Foundation drill rod detection robot

Abstract

The utility model relates to the technical field of foundation drill rod detection, in particular to a foundation drill rod detection robot which comprises a rack and a drill rod, a circulating hammering mechanism is arranged on the left side of the rack, a lifting mechanism is arranged on the right side of the rack, and a walking mechanism is arranged at the bottom of the rack. The circulating hammering mechanism comprises a first hydraulic cylinder, an electromagnet is arranged below the output end of the first hydraulic cylinder, a heavy hammer is arranged below the electromagnet, and the electromagnet and the heavy hammer are arranged on the drill rod in a sliding and penetrating mode; the lifting mechanism comprises a second hydraulic cylinder and a lifting bracket, the second hydraulic cylinder is fixed to the rack, and the right side of the lifting bracket is slidably connected to the rack and fixedly connected with the output end of the second hydraulic cylinder; the clamping mechanism is used for clamping the drill rod and is arranged on the lower side of the heavy hammer; the controller is electrically connected with the first hydraulic cylinder, the second hydraulic cylinder and the electromagnet; the foundation drill rod detection robot can perform full-automatic operation, automatic positioning, automatic drill rod sinking, automatic leveling and automatic counting, the operation intensity of workers is relieved, and the construction efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of foundation drilling, in particular to a foundation drilling robot. Background Art

[0002] Drilling is the process of detecting the soil layer below the bottom of the foundation pit according to regulations after the foundation pit excavation reaches the designed elevation, so as to determine the hardness of the soil. In the prior art, foundation drilling is often carried out using a drilling machine, which usually includes a frame, a lifting mechanism and a drilling rod. The drilling rod is marked with scales. When working, a heavy hammer with a calibrated weight is used to vertically hit the drilling rod mechanically or manually to make the drilling rod enter the foundation soil layer. According to the number of hammer strikes required for the drilling rod to enter a certain depth of the foundation soil layer to be detected, the hidden structure in the soil layer is detected or the allowable bearing capacity of the soil layer is roughly estimated.

[0003] The following problems exist in the prior art probe machines: 1. The verticality of the drill rod is difficult to control. If the frame shakes when the drill rod is hammered, the probe operation position will be offset, which will cause the accuracy of the measurement result to decrease; 2. After the drill rod enters a certain depth into the foundation soil layer to be detected, the drill rod needs to be manually removed, which is labor-intensive and has low operating efficiency; 3. The distance between the heavy hammer and the lower end of the drill rod is relatively long, and the drill rod is prone to bending; 4. When working on uneven ground, the force on the drill rod is unbalanced when it sinks, and the drill rod is prone to damage; 5. The displacement, leveling and counting of the number of hammer strikes of the probe machine all rely on manual labor, and the construction process is relatively cumbersome, with high labor intensity and low efficiency. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a foundation drilling robot which can reduce the labor intensity of construction workers, improve construction efficiency, stabilize the sinking of the drill rod during use, and effectively increase the service life of the drill rod.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A foundation drilling robot comprises a frame and a drilling rod, wherein the frame is a rectangular frame structure, wherein a top plate is arranged on the top of the frame, a bottom plate is arranged on the bottom, and a support plate is arranged at the center of the top plate and the bottom plate; a third through hole for inserting the drilling rod is arranged on the support plate, and the drilling rod is slidably inserted in the third through hole; slide rails are arranged on the left and right sides of the frame, and a slider is arranged on the slide rail; and a circulating hammer mechanism is also included, wherein the circulating hammer mechanism comprises a first hydraulic cylinder fixed to the frame, a hammer bracket is connected under the output end of the first hydraulic cylinder, and the hammer bracket is slidably connected to the left side of the frame through a slider, an electromagnet is arranged on the hammer bracket, a heavy hammer is arranged under the electromagnet, and the heavy hammer is attracted when the electromagnet is energized. The drill rod passes through the hammer bracket, electromagnet and heavy hammer; it also includes a clamping mechanism for clamping the drill rod, and the clamping mechanism is arranged on the lower side of the heavy hammer; it also includes a lifting mechanism for lifting the clamping mechanism, and the lifting mechanism includes a second hydraulic cylinder fixed to the frame, and the output end of the second hydraulic cylinder is connected to the lifting bracket, and the lifting bracket is slidably connected to the right side of the frame through a slider; it also includes a controller, and the controller is electrically connected to the first hydraulic cylinder, the second hydraulic cylinder, and the electromagnet; when the clamping mechanism clamps the drill rod, the cyclic hammering mechanism reciprocates and hammers the clamping mechanism through the heavy hammer, driving the drill rod to be inserted downward into the foundation, and after the clamping mechanism descends to the specified position, the drill rod is released, and the lifting mechanism drives the clamping mechanism to lift upward.

