Excavating device for rockfill material test pit

Abstract

The utility model provides a rockfill material test pit excavation device which comprises a machine frame and a mechanical gripper movably connected to the machine frame, and the mechanical gripper comprises a disc, a first clamping jaw and a second clamping jaw. The first clamping jaw and the second clamping jaw are both arranged on the disc. The first clamping jaw and the second clamping jaw are distributed in a cross shape; each of the first clamping jaw and the second clamping jaw comprises a fixed plate, a linkage arm, an electric push rod and a mechanical claw which are symmetrically arranged; one end of each linkage arm is hinged to the fixing plate, and the other end of each linkage arm is hinged to the corresponding mechanical claw. The fixed end of the electric push rod is hinged to the bottom of the disc. The driving end of the driving rod is hinged to the inner side of the linkage arm; a pressure sensor is arranged on each mechanical claw; by means of the first clamping jaw and the second clamping jaw which are arranged in the mechanical gripper in a crossed mode, the force of the mechanical gripper for grabbing granular objects is enhanced; therefore, the moving space of the mechanical gripper can be effectively enlarged, and the stone can be effectively grabbed.

Description

Technical Field

[0001] This utility model relates to the field of rockfill dam material test pit excavation technology, and in particular to a rockfill material test pit excavation device. Background Technology

[0002] During the construction of rockfill dams, the quality inspection of dam material compaction is a crucial step in ensuring the stability of the entire dam structure and the overall project quality. Among these steps, test pit excavation is the first step in the quality inspection of dam material compaction.

[0003] In engineering, the traditional excavation method is to manually excavate test pits. Generally speaking, it takes 1 to 2 workers about 1 to 2 hours to dig a test pit with a radius of 1.0 meter and a depth of 0.4 meters. This is relatively wasteful in terms of manpower utilization efficiency, resulting in high labor costs.

[0004] Currently, in the face of the inconvenience of manual excavation, existing technologies mostly use rotating motors and drill bits to achieve rapid and automatic excavation of test pits; however, this excavation method is prone to damaging the rocks themselves and cannot collect the excavated rocks, thus making it impossible to detect the particle size distribution of the dam material.

[0005] Faced with the problem of not being able to collect the excavated stones, existing technologies mostly use remotely controllable mechanical grippers, which can grab heavy or dangerous objects that are difficult for humans to grab, and can be remotely controlled to complete the grabbing task quickly; however, existing mechanical grippers have a small range of movement after being fixed in place, and cannot quickly and forcefully grab objects with a three-dimensional granular structure like stones. Utility Model Content

[0006] The technical problem this invention aims to solve is to address the shortcomings of the existing technology by providing a test pit excavation device for riprap. This invention utilizes a positioning component that can move longitudinally and laterally to control the free movement of the mechanical gripper, thereby expanding the gripping range of the mechanical gripper. Furthermore, the first and second grippers arranged in a cross shape within the mechanical gripper enhance the gripping force of the mechanical gripper on granular objects. Thus, this invention can effectively expand the moving space of the mechanical gripper and effectively grasp stones.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0008] A test pit excavation device for riprap includes a frame, a mechanical gripper movably connected to the frame, and a controller, wherein the mechanical gripper includes a disc, a first gripper, and a second gripper.

[0009] The first and second grippers have the same structure and are both disposed on the disk; the first and second grippers are arranged in a cross shape, and the intersection of the line connecting the first and second grippers is located on the central axis of the disk;

[0010] Both the first and second grippers include two sets of symmetrically arranged fixed plates, linkage arms, electric push rods, and mechanical grippers;

[0011] The fixed plate is disposed on the side wall of the disk; one end of the linkage arm is hinged to the fixed plate, and the end away from the disk is hinged to the mechanical claw; the linkage arm includes two parallel straight arms; the fixed end of the electric push rod is hinged to the bottom of the disk; its driving end is hinged to the inner side of the linkage arm, and the hinge point is located at one-third to one-half of the linkage arm; each mechanical claw is provided with a pressure sensor for sensing the pressure value when the first claw or the second claw clamps;

[0012] The electric actuators of the first and second grippers are both electrically connected to the controller, and the two sets of electric actuators are connected in parallel to the control circuit of the controller; the output terminal of the pressure sensor is electrically connected to the controller.

