Intelligent low-headroom cast-in-place pile construction apparatus, system and method

Abstract

Disclosed are an intelligent low-headroom cast-in-place pile construction apparatus, system and method. The construction method comprises sequentially completing: scanning of a construction site and establishment of a model; layout, point projection and calibration; automatic planning of a construction path; drilling position localization; pre-drilling preparation; drilling construction with precise control of the verticality and drilling depth; and drill rod withdrawal and in-hole environment detection, thus completing intelligent construction operation for a cast-in-place pile. The apparatus can have the construction characteristics of miniaturization and large drilling depth, and intelligent construction operation under low-headroom working conditions is achieved.

Description

Intelligent low-headroom cast-in-place pile construction equipment, system and method Technical Field

[0001] This invention relates to the Chinese priority application for the prior art patent with application number "202510111666.2" entitled "An Intelligent Low-Clearance Cast-in-Place Pile Construction Equipment, System and Method". The invention pertains to the technical field of pile hole construction in building engineering, specifically to an intelligent low-clearance cast-in-place pile construction equipment, system and method. Background Technology

[0002] Rotary drilling rigs, as modern engineering machinery, have long been used in infrastructure construction, such as pile foundation construction for roads, bridges, and tunnels. With the acceleration of urbanization and the shrinking of building spaces, many traditional rotary drilling rigs, due to their large structural height, are difficult to operate in confined spaces. Low-headroom cast-in-place pile drilling equipment has gradually emerged, with continuous optimization of design and improvement of structure.

[0003] A search revealed that document CN202111104328.4 discloses a low-headroom rotary drilling rig, including a tracked vehicle. The tracked vehicle is equipped with a downward drilling mechanism, which includes a drill rod. Below the downward drilling mechanism is a soil-lifting mechanism, which includes a casing fitted over the drill rod. A bulldozing mechanism is installed below the tracked vehicle. The advantages of this invention are that the drilling rig uses two motors and four reducers to power the power box, resulting in stronger power. Furthermore, the motors can be mounted on one side of the power box, reducing the vertical space they occupy and facilitating excavation within tunnels.

[0004] Public document CN202121838118.3 discloses a low-headroom bored pile construction machine, belonging to the field of construction machinery technology. It includes a base, a derrick fixedly connected to the top of the base, a sliding bracket slidably connected to one side of the derrick, a gearbox fixedly connected to one side of the sliding bracket, a power motor mounted on the top of the gearbox, and a drill rod fixedly connected to the output end of the power motor via the gearbox. A gravity hook is sleeved on the outer side of the drill rod. This low-headroom bored pile construction machine uses an open-type rotary drilling barrel mounted on a auger drill bit. When the drill bit drills, it drives the drilling barrel to cut soil, thereby accelerating the hole formation speed. This effectively prevents safety risks, reduces costs, and speeds up project progress, achieving good results. Furthermore, the drilling machine has a flexible and simple structure, and the equipment can autonomously adjust the drilling height by increasing or decreasing the number of derricks, enabling safe operation under low-headroom high-voltage lines.

[0005] None of the aforementioned existing technologies provide a specific description of the construction operation of low-headroom cast-in-place piles, especially regarding intelligent construction operations, including intelligent layout and intelligent planning of construction paths, precise control of verticality and drilling depth during drilling, targeted adjustments when drill rods deviate, and intelligent detection of hole quality. Summary of the Invention

[0006] The technical problem to be solved by this invention is: how to solve the intelligent control of construction of cast-in-place piles in low-headroom, deep-drilling pile foundation projects, including intelligent scanning and model building, intelligent layout and point projection, intelligent planning of construction paths, intelligent positioning of drilling locations, intelligent attitude adjustment, and intelligent control of verticality and depth.

[0007] To solve the above-mentioned technical problems, the inventors, through practice and summarization, derived the technical solution of this invention, which adopts the following technical solution:

[0008] A method for constructing intelligent low-headroom cast-in-place piles includes:

[0009] Step 1: Scan the construction site and create a model

[0010] The construction site is scanned from all angles to obtain accurate 3D point cloud data. The point cloud data is then converted into a 3D model using software and integrated with real-time data in the control system. Through data fusion, the construction site is comprehensively monitored and displayed.

[0011] Step 2: Laying out lines and projecting / correcting points.

[0012] The boundary of the construction area is laid out, and the layout and projection points are corrected through real-time data monitoring.

[0013] Step 3: Automatically plan the construction path

[0014] Reconstruct a 3D image of the construction area and use an automated path planning algorithm to generate the optimal travel route for the construction equipment. The drilling equipment then travels along the optimal route to the construction point.

[0015] Step 4, Drilling Positioning

[0016] The drilling location is marked. When the drilling equipment moves to within 1 meter of the drilling location, the drilling location is identified, and the relative signal of the drilling location is input into the industrial control computer.

[0017] After receiving the signal of the drilling position, the industrial control computer calculates the time required for the drilling equipment to turn and travel based on the measured relative distance, and inputs the signal to the PLC control system. At this time, the PLC control system controls the travel time and the turning time to make the distance between the drilling position and the center of the cast-in-place pile less than 5mm, and the positioning ends at this point.

[0018] Step 5, Preparations before drilling

[0019] Four points are selected around the drilling location. The cast-in-place pile is the inscribed circle of the four points, and the four points are equidistant from the center of the cast-in-place pile.

[0020] Sound wave detection sensors are installed at each location to perform spectral analysis and time-domain analysis on the collected sound wave signals;

[0021] The drilling equipment was adjusted to a horizontal position.

[0022] Step 6, Drilling

[0023] The verticality control component detects whether the drill pipe is in a horizontal or vertical position.

[0024] If the display shows that the borehole is in a vertical position, the drilling equipment will drive the drill rod downward to perform the drilling operation until the required drilling depth is reached;

[0025] If the drill rod is found to be deviating, the PLC control system will immediately provide feedback to the operator. Based on the feedback from the verticality control component, the PLC control system will fine-tune the drill rod through the correction component to ensure that the drill rod continues to maintain the preset angle.

[0026] Based on the acoustic wave detection sensor, the collected acoustic wave signal is analyzed in both the spectrum and time domain to determine whether the drilling process damages the soil structure around the cast-in-place pile.

[0027] Based on the acoustic wave test results, adjust the drill bit speed and drilling pressure to reduce damage to the soil around the pile hole;

[0028] Step 7, Drilling and In-Hole Monitoring

[0029] After the pile hole is formed, the drilling equipment pulls the drill rod out of the hole and monitors the environment inside the hole in real time during the drilling process.

[0030] In this application, step 2 is specifically performed as follows:

[0031] Step 21: Set up layout reference points within the construction area;

[0032] Step 22: Lay out the boundary of the construction area using a laser line-laying instrument;

[0033] Step 23: In conjunction with real-time data monitoring, determine whether there are any errors in the boundary and layout points;

[0034] If there is an error, correct the placement of the line and repeat steps 21 to 23 above.

[0035] If everything is correct, mark the layout positions, record and archive the data, and complete the layout, point projection, and correction work.

[0036] In this application, step 3 is specifically performed as follows:

[0037] Step 31: Obtain a 3D image and the location of the hole using a laser scanner;

[0038] Step 32: Monitor the device location and status using an absolutely defined method;

[0039] Step 33: Plan the path according to the position of the preset hole;

[0040] Step 34: The sensors monitor the device's location and status in real time;

[0041] Step 35: Determine if there are any dynamic obstacles;

[0042] If so, an alarm will be displayed on the screen, and the PLC control system will decelerate or stop the vehicle, repeating steps 33 to 35.

[0043] If not, continue moving until the designated position is reached to complete the automatic planning of the construction path.

[0044] In this application, step 5 also includes intelligent posture adjustment:

[0045] The drilling equipment is equipped with an attitude level sensor. The signal output terminal of the attitude level sensor is connected to the input terminal of the PLC control system. The control signal output terminal of the PLC control system is connected to the electro-hydraulic valve.

[0046] Start the PLC control system and initialize the attitude level sensor. The attitude level sensor detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system.

[0047] The PLC control system determines the levelness of the drilling equipment based on the signal from the attitude level sensor and compares the measured levelness with the system's preset levelness. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder that needs to be adjusted.

[0048] The PLC control system sends control signals to the electro-hydraulic valves to adjust the piston rod extension of the leveling hydraulic cylinder until the chassis is in a horizontal position.

[0049] In this application, in step 6, the verticality control component includes two sets of laser levels, and the correction component includes two sets of correction components. The two sets of laser levels are respectively set in the X and Y directions, and the two sets of correction components are also set in the X and Y directions.

[0050] The steps for verticality control and correction are as follows:

[0051] Step 61: The levelness of the vehicle frame is detected by laser level in the X and Y directions;

[0052] Step 62, determine whether it is horizontal in the X direction;

[0053] Step 63: If the frame is not level, the correction component in the X direction will fine-tune the drill rod in the opposite direction until the frame is level in the X direction; if it is level, then the process ends.