[0007] Preferably, the clamping mechanism includes a clamping unit and a control unit; the clamping unit includes a clamping base, a first through hole is provided on the clamping base, two clamping grooves are symmetrically provided about the first through hole, clamps are provided in the clamping grooves, and the length of the clamps is less than the length of the clamping grooves; the two clamps are provided with jaws corresponding to the drill rod on the side close to the drill rod, and a spring groove is provided on the side away from the drill rod; a spring is provided in the spring groove, one end of the spring is connected to the side wall of the spring groove, and the other end is connected to the side wall of the clamping groove, the drill rod passes through the clamping base through the first through hole, and the two clamps lock the drill rod under the action of the spring elastic force; the control unit includes two symmetrically arranged third hydraulic cylinders, the third hydraulic cylinders are fixed to the left side of the lifting bracket, and a pull plate is provided at the output end thereof; a second through hole is also provided on the clamping groove, a wrench is provided on the lower side of the clamp, and the wrench passes downward from the second through hole; after the clamping mechanism descends to the specified position, the output end of the third hydraulic cylinder retracts, the pull plate hooks the wrench, and drives the two clamps to move away from each other to release the drill rod.

[0008] Preferably, annular grooves cooperating with the clamp are arranged at intervals on the drill rod.

[0009] Preferably, a top cover is provided on the clamping bottom support; the top cover can play a role of dust prevention and collision prevention at the same time.

[0010] Preferably, it also includes a support platform, the third hydraulic cylinder is fixed on the outside of the support platform, and a limit groove for the output end of the third hydraulic cylinder and the pull plate to move is provided on the support platform. A cover is also provided on the upper side of the limit groove on the support platform; the support platform is used to receive the clamping bottom support, and the cover can prevent flying dust from entering the third hydraulic cylinder.

[0011] Preferably, a walking mechanism is provided at the bottom of the frame, and the walking mechanism includes a walking drive motor and walking wheels. The gearbox of the driving motor is connected to the walking wheels through a rotating main shaft and drives the walking wheels to rotate; it also includes a positioner, and the positioner is electrically connected to the controller.

[0012] Preferably, it also includes a leveling mechanism, which includes a support leg for supporting the frame and a fourth hydraulic cylinder for driving the support leg to extend and retract, and there are at least three support legs, and each support leg is correspondingly provided with an independent fourth hydraulic cylinder; it also includes an inclination sensor, and the inclination sensor and the fourth hydraulic cylinder are both electrically connected to the controller; after the walking mechanism walks to the specified position, the frame is leveled through the leveling mechanism to avoid unbalanced force when the drill rod sinks.

[0013] Preferably, it further comprises a counting mechanism, which comprises a photoelectric sensor and a counter arranged on the frame, and the controller is electrically connected to the photoelectric sensor and the counter; automatic counting can be achieved.

[0014] Preferably, a probe is provided at the bottom of the drill rod, and the probe is an inverted cone structure with a cone angle of 60°, so that the probe at the bottom of the drill rod can cut the soil easily.