[0013] The mechanical claw has an arc-shaped groove in the middle; an anti-slip pad is adhered to the outer side of the arc-shaped groove;

[0014] The pressure sensor is a piezoelectric pressure sensor, which is disposed between the anti-slip pad and the arc-shaped groove.

[0015] A laser rangefinder is installed at the bottom of the mechanical gripper to sense the distance between the two mechanical grippers of the first or second gripper. The laser rangefinder is electrically connected to the controller.

[0016] The mechanical claw has anti-slip textures on its inner bottom side, which are located below the arc-shaped groove, and the inner corner of the bottom of the mechanical claw is set as an obtuse angle.

[0017] It also includes a drive frame, which is fixed to one side of the frame.

[0018] The rack includes:

[0019] Four load-bearing columns are provided and located at the four corners of the frame; the bottom of each load-bearing column is equipped with casters.

[0020] A horizontal beam is installed between two load-bearing columns.

[0021] Two horizontal longitudinal slide rails are provided, symmetrically arranged on the left and right sides of the top of the frame along the longitudinal direction;

[0022] Two horizontal longitudinal sliders are provided and are slidably connected to the horizontal longitudinal slide rail;

[0023] A horizontal transverse slide rail is provided on the top of the frame in the transverse direction, and its two ends are connected to the horizontal longitudinal slider;

[0024] The horizontal slider is slidably connected to the horizontal slide rail;

[0025] The horizontal slider is connected to the mechanical gripper via a plumb bob retraction rod.

[0026] The mechanical gripper also includes:

[0027] An image acquisition device, coaxially fixed to the center of the disk, includes:

[0028] The outer shell has a cylindrical structure and is coaxially fixed to the middle of the disk;

[0029] A camera is located inside the housing; the camera's output port is connected to the controller for transmitting information about the object being grasped by the mechanical gripper.

[0030] An adapter, the cross-section of which is the same size as the cross-section of the cavity inside the housing; the adapter is disposed inside the housing, and the camera is fixed inside it; and the lens of the camera passes through the adapter;

[0031] A magnifying lens is located outside the housing and is coaxially arranged with the camera lens.

[0032] The image acquisition device also includes:

[0033] An image processor is disposed at the bottom of the cavity inside the housing, and its input port is connected to the output port of the camera;

[0034] A data transmission line electrically connects the image processor to the controller.

[0035] A drive motor is fixedly connected inside the housing. The output end of the drive motor passes through the housing and extends to the outside. A bearing is provided between its output shaft and the through hole. The output shaft of the housing is connected to the plumb bob in a drive-to-retract rod.

[0036] This utility model has the following beneficial effects:

[0037] First, the present invention provides a test pit excavation device for riprap, which utilizes a first and second gripper arranged in a cross shape within a mechanical gripper. When gripping stones, one set of the first and second grippers operates first, using one set of electric actuators to retract, driving the linkage arm to move, which in turn drives the hinged mechanical claws to move inward, pre-clamping the stone. When the pressure sensor inside the first gripper receives a pressure change to a set value, the electric actuator stops retracting; at this time, one side of the stone is clamped. Subsequently, the other set of the first and second grippers operates, causing its corresponding electric actuator to retract, which drives the mechanical claws to close inward through the linkage arm, assisting in fixing the other two sides of the stone and achieving uniform clamping force. In this way, the present application increases the gripping force of the mechanical gripper, ensures stable gripping of granular stones, and solves the problem of irregular stones easily falling during mechanical gripping.

[0038] Secondly, the rockfill test pit excavation device provided by this utility model uses a positioning component set at the frame to move the horizontal longitudinal slider on the horizontal longitudinal slide rail, thereby driving the horizontal transverse slide rail to move freely in the horizontal longitudinal direction. At this time, the movement of the horizontal transverse slider is used to drive the mechanical gripper to move freely in the horizontal transverse direction. In this way, the mechanical gripper can move freely in the longitudinal and transverse directions in the horizontal plane, thereby expanding the movement range of the mechanical gripper. Attached Figure Description

[0039] Figure 1 A schematic diagram of the structure of the rockfill test pit excavation device provided by this utility model;

[0040] Figure 2 A schematic diagram of the frame structure of the rockfill test pit excavation device provided by this utility model;

[0041] Figure 3 A schematic diagram of the mechanical gripper in the rockfill test pit excavation device provided by this utility model;

[0042] Figure 4 This is a bottom cross-sectional view of the image acquisition device in the rockfill test pit excavation device provided by this utility model;

[0043] Figure 5 A top cross-sectional view of the image acquisition device in the rockfill test pit excavation device provided by this utility model;

[0044] Figure 6 The execution flow chart of the rockfill test pit excavation device provided by this utility model.

