2437 results about "Excavator" patented technology

The embodiment of the invention provides an excavator handle control system for remote operation, a handle control method based on a Hall sensor is adopted, non-contact rocker data sensing is achieved, the influence of contact and movement abrasion on the service life of a handle is reduced, and the excavator handle control system has the advantages of being high in sensitivity and good in performance; the handle mechanism is more flexible to operate, and the service life of the handle is prolonged; a two-hand cooperative control mode is adopted, and two three-degree-of-freedom handles are used for simulating the driving environment of a real excavator, so that a good remote control effect is achieved, and the feeling of presence of an operator in the remote operation process is improved; the operation habits of a driver are fully considered, the walking and working of the excavator are respectively controlled through combination of different degrees of freedom of the left hand handle and the right hand handle, an operating lever of the real excavator is simulated in the aspects of structure, motion degree of freedom and working range, and the man-machine interaction environment of excavator driving is restored.

The invention relates to the technical field of earthwork compaction, and discloses a pipe ditch backfilling and tamping system based on excavator modification. The system comprises an earthwork condition dynamic sensing module which captures a bucket tooth track, a hydraulic oil cylinder pressure pulse and a soil mass vibration spectrum in real time and combines a historical database to construct a model to output a theoretical compaction degree curve; a multi-source compaction difference analysis module performs three-dimensional deviation detection on the theoretical curve and the actual settlement volume data to generate a construction grid-level compaction difference tensor; the defect area association mapping module inputs the tensor into a geological topology analysis network, generates a loose defect propagation path probability cloud chart by combining soil parameters and identifies weak sections; and the tamping strategy self-adaptive configuration module automatically sets operation parameters according to the cloud picture, activates high-precision monitoring on a high-probability defect section, and applies a dynamic excitation force test on adjacent grids, so that intelligent management and control of the backfilling and compacting process are realized.

The invention discloses a construction method applied to underground mine vertical shaft surrounding rock condition improvement. The construction method comprises the steps that a flat working face is cleaned, a temporary water nest is arranged for drainage, the drilling position is projected, and a down-the-hole drill is debugged; rock drilling is conducted according to the designed angle, direction and depth, propelling pressure is adjusted along with the depth, and cleaning and plugging are conducted after hole forming; grouting pipes with holes are used as pipe sheds to be driven into the holes, and are welded into a whole through annular steel bars; single-liquid-slurry and double-liquid-slurry segmented grouting is adopted, and the grouting pressure is controlled; during construction, grout diffusion and stratum deformation are monitored, after surrounding rock consolidation reaches the standard, weak blasting is matched with a small excavator for excavation, and after acceptance inspection is qualified, reinforcing steel bars are bound, formworks are installed, and concrete is poured. Compared with the prior art, the problems of collapse and water gushing of the vertical shaft under the strong weathering and water-rich geology can be solved, and the defects of insufficient supporting strength, grouting uniformity, construction efficiency and long-term stability in the traditional technology are overcome.

The utility model discloses an efficient drainage ditch excavation device based on an adjustable shaping excavator bucket, and relates to the technical field of municipal engineering and hydraulic engineering construction. Different design requirements are met by hydraulically adjusting the size of the bucket, the bucket body is formed at a time, manual finishing and template use are reduced, the construction cost is reduced by more than 20%, the excavation precision is controlled by combining GPS positioning and real-time measurement, the groove longitudinal slope and elevation precision is ensured, and the construction efficiency is improved. One-time forming of the drainage ditch and synchronous outward transportation of spoil are achieved, and site accumulation is avoided. According to the scheme, the construction efficiency and quality are remarkably improved, and the method is suitable for municipal drainage engineering under soil texture and strong weathered rock geological conditions.

The invention relates to the technical field of engineering machinery manufacturing, in particular to an excavator part machining treatment device which comprises a fixing base, a support is fixedly connected to the fixing base, a driving mechanical arm capable of driving horizontal two-dimensional motion is installed at the top of the inner side of the support, and a sliding disc is fixedly connected to the lower end of the driving mechanical arm. The bottom face of the sliding disc is fixedly connected with a driving cylinder, and the lower end of the driving cylinder is fixedly connected with an inverted-U-shaped frame. According to the excavator part machining treatment device, three core procedures of drilling, inner wall grinding and end face grinding are integrated, through cooperative control of the driving mechanical arm, the driving air cylinder and the motor, full-process part machining can be completed without equipment replacement or repeated clamping, the part transferring and positioning time is effectively shortened, and the machining efficiency is improved. The problem that traditional step-by-step machining is low in efficiency is solved, and the machining efficiency is improved.