[0054] Step 64: Determine if the Y-direction is horizontal;

[0055] Step 65: If the frame is not level, the correction component in the Y direction will fine-tune the drill rod in the opposite direction until the frame is level in the Y direction; if it is level, the process ends.

[0056] A smart low-headroom cast-in-place pile construction device for implementing the above-described smart low-headroom cast-in-place pile construction method is also disclosed, the smart low-headroom cast-in-place pile construction device comprising:

[0057] The traveling assembly includes a frame, a traveling mechanism, and a steering mechanism, the traveling mechanism and the steering mechanism being used for the traveling and steering of the equipment, respectively;

[0058] The precision-controlled multi-section drill pipe assembly includes a vertical support, a lifting frame, threaded drill pipes, a rotary drilling bit, a lower retainer, a laser level, a laser rangefinder, a correction device, and an acoustic detection sensor. The vertical support is mounted on a vehicle frame, and the lifting frame is mounted on the vertical support and is vertically adjustable relative to the vertical support. A driver is mounted on the lifting frame, and the driver's output is connected to a reducer. The threaded drill pipes connect the reducer and the rotary drilling bit via male and female threaded ends, and adjacent threaded drill pipes are connected by their beginning and end threads. The lower retainer is mounted on the vehicle frame and fitted onto the drill pipe. On the outer side; two sets of laser levels are installed on the frame, one set at the front end of the threaded drill rod and the other set at the side end of the drill rod, with the two sets arranged at 90°; a laser rangefinder is installed on the frame and is used to monitor the distance between the bottom surface of the lifting frame and the laser rangefinder in real time; two sets of correction components are installed on the frame and are used to correct the threaded drill rod in the front-back and left-right directions; four sets of acoustic wave detection sensors are installed, distributed on the outer side of the pile hole and the pile hole is located within the inscribed circle of the four sets of acoustic wave detection sensors;

[0059] The suction separation and spiral soil extraction assembly includes a high-pressure blower, a cyclone separator, and a pressure sensor. The high-pressure blower is connected to the cyclone separator via a pipeline, and a dust collection bag is installed at the outlet of the high-pressure blower. The cyclone separator is connected via a hose and a connecting pipe, which is installed on the lifting frame and communicates with the inside of the threaded drill rod. The pressure sensor is used to detect the pressure data in the assembly and feed it back to the control system.

[0060] In this application, a sealing structure is provided on the top outer side of the rotary drilling bit, which is used to seal the gap between the top of the rotary drilling bit and the hole wall.

[0061] In this application, the sealing structure includes an airbag body one and an airbag body two distributed from bottom to top. A fixing sleeve is provided on the inner side of both airbag body one and airbag body two. An air inlet and an air outlet communicating with the airbag body are preset in the fixing sleeve. The fixing sleeve is fixed on the outer side of the rotary drilling bit. Airbag body one and airbag body two work alternately.

[0062] In this application, the sealing structure includes an annular bladder, and an inner sleeve is fitted inside the annular bladder. The inner sleeve is fitted on the top outer side of the rotary drilling bit and will not rotate relative to it. Limiting discs are provided at the top and bottom of the inner sleeve, and the outer diameter of the limiting discs is smaller than the hole diameter.

[0063] The annular capsule is pre-embedded with elastic spiral ribs, and the outer side of the inner sleeve is provided with transmission spiral ribs. When the rotary drilling bit is used for rotary drilling, the transmission spiral ribs work in conjunction with the elastic spiral ribs on the inner wall of the annular capsule to drive the annular capsule to rotate between the two limiting discs and keep the outer wall in contact with the hole wall.

[0064] In this application, the rotary drilling bit includes a drill body and two blades axially distributed on the outside of the drill body. The bottom of the drill body has an open structure, and the first blade is located at the bottom of the second blade.

[0065] In this application, the second blade includes a blade body rotatably mounted on the outside of the drill bit body at its bottom. A push rod is mounted on the inner side of the top of the blade body. One end of the push rod is rotatably mounted on the blade body, and the other end is rotatably connected to a slider. The slider slides along the axial direction of the drill bit body on the outside of the drill bit body, and the axial position of the slider relative to the drill bit body is adjustable.

[0066] In this application, a protective shell is installed on the outside of the drill bit body, a detection component is installed inside the protective shell, a sealing plate is rotatably installed at the bottom of the protective shell, an electric telescopic rod is rotatably installed at the bottom of the sealing plate, and the output end of the electric telescopic rod is rotatably installed on the slider.

[0067] In this application, an axial guide rail is installed on the outer side of the drill bit body. A slider is installed inside the axial guide rail. An anti-reverse groove is provided in the middle of the axial guide rail. A notch is provided on the slider. A T-shaped block is slidably fitted inside the notch. The movement direction of the T-shaped block is perpendicular to the layout direction of the axial guide rail. The T-shaped block is provided with a through groove and an adjustment groove. The adjustment groove and the through groove are connected and arranged perpendicularly. The output end of the electric telescopic rod passes through the through groove and is connected to a connecting block. The connecting block is slidably fitted in the adjustment groove. The adjustment groove gradually deviates from the axial guide rail in the direction away from the electric telescopic rod. An elastic anti-reverse block is provided on the side of the T-shaped block near the anti-reverse groove for matching with the anti-reverse groove.

[0068] In this application, the elastic anti-reverse block includes a mounting groove on the side of the T-shaped block near the anti-reverse toothed groove. A spring body and a movable body are installed in the mounting groove. A limit plate is fitted on the outside of the movable body. The limit plate is fixed on the side of the T-shaped block near the anti-reverse toothed groove. A one-way toothed block is fixed at the end of the movable body away from the mounting groove. The one-way toothed block and the anti-reverse toothed groove are adapted to each other.

[0069] An intelligent low-headroom cast-in-place pile construction system includes:

[0070] Construction area scanning and modeling module, including laser scanner, for comprehensive scanning of the construction site;

[0071] The construction boundary layout and construction points are projected by modules, including a laser layout instrument, which is used to lay out the boundaries of the construction area.

[0072] The construction equipment movement and construction path planning system module includes an ultrasonic sensor and an automated path planning module. The ultrasonic sensor is used to detect dynamic obstacles during movement, and the automated path planning module works with the 3D image reconstructed by the laser scanner and the dynamic obstacle situation during movement to automatically plan the movement route.

[0073] The drilling positioning module includes a vision camera, which is used to identify the drilling position and input the relative signal of the drilling position into the industrial control computer.

[0074] The intelligent low-headroom cast-in-place pile construction equipment described above is used to carry out drilling operations at the drilling location.

[0075] The automatic leveling module includes a posture level sensor, a leveling hydraulic cylinder, and an electro-hydraulic valve. The posture level sensor is used to detect the tilt angle of the construction equipment in real time. The leveling hydraulic cylinder is distributed on the drilling equipment, and the electro-hydraulic valve is used to adjust the extension of the piston rod of the leveling hydraulic cylinder.

[0076] The PLC control system is connected to the industrial computer, and the PLC control system is also connected to the laser scanner, laser line feeder, ultrasonic sensor, vision camera, attitude level sensor, and electro-hydraulic valve.

[0077] Compared with the prior art, the present invention has the following beneficial effects:

[0078] 1. The construction scheme of this invention adopts an intelligent control method to achieve automated construction. A laser scanner scans the construction site to obtain a three-dimensional model, which is then integrated and fused with real-time data in the control system for comprehensive monitoring and display of the construction site. A laser line-layout instrument then marks the boundary of the construction area, and the laser scanner reconstructs the three-dimensional image. An automated path planning algorithm generates the optimal travel route. A vision camera identifies the drilling position, which is then input into the industrial control computer. The action time of the traveling and steering mechanisms is calculated and adjusted to bring the drill bit to a position less than 5mm away from the drilling location. Acoustic wave detection sensors are embedded around the cast-in-place pile to detect the quality of the borehole wall. During drilling, two sets of laser levels are used to check the verticality of the drill rod in the X and Y directions. If a deviation occurs, the drill rod is corrected using corresponding correction components. Finally, after drilling is completed, the environment inside the hole can be monitored when the drill is lifted, preventing the possibility of hole collapse that could lead to quality problems in the cast-in-place pile.

[0079] 2. This invention has the function of intelligent layout operation. After obtaining the three-dimensional model of the construction site area, the site area is monitored and displayed in real time through data fusion. With the intelligent layout operation, the drilling positions are automatically laid out and marked in the construction site area.

[0080] 3. This invention has the function of intelligently and automatically planning construction routes. Based on the three-dimensional image reconstructed by the laser scanner and the drilling position, it uses an automated path planning algorithm to generate the optimal travel path for the construction equipment to enter the target location area.

