CN115404841B - Karst landform machinery Kong Zhuangxiao formula karst cave filling device - Google Patents
Karst landform machinery Kong Zhuangxiao formula karst cave filling device Download PDFInfo
- Publication number
- CN115404841B CN115404841B CN202211042280.3A CN202211042280A CN115404841B CN 115404841 B CN115404841 B CN 115404841B CN 202211042280 A CN202211042280 A CN 202211042280A CN 115404841 B CN115404841 B CN 115404841B
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- CN
- China
- Prior art keywords
- rotary
- mechanical arm
- moving device
- karst
- zhuangxiao
- 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.)
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Links
- 238000003466 welding Methods 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000003860 storage Methods 0.000 claims abstract description 10
- 238000005553 drilling Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 12
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/08—Sinking workpieces into water or soil inasmuch as not provided for elsewhere
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
- E02D5/22—Piles
- E02D5/34—Concrete or concrete-like piles cast in position ; Apparatus for making same
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Soil Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a karst landform machinery Kong Zhuangxiao type karst cave filling device, which comprises: the rotary disc, the storage battery, the welding mechanical arm, the material tool box, the clamping jaw mechanical arm and the drilling rod mechanical arm are sequentially arranged in the middle of the rotary shaft from top to bottom; the welding mechanical arm, the clamping jaw mechanical arm and the drill rod mechanical arm are arranged on corresponding rotary round tables, the rotary round tables are sleeved on a rotary shaft to be connected in a rotary mode, and the rotary disk is connected with the rotary shaft in a rotary mode; the material tool box and the storage battery are fixed on the rotating shaft; the two ends of the rotating shaft are respectively connected with a top moving device and a bottom moving device in a rotating way; the top moving device and the bottom moving device are disc-shaped, and a plurality of telescopic moving wheels are uniformly arranged around the top moving device and the bottom moving device. The invention can solve the problems of slow backfill construction progress and high construction cost in the prior art.
Description
Technical Field
The invention relates to the field of design and manufacture of building robots, in particular to a karst landform machinery Kong Zhuangxiao type karst cave filling device.
Background
Karst landform areas have complex geological structures and dense karst cave. When encountering small karst cave in the mechanical pore-forming bored concrete pile construction process, tiny karst cave can lead to a large amount of concrete loss so that the construction progress is slow. Most of the traditional methods use low-grade concrete for backfilling and then drilling construction is carried out again, so that the construction cost is high.
A new karst landform machine Kong Zhuangxiao type karst cave filling device is needed to solve the above problems.
Disclosure of Invention
The invention provides a karst landform machinery Kong Zhuangxiao type karst cave filling device which is simple in structure and capable of solving the problems of slow backfill construction progress and high construction cost in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: a karst landform machinery Kong Zhuangxiao type karst cave filling device, comprising: the rotary disc, the storage battery, the welding mechanical arm, the material tool box, the clamping jaw mechanical arm and the drilling rod mechanical arm are sequentially arranged in the middle of the rotary shaft from top to bottom; the welding mechanical arm, the clamping jaw mechanical arm and the drill rod mechanical arm are arranged on corresponding rotary round tables, the rotary round tables are sleeved on a rotary shaft to be connected in a rotary mode, and the rotary disk is connected with the rotary shaft in a rotary mode; the material tool box and the storage battery are fixed on the rotating shaft; the two ends of the rotating shaft are respectively connected with a top moving device and a bottom moving device in a rotating way; the top moving device and the bottom moving device are disc-shaped, and a plurality of telescopic moving wheels are uniformly arranged around the top moving device and the bottom moving device.
Preferably, the rotary disk is provided with an illuminating lamp and a camera, and can be used for illuminating and shooting in a karst cave, so that basis is brought to remote control.
Preferably, the telescopic movable wheel comprises a rotating shaft base, a telescopic arm, a rotating shaft, a crawler wheel and a control cable, wherein the telescopic arm transversely stretches out is arranged on the rotating shaft base, the rotating shaft is arranged at the front end of the telescopic arm, the crawler wheel is arranged at the front end of the rotating shaft, the control cable is arranged at the outer side of the telescopic arm, and the control cable is pulled out of the rotating shaft base and is connected to the crawler wheel along the telescopic arm.