The invention provides an arrangement method of an excavator spraying and dust falling device and the dust falling device, and relates to the technical field of excavators. The method comprises the following steps: determining a bucket and a required spraying range around the bucket; determining a nozzle mounting reference position; according to the transverse length and the longitudinal length of the spraying range, the number of transverse each row of sprayers and the number of longitudinal each column of sprayers are calculated by combining the effective spraying area of the single sprayers; calculating an included angle between a transverse nozzle and the horizontal direction and an included angle between a longitudinal nozzle and the vertical direction according to the distances from the highest point, the lowest point and the farthest point of the spraying range to the nozzle mounting position; and installing the nozzles according to the calculated number and angle of the nozzles, and controlling the nozzles to spray to form a water curtain covering the spraying range. In the operation process of the excavator, spraying and dust falling are carried out at the same time, the excavator bucket can be cooled, dust generated in the excavation process can also be treated, efficiency is high, cost is low, the spraying water amount is small, accumulated water cannot be generated, and operation safety and operation efficiency are guaranteed.

The invention discloses an excavator operation action control method and device based on bucket trajectory planning, and belongs to the technical field of engineering machinery automation. The method comprises the steps that excavator attitude sensing data and excavator environment sensing data are obtained; the excavator attitude sensing data comprises all joint angles of the excavator; according to the excavator attitude sensing data, obtaining the position and attitude of the bucket and constructing a dynamic model; the dynamic model represents a mapping relation between the bucket stress information and the bucket force output constraint information; acquiring a three-dimensional construction model according to the excavator environment sensing data; acquiring a three-dimensional deviation field according to the three-dimensional construction model and a preset building information model; planning a target construction track of the bucket according to the position and posture of the bucket, the three-dimensional deviation field and the dynamic model; and the target pose sequence of the joint space of the excavator is obtained based on the target construction track of the bucket, action control is conducted on all joints of the excavator according to the target pose sequence, and the high-precision excavator control method capable of achieving real-time adjustment according to the operation quality is achieved.

The embodiment of the invention discloses an excavator energy recovery method, equipment and a medium, belongs to the technical field of excavator regulation and control, and solves the problem of serious energy waste during rotation starting and rotation braking of an excavator. Comprising the steps of determining whether an excavator is in a rotation starting state or a rotation braking state based on excavator operation information; in the rotation starting state, according to the bucket adduction pilot pressure and / or the bucket rod adduction pilot pressure, adduction required energy is determined, and a rotation starting energy recovery strategy is matched based on the rotation motor pressure, the rotation starting motor overflow flow and the adduction required energy; and in the rotary braking state, according to the bucket eversion pilot pressure and / or the bucket rod eversion pilot pressure, eversion demand energy is determined, and the recycled energy is allocated based on the rotary motor pressure, the rotary braking motor overflow flow and the eversion demand energy.

The invention provides a multi-objective structure optimization method and system suitable for a wheel excavator. Comprising the steps that a three-dimensional model which has the same actual size as an experimental test prototype of the wheel excavator and comprises a cab, an upper frame and other related parts is established; and comparing frequency domain response curve results obtained by experimental tests and verifying the accuracy of vibration performance prediction of the finite element model. Sensitivity analysis is carried out, and parts finally used for follow-up multi-target optimization are screened out according to the influence degree on the performance of the multiple targets; and performing test design according to the screened parts to obtain sample points, and importing the sample points into a finite element model for simulation to obtain a sample response data set. And fitting the agent model according to the sample data, optimizing by using a genetic algorithm to obtain an optimal solution, and sorting according to the magnitude of an acceleration root mean square value to select an optimal scheme. And importing the optimal scheme obtained according to the steps into a finite element model, and comparing the optimal scheme with an original scheme to verify the rationality of a new optimization scheme.