[0045] Attached diagram descriptions: 1. Frame; 2. Mechanical gripper; 3. Drive frame; 4. Controller; 5. Image acquisition unit;

[0046] 11. Load-bearing column; 12. Horizontal beam; 13. Horizontal longitudinal slide rail; 14. Horizontal longitudinal slider; 15. Horizontal transverse slide rail; 16. Horizontal transverse slider; 17. Plumb bob retraction rod;

[0047] 111. Moving rollers;

[0048] 171. Drive motor;

[0049] 21. Disk; 22. First gripper; 23. Second gripper;

[0050] 211. Fixed plate; 212. Linkage arm; 213. Electric actuator; 214. Mechanical gripper; 215. Anti-slip mat; 216. Laser rangefinder;

[0051] 51. Housing; 52. Camera; 53. Adapter; 54. Magnifying lens; 55. Image processor; 56. Data transmission cable. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0053] In the description of this utility model, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this utility model. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the protection scope of this utility model.

[0054] This utility model provides a test pit excavation device for riprap; it includes a frame 1 and a mechanical gripper 2 movably connected to the frame 1, wherein the mechanical gripper 2 includes a disc 21, a first gripper 22 and a second gripper 23; the first gripper 22 and the second gripper 23 have the same structure and are both disposed on the disc 21; the first gripper 22 and the second gripper 23 are arranged in a cross shape, and the intersection of the lines connecting the first gripper 22 and the second gripper 23 is located on the central axis of the disc 21; the first gripper 22 and the second gripper 23 each include two sets of symmetrically arranged fixed plates 211, linkage arms 212, electric push rods 213 and mechanical claws 214; wherein the fixed plates 211 are disposed on the side wall of the disc 21; one end of the linkage arm 212 is connected to the fixed plate 21. The mechanical gripper 214 is hinged at one end away from the disc 21 and connected to the mechanical claw 214. The linkage arm 212 comprises two parallel straight arms. The fixed end of the electric push rod 213 is hinged to the bottom of the disc 21; its driving end is hinged to the inner side of the linkage arm 212, with the hinge point located at one-third to one-half of the linkage arm 212. A pressure sensor is installed on the mechanical claw 214 to sense the pressure value when the first gripper 22 and the second gripper 23 are gripping. The system also includes a controller 4. The electric push rods 213 of the first gripper 22 and the second gripper 23 are electrically connected to the controller 4, and the two sets of electric push rods 213 are connected in parallel to the control circuit of the controller 4. The output end of the pressure sensor is electrically connected to the controller 4. To improve the gripping stability of the mechanical gripper 2, the end of the mechanical claw 214 is provided with serrations.

[0055] Reference Figure 3 The mechanical gripper 2 utilizes a cross-shaped arrangement of first grippers 22 and second grippers 23. When gripping a stone, the electric actuator 213 within the first gripper 22 / second gripper 23 retracts, causing the linkage arm 212 to move. Simultaneously, through two parallel straight arms within the linkage arm 212, the electric actuator 213 retracts, causing the inner straight arm to move, which in turn moves the hinged mechanical claw 214 inward. When the pressure sensor within the first gripper 22 transmits the pressure value to the controller 4, and the controller 4 detects a pressure change to the rated value, the electric actuator 213 stops retracting. At this time, the electric actuator 213 within the second gripper 23 / first gripper 22 retracts, causing the mechanical claw 214 to retract inward via the linkage arm 212, assisting in the lateral fixation of the stone. Therefore, this application increases the gripping force of the mechanical gripper 2, ensuring stable gripping of granular stones.

[0056] Reference Figure 3 To ensure that the mechanical gripper 2 can stably hold granular stones after it is retracted, an arc-shaped groove is provided in the middle of the mechanical claw 214; an anti-slip pad 215 is attached to the outer side of the arc-shaped groove; the pressure sensor is a piezoelectric pressure sensor, which is set between the anti-slip pad 215 and the arc-shaped groove.

