Automatic soil sampling device for soil body below blade foot of multi-well-hole open caisson

Abstract

The utility model discloses an automatic soil sampling device for a soil body below a multi-well-hole open caisson blade foot, which comprises a movable working platform arranged at the top end of an open caisson, a soil sampling robot arranged on the movable working platform, and a supporting plate laid on the movable working platform, one end of the mechanical arm is connected with the supporting plate; the multiple pipelines are arranged in the mechanical arm in a penetrating mode, the two ends of each pipeline extend out of the mechanical arm, and one end of each pipeline extends out of the mechanical arm to be connected with a water source, an air source and a vacuum slurry pump; the control system is arranged on the supporting plate, electrically connected with the mechanical arm and used for controlling the mechanical arm to move. Through the combination of the air pipe, the water pipe and the mud pumping pipe, soil cleaning is completed while soil breaking is conducted, and efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of caisson construction, in particular to an automatic soil taking device for soil bodies below blade feet of a multi-hole caisson. Background Art

[0002] As a common foundation form for long-span bridge construction, multi-well caissons are mostly constructed without drainage, and the soil inside the wells is mostly taken vertically. When the caisson is constructed without drainage and encounters a hard soil layer during the sinking process, due to its large natural slope foot, the soil in the structural blind area such as the caisson blade foot is not easy to collapse into the well hole, resulting in excessive end resistance of the caisson tread, which makes the caisson sink slowly. Therefore, the existing technology often uses a soil-breaking device to accelerate the sinking of the caisson. The patent "CN 212612713U" discloses a deep-water multi-well caisson foundation blade foot soil-taking device, which improves the soil-breaking efficiency, but there are still difficulties in soil-taking, and additional soil-taking devices are required to clean the soil. If the soil is not cleaned in time, it will affect the ground-breaking operation, which will hinder the overall operation process and make the overall efficiency still not high enough. Utility Model Content

[0003] The purpose of the utility model is to provide an automatic soil taking device under the blade foot of a multi-well caisson in view of the defects of the prior art. Through the combination of an air pipe, a water pipe and a mud suction pipe, the soil can be cleaned while breaking the soil, thereby improving efficiency.

[0004] The utility model provides an automatic soil taking device for soil under the blade foot of a multi-well caisson, including a mobile working platform arranged at the top of the caisson, and also including: a soil taking robot, the soil taking robot is arranged on the mobile working platform, and the soil taking robot also includes: a support plate, the support plate is fixedly connected to the mobile working platform; a mechanical arm, one end of the mechanical arm is connected to the support plate, and the mechanical arm is a hollow structure; a pipeline, the pipeline is arranged inside the mechanical arm, a plurality of the pipelines are arranged inside the mechanical arm, both ends extend out of the mechanical arm, and one end is connected to an external water source, an air source and a vacuum mud pump, and the other end extends from the free end of the mechanical arm to break the soil through a high-pressure water column and a high-pressure air column, and the broken soil is infiltrated into a muddy water state, and then the vacuum mud pump changes the pressure in the pipeline into a negative pressure, and the muddy water is pumped out to complete the cleaning of the waste mud. The mechanical arm is driven by an oil cylinder, an air cylinder or electricity.

[0005] Furthermore, the mobile working platform also includes: slide rails, which are respectively laid on two opposite sides of the top of the caisson; and mobile trolleys, which are respectively arranged on the slide rails on both sides.

[0006] Furthermore, a support plate is fixedly connected between the two movable trolleys.

[0007] Furthermore, the slide rail is arranged on the top of the caisson through a bracket.

[0008] Furthermore, the mechanical arm further comprises: an electric motor, which is arranged on the upper surface of the support plate; a first telescopic arm, which is arranged on the lower surface of the support plate and passes through the support plate and is connected to the electric motor; a second telescopic arm, which is hinged to one end of the first telescopic arm and has a hole at the other end; a third telescopic arm, which is fixed to the non-telescopic part of the side wall of the first telescopic arm and the telescopic end of the third telescopic arm is hinged to one end of the second telescopic arm; wherein the electric motor is used to drive the first telescopic arm to rotate. The first telescopic arm is used to adjust the height, the second telescopic arm is used to adjust the distance from the soil to be broken, and the third telescopic arm is used to adjust the pitch angle of the second telescopic arm.

[0009] Furthermore, the pipeline is passed through the second telescopic arm, and one end extends out of the hole. The pipeline also includes: an air pipe connected to the air source for outputting high-pressure air; a water pipe connected to the water source for outputting high-pressure water; and a mud extraction pipe connected to the vacuum mud pump for extracting mud and water.

