Underwater automatic cutting mechanical arm suitable for open caisson

Abstract

The utility model relates to an underwater automatic cutting mechanical arm suitable for an open caisson, an annular working track is arranged on the inner wall of the open caisson, the mechanical arm is in sliding connection with the working track through a working support, the working support is rotatably connected with power teeth, and a rack meshed with the power teeth is arranged on the working track. And when the power teeth rotate, the mechanical arm moves along the working track. The mechanical arm has the advantages that stable sliding connection between the working support and the working track is achieved through the base buckle and the limiting nut, the whole mechanical arm moves along the working track, and the mechanical arm is convenient to assemble and disassemble and can be repeatedly used; a complete mechanical arm is formed through three hinged arm structures, a first-stage inclined arm is provided with a plane cutter of a conveying belt structure, a rotating arm is rotationally connected with a cutting head, cutting operation at different angles can be achieved, meanwhile, the lower end of the rotating arm is provided with a high-pressure water flushing opening and a slurry suction operation opening towards the cutting head, and the cutting head is connected with the rotating arm. And the cutting capability of the cutting head is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of caisson construction, and in particular comprises an underwater automatic cutting mechanical arm suitable for caissons. Background Art

[0002] With the expansion of production scale and advancements in production technology, the demand for the development and utilization of underground space is increasing, and caisson construction technology is becoming increasingly widely used in urban construction. For example, the use of caissons as working pits or inspection wells in urban pipeline construction can avoid the excessive land occupation and traffic disruption caused by direct excavation. However, caisson construction is more complex than conventional excavation projects, and the problems encountered are more difficult to handle. How to avoid or resolve these problems is crucial to the success of caisson construction.

[0003] At present, the traditional construction methods of caissons mainly include drainage sinking method, non-drainage sinking method, thixotropic mud sleeve method, pneumatic caisson method, etc. These methods may cause problems such as uneven sinking, sudden sinking, and difficult sinking during the caisson construction process. At the same time, subsequent correction operations are also relatively difficult.

[0004] Therefore, there is an urgent need for an underwater construction device suitable for caisson to overcome the above problems. Utility Model Content

[0005] The purpose of the utility model is to overcome the deficiencies in the prior art and provide an underwater automatic cutting mechanical arm suitable for caissons.

[0006] This underwater automatic cutting robot arm is suitable for caissons. The inner wall of the caisson is provided with a circular working track. The robot arm is slidably connected to the working track through a working support. The working support is rotatably connected to a power tooth. The working track is provided with a rack meshing with the power tooth. When the power tooth rotates, the robot arm moves along the working track.

[0007] The robotic arm includes a first-level tilting arm, a second-level tilting arm and a rotating arm which are hingedly connected in sequence. A plane cutter is provided on the surface of the first-level tilting arm, and a cutting head is rotatably connected to the bottom end of the rotating arm. A hydraulic push rod is provided on the working support toward the first-level tilting arm to control the rotation angle of the first-level tilting arm.

[0008] As a preference, the cross-sectional shape of the working track is Type, a base buckle is provided on the side of the working support facing the working track, the base buckle is N-shaped, the base buckle is hung on the protruding upper end of the working track, the power tooth is provided below the base buckle, and the rack is provided on the bottom surface of the web of the working track.

[0009] Preferably, a high-pressure water flushing port and a mud suction operation port are provided at the lower end of the rotating arm facing the cutting head.

[0010] Preferably, the plane cutter is a conveyor belt structure, and the side of the plane cutter facing the caisson is exposed on the surface of the first-level inclined arm.

[0011] Preferably, a limiting nut is provided on the side of the working support facing the working track, the limiting nut is provided below the base buckle, and the limiting nut abuts against the protruding lower end of the working track.

[0012] Preferably, both ends of the hydraulic push rod are rotatably connected to the working support and the first-level tilting arm respectively.

