Foundation pit measuring robot

Abstract

The utility model relates to the technical field of foundation pit measurement, in particular to a foundation pit measurement robot which comprises a walking mechanism and an installation plate of the robot, the installation plate is fixedly installed at the upper end of the walking mechanism, a plurality of sliding sleeves are symmetrically and fixedly installed on the surfaces of the two sides of the installation plate, and a plurality of measurement assemblies are arranged in the sliding sleeves at the corresponding positions. The measuring assembly comprises a square tube inserted into the sliding sleeve in a sliding mode, and the tiling assembly is arranged at one end of the walking mechanism. According to the utility model, the measuring arm moves outwards, the rollers abut against the side wall of the foundation pit, the robot walking mechanism drives the measuring assembly to move in the foundation pit, the side wall of the foundation pit is detected, the perpendicularity of the foundation pit at different positions is judged through the telescopic distance of the measuring arm, the influence of unevenness of the side wall of the foundation pit on a measuring result is reduced, and the measuring precision is improved; and meanwhile, along with rotation of the rolling wheels, surface soil on the side wall of the foundation pit is swept off, and the surface soil is evenly laid at the bottom of the foundation pit through the tiling assembly.

Description

TECHNICAL FIELD

[0001] The utility model relates to a foundation pit measurement technical field, concretely is a kind of foundation pit measurement robot. BACKGROUND

[0002] Foundation pit monitoring refers to the inspection, monitoring work implemented to building foundation pit and surrounding environment during construction and service life, and foundation pit safety is the key of foundation pit construction, and there are various associated factors for foundation pit safety, and the safety of foundation pit not only depends on scientific and reasonable foundation pit design, detailed and careful geological survey, careful and meticulous construction operation, but also is closely related to the influence of external environment on foundation pit soil, and foundation pit measurement is usually measured by artificial hand-held equipment or robot is placed inside foundation pit, and semi-automated measurement is realized by image processing and sensor cooperation detection.

[0003] The existing foundation pit measurement robot usually first shoots the side wall by means of image shooting module, then carries out data processing and feature recognition by image processing algorithm, and then measures the distance at different heights by using infrared distance sensor, cooperates with image data to detect the perpendicularity of foundation pit side wall, and since the surface of side wall after foundation pit excavation is often uneven and often residual floating soil, these factors will interfere with the measurement accuracy of infrared distance sensor, resulting in error of result, and it is also not convenient to process the floating soil of foundation pit side wall by robot during detection process. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of foundation pit measurement robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of foundation pit measurement robot, including the walking mechanism of robot, still include:

[0007] Mounting plate is fixedly installed on the upper end of walking mechanism, and the surface of the mounting plate is symmetrically fixedly installed with multiple sliding sleeves on both sides;

[0008] Multiple measurement assemblies are arranged in the sliding sleeve inside corresponding position, and the measurement assembly includes square tube slidingly inserted into the sliding sleeve, the square tube is slidingly inserted with measurement arm inside, the measurement arm is rotatably connected with roller by support at one end, and the measurement arm outside and square tube one end are fixedly installed with baffle;

[0009] Flat assembly is arranged at one end of walking mechanism.

[0010] Further be in: The inside rotation joint of mounting plate has a rotating shaft, a plurality of first gears are fixedly installed on the outside of the rotating shaft, a toothed plate is fixedly installed on the side surface of the square tube, the first gears are in meshing transmission connection with the toothed plates at the corresponding positions, and a first motor capable of driving the rotating shaft to rotate is fixedly installed on the upper end of the mounting plate.

[0011] Further be in: The lower end of the baffle at one end of the square tube is fixedly installed with an infrared distance sensor, a clamping groove is formed in the upper end of the baffle, a limiting rod is hingedly connected to the upper end of the baffle on the outside of the measuring arm, and the limiting rod is in movable clamping connection with the clamping groove.

[0012] Further be in: The spring is movably sleeved between the two baffles on the outside of the measuring arm.

[0013] Further be in: The laying assembly comprises:

[0014] A mounting frame is fixedly installed at one end of the walking mechanism;

[0015] Two stepped rods are symmetrically fixedly installed on the upper surface of the mounting frame;

[0016] A sleeve ring is rotationally connected to the outside of the stepped rod.

[0017] Preferably, an incomplete gear is fixedly installed on the outside surface of the sleeve ring, two third motors are fixedly installed on the upper surface of the mounting frame through supports, and a second gear in meshing transmission connection with the incomplete gear is fixedly installed on the output end of the third motor.

[0018] Preferably, an arc-shaped scraper is fixedly installed at one end of the sleeve ring, a spiral blade is rotationally connected in the arc-shaped scraper, and a second motor capable of driving the spiral blade to rotate is fixedly installed at one end of the arc-shaped scraper.