A power feeding connector (18) to which a power feeding cable (19) for supplying electric power to an electric motor or a battery (12) is connected and an indicator lamp (25) that lights up when a lower traveling structure (2), an upper revolving structure (3) or a working mechanism (4) is in the middle of operating are arranged in back of an operator's seat (7). An insert port (18A) of the power feeding connector (18) which the power feeding cable (19) is connected or disconnected is located to be oriented to the indicator lamp (25)-side in the left-right direction. Because of this arrangement, the insert port (18A) can be illuminated by light emitted from the indicator lamp (25), allowing an operator of an electric hydraulic excavator (1) and workers around it to recognize that the electric power fed from an external power source (13) is being supplied to the electric hydraulic excavator (1) via the power feeding cable (19) connected to the power feeding connector (18) and that the electric hydraulic excavator (1) is in the middle of operating with this electric power.

According to the method, a fuzzy subset is set according to the required torque, the current SOC value and the difference value between the engine rotating speed and the motor rotating speed, and the torque of an ISG motor is dynamically adjusted through a fuzzy control algorithm. The fuzzy control adopts a fixed fuzzy rule, so that a Q table is established through a Q learning algorithm, the compensation torque of the ISG motor is obtained, the final output torque of the ISG motor is determined to be the sum of the output torque of the fuzzy controller and the compensation torque output by the Q learning algorithm, and the torque output by the ISG motor is determined. According to the method, the advantage of high response speed of the torque of the motor is utilized, the difference value between the required torque and the actual torque is effectively compensated, the rotating speed fluctuation of the engine caused by overlarge change of the torque of the engine is avoided, and the fuel economy and the driving operation stability are improved.

A method of analysing ore, wherein the method includes, during excavation, scanning / sensing ore, by using a sensor. The sensor is located at a position which is (i) spaced from a bucket / shovel of an excavator and (ii) operatively higher relative to the bucket / shovel. The sensor is also directed towards the bucket / shovel, so that the sensor can scan / sense operatively downwardly towards / into the bucket / shovel. The sensor may be secured to, or mounted on, an excavator at a position which is spaced from a bucket / shovel of the excavator.

An excavator includes a lower traveling body; an upper turning body turnably mounted to the lower traveling body; an acquisition device mounted to the upper turning body and configured to acquire information including a status around the excavator; and a control device configured to recognize a reference object that is in a stopped state or at a fixed position around the excavator based on the information acquired by the acquisition device, and to estimate a turning angle of the upper turning body based on a change in a position of the reference object as viewed from the upper turning body.

To make it possible to cut obstacles in excavating a tunnel with a non-complete circular cross section.SOLUTION: A tunnel excavation method includes a step of identifying an obstacle location within an excavation cross section on the basis of a third shaft center location within the excavation cross section obtained from a detection result of a first angle sensor 52 and a second angle sensor 54 and a load of a cutter rotating around the third shaft center detected by a load sensor 58, and a step of excavating an obstacle.SELECTED DRAWING: Figure 4

The invention discloses an excavator heat balance performance prediction method, system and device and a storage medium. The method comprises the steps that a heat balance performance test of a standard excavation working condition is conducted; respectively establishing an engine heat dissipating capacity Qw calculation model and an engine air inflow mair calculation model; obtaining Qw and mair under the standard excavation working condition; building a one-dimensional cooling system model; cabin resistance coefficient calibration is completed; setting the heat dissipation power of the hydraulic system, calculating the real-time oil temperature of the hydraulic oil tank based on the one-dimensional cooling system model, adjusting the heat dissipation power of the hydraulic system to enable the difference value between the real-time oil temperature of the hydraulic oil tank and the oil temperature of the hydraulic oil tank to be smaller than a set value, and calculating the ratio b of the heat dissipation power of the hydraulic system to the engine power; and on the basis of a calculation model of Qw and mair, b and the calibrated cabin resistance coefficient, predicting the heat balance performance of the excavator under the target working condition. According to the method, the design accuracy and economy can be improved, the prediction of the full-working-condition heat balance performance is realized, and the high-temperature fault solving efficiency is accelerated.