Preferably, the top surface of the top moving device is provided with an external power supply and a lifting hook.
Preferably, the karst landform machinery Kong Zhuangxiao type karst cave filling device is further provided with a control unit for controlling the operation of the karst landform machinery Kong Zhuangxiao type karst cave filling device, and the control unit is provided with a remote control module for wireless transmission with APP software on a mobile terminal.
Preferably, the retractable wheels are provided at least 3 around the top or bottom moving means.
Preferably, the diameter of the rotary disk is larger than that of the rotary round table, and the illuminating lamp and the camera are arranged at a position close to the edge of the rotary disk.
Preferably, the telescopic arm is driven by an electric cylinder inside the top moving device or the bottom moving device to extend and retract.
Compared with the prior art, the invention has the beneficial effects that:
the small karst cave in the hole pile is detected and identified through the camera arranged on the device, data measurement is carried out on the small karst cave, then the position and the size of a set reinforcing steel bar net sheet are given according to measured data analysis, stress point manufacturing is carried out on the periphery of the small karst cave in the hole pile through the drilling mechanical arm, and then the designed reinforcing steel bar net sheet is fixedly installed through the welding mechanical arm, so that the small karst cave is blocked, a large amount of concrete loss is avoided, the repairing range meets the standard requirement, and the construction cost is saved.
Drawings
FIG. 1 is a schematic view of the construction of the present invention;
FIG. 2 is a schematic view of a partial structure of the present invention;
fig. 3 is a schematic top view of the device of the present invention.
Reference numerals:
1. a lifting hook; 2. a top moving device; 3. a retractable movable wheel; 31, a rotating shaft base; 32, telescoping arms; 33, a rotating shaft, 34, a crawler wheel, 35, a control cable, 4 and a rotating shaft; 5. a rotary disk, a lighting lamp 6; 7. a camera; 8. a storage battery; 9. welding a mechanical arm; 10. a materials toolbox; 11. a jaw mechanical arm; 12. a drill rod mechanical arm; 13. an external power supply; 14. a bottom moving device; 15. and rotating the round table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1-3, the invention provides the following technical scheme for solving the problems of slow backfill construction progress and high construction cost in the prior art: a karst landform machinery Kong Zhuangxiao type karst cave filling device comprises a rotating shaft 4, wherein a rotating disc 5, a storage battery 8, a welding mechanical arm 9, a material tool box 10, a clamping jaw mechanical arm 11 and a drill rod mechanical arm 12 are sequentially arranged in the middle of the rotating shaft 4 from top to bottom; the welding mechanical arm 9, the clamping jaw mechanical arm 11 and the drilling rod mechanical arm 12 are arranged on corresponding rotary round tables 15, the rotary round tables 15 are sleeved on the rotary shaft 4 to be in rotary connection, and the rotary disk 5 is in rotary connection with the rotary shaft 4; the material tool box 10 and the storage battery 8 are fixed on the rotating shaft 4; the two ends of the rotating shaft 4 are respectively connected with a top moving device 2 and a bottom moving device 14 in a rotating way; the top moving device 2 and the bottom moving device 14 are disc-shaped, and a plurality of telescopic moving wheels 3 are uniformly arranged around the top moving device 2 and the bottom moving device 14.
Specifically, rotation axis 4 in the middle of install rotary disk 5, battery 8, welding arm 9, material toolbox 10, clamping jaw arm 11 and go up borer arm 12 from the top down in proper order, the convenience is selected to use suitable instrument to carry out the operation according to actual conditions. The welding mechanical arm 9, the clamping jaw mechanical arm 11 and the drilling mechanical arm 12 are installed on a corresponding rotary round table 15, the rotary round table 15 is sleeved on a rotary shaft 4 and is in rotary connection through an electric drive bearing, the rotary disc 5 and the rotary shaft 4 are in rotary connection through the electric drive bearing, for example, a motor is installed in the rotary disc 5 and the rotary round table 15, a driving gear is arranged on the motor, a gear ring is installed on the outer side of the rotary shaft 4, the rotary disc 5 and the rotary round table 15 rotate around the rotary shaft 4 through meshing of the driving gear and the gear ring, a material tool box 10 and a storage battery 8 are fixed on the rotary shaft 4 through shaft shoulders and shaft sleeves, two ends of the rotary shaft 4 are respectively in rotary connection with a top moving device 2 and a bottom moving device 14, and rotary drive between two ends of the rotary shaft 4 and the top moving device 2 and the bottom moving device 14 also adopts the transmission mode of meshing of the motor, the driving gear and the gear ring.