[0015] Preferably, a distance measuring sensor for detecting the sinking height of the drill rod is also provided on the frame, and the distance measuring sensor is electrically connected to the controller; the distance measuring sensor can detect the sinking height of the drill rod, and then adjust the telescopic length of the piston rod of the first hydraulic cylinder, adjust the distance between the electromagnet and the clamping mechanism, and ensure that the hammer distance of the weight (that is, the falling distance of the weight each time the weight falls) is always maintained at 500mm.

[0016] Compared with the prior art, the utility model adopting the above technical solution has the following outstanding features:

[0017] Through the cooperation of the lifting mechanism and the clamping mechanism, the drill rod can be driven into the foundation soil layer to be detected section by section, and the drill rod can also be lifted out of the foundation section by section, avoiding the problem that the hammer distance of the cyclic hammering mechanism is too long and the drill rod is easy to bend. At the same time, there is no need to manually lift the drill rod out of the foundation, which reduces the work intensity of workers. When the utility model works on uneven ground, the foundation drilling robot can be leveled by the leveling mechanism to ensure that the force is balanced when the drill rod sinks. During the drilling operation, the heavy hammer indirectly drives the drill rod to sink by hammering the clamping mechanism, and the drill rod always remains vertical during the sinking process, avoiding the deviation of the drilling operation position and ensuring the accuracy of the measurement result. The foundation drilling robot can operate fully automatically, automatically locate, automatically sink the drill rod, automatically level, and automatically count, which reduces the work intensity of workers and greatly improves the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the foundation drilling robot in the embodiment of the utility model;

[0019] Figure 2 It is a structural schematic diagram of the clamping unit in the embodiment of the utility model;

[0020] Figure 3 This is another structural schematic diagram of the clamping unit in the embodiment of the utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the clamping bottom bracket in the embodiment of the utility model;

[0022] Figure 5 It is a structural schematic diagram of the clamping mechanism in the embodiment of the utility model;

[0023] Figure 6 It is a schematic diagram of the support installation structure in the embodiment of the utility model;

[0024] Figure 7 It is a structural schematic diagram of the drill rod in the embodiment of the utility model;

[0025] Figure 8 It is a structural schematic diagram of the frame in the embodiment of the utility model;

[0026] Fig. 9 It is a structural schematic diagram of the hammer bracket in the embodiment of the utility model;

[0027] Fig.10 It is a structural schematic diagram of a lifting bracket in an embodiment of the utility model;

[0028] Fig.11 It is a structural schematic diagram of the support plate in the embodiment of the utility model.

[0029] Explanation of the reference numerals: 1. frame; 2. drill rod; 201. probe; 202. annular slot; 3. first hydraulic cylinder; 4. electromagnet; 5. heavy hammer; 6. second hydraulic cylinder; 7. lifting bracket; 8. clamping base; 801. first through hole; 802. clamping slot; 804. second through hole; 9. third hydraulic cylinder; 10. top cover; 11. support platform; 12. slide rail; 13. support plate; 1301. third through hole; 14. clamp; 1401. jaws; 1402. spring slot; 1403. lever; 15. spring; 16. pull plate; 17. slide block; 18. second fixed frame; 19. hammering bracket; 20. first connecting plate; 21. cover; 22. second connecting plate. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with specific embodiments, the purpose of which is only to provide a better understanding of the content of the present invention. Therefore, the examples given do not limit the protection scope of the present invention.

