CN113338143A

CN113338143A - Ground structure is dug to robot

Info

Publication number: CN113338143A
Application number: CN202110657089.9A
Authority: CN
Inventors: 李华忠; 周彦兵; 王炫盛
Original assignee: Shenzhen Institute of Information Technology
Current assignee: Shenzhen Institute of Information Technology
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-09-03

Abstract

The invention relates to a ground cutting structure of a robot, which comprises a mounting support and a cutting unit, wherein the lower surface of the mounting support is fixedly provided with the cutting unit. The invention can solve the problems existing at present: the existing excavating equipment is of a single working structure, and when workers hold the excavating equipment to work, the excavating equipment brings great labor intensity to the workers and also reduces the excavating treatment efficiency of damaged pavements; the automatic position movement cannot be carried out, the ordered movement can be carried out only by the assistance of manpower, and the corresponding adjustment of the cutting range of the cutting equipment cannot be carried out according to the damaged area of the road surface; corresponding protective facilities are not arranged, the cutting process of the cutting equipment can cause splashing of stones, workers are easily injured, cut pavement waste materials can not be collected and processed better, and too much labor is brought to the workers.

Description

Ground structure is dug to robot

Technical Field

The invention relates to the field of road maintenance, in particular to a ground digging structure of a robot.

Background

Road maintenance is the maintenance and the repair of roads, the maintenance of roads and structures and facilities on the roads, the maintenance of the service performance of the roads as far as possible, the recovery of damaged parts in time, the guarantee of safe, comfortable and smooth driving, and the saving of transportation cost and time; correct technical measures are adopted, the engineering quality is improved, the service life of the road is prolonged, and the reconstruction time is delayed. The invention mainly aims at the excavation treatment of the damaged urban road surface; the urban road refers to a road which reaches all regions of a city, is used for traffic transportation and pedestrians in the city, is convenient for resident life, work and cultural entertainment activities, and is connected with an outside road to bear outside traffic; after the urban road surface is damaged, the damaged road surface needs to be timely excavated and cleaned, and then the vehicle is refilled and repaired to ensure that the vehicle can normally pass.

The following problems exist when the broken road surface of the urban road is excavated and crushed at present:

the existing pavement excavating equipment needs a worker to hold the equipment to excavate and crush the damaged pavement, is of a single working structure and only has one drill bit for excavating, and can bring great labor intensity to the worker and reduce the excavating treatment efficiency of the damaged pavement when the worker holds the equipment to work, so that the repair time of the pavement is too long, and the integral smoothness of the road is influenced;

the existing pavement cutting equipment cannot automatically move positions when cutting one of the damaged pavements every time, and also can be orderly carried out only by assistance of manpower, and cannot correspondingly adjust the cutting range of the cutting equipment according to the damaged area of the pavement, so that the damaged pavement cannot be effectively and pertinently cut, and the repair efficiency of the pavement is reduced;

the road surface excavation equipment that has now does not set up corresponding protective equipment when excavating damaged road surface, and the excavation equipment excavation process can cause splashing of stone, not only causes the workman injured easily, still can cause the unable better collection processing of road surface waste material that excavates, brings too much amount of labour for the workman.

Disclosure of Invention

The present invention is directed to a ground cutting structure of a robot, which solves the above problems of the related art.

In order to achieve the purpose, the invention provides the following technical scheme:

a ground cutting structure of a robot comprises a mounting support and a cutting unit, wherein the lower surface of the mounting support is fixedly provided with the cutting unit; wherein:

the cutting unit comprises a cutting frame body, cutting support rods, cutting support plates, cutting support legs, moving balls, hydraulic ejector rods, cutting warping rods, adaptive slide rails, adaptive slide blocks and cutting components, the cutting frame body is fixedly arranged in the middle of the lower surface of the mounting support, two pairs of cutting support rods are sequentially arranged at the edge of the lower end surface of the cutting frame body along the circumferential direction of the cutting frame body, the cutting support rods are symmetrical to the cutting support rods in position, the cutting support rods are L-shaped structures, one ends of the cutting support rods face downwards, the cutting support plates are fixedly arranged at the downward ends of all the cutting support rods, the cutting support legs are fixedly arranged at four corners of the lower surface of the cutting support plates, the moving balls are arranged at the lower ends of the cutting support legs in a rolling mode, the hydraulic ejector rods are fixedly arranged at the corners of the cutting support rods in an erected mode, the upper edges of the ends, connected with the cutting support rods, of the cutting support rods are provided with the cutting warping rods through hinges, and one ends, far away from the cutting frame body, of the cutting support rods are provided with the adaptive slide rails, a proper position sliding block is arranged in the proper position sliding rail in a sliding mode, the output end of the hydraulic ejector rod is connected with the proper position sliding block through a spherical hinge, all the cutting raising rods are provided with cutting assemblies through hinges at one ends close to the cutting frame body, and the inner wall of the cutting frame body is not in contact with the outer wall of each cutting assembly;

the excavation subassembly includes excavation support, excavation motor, excavation gear, adjusts the branch chain, excavates the axostylus axostyle, excavation column and excavation drill bit, and all excavate and stick up the pole and be provided with the excavation support through the hinge jointly between being close to the one end of excavation framework between all the excavation sticks up the pole, is provided with the excavation motor in the middle of the excavation support, the excavation motor is two-way motor, slides on the output shaft of excavation motor upper end and is provided with the excavation gear, and is connected with reset spring between excavation motor output and the excavation gear, evenly is provided with a plurality of along its circumference direction on the excavation support and adjusts the branch chain, adjusts to rotate on the branch chain and is provided with the excavation axostylus axostyle, and excavation column is installed to excavation axostylus axostyle upper end, and the excavation gear is connected with the meshing of excavation column, and the excavation drill bit is installed to excavation axostylus axostyle lower extreme.

As a further scheme of the invention: the vertical protection spout of having seted up on the excavation landing leg, both ends symmetry slip is provided with the protection slider in the protection spout, and is located and is connected with supporting spring between two protection sliders in same protection spout, is provided with protection cloth between the protection slider in the adjacent protection spout, and protection cloth inelasticity.

As a further scheme of the invention: the excavation support lower surface edge is along the even vertical a plurality of vibration slide rail that is provided with of its circumference direction, it is provided with the vibrating slide block to slide in the vibration slide rail, be provided with the vibration extension board jointly between all the vibrating slide block, a plurality of vibration slide has evenly been seted up along its circumference direction on the vibration extension board, it is provided with the vibration fixture block to slide in the vibration slide rail, the excavation axostylus axostyle is connected with vibration fixture block one-to-one and the two rotation, the vibration carousel is installed to the output of excavation motor lower extreme, the vibration carousel lower surface evenly is provided with a plurality of vibration kicking block along its circumference direction, department evenly is provided with a plurality of vibration lug along its circumference direction in the middle of the vibration extension board upper surface, vibration kicking block and vibration lug cooperation contact.

As a further scheme of the invention: adjust the branch chain including adjusting the slide rail, adjust the slider, adjusting screw and regulation ejector pad, evenly be provided with a plurality of regulation slide rail along its circumference direction on the excavation support, it is provided with adjusting slider to slide in the regulation slide rail, and adjust and be connected with the shore spring between the one end that the slide rail is close to the excavation motor and the adjusting slider, the one end that the excavation motor was kept away from to the regulation slide rail is provided with adjusting screw, be connected through screw-thread fit's mode between excavation support and the adjusting screw, and adjusting screw is located the one end rotation of adjusting slide rail and installs the regulation ejector pad, adjust slide rail and regulation ejector pad sliding contact, mutual contact between adjusting slider and the regulation ejector pad.

As a further scheme of the invention: the cutting shaft rod is of an elastic telescopic structure and takes a joint with the vibration clamping block as a connecting boundary position.

As a further scheme of the invention: the excavation gear is the toper structure with the excavation tooth post, and the two orientation is opposite, and the length of excavation gear is less than the length of excavation tooth post.

