CN111996884B - Robot for improving ground structure - Google Patents
Robot for improving ground structure Download PDFInfo
- Publication number
- CN111996884B CN111996884B CN202010850388.XA CN202010850388A CN111996884B CN 111996884 B CN111996884 B CN 111996884B CN 202010850388 A CN202010850388 A CN 202010850388A CN 111996884 B CN111996884 B CN 111996884B
- Authority
- CN
- China
- Prior art keywords
- nail
- ground
- assembly
- round hole
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/04—Devices for laying inserting or positioning reinforcing elements or dowel bars with or without joint bodies; Removable supports for reinforcing or load transfer elements; Devices, e.g. removable forms, for making essentially horizontal ducts in paving, e.g. for prestressed reinforcements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0296—Repairing or restoring facades
Abstract
A robot for improving a ground structure comprises a frame, a walking chassis, a rebound assembly, an anchoring assembly, a dust collector, a stepping motor and a laser ranging module; the top end of the walking chassis is connected with the rack and is used for driving the rack and other parts to walk; the rebound assembly is used for measuring a rebound value of the ground and comprises a plurality of electric rebounders, the electric rebounders are fixed on the front side of the rack, the measuring ends are vertically arranged downwards and move up and down along the rack through a sliding mechanism; the anchoring component is used for fixing the connecting nails on the ground and forming reinforced connection between the connecting nails and the subsequent paving materials. The method has the advantages that the original ground and the subsequent pavement layers can be effectively formed, the connection is continuous and tight, the ground structure is improved, the strength of the ground structure is improved, the automatic construction is realized, the construction efficiency is greatly improved, the operation of pouring or removing the ground again is avoided, and the working time and the cost are saved.
Description
Technical Field
The invention relates to a robot for improving a ground structure, in particular to a robot for improving a ground structure when an epoxy floor is paved on a cement ground, and particularly relates to a robot for improving a ground structure when the epoxy floor is paved on a cement ground with loose surface structure, sand or low strength.
Background
The epoxy floor is a high-strength, wear-resistant and attractive floor, and has the advantages of no seam, solid texture, good chemical resistance, corrosion resistance, dust prevention, convenience in maintenance, low maintenance cost and the like. Are used in great quantities today in the construction of new building terraces and in the reconstruction of some old buildings. Cement mortar or concrete poured ground has the problems of sand rise, cracking, low surface structure strength and the like due to various reasons. For places needing heavier load, such as parking lots and factory buildings, the ground with sand rise, cracking and lower surface structure strength is usually treated before epoxy terrace paving, common self-leveling mortar is poured on the surface of the ground, and pouring is carried out again after shoveling is seriously needed. This makes the process more complicated and the cost increases significantly.
In addition, the entire paving process is essentially manual and, if the ground is to be accurately and carefully treated, the manual labor is dwarfed. It is common to perform a full range of integrated processes such as pouring.
Disclosure of Invention
The invention aims to provide a construction robot which can finely treat the ground, can directly pave an epoxy terrace on the ground with sanding, loose structure and low strength, has high bonding strength, and has strong continuity between the ground and the epoxy terrace and compact structure.