In order to enable each rotating component to realize a rotating function, a magnetic encoder is arranged in the electric drive bearing, the magnetic encoder comprises an absolute value encoder and a magnetic ring which are matched with each other, the magnetic ring is arranged on a rotor of the electric drive bearing and rotates along with the rotor, the absolute value encoder is arranged on a stator of the electric drive bearing, the angle between the absolute value encoder and the magnetic ring is read through the magnetic encoder, and accurate rotation is realized by matching with motor driving.
In this embodiment, rotary disk 5 on be equipped with light 6 and camera 7, light 6 provides the illumination, the camera 7 detects the small-size karst cave in the discernment hole stake, carries out data measurement to small-size karst cave in the internal computing element, final analysis gives the position and the size that set up the reinforcing bar net piece.
In order to adapt to complicated topography of karst cave, scalable removal wheel 3 include pivot base 31, flexible arm 32, pivot 33, track wheel 34 and control cable 35, install the flexible arm 32 that transversely stretches out on the pivot base 31, pivot 33 is installed to flexible arm 32 front end, track wheel 34 is installed to the front end of pivot 33, control cable 35 is installed in flexible arm 32 outside, control cable 35 is pulled out and is connected in track wheel 34 along flexible arm 32 by pivot base 31, and the during operation utilizes track wheel 34 to remove in complicated topography, the inside electric jar that is equipped with of flexible arm 32, can drive the electric jar in the flexible arm 32 and stretch out track wheel 34 closely in the wall of a cave and remove.
In this embodiment, top mobile device 2 top surface be equipped with external power supply 13 and lifting hook 1, external power supply 13 inserts battery 8, makes the device can operate for a long time, the lifting hook 1 selects the outstanding material of bearing capacity with the tie point of top mobile device 2, can hoist whole device through lifting hook 1 and shift fast.
In order to realize remote control, a control unit for controlling the operation of the karst landform machinery Kong Zhuangxiao type karst cave filling device is arranged in each movable part of the device, and a remote control module is arranged on the control unit and can send information out through wireless transmission.
As a moving mode of the top moving device 2 or the bottom moving device 14, at least 3 retractable moving wheels 3 are arranged around the top moving device 2 or the bottom moving device 14 to achieve a stable moving effect, and the retractable moving wheels 3 can be optionally added to face more complex terrains.
In order to make the obtained data more accurate, the diameter of the rotating disc 5 is larger than that of the rotating circular table 15, so that the camera 7 has a wider visual field when in observation, the illuminating lamp 6 is arranged at a position near the camera 7, and meanwhile, the extending length of the illuminating lamp 6 is shorter than that of the camera 7, so that the lens of the camera 7 cannot be influenced by light spots.
In this embodiment, the whole three sections of rigid body of rod that constitute of arm, pass through rotary joint between the every section of rigid body of rod and connect, the arm tail end passes through rotary joint and is connected with rotatory round platform 15, and the ring flange of taking wrist knuckle is installed to the arm head end, the ring flange mountable is different function module wherein includes welding module, clamping jaw module and is made the borer module.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear are used in the embodiments of the present invention) are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
Claims (6)
1. A karst landform machinery Kong Zhuangxiao formula karst cave filling device, characterized in that includes:
the rotary table (5), the storage battery (8), the welding mechanical arm (9), the material tool box (10), the clamping jaw mechanical arm (11) and the drilling mechanical arm (12) are sequentially arranged in the middle of the rotary table (4) from top to bottom; the welding mechanical arm (9), the clamping jaw mechanical arm (11) and the drilling rod mechanical arm (12) are arranged on corresponding rotary round tables (15), the rotary round tables (15) are sleeved on the rotary shaft (4) to be in rotary connection, and the rotary disk (5) is in rotary connection with the rotary shaft (4); the material tool box (10) and the storage battery (8) are fixed on the rotating shaft (4); the two ends of the rotating shaft (4) are respectively connected with a top moving device (2) and a bottom moving device (14) in a rotating way; the utility model provides a top mobile device (2) and bottom mobile device (14) all be discoid, and evenly be provided with a plurality of scalable removal wheel (3) around top mobile device (2) and bottom mobile device (14), rotary disk (5) on be equipped with light (6) and camera (7), scalable removal wheel (3) include pivot base (31), telescopic boom (32), pivot (33), track wheel (34) and control cable (35), install telescopic boom (32) that transversely stretch out on pivot base (31), pivot (33) are installed to telescopic boom (32) front end, track wheel (34) are installed to the front end of pivot (33), telescopic boom (32) outside installation control cable (35), control cable (35) tear out and be connected in track wheel (34) along telescopic boom (32) by pivot base (31).