[0057] Reference Figure 3 A laser rangefinder 216 is installed at the bottom of the mechanical gripper 214 to sense the distance between the two mechanical grippers 214 of the first gripper 22 or the second gripper 23. The laser rangefinder 216 is electrically connected to the controller 4. Furthermore, after each stone is gripped and moved by this device, the controller 4 records the corresponding size information of the stone. By collecting the sizes of multiple stones and calculating the average value based on the records, the gradation of the dam material can be detected.

[0058] To improve the anti-slip performance of the mechanical gripper 2, the inner bottom of the mechanical claw 214 is provided with anti-slip texture, which is located below the arc-shaped groove, and the inner bottom angle of the mechanical claw 214 is set as an obtuse angle.

[0059] Reference Figure 1 To increase the ease of use of this device, the rockfill test pit excavation device designed in this application also includes a drive frame 3, which is fixed to one side of the frame 1; thus, when using this application, the frame 1 is transported to the place where the pit needs to be dug by driving the drive frame 3, thereby improving the ease of use of this application.

[0060] The frame 1 includes: four load-bearing columns 11 located at the four corners of the frame 1; movable rollers 111 are installed at the bottom of the load-bearing columns 11; a crossbeam 12 is horizontally positioned between two load-bearing columns 11; two horizontal longitudinal slide rails 13 are symmetrically positioned on the left and right sides of the top of the frame 1; two horizontal longitudinal sliders 14 are slidably connected to the horizontal longitudinal slide rails 13; a horizontal transverse slide rail 15 is positioned transversely at the top of the frame 1 and its two ends are connected to the horizontal longitudinal sliders 14; a horizontal transverse slider 16 is slidably connected to the horizontal transverse slide rail 15; the horizontal transverse slider 16 is connected to the mechanical gripper 2 via a plumb bob and a retraction rod 17.

[0061] Reference Figure 2 The horizontal longitudinal slider 14 moves on the horizontal longitudinal slide rail 13, causing the horizontal transverse slide rail 15 to move freely in the horizontal longitudinal direction. At this time, the horizontal transverse slider 16 moves, causing the mechanical gripper 2 to move freely in the horizontal transverse direction. This ensures the free movement of the mechanical gripper 2 in the horizontal plane. With the help of the plumb bob and the retraction rod 17, the movement of the three together ensures that the mechanical gripper 2 can move flexibly in the entire space (three dimensions). This effectively expands the gripping range of the mechanical gripper 2 and improves the ease of use of this application.

[0062] The mechanical gripper 2 also includes: an image acquisition unit 5, which is coaxially fixed to the middle of the disk 21. The image acquisition unit includes: a housing 51, which has a cylindrical structure and is coaxially fixed to the middle of the disk 21; a camera 52, which is located inside the housing 51; the output port of the camera 52 is connected to the controller 4 and is used to transmit information about the object grasped by the mechanical gripper 2; an adapter 53, whose cross-section is the same size as the cross-section of the cavity inside the housing 51; the adapter 53 is located inside the housing 51, and the camera 52 is fixed inside it; and the lens of the camera 52 passes through the adapter 53; and a magnifying lens 54, which is located outside the housing 51 and is coaxially arranged with the lens of the camera 52.

[0063] Reference Figure 3 and 6 To ensure successful positioning and gripping of the stones, this application also includes an image feature extraction module within the controller 4. Its main function is to extract the shape features of the stones based on the stone images collected by the image acquisition device 5, and upload these features to the controller 4. At this time, the controller 4 controls the frame 1 to adjust the position of the mechanical gripper 2 based on the collected stone image position information, thereby achieving automatic stone gripping. Furthermore, the housing 51 of the image acquisition device 5 adopts a waterproof and dustproof design, achieving an IP67 protection rating, thus preventing the device from being affected by the construction environment and ensuring stability and reliability in complex environments.

[0064] The core of this function lies in: using an image recognition vision system to accurately locate the target stone; such as... Figure 5 As shown, in order to further accurately locate the target stone, this application uses the camera 52 in the image acquisition unit 5 to detect and determine whether the target stone is completely displayed within the grasping range. If the stone is completely within the grasping range (i.e., the shooting frame of the camera 52 can completely cover the stone), the camera 52 is used directly for image collection, feature extraction and other grasping work. Conversely, if the stone is not within the shooting frame of the camera 52 or the image is incomplete, the system will automatically output a signal to adjust the position of the mechanical gripper 2 to ensure that the acquired stone structure image is complete before proceeding with subsequent work, thereby better obtaining the spatial features of the target stone.