In order to achieve the aim, the invention discloses a robot for improving a ground structure, which comprises a frame, a walking chassis, a rebound assembly, an anchoring assembly, a dust collector, a stepping motor, a laser ranging module and a control module, wherein the walking chassis is provided with a plurality of fixing holes;
wherein the frame is used for bearing other components;
the top end of the walking chassis is connected with the rack and is used for driving the rack and other components to walk;
the rebound assembly is used for measuring a rebound value of the ground and comprises a plurality of electric rebounders, the electric rebounders are fixed on the front side of the rack, the measuring ends are vertically arranged downwards and move up and down along the rack through a sliding mechanism;
the connecting nail is inserted into the ground hole;
the connecting nail comprises a cap, a nail rod, a belly band, a triangular blade, a thread, a conical head and a cutting groove;
the screw cap is in a round table shape, the lower bottom of the screw cap is small, the upper bottom of the screw cap is large, the upper bottom of the screw cap is an arc surface or a spherical surface which is convex towards the lower bottom, and the upper bottom of the screw cap is provided with a cross-shaped groove matched with the screwdriver;
the bottom end of the nail cap is fixedly connected with the coaxial cylindrical nail rod;
the abdominal wall is used for containing epoxy resin and a curing agent and comprises a hard shell and a soft cylindrical inner membrane; the inner diameter of the inner membrane is the same as the outer diameter of the nail rod;
four cavities are divided between the inner film and the shell, curing agents are filled in the two small cavities, and epoxy resin is filled in the two large cavities;
the part of the nail rod positioned in the abdominal wall is fixed with a triangular leaf;
the abdominal shell comprises an upper cylindrical part, an ellipsoid part and a lower cylindrical part which are sequentially and fixedly connected in a sealing way from top to bottom;
the maximum outer diameter of the elliptical ball part is 1-3mm larger than the inner diameter of a ground hole;
the outer surface of the lower side of the abdominal wall of the nail rod is provided with threads; the screw thread is used for screwing the nail rod into the blind end of the ground hole;
the bottom end of the nail rod is provided with a conical head, and the conical head is provided with a cutting groove;
the total length of the connecting nail is within the range of 20-45 mm;
the anchoring component is used for drilling a hole in the ground and installing the connecting nail into the hole in the ground; the drilling machine comprises a machine shell, a drilling assembly, a screwing and inserting assembly and a conveying assembly;
the casing is hexahedron and is provided with a horizontal symmetrical plane;
the drilling assembly comprises a round hole drill and a round hole telescopic oil cylinder, the round hole telescopic oil cylinder is fixed on the inner wall of the shell, and the telescopic direction of the round hole telescopic oil cylinder forms an included angle of 35-55 degrees with the horizontal plane; the telescopic end of the round hole telescopic oil cylinder is fixedly connected with a round hole drill, and the axis of a drill rod of the round hole drill is parallel to the telescopic direction of the round hole telescopic oil cylinder;
the screwing and inserting assembly is used for pushing and screwing the connecting nail and comprises an electric screwdriver and a screwdriver telescopic oil cylinder, and the screwdriver telescopic oil cylinder and the round hole telescopic oil cylinder are symmetrically arranged and fixed on the inner wall of the shell; the rotating rod of the electric screwdriver is coaxial with or parallel to the telescopic end of the screwdriver telescopic oil cylinder;
the drilling assemblies are arranged on the two side walls of the shell in the same number, and drilling points can be arranged symmetrically or in a staggered manner;
the conveying assembly is used for conveying the connecting nail to a position coaxial with the electric screwdriver; it comprises a conveying box, a clamping piece and a conveying pipe; the width of the conveying box is 1.2 to 1.3 times of the maximum outer diameter of the connecting nail;
the bottom end of the conveying box is fixedly provided with two symmetrical clamping pieces, the clamping pieces are made of elastic materials, the lower parts of the clamping pieces comprise arc-shaped parts, and the minimum distance between the arc-shaped parts of the two symmetrical clamping pieces is 0.6-0.7 of the maximum diameter of the connecting nail;
the width direction of the conveying box is parallel to the axis of the electric screwdriver rotating rod, one side of the bottom end of the conveying box, which is far away from the electric screwdriver, is fixedly provided with a conveying pipe, the conveying pipe is coaxial with the electric screwdriver rotating rod, the arc-shaped part of the clamping piece is a cylindrical surface, and the axis of the cylindrical surface is coaxial with the electric screwdriver rotating rod;
the conveying assemblies are fixed on the inner wall of the shell and correspond to the screwing and inserting assemblies one by one;
the dust collector is fixed on the frame and is communicated with the dust suction port through a hose, and the dust suction port is fixed at the position where the round hole drill extends out of the shell and is used for absorbing dust formed by drilling;
the stepper motor is used to rotate the housing of the anchor assembly,
and the laser ranging module is fixed on the frame.
Furthermore, the skirt is fixed at the bottom of the nail cap and comprises a circular ring part and a metal wire part, the circular ring part is coaxially and fixedly connected with the nail cap, the metal wire part comprises 4-16 metal wires, and the metal wires are parallel to the conical surface of the nail cap or are inclined relative to the outer side of the conical surface.
Preferably, the abdominal circumference inner membrane is made of a cylindrical rubber membrane, and two ends of the rubber membrane are fixedly connected with two ends of the abdominal circumference shell in a sealing manner.
Preferably, the triangular blade is 1/2-3/4 of the ventral axial length along the axial length of the nail rod, and the maximum width along the radial direction of the nail rod is 1.5-2 mm.
Preferably, the round hole drilling rod is a conical drill with a cone angle of 10-25 degrees.