[0010] Furthermore, a camera is provided at the end of the second telescopic arm, and a tilt sensor is also provided at the third telescopic arm. The camera is used to observe the position of the bottom soil to be broken, and the tilt sensor is used to output angle data of the third mechanical arm.

[0011] Furthermore, one end of the pipeline connected to the external water source, air source and vacuum mud pump passes through the upper section of the first telescopic arm and is arranged in the first telescopic arm, and then passes through the hinge between the first telescopic arm and the second telescopic arm and is arranged in the second telescopic arm.

[0012] Furthermore, the pipeline is a combination of a hose and a metal pipe, and the metal pipe is arranged at a section of the pipeline extending out of the hole and is fixedly connected to the second telescopic arm. The hose is for facilitating the movement of the mechanical arm, and the metal pipe is for facilitating insertion into the soil. The metal pipe is fixed on the second telescopic arm to ensure stable insertion into the soil.

[0013] The beneficial effects of the utility model are:

[0014] By connecting the pipes with water sources, air sources and vacuum mud pumps, the waste soil can be effectively processed while breaking the ground, which not only improves the efficiency of breaking the ground, but also completes the cleaning of the waste soil, thereby improving the overall operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the pipeline in the embodiment of the utility model;

[0017] Figure 3 It is a top view of an embodiment of the utility model.

[0018] Figure numerals: 1-mobile working platform; 11-slide rail; 12-mobile trolley; 2-earth-excavating robot; 21-support plate; 22-mechanical arm; 221-electric motor; 222-first telescopic arm; 223-second telescopic arm; 2231-hole; 224-third telescopic arm; 23-pipeline; 231-air pipe; 232-water pipe; 233-mud suction pipe; 3-caisson blade foot. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] refer to Figure 1-3 An automatic soil taking device for the soil below the blade foot of a multi-hole caisson includes a mobile working platform 1 arranged at the top of the caisson, wherein slide rails 11 are respectively laid on two opposite sides of the top of the caisson, and mobile trolleys 12 are respectively arranged on the slide rails 11 on both sides, and the slide rails 11 are arranged at the top of the caisson through a bracket 4.

[0021] The soil-extracting robot 2 is arranged on the mobile working platform 1, and the support plate 21 is fixedly connected between the two mobile trolleys 12. One end of the mechanical arm 22 is connected to the support plate 21, and the specific structure of the mechanical arm 22 is as follows: the electric motor 221 is arranged on the upper end surface of the support plate 21; the first telescopic arm 222 is arranged on the lower end surface of the support plate 21, and penetrates the support plate 21 and is connected to the electric motor 221; the second telescopic arm 223 is hinged to one end of the first telescopic arm 223, and the other end of the second telescopic arm 223 has a hole 2231; the third telescopic arm 224 is fixedly connected to the non-telescopic part of the side wall of the first telescopic arm 222, and the telescopic end of the third telescopic arm 224 is hinged to one end of the second telescopic arm 223; wherein the electric motor 221 is used to drive the first telescopic arm 222 to rotate. The first telescopic arm 222 is used to adjust the height, the second telescopic arm 223 is used to adjust the distance from the soil to be broken, and the third telescopic arm 224 is used to adjust the pitch angle of the second telescopic arm. The mechanical arm 22 is a hollow structure. One end of the pipeline 23 connected to the external water source, air source and vacuum mud pump penetrates from the upper section of the first telescopic arm 222 and is arranged in the first telescopic arm 222, and then penetrates through the hinge between the first telescopic arm 222 and the second telescopic arm 223 and is arranged in the second telescopic arm 223. The pipeline 23 also includes: an air pipe 231, one end of which is connected to the air source for outputting high-pressure air; a water pipe 232, one end of which is connected to the water source for outputting high-pressure water; and a mud pumping pipe 233, one end of which is connected to the vacuum mud pump for extracting mud and water. The pipeline 23 includes a hose and a rigid pipe (such as a steel pipe or a PVC hard pipe) connected and sealed, and the rigid pipe is arranged at a section of the pipeline 23 extending out of the hole 2231 and fixedly connected to the second telescopic arm 223. The soft tube is for the convenience of the movement of the robot arm, and the rigid tube (such as a steel tube or a PVC hard tube) is for the convenience of insertion into the soil. The metal tube part of the mud suction pipe 233 is longer than the air pipe 231 and the water pipe 232, so that it does not affect the other two tubes when inserted into the mud and water. The control system 24 is arranged on the support plate 21 and is electrically connected to the robot arm 22 for controlling the movement of the robot arm 22. The second telescopic arm 223 is also provided with a camera, which is electrically connected to the control system 24 for observing the position of the soil to be broken. The third telescopic arm 224 is also provided with an inclination sensor, which is electrically connected to the control system 24 for outputting the angle data of the third robot arm.

