400 above the sampling hole, and control the polishing component 400 to polish the inner wall of the sampling hole.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.).

[0118] 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.

[0119] 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.

[0120] 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.

[0121] Equipment recovery: Start the hoisting motor, recover rope 930, and lift the lower detection robot into the upper host housing; remotely control the robot to move to the next detection position or leave the site.

[0122] 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.

[0123] 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.

[0124] Reference Figure 5 As shown, step S400 includes the following steps.

[0125] Step S410: Control the third lifting mechanism 510 to drive the probe 520 downward and impact the bottom wall of the sampling hole;

[0126] Step S420: Control probe 520 to collect impact energy loss feedback value in real time.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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. 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. 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.

2. 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.

3. 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.

4. 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.

5. The pile bottom support force detection robot according to claim 1, 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.

6. 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 5 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.

7. The control method for the robot for detecting the bottom support force of cast-in-place piles according to claim 6, 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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