As a further scheme of the invention: be provided with the positioning ring board between excavation framework and the excavation extension board, set up the positioning slide in the positioning ring board circumference direction, the even slip is provided with a plurality of positioning slider in the positioning slide, adjusting screw and positioning slider one-to-one and the two sliding connection, excavation support upper surface edge is provided with the positioning annular, and the slip is provided with the positioning ring piece in the positioning annular, and all excavate and stick up the pole and be close to and be connected through the connecting plate between the one end of excavation framework and the positioning ring piece, and the excavation sticks up the pole and passes through hinged joint with connecting plate one end, and the positioning ring piece passes through hinged joint with the connecting plate other end.

As a further scheme of the invention: the positioning slide way is composed of a plurality of J-shaped grooves which are communicated with each other, and a stop lever is arranged at the position where the adjacent J-shaped grooves are communicated with each other through a torsional spring.

Compared with the prior art, the invention has the following advantages:

1. the problem that the following problems exist when the broken road surface of the urban road is excavated and crushed at present can be solved:

when the existing pavement cutting equipment cuts a damaged pavement, corresponding protection facilities are not arranged, and the cutting process of the cutting equipment can cause the splashing of stones, so that not only can workers be easily injured, but also the cut pavement waste materials can not be better collected and processed, and the too much labor is brought to the workers;

2. when the device performs excavation and crushing treatment on damaged urban road surfaces, the excavation unit can be connected with the existing mobile robot through the mounting support, so that the problem of high labor intensity brought to workers can be solved, the excavation unit can correspondingly adjust the range of excavation according to the damaged area of the road surfaces, the excavation unit is provided with a plurality of excavation drill bits, the excavation amount in one working process can be greatly increased, and therefore, the damaged road surfaces can be excavated in a targeted manner, and the excavation efficiency of the damaged road surfaces can be effectively improved;

3. when the device is used for excavating and crushing damaged urban road surfaces, the protective cloth is arranged below the excavating unit, so that splashed stones can be blocked by the protective cloth during excavating, the injury problem of workers is avoided, and the excavated road surface waste materials can be collected more easily.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic side plan view of the present invention;

FIG. 3 is a schematic cross-sectional view taken along line A-A of FIG. 2 in accordance with the present invention;

FIG. 4 is an enlarged view of the structure of FIG. 3B;

figure 5 is a schematic perspective view of the cutting assembly of the present invention;

FIG. 6 is a schematic sectional view of a positioning ring plate according to the present invention.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained with reference to fig. 1 to 6.

A ground cutting structure of a robot comprises a mounting support 1 and a cutting unit 2, wherein the cutting unit 2 is fixedly arranged on the lower surface of the mounting support 1; wherein:

the cutting unit 2 comprises a cutting frame body 20, cutting support rods 21, cutting support plates 22, cutting support legs 23, moving balls 24, hydraulic ejector rods 25, cutting warping rods 26, a proper slide rail 27, a proper slide block 28 and a cutting assembly 29, the cutting frame body 20 is fixedly arranged in the middle of the lower surface of the mounting support 1, two pairs of cutting support rods 21 are sequentially arranged at the edge of the lower end face of the cutting frame body 20 along the circumferential direction of the cutting frame body, the cutting support rods 21 are of an L-shaped structure, one end of each cutting support rod 21 faces downwards, the cutting support plates 22 are fixedly arranged at the downward ends of all the cutting support rods 21, the cutting support legs 23 are fixedly arranged at four corners of the lower surface of the cutting support plates 22, the lower ends of the cutting support legs 23 roll to form the moving balls 24, the hydraulic ejector rods 25 are fixedly arranged at the corners of the cutting support rods 21, one end upper edges of the cutting support rods 21 connected with the cutting frame body 20 are provided with the cutting warping rods 26 through hinges, an adaptive slide rail 27 is arranged at one end of the cutting warping rod 26, which is far away from the cutting frame body 20, an adaptive slide block 28 is arranged in the adaptive slide rail 27 in a sliding manner, the output end of the hydraulic ejector rod 25 is connected with the adaptive slide block 28 through a ball-type hinge, cutting assemblies 29 are arranged between one ends of all the cutting warping rods 26, which are close to the cutting frame body 20, through hinges, and the inner wall of the cutting frame body 20 is not contacted with the cutting assemblies 29;

