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CN-117758704-B - Foundation drill rod detection robot

CN117758704BCN 117758704 BCN117758704 BCN 117758704BCN-117758704-B

Abstract

The invention relates to the technical field of foundation drilling and exploring, in particular to a foundation drilling and exploring robot which comprises a frame and a drill rod, wherein a circulating hammering mechanism is arranged on the left side of the frame, a lifting mechanism is arranged on the right side of the frame, a travelling mechanism is arranged at the bottom of the frame, the circulating hammering mechanism comprises a first hydraulic cylinder, an electromagnet is arranged below the output end of the first hydraulic cylinder, a heavy hammer is arranged below the electromagnet, the electromagnet and the heavy hammer are arranged on the drill rod in a sliding penetrating mode, the lifting mechanism comprises a second hydraulic cylinder and a lifting bracket, the second hydraulic cylinder is fixed on the frame, the right side of the lifting bracket is connected to the frame in a sliding mode and fixedly connected with the output end of the second hydraulic cylinder, a clamping mechanism used for clamping the drill rod is arranged on the lower side of the heavy hammer, the foundation drilling and exploring robot further comprises a controller, the controller is connected with the first hydraulic cylinder, the second hydraulic cylinder and the electromagnetic iron, and the foundation drilling and exploring robot can automatically operate, automatically position and automatically sink the drill rod, automatically level and automatically count, reduce the operation intensity of workers and greatly improve construction efficiency.

Inventors

  • LI WENTAO
  • ZHANG XIANGPENG
  • ZHAO CHUNMEI
  • PAN PENG

Assignees

  • 中国二十二冶集团有限公司

Dates

Publication Date
20260505
Application Date
20240202

Claims (8)

  1. 1. The utility model provides a ground borer surveys robot, includes frame (1) and drill rod (2), and frame (1) left side is provided with circulation hammering mechanism, and the right side is provided with hoist mechanism, and the bottom is provided with running gear, its characterized in that: The circulation hammering mechanism comprises a first hydraulic cylinder (3), an electromagnet (4) is arranged below the output end of the first hydraulic cylinder (3), a heavy hammer (5) is arranged below the electromagnet (4), and the electromagnet (4) and the heavy hammer (5) are arranged on the drill rod (2) in a sliding penetrating mode; The lifting mechanism comprises a second hydraulic cylinder (6) and a lifting bracket (7), the second hydraulic cylinder (6) is fixed on the frame (1), and the right side of the lifting bracket (7) is slidingly connected on the frame (1) and fixedly connected with the output end of the second hydraulic cylinder (6); the drill rod clamping device also comprises a clamping mechanism for clamping the drill rod (2), wherein the clamping mechanism is arranged at the lower side of the heavy hammer (5); the hydraulic control system further comprises a controller, wherein the controller is electrically connected with the first hydraulic cylinder (3), the second hydraulic cylinder (6) and the electromagnet (4); when the clamping mechanism clamps the drill rod (2), the circulating hammering mechanism hammers the clamping mechanism back and forth through the heavy hammer (5) to drive the drill rod (2) to be inserted into the foundation downwards, and after the clamping mechanism descends to a designated position, the drill rod (2) is loosened, and the lifting mechanism drives the clamping mechanism to lift upwards; the clamping mechanism comprises a butt clamping unit and a control unit; the butt-clamping unit comprises a butt-clamping collet (8), a first through hole (801) is formed in the butt-clamping collet (8), two butt-clamping grooves (802) are symmetrically formed in the butt-clamping collet (801), clamps (14) are arranged in the butt-clamping grooves (802), the lengths of the clamps (14) are smaller than those of the butt-clamping grooves (802), jaws (1401) are formed in one sides, close to the drill rods (2), of the two clamps (14) and correspond to the drill rods (2), a spring groove (1402) is formed in one side, far away from the drill rods (2), of the two clamps, springs (15) are arranged in the spring groove (1402), one ends of the springs (15) are connected to the side walls of the spring groove (1402), the other ends of the springs are connected to the side walls of the butt-clamping grooves (802), the drill rods (2) penetrate through the butt-clamping collet (8) through the first through holes (801), and the two clamps (14) lock the drill rods (2) under the elastic force of the springs (15); The control unit comprises two symmetrically arranged third hydraulic cylinders (9), wherein the third hydraulic cylinders (9) are fixed on the left side of the lifting bracket (7), pull plates (16) are arranged at the output ends of the third hydraulic cylinders, second through holes (804) are further formed in the opposite clamping grooves (802), pull plates (1403) are arranged on the lower sides of the clamps (14), the pull plates (1403) penetrate through the second through holes (804) downwards, after the clamping mechanism descends to a designated position, the output ends of the third hydraulic cylinders (9) retract, the pull plates (16) hook the pull plates (1403) to drive the two clamps (14) to move back to back, and the drill rods (2) are loosened; Still include saddle (11), third pneumatic cylinder (9) are fixed in saddle (11) outside, are provided with the spacing groove that supplies third pneumatic cylinder (9) output and arm-tie (16) to remove on saddle (11), are located spacing groove upside on saddle (11) and still are provided with closing cap (21).
  2. 2. The foundation drill detection robot according to claim 1, wherein annular clamping grooves (202) matched with the clamp (14) are formed in the drill rod (2) at intervals.
  3. 3. The foundation drill detection robot according to claim 1, wherein a top cover (10) is arranged on the butt clamp collet (8).
  4. 4. The foundation drill sounding robot of claim 1, further comprising a positioner, wherein the positioner is electrically connected to the controller.
  5. 5. The foundation drill sounding robot of claim 1, further comprising a leveling mechanism, wherein the leveling mechanism comprises at least three supporting legs for supporting the frame (1) and fourth hydraulic cylinders for driving the supporting legs to stretch and retract, each supporting leg is correspondingly provided with an independent fourth hydraulic cylinder, and the foundation drill sounding robot further comprises an inclination angle sensor, and the inclination angle sensor and the fourth hydraulic cylinders are electrically connected with the controller.
  6. 6. The foundation drill detection robot according to claim 1, further comprising a counting mechanism, wherein the counting mechanism comprises a photoelectric sensor and a counter which are arranged on the frame (1), and the controller is electrically connected with the photoelectric sensor and the counter.
  7. 7. The foundation drill detection robot of claim 1, wherein the frame (1) is further provided with a ranging sensor for detecting the sinking height of the drill rod (2), and the ranging sensor is electrically connected with the controller.
  8. 8. The foundation drilling robot according to claim 1, wherein a probe (201) is arranged at the bottom of the drill rod (2), and the probe (201) is of an inverted cone structure with a cone angle of 60 degrees.