[0031] like Figure 1 As shown, this embodiment provides a foundation drilling robot, including a frame 1 and a drilling rod 2; Figure 8 The frame 1 is a rectangular frame structure, a top plate is provided on the top of the frame 1, a bottom plate is provided on the bottom, and a support plate 13 is provided on the top plate and the bottom plate; Fig.11 The support plate 13 is provided with a third through hole 1301 for inserting the drill rod 2; the left and right sides of the frame 1 are provided with slide rails 12, and the slide rails 12 are provided with sliders 17; the left side of the frame 1 is provided with a circulating hammer mechanism, the right side is provided with a lifting mechanism, and the bottom is provided with a walking mechanism; wherein the walking mechanism includes a walking drive motor and a walking wheel, and the gearbox of the driving motor is connected to the walking wheel through a rotating main shaft and drives the walking wheel to rotate. The circulating hammer mechanism includes a first hydraulic cylinder 3, the first hydraulic cylinder 3 is fixed to the frame 1, and the slider 17 on the left side of the frame 1 is connected with a hammer bracket 19; as shown in FIG. Fig. 9 A first connecting plate 20 is provided on the hammer bracket 19, and the output end of the first hydraulic rod is fixedly connected to the first connecting plate 20; an electromagnet 4 is provided under the hammer bracket 19, and a heavy hammer 5 is provided on the lower side of the electromagnet 4. When the electromagnet 4 is energized, the heavy hammer 5 is attracted; the electromagnet 4 and the heavy hammer 5 are both slidably penetrated on the drill rod 2. The lifting mechanism includes a second hydraulic cylinder 6 and a lifting bracket 7, such as Figure 8A second fixing frame 18 is fixed on the right side of the frame 1, and the second hydraulic cylinder 6 is fixed to the frame 1 through the second fixing frame 18. The right side of the lifting bracket 7 is slidably connected to the frame 1 through a slider 17 arranged on the right side of the frame 1. The output end of the second hydraulic cylinder 6 is fixedly connected to the lifting bracket 7 through a second connecting plate 22; it also includes a clamping mechanism for clamping the drill rod 2, and the clamping mechanism is arranged on the lower side of the heavy hammer 5; it also includes a controller, which is electrically connected to the first hydraulic cylinder 3, the second hydraulic cylinder 6, and the electromagnet 4; wherein the heavy hammer 5 is a 10KG heavy hammer; the hammer bracket 19, such as Fig. 9 The side section shown is an inverted L-shape, and a first rib is provided between the horizontal portion and the vertical portion to strengthen the bracket 7. Fig.10 As shown, the side section is L-shaped, a long hole for passing the drill rod 2 is provided on the left side, and second ribs are provided on both sides of the second connecting plate 22 on the right side.

[0032] Furthermore, the clamping mechanism includes a clamping unit and a control unit; the clamping unit includes a clamping base 8, such as Figures 2 to 4 A first through hole 801 is provided at the center of the clamp base 8, and two clamp grooves 802 are symmetrically provided on the clamp base 8 with respect to the first through hole 801. A clamp 14 is provided in the clamp groove 802, and the length of the clamp 14 is less than the length of the clamp groove 802; the two clamps 14 are provided with jaws 1401 corresponding to the drill rod 2 on the side close to the drill rod 2, and a spring groove 1402 is provided on the side away from the drill rod 2; a spring 15 is provided in the spring groove 1402, and one end of the spring 15 is connected to the side wall of the spring groove 1402, and the other end is connected to the side wall of the clamp groove 802; as shown in FIG. Figure 5 , the drill rod 2 passes through the first through hole 801, and the clamp 14 locks the drill rod 2 under the elastic force of the two springs 15; Figure 5 , Figure 6 As shown, a long hole is provided on the left side of the lifting bracket 7, and two support platforms 11 are symmetrically provided about the long hole. A third hydraulic cylinder 9 is fixed on the outer side of the support platform 11, and a limit groove for the output end of the third hydraulic cylinder 9 to move is provided on the support platform 11, and a pull plate 16 is provided on the output end of the third hydraulic cylinder 9; a second through hole 804 is also provided on the clamping groove 802, and a pull plate 1403 is provided on the lower side of the clamp 14, and the pull plate 1403 extends downward from the second through hole 804, wherein the length of the second through hole 804 is greater than the thickness of the pull plate 1403, thereby providing a certain space for the movement of the pull plate 1403; after the clamping mechanism descends to the specified position, the output end of the third hydraulic cylinder 9 retracts, and the pull plate 16 hooks the pull plate 1403, driving the two clamps 14 to move away from each other, thereby releasing the drill rod 2.