during specific work, the existing mobile robot is connected with the mounting support 1 through a bolt, the mobile robot is driven to move the cutting machine to a damaged road surface, the cutting range of the cutting assembly 29 is adjusted according to the area of the damaged road surface, the cutting assembly 29 is started, meanwhile, the hydraulic ejector rod 25 is started to extend, the hydraulic ejector rod 25 can jack up one end, far away from the cutting frame body 20, of the cutting tilting rod 26 through the sliding connection of the locating slide block 28 and the locating slide rail 27, the cutting tilting rod 26 rotates by taking a hinge at the connection position of the cutting support rod 21 as an axis, one end, close to the cutting frame body 20, of the cutting tilting rod 26 moves downwards, the cutting assembly 29 is pushed to gradually approach the ground, and the cutting assembly 29 performs cutting treatment on the damaged road surface.

The excavation supporting legs 23 are vertically provided with protective sliding grooves 230, protective sliding blocks 231 are symmetrically arranged at two ends in the protective sliding grooves 230 in a sliding manner, a supporting spring is connected between the two protective sliding blocks 231 in the same protective sliding groove 230, protective cloth 232 is arranged between the protective sliding blocks 231 in the adjacent protective sliding grooves 230, and the protective cloth 232 is not elastic;

when the cutting unit 2 cuts a damaged road surface, the cutting unit 2 can contact with the hard stone blocks cut from the road surface, the hard stone blocks can splash, the splashed hard stone blocks can be blocked by the protection cloth 232, the splashed stone blocks can generate thrust to the protection cloth 232 due to the fact that the splashed stone blocks are hit, the protection cloth 232 bulges outwards at the moment, the protection cloth 230 is provided with two protection sliding blocks 231 which are close to each other in the protection sliding groove 230, the support spring is extruded, the hitting force of the stone and the compression elastic force of the spring are offset, the support spring can rebound slowly, the protection cloth 232 does not have elasticity, the stone can directly roll off from the protection cloth 232, and the situation that the stone rebounds to damage the cutting unit due to hitting is avoided.

The cutting assembly 29 comprises cutting supports 290, a cutting motor 291, a cutting gear 292, adjusting branch chains 293, cutting shaft rods 294, cutting tooth columns 295 and a cutting drill 296, all cutting raising rods 26 are provided with the cutting supports 290 through hinges between one ends close to the cutting frame 20, the cutting motor 291 is arranged in the middle of the cutting supports 290, the cutting motor 291 is a two-way motor, the cutting gear 292 is arranged on an output shaft at the upper end of the cutting motor 291 in a sliding mode, a return spring is connected between the output end of the cutting motor 291 and the cutting gear 292, the cutting supports 290 are evenly provided with a plurality of adjusting branch chains 293 along the circumferential direction of the cutting supports, the cutting shaft rods 294 are arranged on the adjusting branch chains 293 in a rotating mode, the cutting tooth columns 295 are installed at the upper ends of the cutting motor 294, the cutting gear shaft rods 292 are connected with the cutting tooth columns 295 in a meshing mode, the cutting gear 292 and the cutting tooth columns 295 are of conical structures, and the directions of the cutting gear 292 and the cutting tooth, the length of the cutting gear 292 is smaller than that of the cutting tooth column 295, and a cutting drill 296 is mounted at the lower end of the cutting shaft 294;