[0081] 4. This invention has the function of intelligent drilling positioning. By using a vision camera to identify the drilling position near the target location area and inputting its relative signal into the industrial control computer, the parameters for equipment adjustment are calculated. Since the travel speed and turning speed are fixed, the travel time and turning time are controlled by the PLC control system to adjust the equipment to the set position. The relative distance between the drill bit and the drilling position is less than 5mm.

[0082] 5. This invention features intelligent verticality control and drilling depth control. It utilizes two sets of laser levels for real-time horizontal plane detection. When verticality issues arise, the PLC control system and industrial computer intelligently adjust and control the corresponding correction components to achieve intelligent fine-tuning of the drill rod. In the initial drilling stage, the drill bit is controlled to just touch the ground. A laser rangefinder is installed on the chassis to measure the distance between the bottom of the lifting frame and the laser rangefinder in the initial stage, and this distance is set as x0. Let m be the number of drill rods already drilled, with an initial value of 0. The value of m increases by 1 each time a rod is changed. During drilling, the distance between the laser rangefinder and the bottom of the lifting frame is measured in real-time as x1 and fed back to the PLC. When x0 - x1 = L, where L is the length of a single drill rod, drilling stops when the current drill rod reaches its limit position, and a rod change begins. After the rod change is completed, drilling continues. The real-time total drilling depth x3 = mL + (x0 - x1) allows for precise control of the drill bit's drilling depth.

[0083] 6. This invention enables intelligent assessment of the integrity of the soil structure during drilling. Acoustic monitoring sensors are buried within a marked circular area of ​​the soil. Each acoustic monitoring sensor is about 50-60 cm away from the marked point. The acoustic monitoring sensors can determine the integrity of the soil structure by collecting acoustic feedback between the drill rod and the stratum, and adjust the drilling operation based on the feedback data.

[0084] 7. This invention features intelligent attitude leveling. The PLC control system is activated and the attitude level sensor is initialized. The attitude level sensor detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system. The PLC control system determines the levelness of the frame based on the signal from the attitude level sensor and compares the measured levelness with the system's preset levelness. If tilt or height deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder that needs adjustment. The PLC control system sends a control signal to the electro-hydraulic valve to adjust the piston rod extension of the leveling hydraulic cylinder until the frame is in a level attitude.

[0085] 8. The drilling equipment used in this invention is a precision-controlled multi-section drill rod system. The drill rod is assembled with male and female threaded heads. One end is equipped with a rotary cutter drill bit, and the other end is connected to a reducer and a corresponding drive motor. The motor drives the drill bit to rotary drill to obtain a pile hole of the corresponding depth. The multi-section drill rod has a standard length, which is conducive to precise control of the drilling depth. With the suction separation and spiral soil extraction components, the internal pile soil can be discharged. The pressure sensor realizes real-time monitoring of the pressure in the soil discharge system. Once the pressure is too high, it indicates that a blockage has occurred, thereby realizing shutdown and maintenance operations to ensure that the equipment is not damaged.

[0086] 9. The drill bit used in this invention has a plugging structure, which facilitates bottom sealing. Compared with the sealing of previous hole-cleaning structures, the difference is that the seal in this application is a dynamic seal. The challenge lies in the fact that while the drill bit is continuously drilling downwards, a sealing structure is used at the top of the drill bit to increase the negative pressure at the bottom of the drill bit, thereby achieving efficient and timely discharge of the internal pile soil. If only the negative pressure power is increased, although the pile soil discharge effect can be improved, firstly, it greatly increases power consumption and the high-pressure blower is large, which does not conform to the original intention of equipment miniaturization; secondly, the noise and exhaust flow are also relatively obvious, and due to the low headroom environment, it is easy to damage the soil structure near the construction area (top or side); thirdly, the vibration is aggravated, affecting the soil structure inside the pile hole and also easily increasing the error probability of the acoustic sensor. The dynamic sealing method can also apply pressure to the hole wall structure to a certain extent, reducing the risk of hole collapse and soil falling due to loose soil on the hole wall. Finally, the dynamic sealing method can also ensure the problem of drill bit deviation at the end during drilling, further fundamentally solving the probability of deviation of rotary drilling.

[0087] 10. This invention employs two states for the blade at the top of the drill bit: one is the unfolded state, in which the detection component is inside the protective shell and does not work; the other is the retracted lifting state, in which the detection component is exposed from inside the protective shell. This ensures that the blade will not touch the hole wall, thus reducing the problem of soil collapse and falling off during drilling; secondly, the detection component can detect the environment inside the hole during drilling, discovering soil collapse and missing parts in the pile hole, and then repairing them in time. Attached Figure Description

[0088] Figure 1 is a flowchart of the construction method of the present invention.

[0089] Figure 2 is a flowchart of the line laying, point projection, and correction process of the present invention.

[0090] Figure 3 is a flowchart of the automatic construction path planning of the present invention.

[0091] Figure 4 is a flowchart of the verticality control process of the present invention.

[0092] Figure 5 is a schematic diagram of the control principle of the construction system of the present invention.

[0093] Figure 6 is a schematic diagram of the construction equipment structure of the present invention.

[0094] Figure 7 is a magnified view of part A in Figure 6.

[0095] Figure 8 is a schematic diagram of the rotary drilling bit structure of the present invention.

[0096] Figure 9 is a schematic diagram of the rotary drilling bit structure of the present invention.

[0097] Figure 10 shows the state of the airbag body after it has moved upwards in Figure 9.

[0098] Figure 11 is a magnified view of part B in Figure 9.

[0099] Figure 12 shows the connection relationship between the slider and the T-block in Figure 11.

[0100] Figure 13 is a schematic diagram of the slider of the present invention.

[0101] Figure 14 is a schematic diagram of the structure of the elastic anti-reverse block of the present invention.

[0102] Figure 15 is a schematic diagram of the rotary drilling bit structure of the present invention.

[0103] Figure 16 is a schematic diagram of the structure of the annular cyst in Figure 15.

[0104] Figure 17 is a schematic diagram of the protective shell of the present invention.

[0105] Figure 18 is a schematic diagram of the lower cage of the present invention.

[0106] Figure 19 is a schematic diagram of the structure of the correction component of the present invention.

[0107] Figure 20 is a structural schematic diagram of the rotary tool holder transfer robot of the present invention.

[0108] Figure 21 is a schematic diagram of the structure of the rotary tool holder transfer robot of the present invention.

[0109] Figure 22 is a schematic diagram of the drill pipe storage frame of the present invention.

[0110] Figure 23 is a schematic diagram of the walking component of the present invention.

[0111] Figure 24 is a schematic diagram of the layout of the acoustic wave detection sensor of the present invention.

[0112] Figure 25 is a schematic diagram of the cleaning structure equipped on the drill bit body of the present invention.

[0113] Figure 26 is a schematic diagram of the cleaning structure of the present invention.

[0114] Figure 27 is a vertical cross-sectional view of the connecting ring of the present invention.

[0115] Figure 28 is a cross-sectional view of the connecting ring and drill bit body of the present invention.

[0116] Figure 29 is a magnified view of point C in Figure 28.

[0117] In the diagram: 100, walking assembly; 101, frame; 102, traveling mechanism; 103, steering mechanism. 200. Precision-controlled multi-section drill rod assembly; 201. Stand; 202. Lifting frame; 203. Threaded drill rod; 204. Rotary drilling bit; 2041. Drill bit body; 20411. Connecting ring; 20412. Connecting rod; 20413. Cleaning component; 20414. Electromagnet; 20415. Elastic body; 20416. Socket; 20417. Ring bladder; 20418. Air pump assembly; 2042. Blade 1; 2043. Blade 2; 20431. Cutter body; 20432. Push rod; 20433. Slider; 20434. Protective shell; 20435. Electric telescopic rod; 20436. Inspection component; 20437. Axial guide rail; 20438. T-block; 20439. Through slot; 204310. Connection 204311, Adjustment groove; 204312, Elastic anti-reverse block; 2043121, Spring body; 2043122, Moving body; 2043123, Limiting plate; 2043124, One-way toothed block; 204313, Anti-reverse toothed groove strip; 205, Lower retainer; 206, Laser level; 207, Laser rangefinder; 208, Correction component; 209, Acoustic wave detection sensor; 210, Sealing structure; 211, Airbag body one; 212, Airbag body two; 213, Annular bladder; 214, Inner sleeve; 215, Limiting disc; 216, Elastic spiral rib; 217, Transmission spiral rib; 218, Fixing sleeve; 219, Rotary tool holder transfer robot one; 220, Rotary tool holder transfer robot two; 221, Drill rod storage frame. 300. Suction separation and spiral soil extraction assembly; 301. High-pressure blower; 302. Cyclone separator; 303. Pressure sensor; 304. Connecting pipe; 400. Laser scanner; 500. Laser line laying instrument; 600. Ultrasonic sensor; 700. Vision camera; 800. Attitude level sensor; 900. Leveling hydraulic cylinder; 1000. Electro-hydraulic valve. Detailed Implementation

[0118] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0119] As shown in Figure 1, an intelligent low-headroom cast-in-place pile construction method includes:

[0120] Step 1: Scan the construction site and create a model

[0121] The construction site is scanned from all angles to obtain accurate 3D point cloud data. The point cloud data is then converted into a 3D model using software and integrated with real-time data in the control system. Through data fusion, the construction site is comprehensively monitored and displayed.