2. The karst landform machinery Kong Zhuangxiao type karst cave filling device of claim 1, wherein: the top surface of the top moving device (2) is provided with an external power supply (13) and a lifting hook (1).
3. The karst landform machinery Kong Zhuangxiao type karst cave filling device of claim 1, wherein: the karst landform machinery Kong Zhuangxiao type karst cave filling device is characterized by further comprising a control unit for controlling the operation of the karst landform machinery Kong Zhuangxiao type karst cave filling device, wherein the control unit is provided with a remote control module for wireless transmission with APP software on a mobile terminal.
4. The karst landform machinery Kong Zhuangxiao type karst cave filling device of claim 1, wherein: the telescopic moving wheels (3) are arranged around the top moving device (2) or the bottom moving device (14) at least for 3 times.
5. The karst landform machinery Kong Zhuangxiao type karst cave filling device of claim 1, wherein: the diameter of the rotary disk (5) is larger than that of the rotary round table (15), and the illuminating lamp (6) and the camera (7) are arranged at positions close to the edge of the rotary disk (5).
6. The karst landform machinery Kong Zhuangxiao type karst cave filling device of claim 1, wherein: the telescopic arm (32) is driven by an electric cylinder inside the top moving device (2) or the bottom moving device (14) to extend and retract.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211042280.3A CN115404841B (en) | 2022-08-29 | 2022-08-29 | Karst landform machinery Kong Zhuangxiao formula karst cave filling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211042280.3A CN115404841B (en) | 2022-08-29 | 2022-08-29 | Karst landform machinery Kong Zhuangxiao formula karst cave filling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115404841A CN115404841A (en) | 2022-11-29 |
| CN115404841B true CN115404841B (en) | 2023-12-19 |
Family
ID=84160890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211042280.3A Active CN115404841B (en) | 2022-08-29 | 2022-08-29 | Karst landform machinery Kong Zhuangxiao formula karst cave filling device |
Country Status (1)
| Country | Link |
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| CN (1) | CN115404841B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708615A (en) * | 2015-02-09 | 2015-06-17 | 赖卫华 | Mechanical arm |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN206733028U (en) * | 2017-04-25 | 2017-12-12 | 深圳市益高五金机械有限公司 | A kind of novel mechanical arm |
| CN210233096U (en) * | 2019-07-01 | 2020-04-03 | 深圳康格瑞精密工业有限公司 | Heavy-load mechanical arm for packaging box |
| CN211073575U (en) * | 2019-01-18 | 2020-07-24 | 上海赛浪电器设备有限公司 | Rotatory processingequipment of arm |
| CN114033418A (en) * | 2021-08-31 | 2022-02-11 | 石家庄铁道大学 | Automatic FRP rib laying machine and operation method thereof |
-
2022
- 2022-08-29 CN CN202211042280.3A patent/CN115404841B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708615A (en) * | 2015-02-09 | 2015-06-17 | 赖卫华 | Mechanical arm |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN206733028U (en) * | 2017-04-25 | 2017-12-12 | 深圳市益高五金机械有限公司 | A kind of novel mechanical arm |
| CN211073575U (en) * | 2019-01-18 | 2020-07-24 | 上海赛浪电器设备有限公司 | Rotatory processingequipment of arm |
| CN210233096U (en) * | 2019-07-01 | 2020-04-03 | 深圳康格瑞精密工业有限公司 | Heavy-load mechanical arm for packaging box |
| CN114033418A (en) * | 2021-08-31 | 2022-02-11 | 石家庄铁道大学 | Automatic FRP rib laying machine and operation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115404841A (en) | 2022-11-29 |
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