Design and Test of Pile Foundation Borehole Debris Cleaning Robot System

To address the issue where residual sediment in drilled cast-in-place pile holes after hole formation affects construction quality, the industry usually adopts two methods for sediment removal: manual down-hole cleaning and the air-lift circulation method. However, in the manual cleaning scheme, workers operating underground not only face harsh working conditions and high labor intensity but also frequently encounter the risk of wellbore collapse. The air-lift circulation method, on the other hand, has problems such as cumbersome equipment debugging and potential damage to the hole wall. To solve this, this paper designs an autonomous sediment cleaning scheme for the bottom of the hole based on a robot. This robot can reach the bottom of the hole and independently complete the sediment cleaning operation. The paper designs the robot's structure and control system, and completes the design, debugging, simulation, and field testing of the robot's key systems. Field experiments show that this cleaning scheme can achieve high-efficiency hole cleaning, reduce personnel operation risks, and simplify construction difficulty at the same time.