[0033] Further, such as Figure 7As shown, a probe 201 is provided at the bottom of the drill rod 2, and the probe 201 is an inverted cone structure with a cone angle of 60°; it is convenient for the probe 201 at the bottom of the drill rod 2 to cut the soil. An annular groove 202 is provided on the rod body of the drill rod 2 every 300 mm, which is used to cooperate with the clamping mechanism. When the clamp 14 clamps and fixes the drill rod 2, the jaws 1401 of the clamp 14 are clamped and fixed on the annular groove 202; wherein, the diameter of the drill rod 2 is 25 mm, the diameter of the probe 201 is 40 mm, the effective depth of the drill rod 2 is 2100 mm, and the annular groove 202 is provided every 300 mm.

[0034] Furthermore, a cover 21 is provided on the support platform 11 at the upper side of the limiting groove; the support platform 11 is used to receive the clamping bottom support 8 , and the cover 21 can prevent flying dust from entering the third hydraulic cylinder 9 .

[0035] Furthermore, a top cover 10 is provided on the clamp base 8; due to the harsh on-site working environment, the top cover 10 can prevent flying dust from entering the clamp groove 802 and the spring 15 clamp 14, thereby affecting the use of the clamp unit; at the same time, when the heavy hammer 5 falls, the top cover 10 can also play an anti-collision protection role.

[0036] Furthermore, it also includes a locator, which is electrically connected to the controller; the locator can be a GPS locator, a Beidou locator, etc. Through the cooperation of the locator and the walking mechanism, the foundation drilling robot can automatically walk to the specified coordinate position to perform drilling work.

[0037] Furthermore, it also includes a leveling mechanism, which includes a support leg for supporting the frame 1 and a fourth hydraulic cylinder for driving the support leg to extend and retract, and there are at least three support legs, and each support leg is correspondingly provided with an independent fourth hydraulic cylinder; it also includes an inclination sensor, and the inclination sensor and the fourth hydraulic cylinder are both electrically connected to the controller; after the walking mechanism and the positioning mechanism drive the foundation drilling robot to walk to the specified coordinate point, the leveling mechanism lowers the support leg through the fourth hydraulic cylinder, and the drilling work begins after the inclination sensor detects that the frame 1 is in a horizontal state.

[0038] Furthermore, it also includes a counting mechanism, which includes a photoelectric sensor and a counter arranged on the frame 1, and the controller is electrically connected to the photoelectric sensor and the counter; the photoelectric sensor is arranged on the frame 1, and each time the weight 5 falls, it feeds back to the controller, and the controller controls the counter to count; automatic counting can be achieved.

[0039] Furthermore, a distance measuring sensor for detecting the sinking height of the drill rod 2 is also provided on the frame 1, and the distance measuring sensor is electrically connected to the controller; the distance measuring sensor is fixed on the frame 1, and is used to detect the distance between the lower end of the distance measuring sensor probe 201 and the top cover 10. When the heavy hammer 5 hits the top cover 10 and the top cover 10 and the drill rod 2 sink, the extension of the output end of the first hydraulic rod is adjusted according to the sinking distance of the drill rod 2, so that the falling distance of the heavy hammer 5 is the same each time, ensuring that the hammering force is consistent each time. In this embodiment, the falling distance of the heavy hammer 5 is 500 mm each time.

