Deep foundation pit construction robot

Abstract

The utility model relates to the technical field of construction robots, in particular to a deep foundation pit construction robot which comprises a robot chassis, crawler wheels are rotatably connected to the side surface of the robot chassis, walking crawlers are connected to the outer surfaces of the crawler wheels in a meshed mode, and a base is fixedly connected to the upper surface of the robot chassis. A base rotary joint is fixedly connected to the upper surface of the base, a linear sliding rail is fixedly connected to the output end of the base rotary joint, and a sliding table is slidably connected to the outer surface of the linear sliding rail. The camera can deflect, the monitoring range of the monitoring mechanism can be adjusted, silt in the groove of the crawler belt is stripped outwards, when cleaning is not needed, the fender can return to the rear end of the crawler belt, interference with the crawler belt is avoided, and the robot recovers normal running operation.

Description

Technical Field

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

[0002] Deep foundation pit construction robots are used for safety supervision at foundation pit work sites and are of great significance for ensuring the safety of workers. The main components are the mobile system and the monitoring and analysis system. The mobile system is composed of main components such as motors, wheels, and motors to achieve the positioning and movement of the inspection robot. Therefore, some technical solutions have emerged, such as announcement number: CN221911977U, which records a foundation pit inspection robot with an emergency mechanism, including a shell and a chassis, the bottom of the shell is fixedly connected to the chassis, two moving wheels are provided on both sides of the chassis, one side of the top of the chassis is fixedly connected to a communication module, one side of the top of the chassis is fixedly connected to a receiving antenna, and one side of the shell is fixedly connected to a fixing seat;

[0003] Although the above-mentioned device improves the monitoring coverage, the tracks are easily stuck with mud. As the amount of mud sticking to them increases, the movement of the robot becomes increasingly difficult and consumes more power. In addition, when adjusting the camera of some devices, the entire body needs to be adjusted, which is difficult to accomplish in a small space, thus limiting the use of the equipment. Utility Model Content

[0004] The purpose of the utility model is to provide a deep foundation pit construction robot to solve the problems in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A deep foundation pit construction robot comprises a robot chassis, the side surface of the robot chassis is rotatably connected to a track wheel, the outer surface of the track wheel is meshedly connected to a walking track, the upper surface of the robot chassis is fixedly connected to a base, the upper surface of the base is fixedly connected to a base rotary joint, the output end of the base rotary joint is fixedly connected to a linear slide rail, the outer surface of the linear slide rail is slidably connected to a slide table, the outer surface of the slide table is fixedly connected to a limit seat, the upper surface of the limit seat is fixedly connected to a hydraulic push rod, the output end of the hydraulic push rod is fixedly connected to a limit frame, and the lower end of the limit frame is provided with a mechanical clamp;

[0007] The upper surface of the robot chassis is fixedly connected to a vertical plate, and a monitoring mechanism is provided on the upper surface of the vertical plate. The monitoring mechanism includes a mounting seat, an electric push rod and a camera. The mounting seat is fixedly connected to the upper surface of the vertical plate, and the internal rotation of the mounting seat is connected to a rotating shaft. The upper end of the rotating shaft is fixedly connected to a cabinet, the electric push rod is fixedly connected to the inside of the cabinet, and the output end of the electric push rod is fixedly connected to a support frame. The camera is hinged to the upper surface of the cabinet, and the lower surface of the camera is fixedly connected to an N-shaped frame. The support frame and the N-shaped frame are slidably connected.

[0008] Furthermore, a first slide groove is provided on the front surface of the vertical plate, a second slide groove is provided on the front surface of the vertical plate, a stepper motor is fixedly connected to the rear surface of the vertical plate, a trapezoidal lead screw is fixedly connected to the output end of the stepper motor, the trapezoidal lead screw and the vertical plate are rotatably connected, a lead screw nut is threadedly connected to the outer surface of the lead screw nut, and a bellows is fixedly connected between the outer surface of the lead screw nut and the vertical plate.