[0122] Step 2: Laying out lines and projecting / correcting points.

[0123] The boundary of the construction area is laid out, and the layout and projection points are corrected through real-time data monitoring.

[0124] Step 3: Automatically plan the construction path

[0125] Reconstruct a 3D image of the construction area and use an automated path planning algorithm to generate the optimal travel route for the construction equipment. The drilling equipment then travels along the optimal route to the construction point.

[0126] Step 4, Drilling Positioning

[0127] The drilling location is marked. When the drilling equipment moves to within 1 meter of the drilling location, the drilling location is identified, and the relative signal of the drilling location is input into the industrial control computer.

[0128] After receiving the signal of the drilling position, the industrial control computer calculates the time required for the drilling equipment to turn and travel based on the measured relative distance, and inputs the signal to the PLC control system. At this time, the PLC control system controls the travel time and the turning time to make the distance between the drilling position and the center of the cast-in-place pile less than 5mm, and the positioning ends at this point.

[0129] Step 5, Preparations before drilling

[0130] Four points are selected around the drilling location. The cast-in-place pile is the inscribed circle of the four points, and the four points are equidistant from the center of the cast-in-place pile.

[0131] A sound wave detection sensor 209 is installed at each location to perform spectrum analysis and time domain analysis on the collected sound wave signals;

[0132] The drilling equipment was adjusted to a horizontal position.

[0133] Step 6, Drilling

[0134] The verticality control component detects whether the drill pipe is in a horizontal or vertical position.

[0135] If the display shows that the borehole is in a vertical position, the drilling equipment will drive the drill rod downward to perform the drilling operation until the required drilling depth is reached;

[0136] If the drill rod is found to be deviating, the PLC control system will immediately provide feedback to the operator. Based on the feedback from the verticality control component, the PLC control system will fine-tune the drill rod through the correction component to ensure that the drill rod continues to maintain the preset angle.

[0137] Based on the acoustic wave detection sensor 209, the collected acoustic wave signals are analyzed in terms of spectrum and time domain to determine whether the drilling process has damaged the soil structure around the cast-in-place pile.

[0138] Based on the acoustic wave test results, adjust the drill bit speed and drilling pressure to reduce damage to the soil around the pile hole;

[0139] Step 7, Drilling and In-Hole Monitoring

[0140] After the pile hole is formed, the drilling equipment pulls the drill rod out of the hole and monitors the environment inside the hole in real time during the drilling process.

[0141] As shown in Figure 2, the specific steps for step 2 are as follows:

[0142] Step 21: Set up layout reference points within the construction area;

[0143] Step 22: Use a laser line-laying instrument to lay out the boundary of the construction area 500 times;

[0144] Step 23: In conjunction with real-time data monitoring, determine whether there are any errors in the boundary and layout points;

[0145] If there is an error, correct the placement of the line and repeat steps 21 to 23 above.

[0146] If everything is correct, mark the layout positions, record and archive the data, and complete the layout, point projection, and correction work.

[0147] As shown in Figure 3, the specific steps for step 3 are as follows:

[0148] Step 31: Obtain a 3D image and the position of the hole using a laser scanner 400;

[0149] Step 32: Monitor the device location and status using an absolutely defined method;

[0150] Step 33: Plan the path according to the position of the preset hole;

[0151] Step 34: The sensors monitor the device's location and status in real time;

[0152] Step 35: Determine if there are any dynamic obstacles;

[0153] If so, an alarm will be displayed on the screen, and the PLC control system will decelerate or stop the vehicle, repeating steps 33 to 35.

[0154] If not, continue moving until the designated position is reached to complete the automatic planning of the construction path.

[0155] Step 5 also includes intelligent attitude adjustment:

[0156] The drilling equipment is equipped with an attitude level sensor 800. The signal output terminal of the attitude level sensor 800 is connected to the input terminal of the PLC control system. The control signal output terminal of the PLC control system is connected to the electro-hydraulic valve 1000.

[0157] Start the PLC control system and initialize the attitude level sensor 800. The attitude level sensor 800 detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system.

[0158] The PLC control system determines the levelness of the drilling equipment based on the signal from the attitude level sensor 800, and compares the measured levelness with the system's preset levelness. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder 900 that needs to be adjusted.

[0159] The PLC control system sends a control signal to the electro-hydraulic valve 1000 to adjust the piston rod extension of the leveling hydraulic cylinder 900 until the frame 101 is in a horizontal position.

[0160] As shown in Figure 4, the specific steps for step 6 are as follows:

[0161] Step 61: The laser level 206 in the X and Y directions detects the levelness of the frame 101;

[0162] Step 62, determine whether it is horizontal in the X direction;

[0163] Step 63: If the frame is not level, the correction component 208 in the X direction will finely adjust the drill rod in the opposite direction until the frame 101 is level in the X direction; if it is level, the process ends.

[0164] Step 64: Determine if the Y-direction is horizontal;

[0165] Step 65: If the frame is not horizontal, the correction component 208 in the Y direction will finely adjust the drill rod in the opposite direction until the frame 101 is horizontal in the Y direction; if it is horizontal, the process ends.

[0166] As shown in Figure 6, an intelligent low-headroom cast-in-place pile construction device is used to implement the above-mentioned intelligent low-headroom cast-in-place pile construction method. The intelligent low-headroom cast-in-place pile construction device includes:

[0167] The traveling assembly 100 includes a frame 101, a traveling mechanism 102, and a steering mechanism 103, wherein the traveling mechanism 102 and the steering mechanism 103 are used for the traveling and steering of the equipment, respectively.

[0168] The traveling mechanism 102 includes a battery pack, a 7.5kW motor, a pulley drive system, a reducer, a differential, a PLC control touchscreen, and a speed encoder. The steering mechanism 103 includes a differential. The battery pack powers the 7.5kW motor. The PLC programmable controller adjusts the motor's forward and reverse rotation and speed. The 7.5kW motor transmits power to the reducer via the pulley drive system. The reducer reduces the motor speed and increases torque, which is then transmitted to the differential, which distributes power to the left and right wheels. The speed encoder is mounted on the motor output shaft to provide feedback on the tracked vehicle's running speed. The PLC control touchscreen performs closed-loop control based on the speed encoder feedback signal. The touchscreen interface allows monitoring and control of the system status, enabling comprehensive control of the 7.5kW motor's speed, direction, start / stop functions, and other related functions.

[0169] As shown in Figures 6 to 20, the precision-controlled multi-section drill rod assembly 200 includes a support frame 201, a lifting frame 202, a threaded drill rod 203, a rotary drilling bit 204, a lower retainer 205, a laser level 206, a laser rangefinder 207, a correction component 208, an acoustic detection sensor 209, a rotary tool holder transfer robot 1 219, a rotary tool holder transfer robot 220, and a drill rod storage frame 221. The multi-section threaded drill rods 203 are neatly arranged in the drill rod storage frame 221. The rotary tool holder transfer robot 220 takes the threaded drill rods 203 out of the drill rod storage frame 221 and assembles them at the docking port of the reducer and the corresponding threaded drill rod 203 via the rotary tool holder transfer robot 1 219. The rotary tool holder transfer robot 1 219 and rotary tool holder transfer robot 2 220 are capable of rotating the drill rod in the horizontal plane and adjusting its vertical position to pick up and put it in place, thus realizing the picking up, putting down and disassembling of the drill rod.

[0170] The upright frame 201 is mounted on the frame 101, the lifting frame 202 is mounted on the upright frame 201 and its vertical position relative to the upright frame 201 is adjustable, the lifting frame 202 is vertically slidably fitted on the upright frame 201, and a drive mechanism is mounted on the upright frame 201. The drive mechanism can be a hydraulic cylinder or used to drive the lifting frame 202 to move up and down reciprocally.

[0171] A driver (preferably a servo motor) is mounted on the lifting frame 202, and a reducer is connected to the output of the driver. A threaded drill rod 203 is connected to the reducer and the rotary drilling bit 204 via male and female threaded ends, and adjacent threaded drill rods 203 are connected by their start and end threads. A lower retainer 205 is mounted on the frame 101 and fitted onto the outside of the drill rod, used to keep the borehole within a certain vertical range during drilling to prevent excessive deviation from causing jamming and equipment damage. The driver, via the reducer, drives the threaded drill rod 203 and the rotary drilling bit 204 to rotate and excavate the soil at the drilling location. Simultaneously, the drive mechanism drives the lifting frame 202 to move downwards, excavating the soil for drilling operations. Once the top of a section of threaded drill rod 203 has descended to the set depth, its top separates from the reducer. The drive mechanism then resets the lifting frame 202. The robotic arm will then retrieve another section of threaded drill rod 203 and, together with the drive unit, install it on top of the lower drill rod to form a single unit. The top of the unit is connected to the reducer to complete the assembly. After assembly, the drilling continues downward until the set depth is reached. The process is then reversed to remove the threaded drill rods 203 one by one from the borehole, thus completing the drilling operation.