The method has the advantages that the original ground can be effectively and tightly connected with the subsequent pavement layer by punching the holes on the ground and fixing the connecting nails, so that the ground structure is improved, the strength of the ground structure is improved, the method is automatically carried out, the construction efficiency is greatly improved, the operation of pouring or shoveling the ground is avoided, and the working time and the cost are saved.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic diagram of a rebound detection set.
Fig. 3 is a left side view of fig. 2.
Fig. 4 is a schematic view of the connection pin.
Fig. 5 is a front sectional view of the coupling nail.
Fig. 6 is a schematic view of the abdominal circumference.
Fig. 7 is a sectional view taken along the line of fig. 6A-a.
Fig. 8 is a cross-sectional view taken along line 6B-B and shown in engagement with a clip.
Fig. 9 is a schematic view of the structure of the delivery assembly cooperating with the connecting nail and the electric screwdriver.
Fig. 10 is a schematic view of an anchor assembly construction.
FIG. 11 is a control assembly schematic.
In the figure, a robot 100, a frame 10, a front sliding frame 11, a rear sliding frame 12, a fixed arm 121, a walking chassis 20, a steering seat 21, a rebound assembly 30 and an electric rebound device 31;
the anchor assembly 40, the drilling assembly 41, the round hole drill 411, the round hole telescopic cylinder 412, the screwing and inserting assembly 42, the screwdriver telescopic cylinder 422, the electric screwdriver 421, the conveying assembly 43, the conveying box 431 and the clamping piece 432;
the vacuum cleaner 50, the hose 51, the stepping motor 70 and the laser ranging module 80;
the connecting nail 90, the nail cap 91, the nail rod 93, the skirt 92, the web 94, the triangular leaf 95, the thread 96, the conical head 97 and the cutting groove 98.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 11, a robot 100 for improving a floor structure includes a frame 10, a walking chassis 20, a rebound assembly 30, an anchor assembly 40, a cleaner 50, a stepping motor 70, a laser ranging module 80, and a control module;
wherein the frame 10 is used to carry other components; the device comprises a front sliding frame 11 and a rear sliding frame 12, wherein the front sliding frame 11 comprises a sliding chute and a fixed frame which are vertically arranged, the fixed frame is in sliding fit with the sliding chute and can move up and down along the sliding chute, and power is provided by a motor or a hydraulic machine; the rear sliding frame 12 also comprises a sliding chute and a fixed frame, the fixed frame is in sliding fit with the sliding chute and can move up and down along the sliding chute, power is provided by a motor or a hydraulic machine, and the fixed frame comprises two fixed arms 121 arranged at intervals;
the top end of the walking chassis 20 is connected with the frame and is used for driving the frame and other parts to walk; the walking chassis 20 comprises two parallel crawler-type walking wheel sets, a steering seat 21 is fixedly arranged at the center of the top surface, the steering seat 21 can use an excavator body steering structure, and an independent motor can also be used for driving an inner ring or an outer ring of a bearing to rotate so as to drive the rack 10 to rotate; the left crawler belt wheel group is driven by a left hub motor, and the right crawler belt wheel group is driven by a right hub motor.
The rebound assembly 30 is used for measuring a rebound value of the ground, further acquiring a ground strength value and evaluating the structural strength of the ground; the rebound assembly 30 comprises a plurality of electric rebounders 31, the electric rebounders 31 are fixed on a fixed frame of the front sliding frame 11, and a measuring end can vertically face downwards; the electric rebound apparatus 31 can be fixed on a plane, or can be fixed in a hexagonal or round cylinder, and the detection end of the electric rebound apparatus 31 can be vertically downward by the rotation of the cylinder; the purpose of the cartridge is that because of the limited number of resiliometers arranged on a flat surface, the number of rebound points per unit area, e.g., per 400 square centimeters, may not be as great as required by the detection standards. It is therefore possible to stagger the electric rebound apparatus 31 (as shown in fig. 2-3) within a cylinder or hexagonal cylinder, thereby enabling a sufficient number of rebound detections;
the connecting nail 90 is inserted into the ground hole, the part reserved outside the hole is tightly connected with the subsequent spreading layer, and meanwhile, the subsequent spreading layer can fill the gap between the connecting nail 90 and the ground hole in a liquid state to form continuous and tight connection between the deep layer and the surface layer, so that the continuity of the ground structure is improved, and the strength of the ground structure is improved;