during specific work, according to the area of the damaged road surface, the distance between the cutting shaft 294 and the cutting motor 291 is adjusted through the adjusting branch chain 293, so that the coverage area of the cutting bit 296 at the lower end of the cutting shaft 294 is changed, the cutting processing in a proper range can be better performed on the damaged road surface, the influence on the road surface repairing efficiency and the use quality of the road surface caused by excessive or insufficient cutting of the damaged road surface is avoided, the positions of the cutting shaft 294 can be changed synchronously with the positions of the cutting tooth columns 295 after the positions of the cutting shaft 294 are changed, as the cutting gear 292 and the cutting tooth columns 295 are of conical structures and are opposite in direction, the length of the cutting gear 292 is smaller than that of the cutting tooth columns 295, the cutting gear 292 is arranged on the output end of the cutting motor 291 in a sliding mode, and a return spring is connected between the output end of the cutting motor 291 and the cutting gear 292, and under the action of the elastic force of the return spring, can make cutting gear 292 slide on cutting motor 291 output for cutting gear 292 and cutting tooth column 295 remain the engaged state throughout, just so can not influence the normal rotation of cutting axostylus axostyle 294, and the one end that later cutting stick up pole 26 is close to cutting frame 20 moves down, thereby pushes cutting support 290 and is getting close to gradually to the ground, and cutting axostylus axostyle 294 can push cutting bit 296 and carry out the excavation crushing processing to damaged road surface.

A plurality of vibration slide rails 2900 are uniformly and vertically arranged on the edge of the lower surface of the excavation support 290 along the circumferential direction of the excavation support, vibration sliders 2901 are arranged in the vibration slide rails 2900 in a sliding manner, vibration support plates 2902 are commonly arranged among all the vibration sliders 2901, a plurality of vibration slide ways 2903 are uniformly arranged on the vibration support plates 2902 along the circumferential direction of the vibration support plates, vibration fixture blocks 2904 are arranged in the vibration slide ways 2903 in a sliding manner, the excavation shaft rods 294 are in one-to-one correspondence with the vibration fixture blocks 2904 and are connected with the vibration fixture blocks 2904 in a rotating manner, the cutting shaft 294 is of an elastic telescopic structure and takes a connection part with a vibration clamping block 2904 as a connection boundary position, the output end of the lower end of the cutting motor 291 is provided with a vibration turntable 2905, the lower surface of the vibration turntable 2905 is uniformly provided with a plurality of vibration top blocks 2906 along the circumferential direction, the middle part of the upper surface of the vibration support plate 2902 is uniformly provided with a plurality of vibration lugs 2907 along the circumferential direction, and the vibration top blocks 2906 are in matched contact with the vibration lugs 2907;

specifically, when the cutting machine works, the rotation of the cutting motor 291 drives the vibration turntable 2905 to rotate, so that the vibration top block 2906 on the vibration turntable 2905 can be intermittently and frequently in fit contact with the vibration lug 2907 on the vibration support 2902, the vibration top block 2906 can frequently push the vibration lug 2907 to move down, the vibration lug 2907 moves down, the vibration support 2902 is connected with the vibration slider 2901 in the vibration slide rail 2900, so that the vibration lug 2907 can stably move down with the vibration support 2902, the vibration fixture block 2904 in the vibration slide way 2903 on the vibration support 2902 is rotatably connected with the cutting shaft 294, the cutting shaft 294 is of an elastic telescopic structure, and the connection with the vibration fixture block 2904 is a connection boundary position, so that the cutting shaft 294 extends in the process of moving down with the vibration support 2902 with the vibration fixture block 2904, and the cutting shaft 294 is of an elastic telescopic structure, so that when the vibration top block 2906 is not in contact with the vibration lug 2907, vibration shaft 294 will contract, so vibration shaft 294 will be because vibration kicking block 2906 can be intermittent frequent with vibration lug 2907 cooperation contact produce vibration effect, and the vibration of excavation shaft 294 will take excavation bit 296 to rotate the effect of still having a vibration impact when excavating damaged road surface to make the excavation effect on damaged road surface better, excavation efficiency is higher.

The adjusting branched chain 293 comprises an adjusting slide rail 2930, an adjusting slide block 2931, an adjusting screw 2932 and an adjusting push block 2933, a plurality of adjusting slide rails 2930 are uniformly arranged on the excavation support 290 along the circumferential direction of the excavation support, the adjusting slide rail 2930 is slidably provided with the adjusting slide block 2931, a jacking spring is connected between one end of the adjusting slide rail 2930 close to the excavation motor 291 and the adjusting slide block 2931, an adjusting screw 2932 is arranged at one end of the adjusting slide rail 2930 far away from the excavation motor 291, the excavation support 290 is connected with the adjusting screw 2932 in a threaded fit manner, the adjusting push block 2933 is rotatably mounted at one end of the adjusting screw 2932 in the adjusting slide rail 2930, the adjusting slide rail 2930 is in sliding contact with the adjusting push block 2933, and the adjusting slide block 2931 is in contact with the adjusting push block 2933;