[0172] Two sets of laser levels 206 are installed on the frame 101. One set is located at the front end (X direction) of the threaded drill rod 203, and the other set is located at the side end (Y direction) of the drill rod, with the two sets arranged at 90°. A laser rangefinder 207 is also installed on the frame 101. The two sets of laser levels 206 form a verticality control component. The two emitted laser beams indicate whether the drill rod is vertical. When the indicator shows a skewed state, the PLC control system controls the correction component 208 to fine-tune the drill rod in the opposite direction until it reaches the preset position. The verticality control component detects whether the drill rod is in a horizontal or vertical position. If the indicator shows that the drill is in a vertical position, the drilling equipment moves the drill rod downward to perform drilling operations until the required drilling depth is reached. If the indicator shows that the drill rod is deviating, the PLC control system immediately provides feedback to the operator. Based on the feedback from the verticality control component, the PLC control system fine-tunes the drill rod through the correction component to ensure that the drill rod continues to maintain the preset angle.

[0173] The specific steps are as follows: 1. The laser level 206 in the X and Y directions detects the levelness of the frame 101; 2. Determine whether it is level in the X direction; 3. If it is not level, the correction component 208 in the X direction will make a slight adjustment to the drill rod in the opposite direction and proceed to step 4; if it is level, then the process ends; 4. Repeat steps 1 and 3 until the frame 101 is level in the X direction; 5. Determine whether it is level in the Y direction; 6. If it is not level, the correction component 208 in the Y direction will make a slight adjustment to the drill rod in the opposite direction and proceed to step 7; if it is level, then the process ends; 7. Repeat steps 1, 5 and 6 until the frame 101 is level in the Y direction.

[0174] Two sets of alignment components 208 are provided and both are mounted on the frame 101. They are used to correct the threaded drill rod 203 in the front-back and left-right directions. The alignment component 208 consists of two electric grippers, which are used to fine-tune the position of the threaded drill rod 203 in the front-back and left-right directions. The two sets of alignment components 208 constitute the alignment correction assembly.

[0175] The laser rangefinder 207 is used to monitor the distance between the bottom surface of the lifting frame 202 and the laser rangefinder 207 in real time, thereby enabling precise control of the drilling depth based on the number of drill rod sections installed.

[0176] In the initial stage of drilling, the drill bit is controlled to just touch the ground. Since a laser rangefinder 207 is installed on the frame 101 beforehand, the distance between the bottom surface of the lifting frame 202 and the laser rangefinder 207 is measured in the initial stage and set as x0. Let m be the number of drill rods that have been drilled, with an initial value of 0. The value of m increases by 1 each time a rod is changed. During the drilling process, the distance between the laser rangefinder 207 and the bottom surface of the lifting frame 202 is measured in real time as x1 and fed back to the PLC. When x0-x1=L, where L is the length of a single drill rod, the drill rod has reached its limit position, drilling stops and rod changing begins. After the rod changing is completed, drilling continues. It can be known that the real-time total drilling depth x3=mL+(x0-x1), thus enabling precise control of the drill bit's drilling depth.

[0177] Because during drilling operations, the downward excavation of soil can cause a chain reaction, resulting in the loosening of the soil around the borehole wall, it is necessary to assess the soil structure of the borehole wall.

[0178] Four sets of acoustic wave detection sensors 209 are arranged, distributed on the outside of the pile hole, with the pile hole located within the inscribed circle of the four sets of acoustic wave detection sensors 209. Each set of acoustic wave detection sensors 209 is 50-60 cm away from the pile hole. Taking a 9m deep cast-in-place pile in this embodiment as an example, it is buried 4.5m below the soil layer. The system performs spectrum analysis and time domain analysis on the collected acoustic wave signals to determine whether the soil structure around the cast-in-place pile has been damaged during the drilling process. Based on the acoustic wave detection results, the drill bit speed and drilling pressure are adjusted to reduce damage to the soil around the pile hole. By utilizing ultrasonic detection technology, ultrasonic waves propagate through a medium and are reflected and refracted when encountering problems such as hole collapse or cracks. Therefore, the internal structure of the cast-in-place pile can be determined by the received ultrasonic signals. When hole collapse occurs, the collapsed material inside the hole is removed, and some cement slurry or hardener is injected into the collapsed hole wall to further reinforce the hole wall and prevent further collapse.

[0179] The suction separation and spiral soil extraction assembly 300 includes a high-pressure blower 301, a cyclone separator 302, and a pressure sensor 303. The high-pressure blower 301 is connected to the cyclone separator 302 via a pipeline, and a dust collection bag is installed at the outlet of the high-pressure blower 301. The cyclone separator 302 is connected to a connecting pipe 304 via a flexible hose. The connecting pipe 304 is installed on the lifting frame 202 and communicates with the inside of the threaded drill rod 203. The pressure sensor 303 is used to detect the pressure data in the assembly and feed it back to the control system. The high-pressure blower 301, in conjunction with the hollow structure of the drill rod and drill bit, facilitates the removal of loess from the borehole. The cyclone separator 302 performs solid-phase separation, and the removed soil enters a storage tank for centralized treatment. The gas is filtered through a dust collection bag and then directly discharged.

[0180] Because rotary drilling combined with suction is used to remove excavated soil, the characteristics of loess soil and the open structure of the drill bit top make it difficult to ensure timely and efficient removal of soil during rotary drilling due to the limited power of the high-pressure blower 301. This can easily lead to congestion at the drill bit's discharge port, further clogging the outlet. Simply increasing the power of the high-pressure blower 301 would result in a larger equipment size and a larger exhaust flow rate, which could easily affect the nearby soil structure in low-headroom operating environments, and would not align with the miniaturization objective of this invention.

[0181] In the aforementioned construction equipment, a sealing structure 210 is provided on the outer top of the rotary drilling bit 204. The sealing structure 210 is used to seal the gap between the top of the rotary drilling bit 204 and the borehole wall. This type of seal is a dynamic sealing structure, which, compared to the static sealing method used in traditional dredging operations, can effectively ensure rapid removal of excavated soil during rotary drilling.

[0182] As shown in Figures 9 and 10, a dynamic sealing method is implemented. The sealing structure 210 includes an airbag body 1 211 and an airbag body 212 distributed from bottom to top. A fixing sleeve 218 is provided on the inner side of both the airbag body 1 211 and the airbag body 212. An air inlet and an air outlet communicating with the airbag body are preset in the fixing sleeve 218. The fixing sleeve 218 is fixed on the outer side of the rotary drilling bit 204. The airbag body 1 211 and the airbag body 212 work alternately.

[0183] During the rotary drilling of the rotary cutting tool 204, by controlling the operation of the air inlet and exhaust port of the corresponding airbag, the airbag body 1 211 and airbag body 212 work alternately, thereby achieving the sealing operation of the top area of ​​the drill bit. As shown in Figures 9 and 10, only part of the side of the airbag body 1 211 and airbag body 212 that contacts the fixing sleeve 218 is embedded in the fixing sleeve 218, while the rest is attached to the fixing sleeve 218. During the drilling, the airbag body 1 211 and airbag body 212 can each move upward relative to the corresponding fixing sleeve 218 by a certain stroke. As shown in Figure 10, when airbag 211 is working, its bulging outer wall adheres to the borehole wall surface, while airbag 212 is in a deflated state (collapsed state) and does not contact the borehole wall surface. As the rotary drilling bit 204 rotates downwards, the outer wall of airbag 211 is obstructed on the borehole wall surface, and airbag 211 moves upwards relative to the rotary drilling bit 204 for a certain distance. Similarly, when airbag 212 is working, its bulging outer wall adheres to the borehole wall surface, while airbag 211 is in a deflated state (collapsed state) and does not contact the borehole wall surface. As the rotary drilling bit 204 rotates downwards, the outer wall of airbag 212 is obstructed on the borehole wall surface. Through the reciprocating alternating operation of airbag 211 and airbag 212, continuous rotary drilling by the rotary drilling bit 204 is achieved. During operation, the airbags can also be used to initially compress the soil on the borehole wall to prevent loose soil from falling off. This is why this application does not include a top structure for collecting and discharging fallen soil.

[0184] As shown in Figures 15 and 16, a dynamic sealing method is implemented, wherein the sealing structure 210 includes an annular bladder 213, and an inner sleeve 214 is fitted inside the annular bladder 213. The inner sleeve 214 is fitted on the top outer side of the rotary drilling bit 204 and will not rotate relative to it. Limiting discs 215 are provided at the top and bottom of the inner sleeve 214, and the outer diameter of the limiting discs 215 is smaller than the hole diameter.