The invention is applicable to the technical field of road construction, and provides a digging and filling method for highway subgrade construction, which comprises the following steps: T1, carrying out construction operation according to a construction drawing, digging a pavement through a digging machine to form a groove, and piling dug soil on the ground on two sides of the groove; t2, the grooves are evenly filled with filling materials such as stone, coal cinder and gravel; t3, the road roller is controlled to slowly move along the foundation pit, a soil returning device at the front end of the road roller is used for backfilling soil on the two sides of the foundation pit, and a compaction steel wheel at the rear end of the road roller is used for compacting the backfilled groove; the soil returning device comprises a fixing assembly and a backfilling assembly arranged on the fixing assembly in a sliding mode. According to the method, the rotating shaft is controlled to rotate to drive the two sets of spiral conveying blades with opposite spiral directions to synchronously rotate, most of soil on the two sides of the groove is conveyed into the groove, the two sets of bulldozing plates are driven to push the residual coating into the groove through linkage of all the parts, and the backfilling efficiency is improved.

The invention discloses a construction method and device of a bucket load spectrum generation model, equipment and a medium. The method comprises the steps that a physical test bed is controlled to apply multi-dimensional dynamic loads to all stress point positions of the hydraulic excavator, and the hydraulic excavator is controlled to execute simulation operation according to working condition types; instantaneous loads acting on the bucket after the loads are transmitted to all the stress point positions are recorded in real time, and all the instantaneous loads are gathered to form a three-dimensional load spectrum of the bucket; collecting dynamic response data generated by each stress point position, associating the three-dimensional load spectrum with the dynamic response data to form training sample pairs, aggregating the training sample pairs to form a training data set, performing characterization processing, inputting the training data set into an original deep learning model for iterative training, and obtaining a three-dimensional load spectrum; and taking the deep learning model meeting the iteration termination condition as a hydraulic excavator bucket load spectrum generation model. According to the embodiment of the invention, the virtual rack is constructed by a physical test rack of a small number of excavator samples, and a basis is provided for efficiently generating reliable bucket load spectrums for batch excavators.

The invention relates to the technical field of path planning, and particularly provides an unmanned mine car scheduling method, system and device based on a real-time situation, and a medium, and the method comprises the steps: receiving real-time situation sensing data, early warning information and a production plan of a mining area; generating a task template according to the production plan, instantiating the corresponding template into a to-do task when an excavator is ready, and adding the to-do task into a task pool; processing tasks in the pool according to the early warning information, including pausing or removing fault equipment associated tasks, or adjusting priorities and destinations of tasks influenced by risks; in each scheduling period, calculating a task dynamic priority based on a task pool, real-time data, early warning information and a planned progress, allocating mine cars and excavators to tasks and planning paths according to the task dynamic priority, performing conflict prediction and analysis on the allocated tasks and paths, and adding conflict-free tasks into a feasible instruction set; and finally issuing an instruction set to the corresponding equipment. Vehicle collision and resource scrambling can be effectively avoided, and operation safety is guaranteed.

The invention discloses a rolling manufacturing method of low-decarburization medium-chromium round steel for a caterpillar track link and a product of the rolling manufacturing method, and belongs to the technical field of alloy steel rolling. The method comprises the following steps: smelting molten steel, wherein the molten steel comprises the following components in percentage by mass: 0.28-0.34% of C, 0.15-0.35% of Si, 0.50-0.85% of Mn, less than or equal to 0.030% of P, less than or equal to 0.030% of S, 0.80-1.10% of Cr, less than or equal to 0.30% of Ni, 0.10-0.30% of Mo, less than or equal to 0.30% of Cu, 0.010-0.060% of Al and the balance of Fe and impurities; lF refining, RH vacuum degassing (the time is longer than or equal to 20 min, and the hydrogen content is smaller than or equal to 1.5 ppm), electromagnetic stirring continuous casting (the superheat degree is 15-25 DEG C), slow cooling (longer than or equal to 12 h), segmented heating (the total time is shorter than or equal to 200 min, and the residual oxygen content is lt, 3%), multi-stage high-pressure water descaling (the pressure before finish rolling is 30-35 MPa) and hot continuous rolling (the compression ratio is larger than or equal to 6) are conducted. The total decarburized layer depth of the obtained round steel is smaller than or equal to 0.30 mm, and the round steel has high hardenability, excellent mechanical property and low surface defect rate and is suitable for heavy-load components such as a hydraulic excavator caterpillar track link.