[0009] Furthermore, a mud scraping mechanism is provided on the front surface of the vertical plate, and the mud scraping mechanism includes a slide rail and a connecting plate, the slide rail is fixedly connected to the outer surface of the vertical plate, the interior of the slide rail is slidably connected to a rack, the rack and the lead screw nut are fixedly connected, the lead screw nut and the first slide groove are slidably connected, the connecting plate is fixedly connected to the lower surface of the rack, the end of the connecting plate is fixedly connected to a mud guard, one end of the mud guard is fixedly connected to a drive motor, the output end of the drive motor is fixedly connected to a mud removal roller, the outer surface of the mud removal roller is fixedly connected to a spiral brush body, and the mud guard is slidably connected to the second slide groove.

[0010] Furthermore, the outer surface of the vertical plate is fixedly connected to the limit box, the inner part of the limit box is slidably connected to the pressure claw, the front surface of the pressure claw is threadedly connected to the stud, the outer surface of the rotating shaft is fixedly connected to the damping sleeve, the lower end of the rotating shaft is fixedly connected to the gear, and the gear and the rack are meshingly connected.

[0011] Furthermore, the side surface of the cabinet is embedded with a door body, and the door body includes an inner door, a mounting block and an outer door. The inner door is snap-connected to the outer surface of the cabinet. A mounting groove is provided on the side surface of the door body, and the mounting block is adhered to the middle section of the mounting groove. A latch is embedded in the outer surface of the mounting block and is movably connected. A spring is nested on the outer surface of the latch, and the outer door is fixedly connected to the side surface of the inner door.

[0012] Furthermore, a control box is fixedly connected to the outer surface of the vertical plate.

[0013] Furthermore, a placement bucket is fixedly connected to the upper surface of the robot chassis.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. Start the stepper motor, which drives the trapezoidal lead screw to rotate. The lead screw nut performs linear reciprocating motion along the horizontally arranged second slide slot, causing the rack connected to the lead screw nut to slide back and forth. This in turn drives the fender to move synchronously horizontally via the connecting plate. During the fender's movement, the drive motor continues to operate, and the mud removal roller drives the spiral brush to rotate at high speed. The brush maintains elastic contact with the outer surface of the walking track, stripping mud and sand from the track groove to the outside. When cleaning is no longer necessary, the fender can be retracted to the rear end of the track to avoid interference with the track, and the robot resumes normal operation.

[0016] 2. Turn the stud, causing the pressure claw, driven by the thread, to squeeze the damping sleeve on the shaft, reducing the possibility of camera deviation when the device moves. Driven by the rack, the gear can drive the shaft to rotate, thereby deflecting the camera and adjusting the monitoring range of the monitoring mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the vertical plate structure of the utility model;

[0019] Figure 3 This is a structural diagram of the vertical plate of the utility model from another angle;

[0020] Figure 4 It is a schematic diagram of the monitoring mechanism and door body split structure of the utility model.

[0021] Figure: 1. Robot chassis; 101. Track wheel; 102. Walking track; 103. Placement bucket; 2. Base; 201. Base rotary joint; 202. Linear slide; 203. Slide; 204. Limit seat; 205. Hydraulic push rod; 206. Limit frame; 207. Mechanical gripper; 3. Vertical plate; 301. First slide; 302. Second slide; 303. Screw nut; 304. Bellows; 305. Stepper motor; 306. Trapezoidal screw; 4. Mud scraping mechanism; 401. Slide; 402. Rack; 403. Connecting plate ; 404, mud guard; 405, drive motor; 406, mud removal roller; 407, spiral brush body; 5, monitoring mechanism; 501, mounting seat; 502, rotating shaft; 503, cabinet; 504, electric push rod; 505, support frame; 506, N-shaped frame; 507, camera; 6, door body; 601, inner door; 602, mounting groove; 603, mounting block; 604, latch; 605, spring; 606, outer door; 7, control box; 8, limit box; 801, gear; 802, pressure claw; 803, stud; 804, damping sleeve. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figure 1-Figure 4 In an embodiment of the utility model, a deep foundation pit construction robot includes a robot chassis 1, a side surface of the robot chassis 1 is rotatably connected to a track wheel 101, an outer surface of the track wheel 101 is meshedly connected to a walking track 102, an upper surface of the robot chassis 1 is fixedly connected to a base 2, an upper surface of the base 2 is fixedly connected to a base rotary joint 201, an output end of the base rotary joint 201 is fixedly connected to a linear slide 202, an outer surface of the linear slide 202 is slidably connected to a slide 203, an outer surface of the slide 203 is fixedly connected to a limiting seat 204, an upper surface of the limiting seat 204 is fixedly connected to a hydraulic push rod 205, an output end of the hydraulic push rod 205 is fixedly connected to a limiting frame 206, and a mechanical clamp 207 is provided at the lower end of the limiting frame 206;