[0019] Compared with the prior art, the utility model has the beneficial effects that:

[0020] 1. The distance between the two symmetrical rollers is adjusted through the operation of the first motor, so that the rollers can abut against the side walls of the foundation pits with different widths. When measuring, the rollers roll along the side walls of the foundation pits, and the rollers push the measuring arm to stretch out or retract in the square tube as the perpendicularity of the side walls of the foundation pits changes. At this time, the distance between the two baffles changes, the infrared distance sensor measures the distance change between the two baffles, detects the perpendicularity change of the side walls of the foundation pits, and thus the influence of the unevenness of the side walls of the foundation pits on the measurement result is reduced, and the measurement accuracy is improved.

[0021] 2. The floating soil on the side walls of the foundation pits is swept off as the rollers rotate. Correspondingly, the third motor operates to adjust the position of the arc-shaped scraper, the second motor operates to drive the spiral blade to rotate, and the floating soil scraped by the arc-shaped scraper is moved, so that the fallen floating soil is laid on the bottom of the foundation pit. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is the overall structure schematic view of the utility model;

[0023] Figure 2 is the installation plate section structure schematic view in the utility model;

[0024] Figure 3 is the measurement assembly part section structure schematic view in the utility model;

[0025] Figure 4 is the structure schematic view of the utility model in the paving assembly;

[0026] Figure 5 is the paving assembly section structure schematic view in the utility model.

[0027] In the drawing: 1, walking mechanism;101, installation plate;102, rotating shaft;103, sliding sleeve;104, No. 1 gear;105, No. 1 motor;2, measurement assembly;201, square tube;202, toothed plate;203, baffle;204, clamping groove;205, infrared distance sensor;206, measurement arm;207, spring;208, limiting rod;209, roller;3, paving assembly;301, mounting frame;302, stepped rod;303, collar;304, incomplete gear;305, arc-shaped scraper;306, helical blade;307, No. 2 motor;308, No. 3 motor;309, No. 2 gear. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0029] Please refer to Figures 1-5 In the embodiments of the utility model, a foundation pit measurement robot comprises the walking mechanism 1 and the installation plate 101 of the robot, the installation plate 101 is fixedly installed on the upper end of the walking mechanism 1, a plurality of sliding sleeves 103 are symmetrically fixedly installed on the surfaces of the two sides of the installation plate 101, a plurality of measurement assemblies 2 are arranged in the sliding sleeves 103 at the corresponding positions, the measurement assembly 2 comprises a square tube 201 slidingly inserted into the sliding sleeve 103, a measurement arm 206 is slidingly inserted into the square tube 201, the measurement arm 206 is rotatably connected with a roller 209 through a support at one end, baffles 203 are fixedly installed on the outer side of the measurement arm 206 and one end of the square tube 201, and the paving assembly 3 is arranged at one end of the walking mechanism 1.

[0030] Specifically, the walking mechanism 1 operates, causing the robot to move inside the pit. The verticality of the pit sidewall is detected by the measuring component 2, and the loose soil on the pit sidewall is scraped off. Then, the scraped loose soil is spread evenly on the bottom of the pit by the paving component 3.

[0031] Example 1

[0032] like Figure 2 As shown, in this embodiment, a rotating shaft 102 is rotatably connected inside the mounting plate 101, and multiple gears 104 are fixedly installed at equal intervals on the outer side of the rotating shaft 102. A toothed plate 202 is fixedly installed on one side surface of the square tube 201. The gears 104 mesh with the toothed plates 202 at corresponding positions for transmission. A motor 105 capable of driving the rotating shaft 102 to rotate is fixedly installed on the upper end of the mounting plate 101.

[0033] In this embodiment, the No. 1 motor 105 operates, driving the rotating shaft 102 and multiple No. 1 gears 104 to rotate. Through the meshing transmission of the No. 1 gear 104 and the toothed plate 202, the toothed plate 202 drives the square tube 201 to move outward, adjusting the distance between the two symmetrical rollers 209 so that they can abut against the pit sidewalls of different widths.

[0034] like Figure 3 As shown, in this embodiment, an infrared distance sensor 205 is fixedly installed at the lower end of the baffle 203 located at one end of the square tube 201. A slot 204 is provided at the upper end of the baffle 203. A limiting rod 208 is hinged to the upper end of the baffle 203 located outside the measuring arm 206. The limiting rod 208 is movably engaged with the slot 204. When adjusting the distance between the two rollers 209, the limiting rod 208 is locked inside the slot 204, fixing the distance between the two baffles 203. At this time, the spring 207 is in a slightly contracted state, which can move outward and continue to extend and retract under the action of resistance. The spring 207 is movably sleeved on the outside of the measuring arm 206 between the two baffles 203.

[0035] In practice, during measurement, the roller 209 rolls along the sidewall of the pit. As the verticality of the pit sidewall changes, the roller 209 pushes the measuring arm 206 to extend and retract inside the square tube 201. At this time, the distance between the two baffles 203 changes accordingly. The infrared distance sensor 205 measures the change in distance between the two baffles 203 and transmits the signal to the robot's processor. The processor processes and converts the transmitted signal and performs calculations to detect the change in the verticality of the pit sidewall. As a result, the measuring arm 206 moves outward, causing the roller 209 to press against the pit sidewall to detect the pit sidewall. This reduces the impact of unevenness of the pit sidewall on the measurement results and improves measurement accuracy. At the same time, as the roller 209 rotates, it sweeps away the loose soil on the pit sidewall.