[0040] Before construction, the coordinates of the drilling point are input into the controller, and the walking mechanism and the positioning mechanism are instructed to walk to the designated point according to the planned drilling sequence, and the leveling mechanism is leveled; when in use, the lower end of the drill rod 2 is abutted against the foundation soil layer, and the clamp 14 of the clamping unit clamps and fixes the drill rod 2; the electromagnet 4 is energized, and the weight 5 is magnetically attracted to the electromagnet 4, and the electromagnet 4 is powered off, and the weight 5 falls and hammers the top cover 10, thereby driving the clamping bottom support 8, the clamp 14, and the drill rod 2 to sink and sink into the foundation soil layer; the electromagnet 4 is energized again, and the first hydraulic rod drives the hammer bracket 19 to slide down along the slide rail 12 until the electromagnet 4 attracts the weight 5, drives the weight 5 to rise, and rises until the weight 5 is 10500mm away from the top cover, and then the electromagnet 4 is powered off again, and the weight 5 falls, and the process is repeated continuously to perform a cyclic hammering operation. After the drill rod 2 sinks 300mm, the clamping bottom support 8 abuts against the support platform 11, the third hydraulic cylinder 9 drives the pull plate 16 to pull the plate 1403 outward, the clamp 14 releases the drill rod 2, and the lifting mechanism starts to work. The second hydraulic cylinder 6 drives the lifting bracket 7, the support platform 11, the clamping bottom support 8, and the top cover 10 to move upward 300mm. The third hydraulic cylinder 9 drives the pull plate 16 to release the plate 1403, and the clamp 14 clamps and fixes the drill rod 2 again. The second hydraulic cylinder 6 drives the lifting bracket 7, The support platform 11 moves down 300mm and waits for the next operation; the counting mechanism records the number of drops (hammering number) of the heavy hammer 5 required for the drill rod 2 to hammer into the foundation soil layer to a depth of 300mm each time, and feeds back to the controller for storage; the ranging sensor is used to detect the sinking depth of the drill rod 2, so as to regulate the coordinated work of the cyclic hammering mechanism, the clamping mechanism and the lifting mechanism; in this embodiment, after the effective burying length of the drill rod 2 is fully buried, the lifting mechanism lifts the drill rod 2 out of the foundation soil layer section by section, thus ending this operation.

[0041] The utility model utilizes a walking mechanism, a positioner, a counting mechanism, a leveling mechanism, a circulating hammering mechanism, and a lifting mechanism to work fully automatically. One person can control 3 to 5 units, and the construction efficiency is 20 points / hour / unit, which greatly improves the construction efficiency, improves the counting accuracy of the number of hammer strikes, and reduces labor intensity.

[0042] The above description is only a preferred feasible embodiment of the present utility model, and does not limit the scope of rights of the present utility model. All equivalent changes made using the contents of the present utility model specification and its drawings are included in the scope of rights of the present utility model.

Claims

1. A foundation drilling robot, comprising a frame (1) and a drilling rod (2), characterized in that: The frame (1) is a rectangular frame structure. A top plate is arranged on the top of the frame (1), a bottom plate is arranged on the bottom, and a support plate (13) is arranged at the center of the top plate and the bottom plate; a third through hole (1301) for inserting a drill rod (2) is arranged on the support plate (13), and the drill rod (2) is slidably inserted into the third through hole (1301); slide rails (12) are arranged on the left and right sides of the frame (1), and a slider (17) is arranged on the slide rails (12); The machine also comprises a cyclic hammering mechanism, which comprises a first hydraulic cylinder (3) fixed to the frame, a hammering bracket (19) being connected to the lower side of the output end of the first hydraulic cylinder (3), the hammering bracket (19) being slidably connected to the left side of the frame via a slider, an electromagnet (4) being arranged on the hammering bracket (19), a heavy hammer (5) being arranged under the electromagnet (4), and the heavy hammer (5) being attracted when the electromagnet (4) is energized; the drill rod (2) is arranged to penetrate the hammering bracket (19), the electromagnet (4) and the heavy hammer (5); It also includes a clamping mechanism for clamping the drill rod (2), the clamping mechanism being arranged on the lower side of the heavy hammer (5); It also includes a lifting mechanism for lifting the clamping mechanism, the lifting mechanism including a second hydraulic cylinder (6) fixed to the frame, the output end of the second hydraulic cylinder (6) is connected to a lifting bracket (7), and the lifting bracket (7) is slidably connected to the right side of the frame (1) via a slider; It also includes a controller, which is electrically connected to the first hydraulic cylinder (3), the second hydraulic cylinder (6), and the electromagnet (4); When the clamping mechanism clamps the drill rod (2), the circulating hammering mechanism reciprocates and hammers the clamping mechanism through the heavy hammer (5), driving the drill rod (2) to be inserted downward into the foundation. After the clamping mechanism descends to a specified position, the drill rod (2) is released, and the lifting mechanism drives the clamping mechanism to be lifted upward.