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

[0014] 1) The utility model realizes a stable sliding connection between the working support and the working track through the base buckle and the limit nut, so that the robot arm moves along the working track as a whole, is easy to load and unload, and can be reused.

[0015] 2) The utility model forms a complete robotic arm through a three-section hinged arm structure. A plane cutter with a conveyor belt structure is provided on the first-level inclined arm. The rotating arm is rotatably connected to the cutting head, which can realize cutting operations at different angles. At the same time, a high-pressure water flushing port and a mud suction operation port are provided at the lower end of the rotating arm facing the cutting head, which is conducive to ensuring the cutting ability of the cutting head.

[0016] 3) The utility model is specially designed for underwater work and has good waterproof and pressure-resistant properties. Compared with traditional excavation methods, its movement is smoother and causes less disturbance to the soil and structure around the caisson, which is conducive to maintaining the stability of the caisson and can operate stably under complex underwater conditions.

[0017] 4) The utility model can realize intelligent cutting path planning and adjustment through preset programs and sensor feedback to adapt to different construction requirements. The automatic cutting function reduces the time and labor intensity of manual operation and greatly improves construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 An overall structural diagram of an underwater automatic cutting robot arm suitable for caissons;

[0019] Figure 2 Structural diagram of an underwater automatic cutting robot arm suitable for caissons.

[0020] Explanation of the reference numerals: working track 1, working support 2, hydraulic push rod 3, plane cutter 4, primary tilting arm 5, secondary tilting arm 6, rotating arm 7, cutting head 8, base buckle 9, power tooth 10, limit nut 11. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the following embodiments. The following embodiments are provided solely to facilitate understanding of the present invention. It should be noted that, within the scope of the present invention, modifications may be made by a person skilled in the art without departing from the principles of the present invention. Such improvements and modifications are also within the scope of the claims of the present invention.

[0022] Example 1

[0023] As an example, Figure 1 and Figure 2 As shown, this underwater automatic cutting robot arm suitable for caisson has a circumferential working track 1 provided on the inner wall of the caisson, and the robot arm slides along the working track 1.

[0024] The robotic arm comprises a primary tilting arm 5, a secondary tilting arm 6 and a rotating arm 7 which are hingedly connected in sequence.

[0025] A plane cutter 4 is provided on the surface of the first-level inclined arm 5. The plane cutter 4 is arranged on the upper part of the first-level inclined arm 5. The plane cutter 4 adopts a conveyor belt structure to achieve continuous cutting to prevent the first-level inclined arm 5 from being buried by the soil during construction. The plane cutter 4 helps the first-level inclined arm 5 to escape by cutting the soil.

[0026] The secondary tilting arm 6 is connected to the primary tilting arm 5, and the working angle and working area are increased through two angle adjustments. The rotating arm 7 is connected to the secondary tilting arm 6, and the rotating arm 7 can rotate 270° to achieve cutting operations at different angles.

[0027] The bottom end of the rotating arm 7 is rotatably connected to a cutting head 8. The cutting head 8 is cylindrical and has multiple protrusions to enhance soil cutting capabilities. A high-pressure water flushing port and a mud suction port are located at the lower end of the rotating arm 7, facing the cutting head 8. High-pressure water can flush away mud residue from the cutting head, ensuring its cutting performance, while the mud suction port allows for the absorption of mixed mud.

[0028] The plane cutter 4 is a conveyor belt structure, and the side of the plane cutter 4 facing the inside of the caisson is exposed on the surface of the first-level inclined arm 5.

[0029] The working support 2 is provided with a hydraulic jack 3 facing the primary tilt arm 5, which is used to control the rotation angle of the primary tilt arm 5. The two ends of the hydraulic jack 3 are respectively connected to the working support 2 and the primary tilt arm 5. By changing the length of the hydraulic jack 3, the tilt angle of the primary tilt arm 5 is adjusted, thereby excavating the soil in different areas.