as shown in fig. 4-8, it comprises a nail cap 91, a nail rod 93, a skirt 92, a web 94, a triangular leaf 95, a thread 96, a conical head 97 and a cutting groove 98;
the nail cap 91 is in a round table shape, the lower bottom is small, the upper bottom is large, the upper bottom is a cambered surface or a spherical surface which is convex towards the lower bottom, and a cross-shaped groove matched with a screwdriver is formed in the upper bottom in order to facilitate the alignment of the screwdriver;
the bottom end of the nail cap 91 is fixedly connected with a coaxial cylindrical nail rod 93;
the skirt 92 is fixed at the bottom of the nail cap 91, the skirt 92 comprises a circular ring part and a metal wire part, the circular ring part is coaxially and fixedly connected with the nail cap 91, the metal wire part comprises 4-16 metal wires, the metal wires are parallel to the conical surface of the nail cap 91 or are inclined relative to the outer side of the conical surface, and the metal wires are used for increasing the contact area between the nail cap 91 and a subsequent paving material;
the abdominal wall 94 is used for containing epoxy resin and a curing agent, and the shell of the abdominal wall comprises an upper cylindrical part 941, an ellipsoid part 942 and a lower cylindrical part 943 which are fixedly connected in a sealing manner from top to bottom in sequence; the inner layer of the abdominal girth 94 is made of a cylindrical rubber membrane, and two ends of the rubber membrane are fixedly connected with two ends of the outer shell of the abdominal girth 94 in a sealing way; four cavities are divided between the rubber film and the shell, curing agents are filled in the two small cavities, and epoxy resin is filled in the two large cavities;
a triangular leaf 95 is fixed on the part of the nail rod 93 positioned in the abdominal wall 94 and is used for tearing the rubber membrane when the nail rod rotates; the axial length of the triangular blade along the nail rod is 1/2-3/4 of the axial length of the abdominal circumference, and the maximum width along the radial direction of the nail rod is 1.5-2 mm.
The maximum outer diameter of the elliptical sphere 942 is 1-3mm larger than the inner diameter of a ground hole; the shell is made of plastic or metal sheet, and the outer surface is provided with anti-skid nicks or punctiform bulges; the shell is used for forming friction close or matching with the ground hole;
the inner wall of the rubber membrane can be provided with a mounting groove, when the abdominal girth 94 is sleeved on the nail rod, the abdominal girth 94 needs to move along the axial direction of the nail rod, at the moment, the triangular blade is aligned to the mounting groove, the rubber membrane cannot be scratched, but when the nail rod 93 rotates along the axial line, the shell of the abdominal girth 94 is tightly matched with the ground hole, and the triangular blade rotates relative to the rubber membrane, so that the rubber membrane is torn;
the nail rod 93 is provided with threads 96 on the outer surface of the lower side of the abdominal wall 94; the thread 96 is used for screwing the nail rod 93 into the blind end of the ground hole;
the bottom end of the nail rod 93 is provided with a conical head 97, the conical head 97 is provided with a cutting groove 98, and the conical head 97 and the cutting groove 98 are both used for drilling blind holes in ground holes;
the conical head 97 and the cutting groove 98 punch holes at the blind end of the ground hole, and the threads are screwed into the holes, so that the connection strength between the nail rod 93 and the ground hole is improved;
the total length of the connecting nail 90 is within the range of 20-45 mm;
the anchor assembly 40 is used to drill a hole into the ground and install the attachment nail 90 into the ground hole; the drilling machine comprises a machine shell, a drilling component 41, a screwing and inserting component 42 and a conveying component 43;
the casing is hexahedron and is provided with a horizontal symmetrical plane;
the drilling assembly 41, the round hole drill 411 and the round hole telescopic oil cylinder 412 are arranged, the round hole telescopic oil cylinder 412 is fixed on the inner wall of the shell, and the telescopic direction of the round hole telescopic oil cylinder 412 forms an included angle of 35-55 degrees with the horizontal plane; the telescopic end of the round hole telescopic oil cylinder 412 is fixedly connected with the round hole drill 411, and the axis of a drill rod of the round hole drill 411 is parallel to the telescopic direction of the round hole telescopic oil cylinder 412; the round hole drill 411 can be in sliding fit with the machine shell through a sliding component, so that the stability is improved; the round hole drill rod is a conical drill with a cone angle of 10-25 degrees. The tapered holes facilitate the coupling of the attachment pins 90 to the holes.