[0022] The first telescopic arm 222, the second telescopic arm 223 and the third telescopic arm 224 are driven by oil cylinders, air cylinders or electricity, preferably oil cylinders. The first telescopic arm 222, the second telescopic arm 223 and the third telescopic arm 224 are telescopic arms of the telescopic type, and their structure includes a fixed body, and the fixed body can be formed by connecting multiple sections according to the depth of the caisson, and is a hollow structure; the oil cylinder is connected to the lowermost end (end) of the fixed body; for the first telescopic arm, the hose of the pipeline 23 passes through the hollow fixed body and penetrates into the cavity of the oil cylinder. In the embodiment, the hose penetrates into the cylinder body of the first telescopic arm 222 and is sealed therewith, and a single-layer or multi-layer sealing ring sealing structure can be adopted; after the hose enters the rodless cavity of the oil cylinder of the first telescopic arm 222, it passes through the telescopic piston rod and is sealed therewith; after the hose of the pipeline passes through the piston rod of the first telescopic arm 222, it enters the cylinder body of the second telescopic arm 223 and is sealed therewith, and the sealing structure that can be implemented includes but is not limited to a single-layer or multi-layer sealing ring seal with a radial Structure; the hose passes through the piston rod of the second telescopic arm 223 oil cylinder, and the end of the hose is fixedly connected to the rigid tube (such as a steel pipe or a PVC hard tube), the rigid tube passes through the piston rod of the second telescopic arm 223 oil cylinder and is sealed and fixedly connected thereto. In another embodiment, the rigid tube and the hollow piston rod of the second telescopic arm oil cylinder are integrated into a structure that can reduce the setting of the sealing structure. In this embodiment, one end of the rigid tube extends out of the piston rod of the second telescopic arm 223 oil cylinder, and the other end is arranged in the rodless cavity of the second telescopic arm 223 oil cylinder and is connected, fixed and sealed with the hose; of course, there are three rigid tubes, namely a rigid water pipe (high pressure), a rigid air pipe (high pressure) and a rigid mud pumping pipe, which are respectively connected and sealed with the corresponding three hoses; the length relationship of the three rigid tubes extending out of the piston rod of the second telescopic arm 223 oil cylinder is that the length of the rigid mud pumping pipe is the longest.

[0023] In one embodiment, the middle part of the cylinder body of the second telescopic arm 223 is hingedly connected to the piston rod end of the cylinder of the first telescopic arm 222 , and one end of the cylinder body of the second telescopic arm 223 is hingedly connected to the piston rod end of the cylinder of the third telescopic arm 224 .

[0024] In one embodiment, the three hoses are passed through the winch into the fixed body and then through the cylinder body of the first telescopic arm oil cylinder. When the first telescopic arm 222 is extended (the piston rod of the first telescopic arm 222 oil cylinder extends downward), the winch rotates to send out the hose; when the first telescopic arm 222 is retracted (the piston rod of the first telescopic arm 222 oil cylinder is retracted upward), the winch reverses to retract the hose. The other ends of the three hoses are respectively connected to a high-pressure water pump (water source), a high-pressure air pump (air source) and a vacuum mud pump. There are three winches corresponding to the three hoses, respectively, which can realize the retraction and release of the hoses while preventing the hoses from being entangled with each other.

[0025] The soil is broken by high-pressure water and air columns, and the broken soil is soaked into muddy water. The vacuum mud pump is then used to create negative pressure in the pipeline to pump out the muddy water and complete the cleaning of the waste mud.

[0026] The specific steps for using this device are as follows:

[0027] (1) Operation preparation: Before each earth-moving / breaking operation, the mud surface at the bottom of the wellbore to be operated is first measured to determine the location of the operating space (depth, width, etc.), and then the track is laid and the mobile work platform is built (1).