[0185] An elastic spiral rib 216 is pre-embedded on the annular capsule 213. The elastic spiral rib 216 located outside the annular capsule 213 is stretched and thinned, while the elastic spiral rib 216 located inside is compressed and thickened, protruding outward to form a transmission spiral rib. A transmission spiral rib 217 is provided on the outer side of the inner sleeve 214. When the rotary drilling bit is used for rotary drilling, the transmission spiral rib 217, in conjunction with the elastic spiral rib 216 on the inner wall of the annular capsule 213, drives the annular capsule 213 to rotate between the two limiting discs 215 in a transmission manner. While the annular capsule 213 is rotating, the outer wall of the annular capsule 213 is always in contact with the hole wall.

[0186] During implementation, as the inner sleeve 214 rotates with the rotary drilling bit 204, a certain amount of gas is pre-filled into the annular bladder 213 to ensure that the annular bladder 213 can adhere to the borehole wall surface when the rotary drilling bit 204 is drilling earth. The rotation of the inner sleeve 214 drives the elastic spiral rib 216 on the inner side of the annular bladder 213 to move downward through the transmission spiral rib 217, so that the annular bladder 213 rolls upward on the outside of the two limiting discs 215 and rolls downward on the inside, thus ensuring that the outer wall of the annular bladder 213 always adheres to the borehole wall. Since the gas in the annular bladder 213 can compress the annular bladder 213 to adhere to the borehole wall, it can also achieve a certain degree of compression on the borehole wall and reduce the problem of loose soil falling off the borehole wall. When the drill is lifted, the gas inside the annular capsule 213 is released. During the release, an electromagnetic unidirectional diaphragm can be selected to cause the annular capsule 213 to shrink to a certain thickness, preventing damage to the borehole wall during the lifting process.

[0187] In the aforementioned construction equipment, the rotary drilling bit 204 includes a bit body 2041 and two blades, a first blade 2042 and a second blade 2043, axially distributed on the outside of the bit body 2041. The bottom of the bit body 2041 has an open structure, and the first blade 2042 is located at the bottom of the second blade 2043. The coverage area of ​​the second blade 2043 is larger than that of the first blade 2042, thereby enabling two rotary drilling operations on the earthwork, avoiding the problem of excessive wear caused by directly using a single rotary drilling operation, and facilitating efficient rotary drilling for earthwork hole formation. For example, a fixed blade structure as shown in Figure 8 can be used.

[0188] In the aforementioned construction equipment, the fixed blade structure is adjusted to have two states: retracted and extended, as shown in Figures 9 and 15. The blade 2043 includes a blade body 20431 rotatably mounted on the outside of the drill bit body 2041 at its bottom. A push rod 20432 is mounted on the inner top of the blade body 20431. One end of the push rod 20432 is rotatably mounted on the blade body 20431, and the other end is rotatably connected to a slider 20433. The slider 20433 slides along the axial direction of the drill bit body 2041 on the outside of the drill bit body 2041, and its axial position relative to the drill bit body 2041 is adjustable. By adjusting the slider 20433 to adjust its axial position, the blade body 20431 can be extended or retracted, allowing free switching between the two states: one is extended downward rotation operation, and the other is retracted drilling operation, avoiding scraping against the borehole wall and causing soil erosion that affects the quality of the thick-layer cast-in-place pile.

[0189] In the above-mentioned construction equipment, as shown in Figures 9 and 15, a protective shell 20434 is installed on the outside of the drill bit body 2041, a detection component 20436 is installed inside the protective shell 20434, a sealing plate is rotatably installed at the bottom of the protective shell 20434, an electric telescopic rod 20435 is rotatably installed at the bottom of the sealing plate, and the output end of the electric telescopic rod 20435 is rotatably installed on the slider 20433.

[0190] The electric telescopic rod 20435 drives the slider 20433 to move axially along the drill bit body 2041, freely switching between inward and outward states. When the drill is pulled inward, the sealing plate flips down to open the bottom of the protective shell 20434, exposing the internal detection component 20436 for borehole inspection, allowing for timely detection of soil erosion. When the drill is rotated outward, the sealing plate flips up to seal the bottom of the protective shell 20434, keeping the detection component 20436 within the protective shell 20434 and unaffected by the soil excavated inside the borehole.

[0191] In the aforementioned construction equipment, as shown in Figures 9 to 14, an axial guide rail 20437 is installed on the outer side of the drill bit body 2041. Both ends of the axial guide rail 20437 are equipped with sealing plates to limit the inward and outward movement of the drill bit body 20431. A slider 20433 is installed inside the axial guide rail 20437. An anti-reverse groove 204313 is provided in the middle of the axial guide rail 20437. A notch is provided on the slider 20433, and a T-block 20438 slides within the notch. The movement direction of the T-block 20438 is perpendicular to the arrangement direction of the axial guide rail 20437. The T-block 20438 is equipped with... The device has a through groove 20439 and an adjustment groove 204311. The adjustment groove 204311 and the through groove 20439 are connected and arranged perpendicularly. The output end of the electric telescopic rod 20435 passes through the through groove 20439 and is connected to a connecting block 204310. The connecting block 204310 is slidably fitted in the adjustment groove 204311. The adjustment groove 204311 gradually deviates from the axial guide rail 20437 in a direction away from the electric telescopic rod 20435. An elastic anti-reverse block 204312 is provided on the side of the T-shaped block 20438 near the anti-reverse toothed groove 204313 for matching with the anti-reverse toothed groove 204313.

[0192] During implementation, due to the large resistance of downward rotary drilling, the pushing action of the electric telescopic rod 20435 alone cannot meet the downward rotary drilling force of the cutter body 20431. When encountering hard rock or underground structures in underground spaces, the resistance of downward rotary drilling will be too great, which may easily lead to the crushing of the electric telescopic rod 20435. In order to solve the problem that the cutter body 20431 has two states and can still guarantee the ability to perform downward rotary drilling operations, the following measures are taken. This design guides the slider 20433 along the drill bit body 2041 to its final position via the axial guide rail 20437. The slider 20433 is then locked by the extension of the piston rod of the electric telescopic rod 20435. The elastic anti-reverse block 204312, in conjunction with the anti-reverse groove strip 204313, ensures that the slider 20433 will not retract during downward rotary drilling, thereby releasing the piston end force of the electric telescopic rod 20435. When the slider 20433 is retracted and its axial position is adjusted upward, the T-shaped block 20438 is first moved away from the anti-reverse groove strip 204313 via the connecting block 204310. This causes the elastic anti-reverse block 204312 to disengage from the anti-reverse groove strip 204313. Continuing to retract the piston end allows the cutter body 20431 to retract inward, facilitating the lifting of the drill rod without scraping the soil on the side wall of the pile hole.

[0193] In the above-mentioned construction equipment, as shown in Figures 11 and 12, the elastic anti-reverse block 204312 includes an installation groove disposed on the side of the T-shaped block 20438 near the anti-reverse toothed groove 204313. A spring body 2043121 and a movable body 2043122 are installed in the installation groove. A limiting plate 2043123 is fitted on the outer side of the movable body 2043122. The limiting plate 2043123 is fixed on the side of the T-shaped block 20438 near the anti-reverse toothed groove 204313. A one-way toothed block 2043124 is fixed at the end of the movable body 2043122 away from the installation groove. The one-way toothed block 2043124 and the anti-reverse toothed groove 204313 are adapted to each other. After the blade body 20431 unfolds outward, the spring body 2043121 enables the one-way tooth block 2043124 to press against the surface of the anti-reverse tooth groove 204313, thereby limiting the position of the slider 20433 to prevent it from retracting and releasing the piston end force of the electric telescopic rod 20435.

[0194] In the aforementioned construction equipment, as shown in Figures 25, 26, 27, 28, and 29, a cleaning structure is installed on the outer side of the drill bit body 2041. The cleaning structure includes a connecting ring 20411, which is installed on the outer side of the drill bit body 2041 via a connector. The connector and the drill bit body 2041 can be selectively separated or connected. A cleaning component 20413 is connected to the bottom of the connecting ring 20411 via a connecting rod 20412. The cleaning component 20413 is arranged on the inner side of the drill bit body 2041. The connector includes components disposed on the connecting ring 20411. The inner mounting hole houses an electromagnet 20414, an elastic body 20415, a socket 20416, and a constraint head for restraining the socket 20416 from the mounting hole. One end of the socket 20416 passes through the constraint head and is connected to an adapter hole on the side wall of the drill bit body 2041. When the electromagnet 20414 is energized, it can attract the socket 20416, thereby compressing the elastic body 20413 to separate it from the adapter hole. When re-insertion and refitting are required, simply de-energize the electromagnet 20414.

[0195] The size of the connecting ring 20411 is smaller than the coverage area of ​​the blade, and the connecting ring 20411 is provided with a ring bladder 20417 and an air pump assembly 20418 for inflating and deflating the ring bladder 20417.