[0036] Example 2

[0037] On the basis of the first embodiment, in order to solve the problem that the fallen floating soil is not convenient to handle.

[0038] As shown in Figure 4 and Figure 5 In this embodiment, the flat assembly 3 comprises: a mounting frame 301 fixedly installed at one end of the walking mechanism 1, two stepped rods 302 symmetrically fixedly installed on the upper surface of the mounting frame 301, and a sleeve ring 303 rotatably connected to the outside of the stepped rod 302; an incomplete gear 304 is fixedly installed on the outer surface of the sleeve ring 303, two third motors 308 are fixedly installed on the upper surface of the mounting frame 301 through supports, and a second gear 309 in meshing transmission connection with the incomplete gear 304 is fixedly installed on the output end of the third motor 308; and an arc-shaped scraper 305 is fixedly installed at one end of the sleeve ring 303.

[0039] In specific implementation, the corresponding third motor 308 operates to drive the second gear 309 to rotate, and through the meshing transmission between the second gear 309 and the incomplete gear 304, the sleeve ring 303 rotates around the stepped rod 302, the position of the arc-shaped scraper 305 is adjusted, and the arc-shaped scraper 305 moves the fallen floating soil to the middle of the foundation pit and lays it on the bottom of the foundation pit.

[0040] As shown in Figure 5 In this embodiment, a helical blade 306 is rotatably connected inside the arc-shaped scraper 305, and a second motor 307 capable of driving the helical blade 306 to rotate is fixedly installed at one end of the arc-shaped scraper 305.

[0041] In specific implementation, the second motor 307 operates to drive the helical blade 306 to rotate, drive the floating soil scraped by the arc-shaped scraper 305 to move, reduce the resistance of the floating soil to the arc-shaped scraper 305, and make the robot more convenient to move.

[0042] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0043] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature or implementation described herein. The specification can include implicit combinations of explicitly mentioned features and / or implicit combinations of implicitly mentioned features. Such combinations are also expressly included within the scope of the specification and an embodiment.

Claims

1. A foundation pit surveying robot comprising a travelling mechanism (1) of the robot, characterized in that, Also include: The mounting plate (101) is fixedly installed on the upper end of the walking mechanism (1), and a plurality of sliding sleeves (103) are symmetrically fixedly installed on the two side surfaces of the mounting plate (101); A plurality of measuring assemblies (2) are arranged in the sliding sleeves (103) at corresponding positions, the measuring assembly (2) comprises a square tube (201) slidingly inserted into the sliding sleeve (103), a measuring arm (206) slidingly inserted into the square tube (201), the measuring arm (206) is rotatably connected with a roller (209) at one end through a support, and the outer side of the measuring arm (206) and one end of the square tube (201) are fixedly installed with baffles (203); The paving assembly (3) is arranged at one end of the walking mechanism (1).

2. The foundation pit measuring robot according to claim 1, characterized in that, The mounting plate (101) is rotatably connected with a rotating shaft (102), a plurality of first gears (104) are equidistantly fixedly installed on the outer side of the rotating shaft (102), a toothed plate (202) is fixedly installed on one side surface of the square tube (201), the first gear (104) is in meshing transmission connection with the toothed plate (202) at the corresponding position, and a first motor (105) capable of driving the rotating shaft (102) to rotate is fixedly installed on the upper end of the mounting plate (101).

3. The foundation pit measuring robot according to claim 1, characterized in that, The lower end of the baffle (203) at one end of the square tube (201) is fixedly installed with an infrared distance sensor (205), the upper end of the baffle (203) is provided with a clamping groove (204), and the upper end of the baffle (203) on the outer side of the measuring arm (206) is hingedly connected with a limiting rod (208). The limiting rod (208) is movably clamped and connected with the clamping groove (204).

4. The foundation pit measuring robot according to claim 1, characterized in that, The spring (207) is movably sleeved on the outer side of the measuring arm (206) between the two baffles (203).

5. The foundation pit measuring robot according to claim 1, characterized in that, The paving assembly (3) comprises: The mounting rack (301) is fixedly installed at one end of the walking mechanism (1); Two stepped rods (302) are symmetrically fixedly installed on the upper surface of the mounting rack (301); The sleeve ring (303) is rotatably connected on the outer side of the stepped rod (302).

6. The foundation pit measuring robot according to claim 5, characterized in that, The outer side surface of the sleeve ring (303) is fixedly installed with an incomplete gear (304), two third motors (308) are fixedly installed on the upper surface of the mounting rack (301) through supports, and the output end of the third motor (308) is fixedly installed with a second gear (309) in meshing transmission connection with the incomplete gear (304).

7. The foundation pit measuring robot according to claim 5, characterized in that, The arc-shaped scraper (305) is fixedly installed at one end of the sleeve ring (303), the screw blade (306) is rotatably connected in the arc-shaped scraper (305), and the second motor (307) capable of driving the screw blade (306) to rotate is fixedly installed at one end of the arc-shaped scraper (305).

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