[0030] Example 2

[0031] As another embodiment, this embodiment 2 proposes, on the basis of embodiment 1, a more specific underwater automatic cutting robot arm suitable for caissons, wherein the robot arm is slidably connected to the working support 2 and the working track 1.

[0032] The outer side of the working track 1 matches the inner curvature of the caisson, and the inner side adopts a double-layer raised bayonet design. The cross-sectional shape of each layer of raised bayonet is Type, the working track 1 adopts a steel structure as a whole. The track is spliced ​​in multiple pieces and fixed to the inner wall of the caisson by nuts, which improves the convenience of the equipment and reduces the difficulty of installation.

[0033] The working support 2 is rotatably connected to a power tooth 10. A rack meshes with the power tooth 10 on the underside of the web of the lower bayonet of the working track 1. The base buckle 9 mates with the buckle of the working track 1. In this embodiment, there are two power teeth 10. After the base buckle 9 is secured to the working track 1, the power teeth 10 mesh with the gear at the lower end of the bayonet of the working track 1. When the power teeth 10 rotate, the robotic arm moves along the working track 1.

[0034] The working support 2 is provided with a base buckle 9 on the side facing the working track 1. The base buckle 9 is N-shaped and is hung on the protruding upper end of the working track 1. The power tooth 10 is provided below the base buckle 9, and the rack is provided on the bottom surface of the web of the working track 1.

[0035] A limiting nut 11 is provided on the side of the working support 2 facing the working track 1. The limiting nut 11 is provided below the base buckle 9. There are two limiting nuts 11 in total. When the base bayonet 9 is connected to the working track 1, the limiting nut 11 is rotated so that the top of the limiting nut is tightly fitted with the lower bayonet of the working track 1, that is, the limiting nut 11 and the protruding lower end of the working track 1 are abutted, which can effectively prevent the entire robotic arm from falling off the working track 1.

[0036] It should be noted that the parts in this embodiment that are the same or similar to those in the first embodiment can be referenced to each other and will not be described in detail in this application.

[0037] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

Claims

1. An underwater automatic cutting robot arm suitable for caisson, characterized in that: The inner wall of the caisson is provided with a circular working track, and the mechanical arm is slidably connected to the working track through a working support. The working support is rotatably connected to a power tooth, and a rack is provided on the working track that meshes with the power tooth. When the power tooth rotates, the mechanical arm moves along the working track; The robotic arm includes a first-level tilting arm, a second-level tilting arm and a rotating arm which are hingedly connected in sequence. A plane cutter is provided on the surface of the first-level tilting arm, and a cutting head is rotatably connected to the bottom end of the rotating arm. A hydraulic push rod is provided on the working support toward the first-level tilting arm to control the rotation angle of the first-level tilting arm.

2. The underwater automatic cutting robot arm suitable for caisson according to claim 1, characterized in that: The cross-sectional shape of the working track is Type, a base buckle is provided on the side of the working support facing the working track, the base buckle is N-shaped, the base buckle is hung on the protruding upper end of the working track, the power tooth is provided below the base buckle, and the rack is provided on the bottom surface of the web of the working track.

3. The underwater automatic cutting robot arm suitable for caisson according to claim 1, characterized in that: The lower end of the rotating arm is provided with a high-pressure water flushing port and a mud suction operation port facing the cutting head.

4. The underwater automatic cutting robot arm suitable for caisson according to claim 1, characterized in that: The plane cutter is a conveyor belt structure, and the side of the plane cutter facing the caisson is exposed on the surface of the first-level inclined arm.

5. The underwater automatic cutting robot arm suitable for caisson according to claim 2, characterized in that: A limiting nut is provided on the side of the working support facing the working track. The limiting nut is provided below the base buckle, and the limiting nut abuts against the protruding lower end of the working track.

6. The underwater automatic cutting robot arm suitable for caisson according to claim 1, characterized in that: The two ends of the hydraulic push rod are rotatably connected to the working support and the first-level tilting arm respectively.

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