[0196] Based on the pressure changes detected by pressure sensor 303 within the pipeline, when the pressure value exceeds the set value, it indicates a blockage problem. The air pump assembly 20418 receives a system command to inflate the annular bladder 20417 until it is tightly adhered to the borehole wall. The electromagnet 20414 is energized to attract the socket 20416 and separate it from the adapter hole. The drill bit body 2041 is then moved up and down multiple times to complete the cleaning operation of the cleaning component 20413 inside the drill bit body 2041. After the cleaning operation is completed, the electromagnet 20414 is de-energized, and the socket 20416, under the action of the elastic body 20415, re-inserts into the adapter hole, completing the connection between the connecting ring 20411 and the drill bit body 2041. Subsequently, the air pump assembly 20418 deflates the annular bladder 20417, restoring it to its initial shape.

[0197] An intelligent low-headroom cast-in-place pile construction system includes:

[0198] The construction area scanning and modeling module includes a laser scanner 400, which is used to scan the construction site from all angles to obtain accurate 3D point cloud data. The point cloud data is converted into a 3D model by software and integrated with real-time data in the control system. Through data fusion, the construction site can be comprehensively monitored and displayed.

[0199] The construction boundary layout and construction points are projected using a module, including a laser layout instrument 500, which is used to lay out the boundaries of the construction area. Real-time data monitoring is used to correct the layout and projection points. The specific steps are as follows: 1. The system sets out reference points in the construction area; 2. The laser layout instrument 500 lays out the boundary of the construction area; 3. In conjunction with a real-time monitoring system (laser scanner), it determines whether there are errors in the boundary and layout point positions; if there are errors, the layout position is corrected, and steps 1 to 3 are repeated; if there are no errors, the layout position is marked, the data is recorded and archived, completing the layout, point projection, and correction work.

[0200] The construction equipment movement and construction path planning system module includes an ultrasonic sensor 600 and an automated path planning module. The ultrasonic sensor 600 is used to detect dynamic obstacles during movement. The automated path planning module, in conjunction with the 3D image reconstructed by the laser scanner 400 and the dynamic obstacle situation during movement, automatically plans the movement route. It also works with the laser scanner 400 to reconstruct the 3D image of the construction area and the drilling location. Using the automated path planning algorithm embedded in the automated path planning module, it generates the optimal movement route for the drilling equipment. The drilling equipment reaches the construction point along the optimal movement route. The system monitors the equipment position and status using an absolutely defined method, and plans the path based on the preset hole positions. The ultrasonic sensor 600 monitors the equipment position and status in real time, determining if there are dynamic obstacles. If so, an alarm is triggered and displayed on the screen, and the PLC control system decelerates or stops the equipment, automatically planning the equipment position and identifying dynamic obstacles. If no obstacles are found, the equipment continues to move until the designated position, completing the automatically planned construction path operation.

[0201] The drilling positioning module includes a vision camera 700. The vision camera 700 is used to identify the drilling position and input the relative signal of the drilling position into the industrial control computer to mark the drilling position. When the drilling equipment moves to within 1 meter of the drilling position, the vision camera 700 identifies the drilling position and inputs the relative signal of the drilling position into the industrial control computer. After receiving the drilling position signal, the industrial control computer calculates the time required for the drilling equipment to turn and move according to the measured relative distance, and inputs the signal to the PLC control system. At this time, the PLC control system controls the movement time and the turning time to ensure that the distance between the drilling position and the center of the cast-in-place pile is less than 5mm, and the positioning ends at this point.

[0202] The intelligent low-headroom cast-in-place pile construction equipment described above is used to carry out drilling operations at the drilling location.

[0203] The automatic leveling module includes a leveling sensor 800, a leveling hydraulic cylinder 900, and an electro-hydraulic valve 1000. The leveling sensor 800 detects the tilt angle of the construction equipment in real time. The leveling hydraulic cylinders 900 are distributed on the drilling equipment. The electro-hydraulic valve 1000 is used to adjust the piston rod extension of the leveling hydraulic cylinder 900. The PLC control system is started and the leveling sensor 800 is initialized. The leveling sensor 800 detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system. The PLC control system determines the levelness of the drilling equipment based on the signal from the leveling sensor 800 and compares the measured levelness with the system's preset levelness. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder 900 that needs adjustment. The PLC control system sends a control signal to the electro-hydraulic valve 1000 to adjust the piston rod extension of the leveling hydraulic cylinder 900 until the frame 101 is in a level position.

[0204] The PLC control system is connected to the industrial computer. The PLC control system is also connected to the laser scanner 400, laser line laying instrument 500, ultrasonic sensor 600, vision camera 700, attitude level sensor 800, and electro-hydraulic valve 1000.

Claims

1. An intelligent low-headroom cast-in-place pile construction device, characterized in that, This equipment is used in the construction of intelligent low-headroom cast-in-place piles. The construction steps are as follows: Step 1: Scan the construction site and create a model Step 2: Laying out lines and projecting / correcting points. Step 3: Automatically plan the construction path Step 4, Drilling Positioning Step 5, Preparations before drilling Four points are selected around the drilling location. The cast-in-place pile is the inscribed circle of the four points, and the four points are equidistant from the center of the cast-in-place pile. A sound wave detection sensor (209) is installed at each location to perform spectrum analysis and time domain analysis on the collected sound wave signal; The drilling equipment was adjusted to a horizontal position. Step 6, Drilling The verticality control component detects whether the drill rod is in a horizontal or vertical position. The verticality control component includes two sets of laser levels (206). If the display shows that the borehole is in a vertical position, the drilling equipment will drive the drill rod downward to perform the drilling operation until the required drilling depth is reached; If the drill pipe is found to be deviating, the drill pipe is finely adjusted by the correction component to ensure that the drill pipe continues to be kept at the preset angle. The correction component includes two sets of correction components (208). Based on the acoustic wave detection sensor (209), the collected acoustic wave signal is subjected to spectrum analysis and time domain analysis to determine whether the soil structure around the cast-in-place pile is damaged during the drilling process; Based on the acoustic wave test results, adjust the drill bit speed and drilling pressure to reduce damage to the soil around the pile hole; Step 7, Drilling and In-Hole Monitoring After the pile hole is formed, the drilling equipment pulls the drill rod out of the hole and monitors the environment inside the hole in real time during the drilling process. The intelligent low-headroom cast-in-place pile construction equipment includes: The traveling assembly (100) includes a frame (101), a traveling mechanism (102), and a steering mechanism (103), the traveling mechanism (102) and the steering mechanism (103) being used for the traveling and steering of the equipment, respectively; The precision-controlled multi-section drill rod assembly (200) includes a stand (201), a lifting frame (202), a threaded drill rod (203), a rotary drilling bit (204), a lower retainer (205), a laser level (206), a laser rangefinder (207), a correction component (208), and an acoustic detection sensor (209). The stand (201) is mounted on a chassis (101), and the lifting frame (202) is mounted on the stand (201) and is adjustable in height relative to the stand (201). A driver is mounted on the lifting frame (202), and a reducer is connected to the output of the driver. The threaded drill rod (203) is connected to the reducer and the rotary drilling bit (204) through male and female threaded ends, and two adjacent threaded drill rods (203) are connected by their first and last threads. The lower retainer (205) is also included. 5) Installed on the frame (101) and fitted on the outside of the drill rod; two sets of laser level (206) are provided and both are installed on the frame (101), one set is located at the front end of the threaded drill rod (203) and the other set is located at the side end of the drill rod, and the two sets are arranged at 90°; a laser rangefinder (207) is installed on the frame (101) and is used to monitor the distance between the bottom surface of the lifting frame (202) and the laser rangefinder (207) in real time; two sets of correction components (208) are provided and both are installed on the frame (101) and are used to correct the threaded drill rod (203) in the front-back and left-right directions; four sets of acoustic wave detection sensors (209) are provided and distributed on the outside of the pile hole and the pile hole is located in the inner circle of the four sets of acoustic wave detection sensors (209); The suction separation and spiral soil extraction assembly (300) includes a high-pressure blower (301), a cyclone separator (302), and a pressure sensor (303). The high-pressure blower (301) is connected to the cyclone separator (302) via a pipe, and a dust collection bag is provided at the outlet of the high-pressure blower (301). The cyclone separator (302) is connected to a connecting pipe (304) via a hose. The connecting pipe (304) is installed on the lifting frame (202) and communicates with the inside of the threaded drill rod (203). The pressure sensor (303) is used to detect the pressure data in the assembly and feed it back to the control system.

2. The intelligent low-headroom cast-in-place pile construction equipment according to claim 1, characterized in that, The specific steps for step 2 are as follows: Step 21: Set up layout reference points within the construction area; Step 22: Lay out the boundary of the construction area using a laser line-laying instrument (500); Step 23: In conjunction with real-time data monitoring, determine whether there are any errors in the boundary and layout points; If there is an error, correct the placement of the line and repeat steps 21 to 23 above. If everything is correct, mark the layout positions, record and archive the data, and complete the layout, point projection, and correction work.