[0024] The upper surface of the robot chassis 1 is fixedly connected to the vertical plate 3, and the upper surface of the vertical plate 3 is provided with a monitoring mechanism 5, which includes a mounting seat 501, an electric push rod 504 and a camera 507. The mounting seat 501 is fixedly connected to the upper surface of the vertical plate 3, and the internal rotation of the mounting seat 501 is connected to the rotating shaft 502. The upper end of the rotating shaft 502 is fixedly connected to the cabinet 503, the electric push rod 504 is fixedly connected to the inside of the cabinet 503, and the output end of the electric push rod 504 is fixedly connected to the support frame 505. The camera 507 is hinged to the upper surface of the cabinet 503, and the lower surface of the camera 507 is fixedly connected to the N-shaped frame 506. The support frame 505 and the N-shaped frame 506 are slidably connected.

[0025] Specifically, when in use, the robot travels to the target working area at the bottom of the pit through the track wheels 101 and the walking track 102, and the base rotary joint 201 drives the linear slide 202 to rotate horizontally as a whole, so that the mechanical gripper 207 is aligned with the target to be grasped, and the hydraulic push rod 205 extends and retracts, pushing the limit frame 206 to rise and fall along the limit seat 204, and cooperating with the sliding of the slide 203 on the linear slide 202 to realize the vertical and horizontal positioning of the mechanical gripper 207. After the mechanical gripper 207 grasps the supporting component, the above steps are repeated to transport the target to the designated position through the robot chassis 1. In addition, the electric push rod 504 pushes the support frame 505 up and down, and drives the camera 507 to pitch through the N-shaped frame 506 to achieve multi-angle shooting. The rotating shaft 502 rotates at a low speed in the cabinet 503, so that the camera 507 can monitor 360° around, and the image and displacement data are transmitted back to the ground monitoring center in real time via the wireless module for remote analysis and early warning.

[0026] Example 1

[0027] like Figure 1-Figure 4 As shown, a first slide groove 301 is provided on the front surface of the vertical plate 3, a second slide groove 302 is provided on the front surface of the vertical plate 3, a stepper motor 305 is fixedly connected to the rear surface of the vertical plate 3, the output end of the stepper motor 305 is fixedly connected to a trapezoidal lead screw 306, the trapezoidal lead screw 306 and the vertical plate 3 are rotatably connected, the outer surface of the trapezoidal lead screw 306 is threadedly connected to a lead screw nut 303, and a bellows 304 is fixedly connected between the outer surface of the lead screw nut 303 and the vertical plate 3.

[0028] In this embodiment, the first slide groove 301 limits the movement of the lead screw nut 303, and the second slide groove 302 limits the movement of the mudguard 404. The stepper motor 305 is started, and the output end of the stepper motor 305 drives the trapezoidal lead screw 306 to rotate, thereby driving the lead screw nut 303 to move, and the bellows 304 provides dust protection for the trapezoidal lead screw 306.

[0029] like Figure 1-Figure 4 As shown, a mud scraping mechanism 4 is provided on the front surface of the vertical plate 3, and the mud scraping mechanism 4 includes a slide rail 401 and a connecting plate 403. The slide rail 401 is fixedly connected to the outer surface of the vertical plate 3, and the interior of the slide rail 401 is slidably connected to a rack 402, the rack 402 and the lead screw nut 303 are fixedly connected, the lead screw nut 303 and the first slide groove 301 are slidably connected, and the connecting plate 403 is fixedly connected to the lower surface of the rack 402, and the end of the connecting plate 403 is fixedly connected to a mud guard 404, one end of the mud guard 404 is fixedly connected to a driving motor 405, and the output end of the driving motor 405 is fixedly connected to a mud removal roller 406, and the outer surface of the mud removal roller 406 is fixedly connected to a spiral brush body 407, and the mud guard 404 is slidably connected to the second slide groove 302.