during specific work, according to the damaged area of road surface, adjust screw 2932 rotates, under the screw-thread fit effect between adjust screw 2932 and the regulation slide rail 2930, make and adjust ejector pad 2933 can produce the pushing action to adjusting slider 2931, or under the elasticity effect of shoring spring, adjust ejector pad 2933 and play limiting displacement, thereby make and adjust slider 2931 and can remove suitable position in adjusting slide rail 2930, make the excavation coverage area of excavation drill 296 can be fit for the damaged area of road surface, avoid too much or too little excavation damaged road surface, influence the efficiency of road surface restoration and the service quality on road surface afterwards.

A positioning ring plate 2970 is arranged between the cutting frame body 20 and the cutting support plate 22, a positioning slide way 2971 is arranged in the circumferential direction of the positioning ring plate 2970, the positioning slide way 2971 is composed of a plurality of J-shaped grooves 2975 which are communicated with each other, a stop lever is arranged at the position where the adjacent J-shaped grooves 2975 are communicated through a torsion spring, a plurality of positioning slide blocks 2972 are uniformly arranged in the positioning slide way 2971 in a sliding manner, the adjusting screw rods 2932 are in one-to-one correspondence with the positioning slide blocks 2972 and are in sliding connection with the positioning slide blocks 2972, a positioning ring groove 2973 is arranged at the edge of the upper surface of the cutting support 290, a positioning ring block 2974 is arranged in the positioning ring groove 2973 in a sliding manner, one end of each cutting raising rod 26, which is close to the cutting frame body 20, is connected with the positioning ring block 2974 through a connecting plate, one end of each cutting raising rod 26 is connected with one end of the connecting plate through a hinge, and the positioning ring block 2974 is connected with the other end of the connecting plate through a hinge;

during specific work, when the cutting raising rod 26 is moved downwards near one end of the cutting frame body 20, and the cutting support 290 is pushed by the connecting plate to gradually approach the ground, the movement of the cutting support 290 enables the adjusting screw 2932 to drive the positioning slider 2972 to move in the positioning slide 2971, because the positioning slide 2971 is composed of a plurality of similar J-shaped grooves 2975 and is communicated with each other, when the positioning slider 2972 slides in the similar J-shaped grooves 2975, the similar J-shaped grooves 2975 are divided into three sections, namely a vertical section, a bottom inclined section and a side inclined section, when the positioning slider 2972 slides in the similar J-shaped grooves 2975, the adjusting slider 2972 can firstly move downwards from the vertical section to the bottom inclined section, one end of the bottom inclined section is located at a position right below the vertical section, then the positioning slider 2972 moves to the other end of the bottom inclined section, the other end of the bottom inclined section is located at the lower end of the side inclined section, and the upper end of the side inclined section is communicated with the middle part of the vertical section 2975 of the next similar J-shaped groove, therefore, the positioning slider 2972 can move from the bottom inclined section to the next J-shaped groove 2975 through the side inclined section to perform the same process, so that the downward movement of the cutting support 290 every time can enable the cutting drill 296 to cut one position on the damaged road surface and then enable the downward movement of the cutting support 290 to rotate at a certain position under the action of the J-shaped groove 2975, the stop lever can prevent the positioning slider 2972 from sliding back to the original side inclined section from the vertical section, so that the cutting drill 296 can cut the next position on the damaged road surface, and the cutting range of the cutting drill 296 is changed by adjusting the matching of the branched chain 293, so that the cutting process of the damaged road surface can be more comprehensive.