2. The foundation drilling robot according to claim 1, characterized in that: The clamping mechanism includes a clamping unit and a control unit; The clamping unit comprises a clamping base (8), a first through hole (801) is arranged on the clamping base (8), two clamping grooves (802) are symmetrically arranged about the first through hole (801), a clamp (14) is arranged in the clamping groove (802), and the length of the clamp (14) is less than the length of the clamping groove (802); the two clamps (14) are provided with jaws (1401) corresponding to the drill rod (2) on the side close to the drill rod (2), and a spring groove (1402) is arranged on the side away from the drill rod (2); a spring (15) is arranged in the spring groove (1402), one end of the spring (15) is connected to the side wall of the spring groove (1402), and the other end is connected to the side wall of the clamping groove (802); the drill rod (2) passes through the clamping base (8) through the first through hole (801), and the two clamps (14) lock the drill rod (2) under the elastic force of the spring (15); The control unit comprises two symmetrically arranged third hydraulic cylinders (9), the third hydraulic cylinders (9) being fixed on the left side of the lifting bracket (7), and having a pull plate (16) arranged at the output end thereof; a second through hole (804) is also arranged on the clamping groove (802), and a pull plate (1403) is arranged on the lower side of the clamp (14), and the pull plate (1403) passes downwardly through the second through hole (804); after the clamping mechanism descends to the specified position, the output end of the third hydraulic cylinder (9) retracts, and the pull plate (16) hooks the pull plate (1403), driving the two clamps (14) to move in opposite directions, thereby releasing the drill rod (2).

3. The foundation drilling robot according to claim 2, characterized in that: Annular grooves (202) matching with the clamp (14) are arranged at intervals on the drill rod (2).

4. The foundation drilling robot according to claim 2, characterized in that: A top cover (10) is arranged on the clamping bottom support (8).

5. The foundation drilling robot according to claim 2, characterized in that: The device also comprises a support platform (11), a third hydraulic cylinder (9) is fixed on the outside of the support platform (11), a limiting groove for the output end of the third hydraulic cylinder (9) and the pull plate (16) to move is arranged on the support platform (11), and a sealing cover (21) is arranged on the upper side of the limiting groove on the support platform (11).

6. The foundation drilling robot according to claim 1, characterized in that: A walking mechanism is arranged at the bottom of the frame (1), the walking mechanism comprising a walking drive motor and walking wheels, the gearbox of the driving motor is connected to the walking wheels through a rotating main shaft and drives the walking wheels to rotate; and also comprises a positioner, which is electrically connected to a controller.

7. The foundation drilling robot according to claim 1, characterized in that: It also includes a leveling mechanism, which includes a support leg for supporting the frame (1) and a fourth hydraulic cylinder for driving the support leg to extend and retract, wherein at least three support legs are provided, and each support leg is correspondingly provided with an independent fourth hydraulic cylinder; it also includes an inclination sensor, and the inclination sensor and the fourth hydraulic cylinder are both electrically connected to the controller.

8. The foundation drilling robot according to claim 1, characterized in that: It also comprises a counting mechanism, which comprises a photoelectric sensor and a counter arranged on the frame (1), and a controller is electrically connected to the photoelectric sensor and the counter.

9. The foundation drilling robot according to claim 1, characterized in that: The frame (1) is also provided with a distance sensor for detecting the sinking height of the drill rod (2), and the distance sensor is electrically connected to the controller.

10. The foundation drilling robot according to claim 1, characterized in that: A probe (201) is arranged at the bottom of the drill rod (2), and the probe (201) is an inverted cone structure with a cone angle of 60 degrees.

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