[0030] In this embodiment, after the robot travels a certain distance along the bottom of the foundation pit, a large amount of mud and sand will adhere to the surface of the walking track 102. At this time, the stepper motor 305 is started, and the stepper motor 305 drives the trapezoidal screw 306 to rotate. The screw nut 303 makes a linear reciprocating motion along the horizontally arranged second slide groove 302, and the rack 402 fixed to the screw nut 303 slides back and forth accordingly, driving the mud guard 404 to move synchronously in the horizontal direction through the connecting plate 403. During the movement of the mud guard 404, the drive motor 405 continues to operate, and the mud removal roller 406 drives the spiral brush body 407 to rotate at high speed. The brush body maintains elastic contact with the outer surface of the walking track 102, peeling off the mud and sand in the track groove to the outside. When cleaning is not needed, the mud guard 404 can be retracted to the rear end of the track to avoid interference with the track, and the robot resumes normal driving operation.

[0031] Example 2

[0032] On the basis of the first embodiment, in order to make up for the problem in the first embodiment that it is inconvenient to adjust the horizontal angle of the monitoring mechanism 5 .

[0033] like Figure 1-Figure 4 As shown, the outer surface of the vertical plate 3 is fixedly connected to the limit box 8, the internal sliding connection of the limit box 8 is provided with a pressure claw 802, the front surface of the pressure claw 802 is threadedly connected with a stud 803, the outer surface of the rotating shaft 502 is fixedly connected with a damping sleeve 804, the lower end of the rotating shaft 502 is fixedly connected with a gear 801, and the gear 801 is meshed with the rack 402.

[0034] In this embodiment, the stud 803 is rotated so that the pressure claw 802 squeezes the damping sleeve 804 on the rotating shaft 502 under the push of the thread, reducing the possibility of the camera 507 being offset when the device moves. Driven by the rack 402, the gear 801 can drive the rotating shaft 502 to rotate, thereby deflecting the camera 507 and adjusting the monitoring range of the monitoring mechanism 5.

[0035] like Figure 1-Figure 4 As shown, the side surface of the cabinet 503 is embedded with a door body 6, and the door body 6 includes an inner door 601, a mounting block 603 and an outer door 606. The inner door 601 is snap-connected to the outer surface of the cabinet 503, and a mounting groove 602 is provided on the side surface of the door body 6. The mounting block 603 is bonded to the middle section of the mounting groove 602. The outer surface of the mounting block 603 is embedded with a movably connected latch 604, and the outer surface of the latch 604 is nested with a spring 605. The outer door 606 is fixedly connected to the side surface of the inner door 601, the outer surface of the vertical plate 3 is fixedly connected to the control box 7, and the upper surface of the robot chassis 1 is fixedly connected to the placement bucket 103.

[0036] In this embodiment, the latch 604 is squeezed from the outside to the inside, so that the spring 605 is in a compressed state. At this time, the door body 6 and the monitoring mechanism 5 can be separated, which is convenient for the later maintenance of the electrical components inside the cabinet 503. A double seal is formed when closed to prevent mud, dust and water vapor from entering the cabinet, thereby extending the life of the internal components. The control box 7 has a built-in PLC / motion control module, which uniformly drives the stepper motor 305, the drive motor 405, the electric push rod 504 and the base rotary joint 201 to achieve track cleaning, camera pitch, rotation, and control of the robot arm movement, as well as signal relay and wireless remote transmission. It integrates a wireless communication module to upload the image, displacement sensor data and motor status collected by the camera 507 to the ground monitoring center in real time and receive remote commands. This is the existing technology and no unnecessary elaboration is made in this article.