Description

Foundation drill rod detection robot Technical Field The invention relates to the technical field of foundation drilling and exploring, in particular to a foundation drilling and exploring robot. Background In the prior art, foundation drilling is usually carried out by a drilling machine, the drilling machine generally comprises a frame, a lifting mechanism and a drill rod, scales are marked on the drill rod, and when the drilling machine works, a drill rod is vertically hit by using a heavy hammer with a calibrated weight in a mechanical or manual mode, so that the drill rod enters a foundation soil layer, and the hidden structural condition in the soil layer is detected or the allowable bearing capacity of the soil layer is roughly estimated according to the hammer number required by the drill rod entering a certain depth of the foundation soil layer to be detected. The drill rod detection machine in the prior art has the following problems that 1, the perpendicularity of a drill rod is not easy to control, when a rack is rocked during hammering the drill rod, the drill rod detection operation position is deviated, and the accuracy of a measurement result is lowered, 2, the drill rod is required to be manually taken out after entering a certain depth of a foundation soil layer to be detected, the labor intensity is high, the operation efficiency is low, 3, the distance between a heavy hammer and the lower end of the drill rod is long, the drill rod is easy to bend, 4, when the drill rod is operated on uneven ground, the stress is unbalanced during sinking, the drill rod is easy to damage, 5, the shift, the leveling, the counting of the hammering number and the like of the drill rod detection machine are all dependent on manual work, the construction process is complicated, the labor intensity is high, and the efficiency is low. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide the foundation drill rod detection robot which can lighten the labor intensity of constructors, improve the construction efficiency, ensure stable sinking of the drill rod during use and effectively prolong the service life of the drill rod. The technical scheme adopted for solving the technical problems is as follows: A foundation drilling robot comprises a frame and a drill rod, wherein a circulating hammering mechanism is arranged on the left side of the frame, a lifting mechanism is arranged on the right side of the frame, a travelling mechanism is arranged at the bottom of the frame, the circulating hammering mechanism comprises a first hydraulic cylinder, an electromagnet is arranged below the output end of the first hydraulic cylinder, a heavy hammer is arranged below the electromagnet, the electromagnet and the heavy hammer are arranged on the drill rod in a sliding penetrating mode, the heavy hammer is attracted under the electrified state of the electromagnet, the lifting mechanism comprises a second hydraulic cylinder and a lifting bracket, the second hydraulic cylinder is fixed on the frame, the right side of the lifting bracket is in sliding connection with the frame and is fixedly connected with the output end of the second hydraulic cylinder, a clamping mechanism used for clamping the drill rod is arranged on the lower side of the heavy hammer, the foundation drilling robot further comprises a controller, the controller is connected with the first hydraulic cylinder, the second hydraulic cylinder and the electromagnetic iron, when the clamping mechanism clamps the drill rod, the circulating hammering mechanism drives the drill rod to be downwards inserted into a foundation through the reciprocating hammering mechanism, and after the clamping mechanism descends to a designated position, the lifting mechanism is released. The clamping mechanism comprises a butt clamping unit and a control unit, the butt clamping unit comprises a butt clamping collet, a first through hole is formed in the butt clamping collet, two butt clamping grooves are symmetrically formed in the butt clamping collet and are provided with clamps, the length of each clamp is smaller than that of the butt clamping groove, a jaw is formed in one side, close to a drill rod, of each clamp, a spring groove is formed in one side, far away from the drill rod, of each clamp, a spring is arranged in each spring groove, one end of each spring is connected to the side wall of each spring groove, the other end of each spring is connected to the side wall of each butt clamping groove, the drill rod penetrates through the butt clamping collet through the first through hole, the drill rods are locked under the action of spring force, the control unit comprises two third hydraulic cylinders which are symmetrically arranged, the third hydraulic cylinders are fixed on the left side of the lifting bracket, pull plates are arranged at the output ends of the third hydraulic cylinders, second through holes are further formed in