The screwing and inserting assembly 42 is used for pushing and screwing the connecting nail 90 and comprises an electric screwdriver 421 and a screwdriver telescopic oil cylinder 422, and the screwdriver telescopic oil cylinder 422 and the round hole telescopic oil cylinder 412 are symmetrically arranged and fixed on the inner wall of the machine shell; the rotating rod of the electric screwdriver 421 is coaxial with or parallel to the telescopic end of the screwdriver telescopic oil cylinder 422;
the drilling assemblies 41 are arranged on the two side walls of the shell in the same number, and drilling points can be arranged symmetrically or in a staggered manner;
the conveying assembly 43 is used for conveying the connecting nail 90 to a position coaxial with the electric screwdriver; it comprises a delivery box 431, a clip 432 and a delivery pipe 433; the width of the delivery box 431 is 1.2 to 1.3 times of the maximum outer diameter of the connecting nail 90; the design is mainly to facilitate smooth sliding of the connecting nails 90 and avoid the connecting nails from being extruded in the conveying box 431 in a staggered manner and failing to fall; the bottom end of the conveying box 431 is fixed with two symmetrical clamping pieces 432, the clamping pieces 432 are made of elastic materials and can be rubber sheets or plastic sheets, the lower parts of the clamping pieces 432 comprise arc-shaped parts, and the minimum distance between the arc-shaped parts of the two symmetrical clamping pieces 432 is 0.6-0.7 of the maximum diameter of the connecting nail, so that the two clamping pieces can clamp the connecting nail 90;
as shown in fig. 9, the width direction of the conveying box 431 is parallel to the axis of the rotating rod of the electric screwdriver 421, one side of the bottom end of the conveying box 431, which is far away from the electric screwdriver 421, is fixed with a conveying pipe 433, the conveying pipe 433 is coaxial with the rotating rod of the electric screwdriver 421, the arc-shaped part of the clamping piece 432 is a cylindrical surface, and the axis of the cylindrical surface is coaxial with the rotating rod of the electric screwdriver 421;
the conveying assemblies 43 are fixed on the inner wall of the machine shell and correspond to the screwing and inserting assemblies 42 one by one;
the dust collector 50 is fixed on the frame and is communicated with a dust suction port through a hose 51, and the dust suction port is fixed at the position where the round hole drill 411 extends out of the machine shell and is used for absorbing dust formed by drilling;
the stepping motor 70 is used for anchoring a shell of the assembly 40, and the shell is positioned on a fixed arm 121 of the rear sliding frame 12 through a bearing; the stepping motor 70 can control the machine shell to turn 180 degrees, so that the drilling assembly 41 and the screwing assembly 42 work relatively low;
the laser ranging module 80 is used for detecting the distance between the bottom edge and the bottom surface of the rebound assembly 30; of course, there may be more laser ranging modules 80 fixed on the casing to measure the distance between the bottom of the casing and the ground
The casing is preferably in the shape of a symmetrical plane, such as a six-sided column (see fig. 1), mainly for facilitating the adjustment of the longitudinal position after being turned over;
the control assembly comprises a power module, a control module, a detection module and an execution module;
the power supply module is used for supplying power to the control module, the detection module and the execution module;
the detection module comprises an electric resiliometer and a laser ranging module;
the electric resiliometer is used for detecting a ground rebound value and sending the rebound value to the control module;
the laser ranging module is used for detecting distance information and sending the distance information to the control module;
the control module is a singlechip, has a wide optional range, uses a C8051F020 singlechip in actual test, and is used for receiving information sent by the detection module, forming an operation instruction and sending the operation instruction to the execution module;
the execution module comprises a left hub motor, a right hub motor, a front hydraulic cylinder, a rear hydraulic cylinder, a steering motor, a round hole drill 411, a round hole telescopic oil cylinder 412, an electric screwdriver 421, a screwdriver telescopic oil cylinder 422, a dust collector and a stepping motor 70;
the left hub motor and the right hub motor receive instructions sent by the control module and are used for providing power for the left crawler wheel set and the right crawler wheel set respectively;
the front hydraulic cylinder receives an instruction sent by the control module and is used for lifting or lowering the longitudinal position of the front fixing frame;
the rear hydraulic cylinder receives an instruction sent by the control module and is used for lifting or lowering the longitudinal position of the rear fixing frame;
the steering motor receives an instruction sent by the control module and adjusts the angle of the frame 10 relative to the chassis;
the round hole drill receives an instruction sent by the control module and is used for drilling a round hole on the ground;
the dust collector 50 receives the instruction sent by the control module and is used for absorbing the dust on the ground;
the round hole telescopic oil cylinder receives an instruction sent by the control module and is used for driving the round hole drill 411 to axially move along the axis of the round hole drill;
the screwdriver telescopic oil cylinder 422 receives an instruction sent by the control module and is used for pushing the electric screwdriver to a specified position;
the electric screwdriver 421 receives the instruction sent by the control module and is used for screwing the connecting nail 90, and the bottom end of the connecting nail 90 is screwed into the ground hole;
the stepper motor 70 receives the command from the control module to rotate the anchor assembly 40.