[0037] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered illustrative and non-restrictive from all perspectives, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0038] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A deep foundation pit construction robot, comprising a robot chassis (1), a side surface of the robot chassis (1) being rotatably connected to a track wheel (101), an outer surface of the track wheel (101) being meshedly connected to a walking track (102), an upper surface of the robot chassis (1) being fixedly connected to a base (2), an upper surface of the base (2) being fixedly connected to a base rotary joint (201), an output end of the base rotary joint (201) being fixedly connected to a linear slide rail (202), an outer surface of the linear slide rail (202) being slidably connected to a slide table (203), an outer surface of the slide table (203) being fixedly connected to a limit seat (204), an upper surface of the limit seat (204) being fixedly connected to a hydraulic push rod (205), an output end of the hydraulic push rod (205) being fixedly connected to a limit frame (206), a lower end of the limit frame (206) being provided with a mechanical gripper (207); It is characterized by: The upper surface of the robot chassis (1) is fixedly connected to a vertical plate (3), and the upper surface of the vertical plate (3) is provided with a monitoring mechanism (5), and the monitoring mechanism (5) comprises: A mounting seat (501) is fixedly connected to the upper surface of the vertical plate (3); a rotating shaft (502) is rotatably connected inside the mounting seat (501); and an upper end of the rotating shaft (502) is fixedly connected to the cabinet body (503); An electric push rod (504) is fixedly connected to the interior of the cabinet (503), and an output end of the electric push rod (504) is fixedly connected to a support frame (505); The camera (507) is hinged to the upper surface of the cabinet (503); the lower surface of the camera (507) is fixedly connected to an N-shaped frame (506); and the support frame (505) and the N-shaped frame (506) are slidably connected.

2. The deep foundation pit construction robot according to claim 1, characterized in that: The front surface of the vertical plate (3) is provided with a first sliding groove (301), the front surface of the vertical plate (3) is provided with a second sliding groove (302), the rear surface of the vertical plate (3) is fixedly connected to a stepping motor (305), the output end of the stepping motor (305) is fixedly connected to a trapezoidal lead screw (306), the trapezoidal lead screw (306) and the vertical plate (3) are rotatably connected, the outer surface of the trapezoidal lead screw (306) is threadedly connected to a lead screw nut (303), and a bellows (304) is fixedly connected between the outer surface of the lead screw nut (303) and the vertical plate (3).

3. The deep foundation pit construction robot according to claim 2, characterized in that: A mud scraping mechanism (4) is provided on the front surface of the vertical plate (3), and the mud scraping mechanism (4) comprises: A slide rail (401) is fixedly connected to the outer surface of the vertical plate (3); a rack (402) is slidably connected inside the slide rail (401); the rack (402) is fixedly connected to the screw nut (303); and the screw nut (303) is slidably connected to the first slide groove (301); A connecting plate (403) is fixedly connected to the lower surface of the rack (402); a fender (404) is fixedly connected to the end of the connecting plate (403); one end of the fender (404) is fixedly connected to a drive motor (405); an output end of the drive motor (405) is fixedly connected to a demudifier roller (406); a spiral brush body (407) is fixedly connected to the outer surface of the demudifier roller (406); and the fender (404) is slidably connected to the second chute (302).

4. The deep foundation pit construction robot according to claim 3, characterized in that: The outer surface of the vertical plate (3) is fixedly connected to a limit box (8), the interior of the limit box (8) is slidably connected to a pressure claw (802), the front surface of the pressure claw (802) is threadedly connected to a stud (803), the outer surface of the rotating shaft (502) is fixedly connected to a damping sleeve (804), the lower end of the rotating shaft (502) is fixedly connected to a gear (801), and the gear (801) and the rack (402) are meshed and connected.

5. The deep foundation pit construction robot according to claim 1, characterized in that: A door body (6) is embedded and connected to the side surface of the cabinet body (503), and the door body (6) comprises: An inner door (601) is snap-connected to the outer surface of the cabinet (503), and a mounting groove (602) is provided on the side surface of the door (6); A mounting block (603) is bonded to the middle section of the mounting groove (602), wherein the outer surface of the mounting block (603) is embedded with a latch (604) in a movable connection, and the outer surface of the latch (604) is embedded with a spring (605); The outer door (606) is fixedly connected to the side surface of the inner door (601).

6. The deep foundation pit construction robot according to claim 1, characterized in that: A control box (7) is fixedly connected to the outer surface of the vertical plate (3).

7. The deep foundation pit construction robot according to claim 1, characterized in that: A placement bucket (103) is fixedly connected to the upper surface of the robot chassis (1).

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