3. The intelligent low-headroom cast-in-place pile construction equipment according to claim 2, characterized in that, The specific steps for step 3 are as follows: Step 31: Obtain a three-dimensional image and the position of the hole using a laser scanner (400); Step 32: Monitor the device location and status using an absolutely defined method; Step 33: Plan the path according to the position of the preset hole; Step 34: The sensors monitor the device's location and status in real time; Step 35: Determine if there are any dynamic obstacles; If so, an alarm will be displayed on the screen, and the PLC control system will decelerate or stop the vehicle, repeating steps 33 to 35. If not, continue moving until the designated position is reached to complete the automatic planning of the construction path.

4. The intelligent low-headroom cast-in-place pile construction equipment according to claim 1, characterized in that, Step 5 also includes intelligent attitude adjustment: The drilling equipment is equipped with a horizontal attitude sensor (800). The signal output terminal of the horizontal attitude sensor (800) is connected to the input terminal of the PLC control system. The control signal output terminal of the PLC control system is connected to the electro-hydraulic valve (1000). Start the PLC control system and initialize the attitude level sensor (800). The attitude level sensor (800) detects the tilt angle of the equipment in real time and transmits the measurement data to the PLC control system. The PLC control system determines the level of the drilling equipment based on the signal from the attitude level sensor (800) and compares the measured level with the system's preset level. If a tilt deviation is detected, the PLC control system calculates the position of the leveling hydraulic cylinder (900) that needs to be adjusted. The PLC control system sends a control signal to the electro-hydraulic valve (1000) to adjust the piston rod extension of the leveling hydraulic cylinder (900) until the frame (101) is in a horizontal position.

5. The intelligent low-headroom cast-in-place pile construction equipment according to claim 1, characterized in that, In step 6, two sets of laser levels (206) are set in the X and Y directions respectively, and two sets of correction components (208) are also set in the X and Y directions; The steps for verticality control and correction are as follows: Step 61: The laser level (206) in the X and Y directions detects the levelness of the frame (101); Step 62, determine whether it is horizontal in the X direction; Step 63: If the frame is not level, the correction element (208) in the X direction will finely adjust the drill rod in the opposite direction until the frame (101) is level in the X direction; if it is level, the process ends. Step 64: Determine if the Y-direction is horizontal; Step 65: If the frame is not horizontal, the correction element (208) in the Y direction will fine-tune the drill rod in the opposite direction until the frame (101) is horizontal in the Y direction; if it is horizontal, the process ends.

6. The intelligent low-headroom cast-in-place pile construction equipment according to claim 1, characterized in that, The rotary drilling bit (204) has a sealing structure (210) on its top outer side, which is used to seal the gap between the top of the rotary drilling bit (204) and the hole wall.

7. The intelligent low-headroom cast-in-place pile construction equipment according to claim 6, characterized in that, The sealing structure (210) includes an airbag body one (211) and an airbag body two (212) distributed vertically. A fixing sleeve (218) is provided on the inner side of both the airbag body one (211) and the airbag body two (212). An air inlet and an air outlet communicating with the airbag body are preset in the fixing sleeve (218). The fixing sleeve (218) is fixed on the outer side of the rotary drilling bit (204). The airbag body one (211) and the airbag body two (212) work alternately.

8. The intelligent low-headroom cast-in-place pile construction equipment according to claim 6, characterized in that, The sealing structure (210) includes an annular bladder (213), and an inner sleeve (214) is fitted inside the annular bladder (213). The inner sleeve (214) is fitted on the top outer side of the rotary drilling bit (204) and will not rotate relative to it. The top and bottom of the inner sleeve (214) are provided with limit plates (215), and the outer diameter of the limit plates (215) is smaller than the hole diameter. An elastic spiral rib (216) is pre-embedded on the annular capsule (213), and a transmission spiral rib (217) is provided on the outer side of the inner sleeve (214). When the rotary drilling bit is used for rotary drilling, the transmission spiral rib (217) works in conjunction with the elastic spiral rib (216) on the inner wall of the annular capsule (213) to drive the annular capsule (213) to rotate between the two limiting discs (215) and keep its outer wall in contact with the hole wall.

9. The intelligent low-headroom cast-in-place pile construction equipment according to claim 1, characterized in that, The rotary drilling bit (204) includes a drill bit body (2041) and two blades (2042 and 2043) axially distributed on the outside of the drill bit body (2041). The bottom of the drill bit body (2041) is an open structure, and the first blade (2042) is located at the bottom of the second blade (2043).

10. The intelligent low-headroom cast-in-place pile construction equipment according to claim 9, characterized in that, The second blade (2043) includes a blade body (20431) rotatably mounted on the outside of the drill bit body (2041) at its bottom. A push rod (20432) is mounted on the inner side of the top of the blade body (20431). One end of the push rod (20432) is rotatably mounted on the blade body (20431), and the other end is rotatably connected to a slider (20433). The slider (20433) slides along the axial direction of the drill bit body (2041) and is fitted on the outside of the drill bit body (2041). The axial position of the slider (20433) relative to the drill bit body (2041) is adjustable.

11. The intelligent low-headroom cast-in-place pile construction equipment according to claim 10, characterized in that, A protective shell (20434) is installed on the outside of the drill bit body (2041). A detection component (20436) is installed inside the protective shell (20434). A sealing plate is rotatably installed at the bottom of the protective shell (20434). An electric telescopic rod (20435) is rotatably installed at the bottom of the sealing plate. The output end of the electric telescopic rod (20435) is rotatably installed on the slider (20433).

12. The intelligent low-headroom cast-in-place pile construction equipment according to claim 11, characterized in that, A axial guide rail (20437) is installed on the outer side of the drill bit body (2041). A slider (20433) is installed inside the axial guide rail (20437). An anti-reverse groove (204313) is provided in the middle of the axial guide rail (20437). A notch is provided on the slider (20433), and a T-block (20438) slides within the notch. The movement direction of the T-block (20438) is perpendicular to the arrangement direction of the axial guide rail (20437). The T-block (20438) is provided with an over-slot (20439) and an adjusting slot (204311). The adjusting slot (20431)... 1) It is connected to the through slot (20439) and the two are arranged perpendicularly. The output end of the electric telescopic rod (20435) passes through the through slot (20439) and is connected to the connecting block (204310). The connecting block (204310) is slidably fitted in the adjusting slot (204311). The adjusting slot (204311) gradually deviates from the axial guide rail (20437) in the direction away from the electric telescopic rod (20435). The T-shaped block (20438) is provided with an elastic anti-reverse block (204312) on the side near the anti-reverse toothed groove (204313) for matching with the anti-reverse toothed groove (204313).

13. The intelligent low-headroom cast-in-place pile construction equipment according to claim 12, characterized in that, The elastic anti-reverse block (204312) includes a mounting groove on the side of the T-shaped block (20438) near the anti-reverse toothed groove (204313). A spring body (2043121) and a movable body (2043122) are installed in the mounting groove. A limiting plate (2043123) is fitted on the outside of the movable body (2043122). The limiting plate (2043123) is fixed on the side of the T-shaped block (20438) near the anti-reverse toothed groove (204313). A one-way toothed block (2043124) is fixed at the end of the movable body (2043122) away from the mounting groove. The one-way toothed block (2043124) and the anti-reverse toothed groove (204313) are adapted to each other.

14. An intelligent low-headroom cast-in-place pile construction system, characterized in that, include: Construction area scanning and modeling module, including laser scanner (400), for omnidirectional scanning of the construction site; The construction boundary layout and construction points are projected by a module, including a laser layout instrument (500), which is used to lay out the boundary of the construction area; The construction equipment walking and construction path planning system module includes an ultrasonic sensor (600) and an automated path planning module. The ultrasonic sensor (600) is used to detect dynamic obstacles during the movement. The automated path planning module, together with the three-dimensional image reconstructed by the laser scanner (400) and the dynamic obstacle situation during the movement, automatically plans the movement route. The drilling positioning module includes a vision camera (700), which is used to identify the drilling position and input the relative signal of the drilling position into the industrial control computer; The intelligent low-headroom cast-in-place pile construction equipment as described in any one of claims 1 to 13 is used to carry out drilling operations at the drilling location; The automatic leveling module includes a posture level sensor (800), a leveling hydraulic cylinder (900), and an electro-hydraulic valve (1000). The posture level sensor (800) is used to detect the tilt angle of the construction equipment in real time. The leveling hydraulic cylinder (900) is distributed on the drilling equipment. The electro-hydraulic valve (1000) is used to adjust the piston rod extension of the leveling hydraulic cylinder (900). The PLC control system is connected to the industrial computer. The PLC control system is also connected to the laser scanner (400), laser line laying instrument (500), ultrasonic sensor (600), vision camera (700), attitude level sensor (800), and electro-hydraulic valve (1000).

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