The working process is as follows:
Then the electric resiliometer 31 works to detect the rebound value of the ground and send the rebound value information to the control module, the control module receives the rebound value, the rebound value can be added and compared with a preset value, the maximum value and the minimum value can be removed, the average value is calculated and compared with the preset value, and then the drilling depth is selected according to the preset value range;
the dust collector 50 works while drilling, and dust is sucked out;
after the drilling is finished, the stepping motor 70 drives the machine shell to rotate, the screwdriver telescopic oil cylinder 422 extends out to enable the electric screwdriver to push the connecting nail 90 at the bottommost end into the conveying pipe 43 from the clamping piece 432, the electric screwdriver works when the connecting nail is further pushed into a ground hole, and the rotating rod rotates, so that on one hand, the downward cutting thread at the bottom end of the connecting nail is screwed into the blind end of the ground hole; on the other hand, the diameter of the abdominal circumference is slightly larger than the inner diameter of the ground hole, the nail rod 93 rotates, the triangular leaf 95 breaks the rubber membrane, the epoxy resin and the curing agent flow out and gradually go deep into the ground hole, and the ground hole and the connecting nail are bonded.
In subsequent pavement, the bonding strength of the base coating material and the connecting nails is more than that of the ground, and the connecting nails can effectively improve the overall coating continuity and structural strength when penetrating into the ground.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A robot for improving a ground structure comprises a frame, a walking chassis, a rebound assembly, an anchoring assembly, a dust collector, a stepping motor, a laser ranging module and a control module;
wherein the frame is used for bearing other components;
the top end of the walking chassis is connected with the rack and is used for driving the rack and other components to walk;
the rebound assembly is used for measuring a rebound value of the ground and comprises a plurality of electric rebounders, the electric rebounders are fixed on the front side of the rack, the measuring ends are vertically arranged downwards and move up and down along the rack through a sliding mechanism;
the connecting nail is inserted into the ground hole;
the connecting nail comprises a nail cap, a nail rod, a belly band, a triangular blade, a thread, a conical head and a cutting groove;
the screw cap is in a round table shape, the lower bottom of the screw cap is small, the upper bottom of the screw cap is large, the upper bottom of the screw cap is an arc surface or a spherical surface which is convex towards the lower bottom, and the upper bottom of the screw cap is provided with a cross-shaped groove matched with the screwdriver;
the bottom end of the nail cap is fixedly connected with the coaxial cylindrical nail rod;
the abdominal wall is used for containing epoxy resin and a curing agent and comprises a hard shell and a soft cylindrical inner membrane; the inner diameter of the inner membrane is the same as the outer diameter of the nail rod;
four cavities are divided between the inner film and the shell, curing agents are filled in the two small cavities, and epoxy resin is filled in the two large cavities;
the part of the nail rod positioned in the abdominal wall is fixed with a triangular leaf;
the abdominal shell comprises an upper cylindrical part, an ellipsoid part and a lower cylindrical part which are sequentially and fixedly connected in a sealing way from top to bottom;
the maximum outer diameter of the elliptical ball part is 1-3mm larger than the inner diameter of a ground hole;
the outer surface of the lower side of the abdominal wall of the nail rod is provided with threads; the screw thread is used for screwing the nail rod into the blind end of the ground hole;
the bottom end of the nail rod is provided with a conical head, and the conical head is provided with a cutting groove;
the total length of the connecting nail is within the range of 20-45 mm;
the anchoring component is used for drilling a hole in the ground and installing the connecting nail into the hole in the ground; the drilling machine comprises a machine shell, a drilling assembly, a screwing and inserting assembly and a conveying assembly;
the casing is hexahedron and is provided with a horizontal symmetrical plane;