The utility model discloses a hydraulic pipeline and hydraulic motor protection device, a walking device and an excavator. The hydraulic pipeline and hydraulic motor protection device comprises a protection cover and a sealing plate device. The protective cover is of a semi-closed structure, is fixed on the vertical surface of the outer side of the longitudinal beam, and can wrap the hydraulic motor at the end part of the longitudinal beam and the hydraulic pipeline around the hydraulic motor in a box body formed by the protective cover and the longitudinal beam; a window for checking and maintaining the hydraulic pipeline and the hydraulic motor is arranged at the position, right opposite to the hydraulic motor, of the protective cover; after the sealing plate device completely covers the window, the sealing plate device and the protective cover are fixed together in a detachable mode. According to the hydraulic pipeline and hydraulic motor protection device, on one hand, the hydraulic pipeline and the hydraulic motor can be effectively protected and prevented from being damaged by external factors, and on the other hand, a sealing plate device which is specially used for later maintenance of the hydraulic pipeline and the hydraulic motor and can be opened is further designed.

An electrically driven construction machine that can suppress damage to a feeding cable is provided. An electrically driven excavator includes a swing angle sensor that senses the swing angle of a swing structure, a cable stand that is disposed on the swing structure and has a holding unit that holds a feeding cable, a rotational angle sensor that senses the rotational angle of the holding unit of the cable stand, a swing lock valve, and a controller. The controller computes the position of the holding unit of the cable stand on the basis of sensing results of the swing angle sensor and the rotational angle sensor when a connection sensor senses a state in which the feeding cable is connected to a feeding port. Further, the controller controls the swing lock valve to an interrupting state to inhibit a swing of the swing structure when the computed position of the holding unit goes outside a predetermined range.

The invention relates to the technical field of path planning, and particularly discloses a pipe network construction scene-oriented excavator operation track generation method and system, and the method comprises the steps: building a pose conversion model among a Cartesian space, a joint space and a driving space; based on the position of a pipeline in the pipe network construction scene, an excavation area is divided into a plurality of sub-areas, and a corresponding typical excavation track type is configured for each sub-area; constructing an excavator kinetic model containing an excavation resistance item; performing trajectory planning on the typical mining trajectory in a driving space by adopting a piecewise polynomial, and solving an optimal trajectory meeting constraint conditions based on a multi-objective optimization algorithm; based on the optimal track sample, constructing a dynamic motion primitive DMP model; and introducing an obstacle avoidance coupling term and a time scaling mechanism in a trajectory generation process of the DMP model. On-line generation and real-time obstacle avoidance adjustment of a track are realized by introducing a mechanism of combining a dynamic motion primitive and kinematics constraint modeling.

The utility model discloses a rectangular foundation trench hole-forming device capable of rapidly excavating soil, which belongs to the field of capital construction equipment and comprises a mounting bracket, a rectangular hole-forming frame, a plurality of vibration devices and an auger soil-excavating device, the mounting bracket is mounted at the output end of an excavator, the vibration devices are mounted at the bottom end of the mounting bracket, the rectangular hole-forming frame is mounted at the output ends of the vibration devices, and the auger soil-excavating device is mounted on the rectangular hole-forming frame. The driving device is installed on the installation support, the top end of the drill rod penetrates through the installation support and is fixedly connected with the output end of the driving device, the bottom end of the drill rod penetrates through and extends out of the rectangular hole forming frame, and the drill rod is slidably connected with the top wall of the rectangular hole forming frame; the auger blade is fixedly wound on the side wall of the drill rod, and soil outlet holes are formed in the side wall of the rectangular hole forming frame. According to the utility model, the rectangular forming hole frame extends downwards into the soil through the vibrating device, the auger blades rotate to crush the soil synchronously and discharge the soil in the rectangular forming hole frame from the soil outlet holes, so that the rapid construction of the rectangular foundation trench is completed, and the working efficiency is improved.

The invention discloses a multi-working-condition collaborative operation scheduling method for a wheel bucket excavator, a medium and computer equipment. The method comprises the following steps: acquiring operation data of the wheel bucket excavator and transportation equipment in real time, wherein the operation data comprises an operation equipment state, an operation task emergency degree and a material value; and extracting working condition characteristics such as excavation strength of the wheel bucket excavator under stripping and mining working conditions. An evaluation matrix is constructed by using an improved analytic hierarchy process, a digital twinning model is constructed in combination with data and features, and online learning is performed by using a federated learning framework. And dynamically adjusting task priorities by utilizing learning results, calculating a matching degree, determining a scheduling strategy and scheduling equipment until all tasks are completed. By constructing a multi-source sensing and digital twinborn model and combining a dynamic priority evaluation and self-adaptive task allocation technology, intelligent collaborative scheduling of the wheel bucket excavator under multiple working conditions is realized, so that the working efficiency, the equipment utilization rate and the anti-disturbance capability are improved, and the purposes of reducing energy consumption and guaranteeing production continuity are achieved.