[0065] In this application, the controller 4 constructs a coordinate system for grasping stones with the mechanical gripper 2 as the base point. The test pit information collected by the image acquisition device 5 is uploaded to the controller 4 to calculate the coordinate information of the target stone in the pit. The controller calculates the position coordinates of the target stone in the x, y, and z degrees of freedom with the gripper as the base point. The coordinates are uploaded to the gripper automatic adjustment module through data transmission signal, so as to issue a grasping command and achieve the result of accurately grasping the stone.

[0066] The image acquisition unit 5 also includes: an image processor 55, which is located at the bottom of the cavity inside the housing 51, and its input port is connected to the output port of the camera 52; and a data transmission line 56, which electrically connects the image processor 55 to the controller 4. The image captured by the camera 52 is uploaded to the image processor 55, where noise reduction and contour tracing are performed. The processed image is then imported into the controller 4 for contour information extraction via the data transmission line 56.

[0067] A power supply box is also installed on rack 1, which provides power to the entire device.

[0068] A drive motor 171 is fixedly connected inside the housing 51. The output end of the drive motor 171 passes through the housing 51 and extends to the outside. A bearing is provided between its output shaft and the through hole. The output shaft of the housing 51 is connected to the plumb bob and the retracting rod 17 for transmission.

[0069] Reference Figure 5 This application also includes an angle adjustment module in the controller 4; wherein, the controller 4 controls the drive motor 171 to rotate according to the angle of the stones in the acquired photo; at this time, since the drive motor 171 is fixed in the housing 51 and the output shaft is disconnected from the housing 51 through the bearing; at this time, the rotation of the drive motor 171 will drive the housing 51 and the mechanical gripper 2 connected to the plumb bob towards the retraction rod 17 to rotate; after rotation, until the mechanical claw 214 can be inserted into the gap between the stones, ensuring that the stones can be smoothly gripped by the mechanical claw 214, realizing the automatic obstacle avoidance function in the process of excavating the piled stone, and improving the practicality of this device.

[0070] Working principle:

[0071] First, the worker enters the cab of the drive frame 3 and operates the drive frame 3 to move the entire device to the test pit position, ensuring that the movement range of the mechanical gripper 2 covers the entire test pit.

[0072] Secondly, the controller 4 calls the image acquisition device 5 to acquire images of the stones inside the test pit, and automatically uploads the acquired and processed images to the image feature extraction module in the controller 4 to obtain the shape information of the stones.

[0073] Next, this information is imported into the gripper automatic adjustment module. The mechanical gripper 2 will accurately locate the target stone according to the input stone information and automatically adjust the position of the mechanical arm and auxiliary arm, thereby adjusting the tension of the mechanical claws 214. Among them, after receiving the instruction, a pair of mechanical claws 214 can automatically adjust and fit the maximum length Lmax of the stone in this direction; while the other vertical grippers clamp the other side of the stone to prevent the stone from falling during the gripping and handling process.

[0074] Finally, the mechanical gripper 2 will use the positioning components on the frame 1 and the horizontal longitudinal slide rail 13 and horizontal transverse slide rail 15 to transfer the stone to the designated position. At this point, the device has completed one stone grabbing operation and can proceed to the next step until the test pit excavation is completed.

[0075] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, and these variations still fall within the protection scope of this utility model.