[0028] (2) Moving and stationing: Operate the mobile work platform 1 to move along the slide rail 11 to the top of the caisson to be operated. The soil-excavating robot 2 is now located just above the space to be operated. Install the soil-excavating robot 2 on the mobile work platform 1, and adjust the angle and depth of the bottom area of ​​the soil-excavating robot 2 to a suitable position. Connect the external air source, water source and vacuum mud pump to the air pipe 231, water pipe 232 and mud extraction pipe 233 of the soil-excavating robot respectively.

[0029] (3) Soil breaking and soil extraction operation: The soil extraction robot 2 is adjusted to a suitable position through the control system, and high-pressure air and high-pressure water are delivered to the hard soil area at the bottom of the caisson to start breaking the soil at the caisson blade foot 3 in the blind area of ​​the caisson. At the same time, the vacuum mud pump is started to form a negative pressure in the mud extraction pipe 233 to extract the soil at the caisson blade foot 3 in the blind area of ​​the caisson.

[0030] (4) Device recovery: After the earth-breaking and soil-taking operation is completed, the operation is stopped, the soil-taking robot 2 is dismantled, and then the mobile working platform 1 is moved along the slide rail 11 to the next caisson to be broken.

[0031] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An automatic soil taking device for taking soil from the bottom of a multi-hole caisson blade, comprising a mobile working platform (1) arranged at the top of the caisson, characterized in that: Also includes: A soil-collecting robot (2), wherein the soil-collecting robot (2) is arranged on the mobile working platform (1), and the soil-collecting robot (2) comprises: A support plate (21), wherein the support plate (21) is fixedly connected to the mobile working platform (1); A mechanical arm (22), one end of the mechanical arm (22) being connected to the support plate (21); A pipeline (23), wherein a plurality of the pipelines (23) are arranged inside the mechanical arm (22), both ends of which extend out of the mechanical arm (22), and one end of which is respectively connected to an external water source, an air source and a vacuum mud pump, and the other end extends out from the free end of the mechanical arm (22). The pipeline (23) is used to crush the soil using high-pressure air and high-pressure water and then extract mud and water through the vacuum mud pump.

2. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 1 is characterized in that: The mobile working platform (1) comprises: Slide rails (11), the slide rails (11) are respectively laid on two opposite sides of the top of the caisson; A movable trolley (12), wherein the movable trolley (12) is respectively arranged on the slide rails (11) on both sides.

3. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 2 is characterized in that: A support plate (21) is fixedly connected between the two movable trolleys (12).

4. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 2 is characterized in that: The slide rail (11) is arranged at the top of the caisson through a bracket (4).

5. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 1 is characterized in that: The mechanical arm (22) further comprises: An electric motor (221), the electric motor (221) being arranged on an upper end surface of the support plate (21); a first telescopic arm (222), the first telescopic arm (222) being arranged on the lower end surface of the support plate (21), penetrating the support plate (21) and connected to the electric motor (221); A second telescopic arm (223), wherein the second telescopic arm (223) is hinged to one end of the first telescopic arm (222), and the other end of the second telescopic arm (223) has a hole (2231); A third telescopic arm (224), the third telescopic arm (224) being fixedly connected to a side wall of the first telescopic arm (222), and the telescopic end of the third telescopic arm (224) being hinged to one end of the second telescopic arm (223); Wherein, the electric motor (221) is used to drive the first telescopic arm (222) to rotate.

6. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 5, characterized in that: The pipe (23) is inserted into the second telescopic arm (223), and one end thereof extends out of the hole (2231). The pipe (23) further comprises: An air pipe (231), one end of which is connected to an air source and is used to output high-pressure air; A water pipe (232), one end of which is connected to a water source and is used to output high-pressure water; A mud pumping pipe (233), one end of which is connected to a vacuum mud pump for pumping muddy water.

7. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 5, characterized in that: The second telescopic arm (223) is also provided with a camera, and the camera is used to observe the position of the soil to be broken.

8. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 5, characterized in that: The third telescopic arm (224) is also provided with an inclination sensor, and the inclination sensor is used to output angle data of the third mechanical arm.

9. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 5, characterized in that: One end of the pipeline (23) connected to the external water source, air source and vacuum mud pump passes through the upper section of the first telescopic arm (222) and is arranged in the first telescopic arm (222), and then passes through the hinge between the first telescopic arm (222) and the second telescopic arm (223) and is arranged in the second telescopic arm (223).

10. The automatic soil taking device for the soil below the blade foot of a multi-hole caisson according to claim 5, characterized in that: The pipeline (23) is a combination of a hose and a rigid tube. The rigid tube is arranged at a section of the pipeline (23) extending outside the hole (2231) and is fixedly connected to the second telescopic arm (223).

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