The invention relates to the technical field of excavator dust removal, in particular to an intelligent dust removal system and method for mechanical rock breaking, laser beams are emitted to an operation area where an excavator execution component works through a laser module, and when flying dust appears in the operation area, a visual sensor can observe the reflected laser beams; the dust raising range and the dust raising concentration are determined according to the length and the brightness of the laser beams, so that a spraying parameter combination of the spraying module is generated, the spraying parameter combination is sent to the spraying module, the spraying module sprays water mist towards the rock breaking working face generating dust raising, and dust falling is achieved through combination of the water mist and dust raising particles. The whole working process does not need manual intervention, the safety of operators is improved while the good dust falling effect is achieved, meanwhile, manual operation is not needed, and the labor cost is reduced.

The utility model provides a spiral excavator bucket and an excavator using the same, which belong to the technical field of excavator buckets, and comprise a protective frame, the top of the protective frame is connected with a connecting part, and the connecting part is connected to the excavator; a drilling space is formed in the protection frame; the input end of the hydraulic rotating machine is connected with a hydraulic device of the excavator; the output end of the hydraulic rotating machine is detachably connected with the drill rod, and the drill rod is arranged in the drilling pit space. A spiral blade is fixed to the outer wall of the drill rod. Downward rotation soil collection and upward lifting soil unloading are achieved through the hydraulic rotating machine, the drill rod and the spiral blade, one-time forming of a foundation pit is achieved, meanwhile, connection with a power arm of an excavator is achieved through the connecting part, power is provided for the hydraulic rotating machine through a hydraulic device arranged on the excavator, disassembly is convenient, and the construction efficiency is improved. A special well drill does not need to be adopted for using the bucket, so that the cost is reduced while the working efficiency is improved.

1. The name of the design product: excavator tree root plow. 2. The use of the design product: for removing tree roots and stubborn vegetation residues on the ground surface. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application discloses a kind of excavator control method, device and excavator, excavator control method includes: whether composite action control instruction is received;When receiving composite action control instruction, if first movement mechanism control signal is collected;Then according to the first movement mechanism control signal and the movement mechanism associated control signal of pre-set generates composite action control instruction;When receiving composite action control instruction, if at least one second movement mechanism control signal is collected;Then according to each second movement mechanism control signal respectively generates one independent action control instruction;When not receiving composite action control instruction, if first movement mechanism control signal is collected, then according to first movement mechanism control signal generates first action control instruction;If second movement mechanism control signal is collected, then according to second movement mechanism control signal generates second action control instruction.

To provide a work machine in which connection work to a controller can be facilitated while the controller can be efficiently arranged. A hydraulic excavator as a work machine is a work machine including: a base plate that is located in a bottom portion of a machine body; a pair of vertical plates that are disposed to extend in a front-back direction of the machine body, on the base plate; and a controller that is arranged between the pair of vertical plates.

A mechanical high-strain guide hammering system comprises a vertical guide frame and a heavy hammer, the vertical guide frame is of a rectangular frame structure with an opening in the lower end, a hydraulic winch is fixedly mounted at the upper end of the vertical guide frame, a lifting seat is slidably mounted in the vertical guide frame, and the hydraulic winch is connected with the lifting seat through a steel cable; the lower surface of the lifting seat is connected with a hydraulic unhooking hook; a lifting point is arranged on the upper surface of the heavy hammer, the heavy hammer is connected with the hydraulic unhooking hook through the lifting point, the hydraulic unhooking hook achieves releasing and locking of the heavy hammer through a control oil way, and the heavy hammer moves up and down along an inner cavity of the vertical guide frame. A hinge seat is arranged on the side face of the vertical guide frame body, and the vertical guide frame body is connected with a mechanical arm of the excavator through the hinge seat. According to the utility model, the defects in the prior art are overcome, the accurate positioning of the heavy hammer in the hammering process can be effectively ensured, the heavy hammer is suitable for different detection environments, the risk of manual intervention is greatly reduced, and the working efficiency and the safety are improved.