Claims

1. A rockfill test pit excavation apparatus, characterised in that, The utility model relates to a mechanical hand, including frame (1), the mechanical hand (2) of movable connection in frame (1) and controller (4), wherein the mechanical hand (2) includes disc (21), first jaw (22) and second jaw (23); The first jaw (22) and the second jaw (23) are the same structure, and are arranged on the disc (21); the first jaw (22) and the second jaw (23) are distributed in a cross shape, and the intersection of the first jaw (22) and the second jaw (23) is located on the central axis of the disc (21); The first jaw (22) and the second jaw (23) each include two groups of symmetrically arranged fixed plates (211), linkage arms (212), electric push rods (213) and mechanical claws (214); Wherein, the fixed plate (211) is arranged on the side wall of the disc (21); one end of the linkage arm (212) is hinged to the fixed plate (211), and the end away from the disc (21) is hinged to the mechanical claw (214); the linkage arm (212) includes two parallel straight arms; the fixed end of the electric push rod (213) is hinged to the bottom of the disc (21); the driving end is hinged to the inner side of the linkage arm (212), and the hinge point is located at one third to one half of the linkage arm (212); each mechanical claw (214) is provided with a pressure sensor for sensing the pressure value when the first jaw (22) or the second jaw (23) is clamped; Wherein, the electric push rod (213) of the first jaw (22) and the electric push rod (213) of the second jaw (23) are electrically connected with the controller (4), and the two groups of electric push rods (213) are connected in parallel on the control circuit of the controller (4); the output end of the pressure sensor is electrically connected with the controller (4).

2. The rockfill test pit excavation apparatus of claim 1, wherein, The middle part of the mechanical claw (214) is provided with an arc-shaped groove; the outer side of the arc-shaped groove is bonded with a non-slip pad (215); The pressure sensor adopts a piezoelectric pressure sensor, which is arranged between the non-slip pad (215) and the arc-shaped groove.

3. The rockfill test pit excavation apparatus of claim 1, wherein, The bottom of the mechanical claw (214) is provided with a laser range finder (216) for sensing the distance between the two mechanical claws (214) of the first jaw (22) or the second jaw (23), and the laser range finder (216) is electrically connected with the controller (4).

4. The rockfill test pit excavation apparatus of claim 1, wherein, The inner bottom of the mechanical claw (214) is provided with a non-slip pattern, which is located below the arc-shaped groove, and the inner bottom angle of the mechanical claw (214) is obtuse.

5. The rockfill test pit excavation apparatus of claim 1, wherein, It also includes a driving frame (3) fixed to one side of the frame (1).

6. The rockfill test pit excavation apparatus of claim 5, wherein, The frame (1) includes: Four load-bearing columns (11) are arranged at the four corners of the frame (1); the bottom of the load-bearing column (11) is provided with a moving roller (111); A cross beam (12) is horizontally arranged between two load-bearing columns (11); Two horizontal longitudinal sliding rails (13) are symmetrically arranged on the left and right sides of the top of the frame (1) in the longitudinal direction; Horizontal longitudinal sliding blocks (14) are provided with two, slidingly connected to the horizontal longitudinal sliding rails (13); Horizontal transverse sliding rails (15) are provided on the top of the frame (1) in the transverse direction, and the two ends are connected to the horizontal longitudinal sliding blocks (14); Horizontal transverse sliding blocks (16) are slidingly connected to the horizontal transverse sliding rails (15); The horizontal transverse sliding blocks (16) are connected to the mechanical gripper (2) through the plumb to retractable rod (17).

7. The rockfill test pit excavation apparatus of claim 6, wherein, The mechanical gripper (2) further comprises: An image collector (5) is coaxially fixed to the middle part of the disc (21), which comprises: A shell (51) is a straight cylindrical structure coaxially fixed to the middle part of the disc (21); A camera (52) is provided inside the shell (51); the output port of the camera (52) is connected to the controller (4) for transmitting the information of the object gripped by the mechanical gripper (2); An adapter (53) has the same cross-sectional size as the internal cavity of the shell (51); the adapter (53) is provided inside the shell (51), and the camera (52) is fixed to the inside of the adapter (53); and the lens of the camera (52) passes through the adapter (53); A magnifying lens (54) is provided outside the shell (51), which is coaxially arranged with the lens of the camera (52).

8. The rockfill test pit excavation apparatus of claim 7, wherein, The image collector (5) further comprises: An image processor (55) is provided at the bottom of the internal cavity of the shell (51), and the input port of the image processor (55) is connected to the output port of the camera (52); A data transmission line (56) electrically connects the image processor (55) and the controller (4).

9. The rockfill test pit excavation device according to claim 8, wherein The shell (51) is internally and fixedly connected with a driving motor (171), the output end of the driving motor (171) penetrates the shell (51) and extends to the outside, a bearing is arranged between the output shaft of the driving motor (171) and the penetrating hole, and the output shaft of the shell (51) is in transmission connection with the plumb to retractable rod (17).

Images