the drilling assembly comprises a round hole drill and a round hole telescopic oil cylinder, the round hole telescopic oil cylinder is fixed on the inner wall of the shell, and the telescopic direction of the round hole telescopic oil cylinder forms an included angle of 35-55 degrees with the horizontal plane; the telescopic end of the round hole telescopic oil cylinder is fixedly connected with a round hole drill, and the axis of a drill rod of the round hole drill is parallel to the telescopic direction of the round hole telescopic oil cylinder;
the screwing and inserting assembly is used for pushing and screwing the connecting nail and comprises an electric screwdriver and a screwdriver telescopic oil cylinder, and the screwdriver telescopic oil cylinder and the round hole telescopic oil cylinder are symmetrically arranged and fixed on the inner wall of the shell; the rotating rod of the electric screwdriver is coaxial with or parallel to the telescopic end of the screwdriver telescopic oil cylinder;
the drilling assemblies are arranged on the two side walls of the shell in the same number, and drilling points can be arranged symmetrically or in a staggered manner;
the conveying assembly is used for conveying the connecting nail to a position coaxial with the electric screwdriver; it comprises a conveying box, a clamping piece and a conveying pipe; the width of the conveying box is 1.2 to 1.3 times of the maximum outer diameter of the connecting nail;
the bottom end of the conveying box is fixedly provided with two symmetrical clamping pieces, the clamping pieces are made of elastic materials, the lower parts of the clamping pieces comprise arc-shaped parts, and the minimum distance between the arc-shaped parts of the two symmetrical clamping pieces is 0.6-0.7 of the maximum diameter of the connecting nail;
the width direction of the conveying box is parallel to the axis of the electric screwdriver rotating rod, one side of the bottom end of the conveying box, which is far away from the electric screwdriver, is fixedly provided with a conveying pipe, the conveying pipe is coaxial with the electric screwdriver rotating rod, the arc-shaped part of the clamping piece is a cylindrical surface, and the axis of the cylindrical surface is coaxial with the electric screwdriver rotating rod;
the conveying assemblies are fixed on the inner wall of the shell and correspond to the screwing and inserting assemblies one by one;
the dust collector is fixed on the frame and is communicated with the dust suction port through a hose, and the dust suction port is fixed at the position where the round hole drill extends out of the shell and is used for absorbing dust formed by drilling;
the stepper motor is used to rotate the housing of the anchor assembly,
and the laser ranging module is fixed on the frame.
2. A robot for improving the ground structure according to claim 1, characterized in that the bottom of the nail cap is fixed with a skirt, the skirt comprises a circular part and a metal wire part, the circular part is coaxially and fixedly connected with the nail cap, the metal wire part comprises 4-16 metal wires, and the metal wires are parallel to the conical surface of the nail cap or inclined relative to the outer side of the conical surface.
3. A robot for improving ground structure according to claim 1, characterized in that the inner membrane of the abdominal wall is made of a cylindrical rubber membrane, and both ends of the rubber membrane are fixedly connected with both ends of the outer shell of the abdominal wall in a sealing manner.
4. A robot for improving ground structure according to claim 1, characterized in that the triangle leaves are 1/2-3/4 of the ventral axial length along the axial length of the shank and 1.5-2mm of the maximum width along the radial direction of the shank.
5. A robot for improving the ground structure according to claim 1, characterized in that the drill rod of the round hole drill is a taper drill with a taper angle of 10-25 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010850388.XA CN111996884B (en) | 2020-08-21 | 2020-08-21 | Robot for improving ground structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010850388.XA CN111996884B (en) | 2020-08-21 | 2020-08-21 | Robot for improving ground structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111996884A CN111996884A (en) | 2020-11-27 |
| CN111996884B true CN111996884B (en) | 2021-12-24 |
Family
ID=73473000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010850388.XA Active CN111996884B (en) | 2020-08-21 | 2020-08-21 | Robot for improving ground structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111996884B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0449375A (en) * | 1990-06-18 | 1992-02-18 | Yoshino Seiki:Kk | Wall surface repairing construction |