The working principle of the invention is as follows:

s1, connecting the existing mobile robot with the mounting support 1 through a bolt, then moving the invention to a damaged road under the drive of the mobile robot, then rotating the adjusting screw 2932 according to the area of the damaged road, under the screw thread matching action between the adjusting screw 2932 and the adjusting slide rail 2930, enabling the adjusting push block 2933 to generate a pushing action on the adjusting slide block 2931, or under the elastic action of a jacking spring, enabling the adjusting push block 2933 to play a limiting role, enabling the adjusting slide block 2931 to move to a proper position in the adjusting slide rail 2930, and enabling the cutting coverage area of the cutting drill 296 to be suitable for the damaged area of the road;

s2, starting the extension of the hydraulic jack 25, the hydraulic jack 25 being connected to the proper slide rail 27 via the proper slide block 28 to jack up the end of the cutting stick 26 away from the cutting frame 20, so that the cutting stick 26 rotates around the hinge at the connection with the cutting rod 21, the end of the cutting stick 26 close to the cutting frame 20 moves downwards, and the cutting support 290 is gradually pushed downwards, and at the same time, the cutting motor 291 is started to drive the cutting shaft 294 to rotate via the cutting tooth column 295, so that the cutting shaft 294 can drive the cutting bit 296 to cut the bottom surface.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A robot excavation ground structure, includes erection support (1) and excavation unit (2), its characterized in that: the lower surface of the mounting support (1) is fixedly provided with a cutting unit (2); wherein:

the cutting unit (2) comprises a cutting frame body (20), cutting support rods (21), cutting support plates (22), cutting support legs (23), a moving ball (24), a hydraulic ejector rod (25), a cutting raising rod (26), a proper position slide rail (27), a proper position slide block (28) and a cutting assembly (29), the middle of the lower surface of the mounting support (1) is fixedly provided with the cutting frame body (20), the edge of the lower end face of the cutting frame body (20) is sequentially provided with two pairs of cutting support rods (21) along the circumferential direction of the cutting frame body, the cutting support rods (21) are symmetrical in position to the cutting support rods (21), the cutting support rods (21) are of an L-shaped structure, one end of each cutting support plate (22) faces downwards, the cutting support legs (23) are fixedly arranged at four corners of the lower surface of the cutting support plates (22), and the moving ball (24) is arranged at the lower ends of the cutting support rods (23) in a rolling manner, a hydraulic push rod (25) is vertically and fixedly arranged at the corner of the cutting support rod (21), a cutting warping rod (26) is arranged at the upper edge of one end, connected with the cutting frame body (20), of the cutting support rod (21) through a hinge, a proper sliding rail (27) is arranged at one end, far away from the cutting frame body (20), of the cutting warping rod (26), a proper sliding block (28) is arranged in the proper sliding rail (27) in a sliding mode, the output end of the hydraulic push rod (25) is connected with the proper sliding block (28) through a spherical hinge, a cutting assembly (29) is jointly arranged between one ends, close to the cutting frame body (20), of all the cutting warping rods (26) through hinges, and the inner wall of the cutting frame body (20) is not in contact with the cutting assembly (29) assembly;

the cutting assembly (29) comprises a cutting support (290), a cutting motor (291), a cutting gear (292), an adjusting branch chain (293), a cutting shaft rod (294), a cutting tooth column (295) and a cutting drill bit (296), wherein the cutting support (290) is arranged between one ends, close to the cutting frame body (20), of all cutting raising rods (26) through hinges, the cutting motor (291) is arranged in the middle of the cutting support (290), the cutting motor (291) is a two-way motor, the cutting gear (292) is arranged on an output shaft at the upper end of the cutting motor (291) in a sliding mode, a reset spring is connected between the output end of the cutting motor (291) and the cutting gear (292), the cutting support (290) is evenly provided with the plurality of adjusting branch chains (293) along the circumferential direction of the cutting support, the cutting tooth column (294) is arranged on the adjusting branch chain (293) in a rotating mode, the cutting tooth column (295) is arranged at the upper end of the cutting shaft rod (294), the cutting gear (292) is meshed with the cutting tooth column (295), and a cutting drill bit (296) is arranged at the lower end of the cutting shaft rod (294).

2. A robotic cutting floor structure as claimed in claim 1, wherein: protection spout (230) have vertically been seted up on excavation landing leg (23), both ends symmetric slip is provided with protection slider (231) in protection spout (230), and is located and is connected with supporting spring between two protection sliders (231) in same protection spout (230), is provided with between protection slider (231) in adjacent protection spout (230) and protects cloth (232), and protects cloth (232) inelasticity.

3. A robotic cutting floor structure as claimed in claim 1, wherein: the edge of the lower surface of the cutting support (290) is uniformly and vertically provided with a plurality of vibration sliding rails (2900) along the circumferential direction, vibration sliding blocks (2901) are arranged in the vibration sliding rails (2900) in a sliding mode, vibration support plates (2902) are arranged between all the vibration sliding blocks (2901) together, a plurality of vibration sliding ways (2903) are uniformly arranged on the vibration support plates (2902) along the circumferential direction, vibration clamping blocks (2904) are arranged in the vibration sliding ways (2903) in a sliding mode, cutting shaft rods (294) and the vibration clamping blocks (2904) are in one-to-one correspondence and are connected in a rotating mode, a vibration turntable (2905) is installed at the output end of the lower end of the cutting motor (291), a plurality of vibration jacking blocks (2906) are uniformly arranged on the lower surface of the vibration turntable (2905) along the circumferential direction, a plurality of vibration jacking blocks (2907) are uniformly arranged in the middle of the upper surface of the vibration support plates (2902) along the circumferential direction, and the vibration jacking blocks (2906) are in matched contact with the vibration jacking blocks (2907).

4. A robotic cutting floor structure as claimed in claim 1, wherein: the adjusting branched chain (293) comprises an adjusting slide rail (2930), an adjusting slide block (2931), an adjusting screw rod (2932) and an adjusting push block (2933), a plurality of adjusting slide rails (2930) are uniformly arranged on the cutting support (290) along the circumferential direction of the cutting support, the adjusting slide blocks (2931) are arranged in the adjusting slide rails (2930) in a sliding manner, a jacking spring is connected between one end of the adjusting slide rail (2930) close to the excavation motor (291) and the adjusting slide block (2931), an adjusting screw rod (2932) is arranged at one end of the adjusting slide rail (2930) far away from the excavation motor (291), the excavation support (290) is connected with the adjusting screw rod (2932) in a threaded fit manner, and one end of the adjusting screw rod (2932) positioned in the adjusting slide rail (2930) is rotatably provided with an adjusting push block (2933), the adjusting slide rail (2930) is in sliding contact with the adjusting push block (2933), and the adjusting slide block (2931) is in mutual contact with the adjusting push block (2933).

5. A robotic cutting floor structure as claimed in claim 1, wherein: the cutting gear (292) and the cutting tooth column (295) are both conical structures, the directions of the cutting gear and the cutting tooth column are opposite, and the length of the cutting gear (292) is smaller than that of the cutting tooth column (295).

6. A robotic cutting floor structure as claimed in claim 1, wherein: be provided with positioning ring board (2970) between excavation frame body (20) and excavation extension board (22), positioning slide (2971) have been seted up in positioning ring board (2970) circumferential direction, and even slip is provided with a plurality of positioning slider (2972) in positioning slide (2971), adjusting screw (2932) and positioning slider (2972) one-to-one and the two sliding connection, excavation support (290) upper surface edge is provided with positioning ring groove (2973), and it is provided with positioning ring piece (2974) to slide in positioning ring groove (2973), and all excavation poles (26) are connected through the connecting plate between one end and the positioning ring piece (2974) that are close to excavation frame body (20), and excavation pole (26) pass through hinged joint with connecting plate one end, and positioning ring piece (2974) pass through hinged joint with the connecting plate other end.

7. A robotic cutting floor structure as claimed in claim 3, wherein: the cutting shaft rod (294) is of an elastic telescopic structure and takes a connecting part with the vibration fixture block (2904) as a connecting boundary position.

8. A robotic cutting floor structure as claimed in claim 6, wherein: the positioning slide way (2971) is composed of a plurality of J-shaped grooves (2975) which are communicated with each other, and a stop lever is arranged at the position where the adjacent J-shaped grooves (2975) are communicated with each other through a torsion spring.