| KR20080004747U (en) * | 2007-04-16 | 2008-10-21 | 유인섭 | Sound Absorption Panel |
| JP2009174201A (en) * | 2008-01-25 | 2009-08-06 | Pias Hanbai Kk | Pin for fixing heat insulation material |
| CN201620343U (en) * | 2010-02-08 | 2010-11-03 | 张军 | Novel concrete pavement end mold support combination |
| JP5749139B2 (en) * | 2011-10-27 | 2015-07-15 | Ｆｓテクニカル株式会社 | Injection nozzle and pinning method using the same |
| CN205276918U (en) * | 2015-12-03 | 2016-06-01 | 四川省大卫建筑设计有限公司 | Modular cramp |
| US9359727B2 (en) * | 2010-03-26 | 2016-06-07 | Guntert & Zimmerman Const. Div., Inc. | Adjustable bolster swing legs for mounting and aligning and reorienting crawlers for slipform paving machines |
| CN105909643A (en) * | 2016-06-24 | 2016-08-31 | 浙江建设职业技术学院 | Cement nail |
| CN207958947U (en) * | 2018-03-14 | 2018-10-12 | 长安大学 | A kind of glass fiber grid laying apparatus |
| CN109338859A (en) * | 2018-08-18 | 2019-02-15 | 重庆交通大学 | The stake of screw-in hanging wire and its mounting device suitable for pan soil construction |
-
2020
- 2020-08-21 CN CN202010850388.XA patent/CN111996884B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0449375A (en) * | 1990-06-18 | 1992-02-18 | Yoshino Seiki:Kk | Wall surface repairing construction |
| KR20080004747U (en) * | 2007-04-16 | 2008-10-21 | 유인섭 | Sound Absorption Panel |
| JP2009174201A (en) * | 2008-01-25 | 2009-08-06 | Pias Hanbai Kk | Pin for fixing heat insulation material |
| CN201620343U (en) * | 2010-02-08 | 2010-11-03 | 张军 | Novel concrete pavement end mold support combination |
| US9359727B2 (en) * | 2010-03-26 | 2016-06-07 | Guntert & Zimmerman Const. Div., Inc. | Adjustable bolster swing legs for mounting and aligning and reorienting crawlers for slipform paving machines |
| JP5749139B2 (en) * | 2011-10-27 | 2015-07-15 | Ｆｓテクニカル株式会社 | Injection nozzle and pinning method using the same |
| CN205276918U (en) * | 2015-12-03 | 2016-06-01 | 四川省大卫建筑设计有限公司 | Modular cramp |
| CN105909643A (en) * | 2016-06-24 | 2016-08-31 | 浙江建设职业技术学院 | Cement nail |
| CN207958947U (en) * | 2018-03-14 | 2018-10-12 | 长安大学 | A kind of glass fiber grid laying apparatus |
| CN109338859A (en) * | 2018-08-18 | 2019-02-15 | 重庆交通大学 | The stake of screw-in hanging wire and its mounting device suitable for pan soil construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111996884A (en) | 2020-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101467142B1 (en) | Pressure grouting enabled steel pipe pile and penetration device of the same and pile construction method using the same | |
| CN105829610B (en) | Handle particle and connecting plate part | |
| CN107142872B (en) | Highway barrier Rebar bonding device and its construction method | |
| JP2009002082A (en) | Excavator for foundation pile | |
| CN108086663B (en) | Support for drilling holes and planting ribs on top of indoor building and side face of wall column and construction method of support | |
| US4711603A (en) | Slab jacking process and apparatus | |
| CN111996884B (en) | Robot for improving ground structure | |
| CN210368948U (en) | Combined pile for building foundation engineering | |
| CN110593598A (en) | Wall crack automatic detection and repair device | |
| CN105822234A (en) | Drill rod assembly with drillable expanded bit for piling machine | |
| CN211447871U (en) | Wall crack automatic detection and repair device | |
| JP5474900B2 (en) | Method for cleaning voids in concrete slabs | |
| KR20060082593A (en) | Tension and compressure supporting pile | |
| CN106703025A (en) | Spiral pile and construction method thereof | |
| CN205934925U (en) | Pile pressing machine | |
| CN109853342A (en) | A kind of highway maintenance damage detection device | |
| CN113338288B (en) | Rotary drilling dry drilling construction slag removing device | |
| CN111980383B (en) | Building construction robot | |
| CN113322759A (en) | Filling and digging boundary roadbed road section defect repairing construction process | |
| CN208830896U (en) | A kind of separable pick toothholder of rotary digging machine barrel brill | |
| CN106076992A (en) | Conveying pipe cleaning plant | |
| CN215886062U (en) | Fixed mounting structure convenient to bolt secondary is pre-buried | |
| CN113846626B (en) | Stable tip ground grabbing type concrete pipe pile | |
| CN109138385B (en) | Face brick leveling method | |
| CN111622282B (en) | Multifunctional jet drilling tool, forced landing and inclination correcting equipment capable of realizing precise directional disturbance and forced landing and inclination correcting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |