Vertical shaft tunneling robot and press-in type open caisson soil taking device

Abstract

The invention relates to the field of open caisson construction equipment, in particular to a vertical shaft tunneling robot and a press-in type open caisson soil borrowing device.The vertical shaft tunneling robot comprises a rack and a vertical shaft tunneling mechanism, a vertical shaft tunneling front-back driving mechanism is arranged between the rack and the vertical shaft tunneling mechanism, and the vertical shaft tunneling front-back driving mechanism comprises a front-back driving cylinder; a vertical shaft tunneling mechanism is arranged on the machine frame, a slurry conveying mechanism is arranged on the vertical shaft tunneling mechanism, a sliding ring underwater protection mechanism is arranged between an excavation mounting seat and an excavation rotating seat, and a machine frame rotating mechanism and a rotating locking mechanism are arranged on the machine frame. The press-in type open caisson soil taking device comprises an open caisson, and an open caisson pressing-down driving mechanism is arranged on the outer side of the open caisson. The vertical shaft tunneling robot is arranged in the open caisson, the annular fixing base is connected with the inner wall of the open caisson in an up-down sliding mode through the guide wheels and the guide sliding ways, the open caisson downward-pressing driving mechanism comprises a center-penetrating hydraulic cylinder, a supporting frame, a steel strand and an uplift pile, and the vertical shaft tunneling robot is novel in structure, large in excavation range, high in flexibility, good in stability, high in working efficiency and low in cost.

Description

[0001] This application claims priority to Chinese patent application No. 2023109476648, filed on July 31, 2023, entitled Shaft Boring Robot and Caisson Excavation Device. Technical Field

[0002] The invention relates to the field of caisson construction equipment, in particular to a vertical shaft excavation robot and a press-in caisson soil taking device. Background Art

[0003] At present, the traditional techniques for deep shaft construction include traditional open excavation and traditional caisson construction. In traditional caisson construction, the soil below the blade foot is excavated and the sinking is achieved by the deadweight of the structure. The drag reduction measures for the shaft wall include smooth processing of the side wall, application of heavy oil, paraffin wax, and clay slurry. Traditional caissons are prone to problems such as sudden structural subsidence, uneven subsidence, tilting, and large ground settlement and deformation. In recent years, some new techniques and methods have emerged to improve the traditional caisson techniques, mainly including the pressure-in caisson method, the pneumatic caisson method, and the VSM (sunken shaft boring machine) and other construction techniques. However, the new techniques still have problems such as difficulty in controlling ground settlement, difficulty in controlling the caisson posture, low degree of mechanization and automation, and low construction efficiency. After searching, the Chinese patent CN115928780A discloses an invention patent named Active Controlled Assembled Mechanized Caisson System, which includes a propulsion suspension device. , a pipeline reel device, a floating platform, an underwater excavation device, an assembled caisson body, a grouting device, a control device, a mud and water device and a visual interface; a plurality of propulsion suspension devices are respectively arranged on the ground around the well body at intervals, and the assembled caisson body is suspended or pressed down into the well body by a plurality of propulsion suspension devices; the floating platform floats on the water surface in the assembled caisson body, and a hollow structure is formed in the middle of the floating platform, so that the underwater excavation device is suspended below the floating platform and is located at the bottom of the assembled caisson body. The pipeline of the underwater excavation device passes through the hollow structure upward through the floating platform and is led out of the assembled caisson body and then bypasses the pipeline reel device. The pipeline reel device is arranged on the ground beside the well body; the grouting device and the mud water device are both arranged on the ground outside the well body, the grouting device injects grout between the well wall and the outer wall of the assembled caisson body, and the mud water device is connected to the underwater excavation device; the control device is electrically connected to the propulsion suspension device, the pipeline reel device, the floating platform, the underwater excavation device, the assembled caisson body, the grouting device, the mud water device and the visual interface respectively, and the underwater excavation device includes a fixed base, a turntable assembly, a mechanical arm assembly, a swing drive, a dredging pump and a lifting drive; the fixed base is fixedly installed at the top center of the cross beam of the assembled caisson body, the turntable assembly The mechanical arm assembly is rotatably mounted on the fixed base; the lifting drive member is fixedly mounted on the turntable assembly, one end of the mechanical arm assembly is rotatably connected to the driving end of the lifting drive member through a first pin shaft, and the bottom of the mechanical arm assembly near the lifting drive member is rotatably connected to the ear plate on the turntable assembly through a second pin shaft, so that the mechanical arm assembly can rotate horizontally synchronously with the turntable assembly, and can rotate vertically relative to the turntable assembly around the second pin shaft through the lifting drive member; the dredging pump is swingably mounted on the other end of the mechanical arm assembly through a swinging drive member, so that the dredging pump can rotate, lift or swing around the fixed base and excavate the soil, and the dredging pump is connected to the mud and water device;The swing drive is electrically connected to the underwater excavation hydraulic controller. The above patent has the following shortcomings: First, the above patent has a complex structure and uses many devices. In addition, the underwater excavation device in the above patent is fixed at the top center of the cross beam of the caisson body, which makes the underwater excavation device only able to excavate near the center of the caisson body. For caissons with larger diameters, it may not be possible to excavate the edge of the caisson, resulting in a limited excavation range; second, the underwater excavation device in the above patent uses a lifter to adjust the up and down position of the underwater excavation device, which has high use costs, and when the underwater excavation device moves downward, it is impossible to maintain the stability of the underwater excavation device, and it is not convenient to adjust; third, the caisson in the above patent requires several propulsion suspension devices to drive the sinking at the same time. The propulsion suspension device has a complex structure, many parts, troublesome operation, time-consuming and labor-intensive, and increases the use cost of shaft excavation. ; Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies in the prior art and to provide a shaft excavation robot and a press-in caisson soil taking device with novel structure, large excavation range, high flexibility, good stability, high working efficiency and low cost.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: A shaft excavation robot comprises a frame and a shaft excavation mechanism, characterized in that: a shaft excavation front and rear drive mechanism is arranged between the frame and the shaft excavation mechanism, the shaft excavation front and rear drive mechanism comprises a front and rear drive cylinder, the shaft excavation mechanism is connected to the frame in a front and rear sliding manner, the frame is provided with a front and rear drive cylinder, one end of the front and rear drive cylinder is connected to the frame, and the other end is connected to the shaft excavation mechanism, so as to facilitate the shaft excavation mechanism to move forward and backward through the front and rear drive cylinders, thereby widening the excavation range.

[0006] The shaft excavation mechanism described in the present invention includes an excavation mounting seat, an excavation rotating seat, an excavation rotating drive cylinder, an excavation arm, a swing drive cylinder, a reamer head, and a reamer drive cylinder. An excavation mounting seat is provided under the frame, and the excavation mounting seat is slidably connected to the frame. The excavation mounting seat is driven to move forward and backward by front and rear drive cylinders. An excavation rotating seat is provided under the excavation mounting seat, and an excavation rotating drive cylinder is fixedly provided on the excavation mounting seat. The excavation rotating seat is driven to rotate by the excavation rotating drive cylinder. An excavation arm is provided on the excavation rotating seat, and a swing drive cylinder is provided between the excavation arm and the excavation rotating seat. One end of the excavation arm is hinged to the excavation rotating seat, and a reamer head is installed at the other end. One end of the swing drive cylinder is hinged to the excavation rotating seat, and the other end is hinged to the excavation arm. The reamer head is driven by the reamer drive cylinder, and the reamer drive cylinder is fixed on the excavation arm, so that the reamer head can not only move forward and backward, but also rotate 360°, thereby widening the excavation range.

[0007] The vertical shaft excavation mechanism of the present invention is provided with a mud transport mechanism, and the mud transport mechanism includes a mud suction pipeline, a mud discharge pipeline and a mud transport driving component. The mud suction pipeline is fixedly connected to the excavation arm, one end of the mud suction pipeline faces the cutter head, and the other end is connected to the mud transport driving component. The mud discharge pipeline is connected to the mud transport driving component to transport the slag and mud excavated by the cutter head out of the well through the mud transport mechanism.

[0008] The mud transport driving component of the present invention is a slurry pump, which is fixed on an excavation mounting seat, the suction port of the slurry pump is fixedly connected to a mud suction pipeline, and the discharge port of the slurry pump is fixedly connected to a mud discharge pipeline, so that the slurry pump provides power for transporting mud.

[0009] The mud transport driving components described in the present invention are a accommodating chamber and an air source. The accommodating chamber is fixed on the excavation mounting seat, and the accommodating chamber is connected to the air source through an air pipe. One end of the accommodating chamber is connected to the mud suction pipeline, and the other end is connected to the mud discharge pipeline, so as to provide power for transporting mud through the air source.

[0010] A slip ring underwater protection mechanism is provided between the excavation mounting seat and the excavation rotating seat of the present invention, and the slip ring underwater protection mechanism is used to protect the slip ring for safe use underwater.

[0011] The slip ring underwater protection mechanism of the present invention comprises a slip ring cabin body, a slip ring cabin upper cover, a rotating support seat, a slewing bearing, and an electro-hydraulic slip ring. The excavation mounting seat is provided with a slip ring cabin body, the upper end of the slip ring cabin body is fixedly provided with a slip ring cabin upper cover, a rotating support seat is provided below the slip ring cabin body, the slip ring cabin body is fixedly connected to the excavation mounting seat, the lower end of the slip ring cabin body is sealingly rotatably connected to the rotating support seat via a slewing bearing, the rotating support seat is fixedly connected to the excavation rotating seat, the slewing bearing is driven by an excavation rotating drive cylinder, an isolation space is formed between the slip ring cabin upper cover, the slip ring cabin body and the rotating support seat, and the isolation space is filled with hydraulic oil. An electro-hydraulic slip ring is arranged in the isolation space, an upper hydraulic joint and an upper electrical watertight joint are fixedly arranged on the upper cover of the slip ring cabin, a lower hydraulic joint and a lower electrical watertight joint are fixedly arranged on the rotating support seat, the upper part of the electro-hydraulic slip ring is connected to the body of the slip ring cabin, and the lower part is connected to the rotating support seat, one end of the electro-hydraulic slip ring is connected to the upper hydraulic joint via a pipeline, and the other end is connected to the lower hydraulic joint via a pipeline, a lead at one end of the electro-hydraulic slip ring is connected to the upper electrical watertight joint, and a lead at the other end is connected to the lower electrical watertight joint, so as to protect the electro-hydraulic slip ring through the isolation space, prevent the electro-hydraulic slip ring from being affected by water vapor and salt spray, and conveniently transmit electrical and hydraulic signals through the electro-hydraulic slip ring.

[0012] A mud pipeline is provided between the mud suction pipeline and the mud transport driving component of the present invention. The mud pipeline is placed in the slip ring cabin body. The upper end of the mud pipeline passes through the slip ring cabin body and is connected with the mud transport driving component, and the lower end extends out of the rotating support seat and is rotationally sealed with the mud suction pipeline. The upper end of the mud pipeline is sealed and fixedly connected to the upper cover of the slip ring cabin, and the lower end of the mud pipeline is sealed and rotationally connected to the rotating support seat. The electro-hydraulic slip ring is sleeved on the mud pipeline, and the upper part of the electric-hydraulic slip ring is fixedly connected to the slip ring cabin body via the electric-hydraulic slip ring upper seat, and the lower part of the electric-hydraulic slip ring is fixedly connected to the rotating support seat via the electric-hydraulic slip ring lower seat. By setting the mud pipeline, the mud pipeline is set through the isolation space, and the diameter of the mud pipeline can be set larger, thereby improving the mud transportation volume and transportation efficiency.

[0013] The mud pipeline of the present invention is provided with an optical fiber slip ring connection protection mechanism, which includes an optical fiber, an optical fiber slip ring, an upper optical fiber interface, an optical fiber upper junction box, an optical fiber lower junction box, and an optical fiber slip ring protective shell. The mud pipeline is provided with an optical fiber and an optical fiber slip ring, the side wall of the mud pipeline is provided with an upper through hole of the optical fiber protective shell, the mud suction pipeline is provided with a lower through hole of the optical fiber protective shell, the optical fiber includes a first optical fiber and a second optical fiber, the first optical fiber is placed in the first optical fiber protective shell, the second optical fiber is placed in the second optical fiber protective shell, the lower end of the first optical fiber is connected to the upper end of the second optical fiber through the optical fiber slip ring, the upper end of the first optical fiber passes through the upper through hole of the optical fiber protective shell, and enters the isolation space provided with an upper optical fiber junction box, the first optical fiber is connected to the upper optical fiber interface through the upper optical fiber junction box, the upper optical fiber interface is fixed on the upper cover of the slip ring cabin, the lower end of the second optical fiber slip ring passes through The lower through hole of the optical fiber protective shell is connected to the lower optical fiber interface through the optical fiber lower junction box. An optical fiber slip ring protective shell is arranged on the outer side of the optical fiber slip ring. The upper end of the first optical fiber protective shell passes through the upper through hole of the optical fiber protective shell and is fixedly connected to the upper optical fiber junction box, and the lower end is rotationally sealed and connected to the optical fiber slip ring protective shell. The first optical fiber protective shell is sealed and fixedly connected to the mud pipeline. The lower end of the optical fiber slip ring protective shell is sealed and fixedly connected to the second optical fiber protective shell. The second optical fiber protective shell passes through the lower through hole of the optical fiber protective shell and is fixedly connected to the lower optical fiber junction box. The second optical fiber protective shell is sealed and fixedly connected to the mud suction pipeline to protect the optical fiber slip ring through the mud pipeline to prevent the optical fiber slip ring from being affected by water and oil.

[0014] A frame control cabin and a frame hydraulic cabin are fixedly provided on the frame of the present invention, and the hydraulic system in the frame hydraulic cabin is connected to the control system in the frame control cabin; a mechanical arm control cabin and a mechanical arm hydraulic cabin are fixedly provided on the excavation rotating seat, and the hydraulic system in the mechanical arm hydraulic cabin is connected to the control system in the mechanical arm control cabin; the upper electrical watertight joint and the upper optical fiber interface are respectively connected to the frame control cabin, the upper hydraulic joint is connected to the frame hydraulic cabin, the lower electrical watertight joint and the lower optical fiber interface are connected to the mechanical arm control cabin, and the lower hydraulic joint is connected to the mechanical arm hydraulic cabin, so as to control the movement of the upper components of the mechanical arm through the frame control cabin.

[0015] The slip ring cabin upper cover of the present invention is fixedly provided with a hydraulic oil filling port and an exhaust port, and the rotating support seat is fixedly provided with an oil drain port. The hydraulic oil filling port is connected to the hydraulic compensator fixed on the excavation mounting seat, and the hydraulic compensator is connected to the hydraulic cabin of the mechanical arm, so that it is convenient to replenish the hydraulic oil for the isolation space as needed. The oil drain port is convenient for the operator to manually drain the oil as needed, and the exhaust port is used for exhausting when adding hydraulic oil.

[0016] The mud discharge pipeline of the present invention includes a first mud discharge pipeline and a second mud discharge pipeline. The first mud discharge pipeline is fixedly connected to the frame, one end of the second mud discharge pipeline extends into the first mud discharge pipeline and is sealed and slidably connected to the first mud discharge pipeline, and the other end is fixedly connected to the excavation mounting seat of the shaft excavation mechanism. The second mud discharge pipeline is arranged in parallel with the front and rear drive cylinders to improve the efficiency of pipeline transportation of mud residue through the first mud discharge pipeline and the second mud discharge pipeline, and at the same time guide the forward and backward movement of the shaft excavation mechanism through the second mud discharge pipeline.

[0017] A sealing sliding seat is provided on the outer wall of the second mud discharge pipeline of the present invention, one end of the sealing sliding seat is sealingly and fixedly connected to the first mud discharge pipeline, and the other end is sleeved on the second mud discharge pipeline. A sliding sealing ring is provided on the inner wall of the sealing sliding seat, and the second mud discharge pipeline is sealingly and slidingly connected to the sealing sliding seat via the sliding sealing ring, so that the second mud discharge pipeline can slide smoothly by setting the sealing sliding seat.

[0018] The sliding sealing ring of the present invention is provided with anti-fouling rings on both sides respectively, the inner wall of the sealing sliding seat is provided with an anti-fouling ring groove and a sealing ring groove, and the anti-fouling ring is installed in the anti-fouling ring groove to protect the sliding sealing ring through the anti-fouling ring to ensure that the mud and sand moving in different directions of the second mud pipe cannot damage the sliding sealing ring.

[0019] According to the present invention, a mud discharge hydraulic butterfly valve is installed on the first mud discharge pipeline, a backwash pipeline is provided on one side of the first mud discharge pipeline, the backwash pipeline is connected with the first mud discharge pipeline via a pipeline joint, and a backwash hydraulic butterfly valve is provided on the backwash pipeline to facilitate mud discharge. When the mud discharge work is carried out, the mud discharge pipeline hydraulic butterfly valve is opened and the backwash hydraulic butterfly valve is closed. When the pipeline needs to be flushed, the mud discharge pipeline hydraulic butterfly valve is closed and the backwash hydraulic butterfly valve is opened.

[0020] The second mud discharge pipeline of the present invention is installed with a pressure sensor to sense the pressure in the second mud discharge pipeline through the pressure sensor.

[0021] The frame of the present invention is provided with a drag chain, one end of the drag chain is fixedly connected to the frame, and the other end is connected to the shaft excavation mechanism, so as to protect the cables on the shaft excavation mechanism through the drag chain.

[0022] The frame of the present invention is fixed with a track, the cylinder seat of the front and rear driving cylinders is installed with rollers, the cylinder seat of the front and rear driving cylinders is rollingly connected to the track via the rollers, the telescopic rods of the front and rear driving cylinders are hinged to the frame, and the cylinder seats of the front and rear driving cylinders are hinged to the excavation mounting seat to guide the forward and backward movement of the excavation mounting seat through the rollers and the track.

[0023] The frame of the present invention is provided with a frame rotation mechanism, and the frame rotation mechanism includes an annular fixed seat, a rail wheel, and a rail wheel driving motor. An annular fixed seat is provided on the outer side of the frame, and an annular slide rail is provided on the annular fixed seat. The frame is installed with a rail wheel, and the rail wheel is driven by the rail wheel driving motor. The frame is rotationally connected to the annular fixed seat via the rail wheel and the annular slide rail, so as to facilitate the rail wheel to slide along the annular slide rail through the rail wheel driving motor, drive the frame to rotate, and then drive the shaft excavation mechanism to rotate.

[0024] The frame of the present invention is provided with a rotation locking mechanism, which includes a locking claw and a locking drive cylinder. Locking claws are provided on both sides of the annular slide rail, and the locking claws are driven to open and close by the locking drive cylinder. The locking drive cylinder is connected to the frame, and the locking claws clamp the annular slide rail to limit and fix the frame to the annular fixed seat, so that when the frame stops, the locking claws clamp the annular slide rail to fix the position of the frame.

[0025] A press-in caisson soil-extracting device comprises a caisson, wherein a caisson downward pressure driving mechanism is arranged on the outer side of the caisson, and the characteristic is that: the vertical shaft excavation robot described above is arranged in the caisson, a guide slide is fixedly arranged on the inner wall of the caisson, a caisson support beam is arranged on the lower end of the caisson, a guide wheel is installed on the outer wall of the annular fixing seat, and adjustment legs are arranged at intervals on the lower end of the annular fixing seat, and the annular fixing seat is connected to the inner wall of the caisson for upward and downward sliding movement, and the adjustment legs are driven by a leg driving cylinder, and the leg driving cylinder is fixedly connected to the annular fixing seat, and the lower end surface of the adjustment legs abuts against the caisson support beam, and the outer end of the caisson support beam is fixedly connected to the lower end of the caisson to facilitate the robot to fall along the inner wall of the caisson for excavation, and the adjustment legs in different positions are driven to extend by the leg driving cylinder to adjust the balance of the annular fixing seat.

[0026] The caisson downward pressure driving mechanism described in the present invention includes a through-core hydraulic cylinder, a support frame, a steel strand, and pull-out piles. The through-core hydraulic cylinder is distributed on the outer circumference of the caisson. The through-core hydraulic cylinder is fixedly connected to the caisson via the support frame. One end of the steel strand is a free end, and the other end passes through the through-core hydraulic cylinder and is fixedly connected to the pull-out pile. The steel strand is driven or locked by the through-core hydraulic cylinder to pull the steel strand against the top of the through-core hydraulic cylinder, thereby applying a downward top pressure to the caisson, so that the caisson sinks under the action of this top pressure and its own gravity.

[0027] The caisson support beam of the present invention is provided with a leg fixing pin, the lower end of the leg fixing pin is fixedly connected to the caisson support beam, and the upper end is conical, and the lower end of the adjusting leg is provided with a fixing pin through-hole. The adjusting leg is inserted into the fixing pin through-hole through the leg fixing pin and is fixed to the caisson support beam in a limited position, so that the vertical shaft excavation robot is limited and fixed in the caisson through the leg fixing pin and the fixing pin through-hole.

[0028] A supporting hoisting mechanism is provided above the annular fixing seat of the present invention, and the supporting hoisting mechanism includes an upper platform, connecting cables, and a hoisting wire rope. An upper platform is provided above the annular fixing seat, and both ends of the upper platform are placed on the upper end surface of the caisson. The upper platform is provided with lifting holes, connecting cables and lifting wire ropes. One end of the connecting cable extends downward to be connected to the rack control cabin, and the other end passes through the upper platform to form an external connection end. One end of the lifting wire rope is fixedly connected to the annular fixing seat, and the other end is fixedly connected to the upper platform, so that the annular fixing seat can be lifted and supported by the supporting lifting mechanism.

[0029] Due to the adoption of the above structure, the present invention has the advantages of novel structure, large excavation range, high flexibility, good stability, high working efficiency, low cost and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the shaft excavation robot of the present invention at one angle.

[0031] Figure 2 It is a structural schematic diagram of the shaft excavation robot of the present invention from another angle.

[0032] Figure 3 The present invention Figure 1 sectional view of .

[0033] Figure 4 The present invention Figure 1 Top view of the .

[0034] Figure 5 It is an enlarged schematic diagram of the slip ring underwater protection mechanism in the present invention.

[0035] Figure 6 It is an enlarged schematic diagram of the mud discharge pipeline in the present invention.

[0036] Figure 7 It is an enlarged view of the sealing sliding seat in the present invention.

[0037] Figure 8 The present invention Figure 6 Enlarged top view of the center mud discharge hydraulic butterfly valve and backwash hydraulic butterfly valve.

[0038] Fig. 9 It is a structural schematic diagram of the press-in type caisson soil taking device of the present invention.

[0039] Fig.10 It is a structural schematic diagram of the caisson in the present invention.

[0040] Fig.11 The present invention Figure 1 Enlarged view of the middle track wheel section.

[0041] Figure numerals: frame 1, shaft excavation mechanism 2, shaft excavation front and rear drive mechanism 3, track 4, front and rear drive cylinder 5, drag chain 6, excavation mounting seat 7, roller 8, excavation rotating seat 9, excavation rotating drive cylinder 10, excavation arm 11, swing drive cylinder 12, reamer head 13, reamer drive cylinder 14, slurry pump 15, frame rotation mechanism 16, annular fixed seat 17, track wheel 18, annular slide rail 20, caisson 21, shaft excavation robot 22, guide slide 23, caisson Support beam 24, guide wheel 25, adjusting support leg 26, support leg driving cylinder 27, mud transport mechanism 28, mud suction pipeline 29, mud discharge pipeline 30, slip ring underwater protection mechanism 31, slip ring cabin body 32, slip ring cabin upper cover 33, rotating support seat 34, slewing bearing 35, mud pipeline 36, optical fiber 37, optical fiber slip ring 38, electro-hydraulic slip ring 39, first optical fiber protective shell 40, second optical fiber protective shell 41, optical fiber upper junction box 42, optical fiber lower junction box 43, optical fiber slip ring protective shell 4 4, isolation space 45, hydraulic oil filling port 46, exhaust port 47, upper hydraulic joint 48, upper electrical watertight joint 49, upper optical fiber interface 50, oil drain port 51, lower hydraulic joint 52, lower electrical watertight joint 53, first optical fiber 54, second optical fiber 55, lower optical fiber interface 56, upper seat of electro-hydraulic slip ring 57, lower seat of electro-hydraulic slip ring 58, rack control cabin 59, mechanical arm control cabin 60, hydraulic compensator 61, first mud discharge pipeline 62, second mud discharge pipeline 63, sealing slip ring Moving seat 64, sliding sealing ring 65, anti-fouling ring 66, mud discharge hydraulic butterfly valve 67, backwashing pipeline 68, backwashing hydraulic butterfly valve 69, pressure sensor 70, rotation locking mechanism 71, locking claw 72, locking drive cylinder 73, support leg fixing pin 74, fixing pin through hole 75, support hoisting mechanism 76, upper platform 77, connecting cable 78, hoisting wire rope 79, caisson downward pressure drive mechanism 80, through-core hydraulic cylinder 81, support frame 82, steel strand 83, pull-out pile 84. DETAILED DESCRIPTION

[0042] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0043] A shaft excavation robot 22 includes a frame 1 and a shaft excavation mechanism 2, characterized in that: a shaft excavation front and rear drive mechanism 3 is provided between the frame 1 and the shaft excavation mechanism 2, the shaft excavation front and rear drive mechanism 3 includes a front and rear drive cylinder 5, the shaft excavation mechanism 2 is connected to the frame 1 in a front and rear sliding manner, and the frame 1 is provided with a front and rear drive cylinder 5, one end of the front and rear drive cylinder 5 is connected to the frame 1, and the other end is connected to the shaft excavation mechanism 2, so as to facilitate the shaft excavation mechanism to move forward and backward through the front and rear drive cylinders, thereby widening the excavation range.

[0044] The frame 1 of the present invention is provided with a drag chain 6, one end of the drag chain 6 is fixedly connected to the frame 1, and the other end is connected to the shaft excavation mechanism 2, so as to protect the cables on the shaft excavation mechanism through the drag chain.

[0045] The shaft excavation mechanism 2 of the present invention comprises an excavation mounting seat 7, an excavation rotating seat 9, an excavation rotating drive cylinder 10, an excavation arm 11, a swing drive cylinder 12, a reamer head 13, and a reamer drive cylinder 14. The excavation mounting seat 7 is provided below the frame 1, and the excavation mounting seat 7 is slidably connected to the frame 1. The excavation mounting seat 7 is driven to move forward and backward by the front and rear drive cylinders 5. The excavation rotating seat 9 is provided below the excavation mounting seat 7, and the excavation rotating drive cylinder 10 is fixedly provided on the excavation mounting seat 7. The excavation rotating seat 9 is driven by the excavation rotating drive cylinder 10. Rotation, an excavation arm 11 is provided on the excavation rotating seat 9, and a swing driving cylinder 12 is provided between the excavation arm 11 and the excavation rotating seat 9, one end of the excavation arm 11 is hinged to the excavation rotating seat 9, and a reamer head 13 is installed on the other end, one end of the swing driving cylinder 12 is hinged to the excavation rotating seat 9, and the other end is hinged to the excavation arm 11, and the reamer head 13 is driven by a reamer driving cylinder 14, and the reamer driving cylinder 14 is fixed on the excavation arm 11, so that the reamer head can not only move forward and backward, but also rotate 360°, thereby widening the excavation range.

[0046] The frame 1 of the present invention is fixedly provided with a track 4, and the cylinder seat of the front and rear driving cylinders 5 is installed with a roller 8. The cylinder seat of the front and rear driving cylinders 5 is rollingly connected to the track 4 via the roller 8. The telescopic rod of the front and rear driving cylinders 5 is hinged to the frame 1, and the cylinder seat of the front and rear driving cylinders 5 is hinged to the excavation mounting seat 7 to guide the forward and backward movement of the excavation mounting seat through the rollers and the track.

[0047] The shaft excavation mechanism 2 of the present invention is provided with a mud transport mechanism 28, and the mud transport mechanism 28 includes a mud suction pipeline 29, a mud discharge pipeline 30 and a mud transport driving component. The mud suction pipeline 29 is fixedly connected to the excavation arm 11, one end of the mud suction pipeline 29 faces the cutter head 13, and the other end is connected to the mud transport driving component. The mud discharge pipeline 30 is connected to the mud transport driving component to transport the slag and mud excavated by the cutter head out of the well through the mud transport mechanism.

[0048] The mud transport driving component of the present invention is a slurry pump 15, which is fixed on the excavation mounting seat 7. The suction port of the slurry pump 15 is fixedly connected to the mud suction pipeline 29, and the discharge port of the slurry pump 15 is fixedly connected to the mud discharge pipeline 30, so as to provide power for transporting mud through the slurry pump.

[0049] The mud transport driving components described in the present invention are a accommodating chamber and an air source. The accommodating chamber is fixed on the excavation mounting seat 7, and the accommodating chamber is connected to the air source through an air pipe. One end of the accommodating chamber is connected to the mud suction pipeline 29, and the other end is connected to the mud discharge pipeline 30, so as to provide power for transporting mud through the air source.

[0050] The present invention provides a slip ring underwater protection mechanism 31 between the excavation mounting seat 7 and the excavation rotating seat 9, and the slip ring underwater protection mechanism 31 includes a slip ring cabin body 32, a slip ring cabin upper cover 33, a rotating support seat 34, a slewing bearing 35, a mud pipeline 36, an optical fiber 37, an optical fiber slip ring 38, an electro-hydraulic slip ring 39, a first optical fiber protective shell 40, a second optical fiber protective shell 41, an optical fiber upper junction box 42, an optical fiber lower junction box 43, and an optical fiber slip ring protective shell 44. The excavation mounting seat 7 is provided with a slip ring cabin body 32, and the slip ring cabin body 32 is provided with a slip ring cabin upper cover 33 at the upper end, and a rotating support seat 34 is provided below the slip ring cabin body 32. The slip ring cabin body 32 is fixedly connected to the excavation mounting seat 7, and the upper end of the slip ring cabin body 32 is connected to the slip ring The cabin cover 33 is fixedly connected, and the lower end is sealed and rotatably connected to the rotating support seat 34 through a slewing bearing 35. The rotating support seat 34 is fixedly connected to the excavation rotating seat 9. The slewing bearing 35 is driven by the excavation rotating drive cylinder 10. A mud pipeline 36 is provided between the mud suction pipeline 29 and the mud transportation driving component. The mud pipeline 36 is placed in the slip ring cabin body 32. The upper end of the mud pipeline 36 passes through the slip ring cabin body 32 and is connected to the mud transportation driving component, and the lower end extends out of the rotating support seat 34 and is rotatably and sealedly connected to the mud suction pipeline 29. The upper end of the mud pipeline 36 is sealed and fixedly connected to the slip ring cabin cover 33, and the lower end of the mud pipeline 36 is sealed and rotatably connected to the rotating support seat 34. An optical fiber 37 and The optical fiber slip ring 38, the side wall of the mud pipeline 36 is provided with an upper perforation of the optical fiber protective shell, the mud suction pipeline 29 is provided with a lower perforation of the optical fiber protective shell, the upper cover 33 of the slip ring cabin, the body 32 of the slip ring cabin, the outer wall of the mud pipeline 36 and the rotating support seat 34 form an isolation space 45, the isolation space 45 is filled with hydraulic oil, the isolation space 45 is provided with an electro-hydraulic slip ring 39, the upper cover 33 of the slip ring cabin is fixed with a hydraulic oil filling port 46, an exhaust port 47, an upper hydraulic joint 48, an upper electrical watertight joint 49, and an upper optical fiber interface 50, the rotating support seat 34 is fixed with an oil drain port 51, a lower hydraulic joint 52, and a lower electrical watertight joint 53, the optical fiber 37 includes a first optical fiber 54 and a second optical fiber 55, the first optical fiber 54 is placed in the first optical fiber protective shell 40, the second optical fiber 55 is placed in the second optical fiber protective shell 41, the lower end of the first optical fiber 54 is connected to the upper end of the second optical fiber 55 through the optical fiber slip ring 38, the upper end of the first optical fiber 54 passes through the upper hole of the optical fiber protective shell and enters the isolation space 45, in which an upper optical fiber junction box 42 is provided. The first optical fiber 54 is connected to the upper optical fiber interface 50 through the upper optical fiber junction box 42, the lower end of the second optical fiber slip ring 38 passes through the lower hole of the optical fiber protective shell and is connected to the lower optical fiber interface 56 through the lower optical fiber junction box 43, and an optical fiber slip ring protective shell 44 is provided on the outside of the optical fiber slip ring 38, the upper end of the first optical fiber protective shell 40 passes through the upper hole of the optical fiber protective shell and is fixedly connected to the upper optical fiber junction box 42, and the lower end is rotatably sealed and connected to the optical fiber slip ring protective shell 44,The first optical fiber protective shell 40 is sealed and fixedly connected to the mud pipeline 36, the lower end of the optical fiber slip ring protective shell 44 is sealed and fixedly connected to the second optical fiber protective shell 41, the second optical fiber protective shell 41 passes through the lower perforation of the optical fiber protective shell and is fixedly connected to the optical fiber lower junction box 43, the second optical fiber protective shell 41 is sealed and fixedly connected to the mud suction pipeline 29, the electro-hydraulic slip ring 39 is sleeved on the mud pipeline 36, the upper part of the electro-hydraulic slip ring 39 is fixedly connected to the slip ring cabin body 32 through the electro-hydraulic slip ring upper seat 57, the lower part of the electro-hydraulic slip ring 39 is fixedly connected to the rotating support seat 34 through the electro-hydraulic slip ring lower seat 58, one end of the electro-hydraulic slip ring 39 is connected to the upper hydraulic joint 48 through the pipeline, and the other end is connected to the lower hydraulic joint 52 through the pipeline, and the lead wire at one end of the electro-hydraulic slip ring 39 is connected to the upper hydraulic joint 48 through the pipeline, and the lead wire at one end of the electro-hydraulic slip ring 39 is connected to the upper hydraulic joint 52 through the pipeline. The electrical watertight connector 49 is connected, and the lead at the other end is connected to the lower electrical watertight connector 53. A rack control cabin 59 and a rack hydraulic cabin are fixedly provided on the frame, and the hydraulic system in the rack hydraulic cabin is connected to the control system in the rack control cabin 59. A mechanical arm control cabin 60 and a mechanical arm hydraulic cabin are fixedly provided on the excavation rotating seat 9, and the hydraulic system in the mechanical arm hydraulic cabin is connected to the control system in the mechanical arm control cabin 60. The upper electrical watertight connector 49 and the upper optical fiber interface 50 are respectively connected to the rack control cabin 59, and the upper hydraulic connector 48 is connected to the rack hydraulic cabin. The lower electrical watertight connector 53 and the lower optical fiber interface 56 are connected to the mechanical arm control cabin 60, and the lower hydraulic connector 52 is connected to the mechanical arm hydraulic cabin. The hydraulic oil filling port 46 is connected to the hydraulic compensator 61 fixed on the excavation mounting seat 7 to protect the electro-hydraulic slip ring through the isolation space, and to protect the optical fiber and the optical fiber slip ring through the isolation space and the mud pipeline.

[0051] The mud discharge pipeline 30 described in the present invention includes a first mud discharge pipeline 62 and a second mud discharge pipeline 63. The first mud discharge pipeline 62 is fixedly connected to the frame 1, one end of the second mud discharge pipeline 63 extends into the first mud discharge pipeline 62 and is sealed and slidably connected to the first mud discharge pipeline 62, and the other end is fixedly connected to the excavation mounting seat 7 of the shaft excavation mechanism 2. The second mud discharge pipeline 63 is arranged in parallel with the front and rear drive cylinders 5 to improve the efficiency of pipeline transportation of mud residue through the first mud discharge pipeline and the second mud discharge pipeline, and at the same time guide the forward and backward movement of the shaft excavation mechanism through the second mud discharge pipeline.

[0052] A sealing sliding seat 64 is provided on the outer wall of the second mud discharge pipeline 63 of the present invention. One end of the sealing sliding seat 64 is sealed and fixedly connected to the first mud discharge pipeline 62, and the other end is sleeved on the second mud discharge pipeline 63. A sliding sealing ring 65 is provided on the inner wall of the sealing sliding seat 64. The second mud discharge pipeline 63 is sealingly and slidingly connected to the sealing sliding seat 64 via the sliding sealing ring 65. By setting the sealing sliding seat 64, the second mud discharge pipeline is facilitated to slide smoothly.

[0053] Anti-fouling rings 66 are respectively provided on both sides of the sliding sealing ring 65 of the present invention, and the inner wall of the sealing sliding seat 64 is provided with an anti-fouling ring groove and a sealing ring groove. The anti-fouling ring 66 is installed in the anti-fouling ring groove to protect the sliding sealing ring through the anti-fouling ring, ensuring that the mud and sand moving in different directions of the second mud pipe cannot damage the sliding sealing ring.

[0054] The first mud discharge pipeline 62 of the present invention is provided with a mud discharge hydraulic butterfly valve 67, and a backwash pipeline 68 is provided on one side of the first mud discharge pipeline 62. The backwash pipeline 68 is connected with the first mud discharge pipeline 62 via a pipeline joint, and a backwash hydraulic butterfly valve 69 is provided on the backwash pipeline 68 to facilitate the mud discharge operation. The mud discharge pipeline hydraulic butterfly valve is opened and the backwash hydraulic butterfly valve is closed. When the pipeline needs to be flushed, the mud discharge pipeline hydraulic butterfly valve is closed and the backwash hydraulic butterfly valve is opened.

[0055] The second mud discharge pipeline 63 of the present invention is provided with a pressure sensor 70 to sense the pressure in the second mud discharge pipeline through the pressure sensor.

[0056] The frame 1 of the present invention is provided with a frame rotation mechanism 16, and the frame rotation mechanism 16 includes an annular fixing seat 17, a rail wheel 18, and a rail wheel driving motor. An annular fixing seat 17 is provided on the outer side of the frame 1, and an annular slide rail 20 is provided on the annular fixing seat 17. The frame 1 is installed with a rail wheel 18, and the rail wheel 18 is driven by the rail wheel driving motor. The frame 1 is rotationally connected to the annular fixing seat 17 via the rail wheel 18 and the annular slide rail 20, so as to facilitate the rail wheel to slide along the annular slide rail through the rail wheel driving motor, drive the frame to rotate, and then drive the shaft excavation mechanism to rotate.

[0057] The frame 1 of the present invention is provided with a rotation locking mechanism 71, and the rotation locking mechanism 71 includes a locking claw 72 and a locking drive cylinder 73. Locking claws 72 are provided on both sides of the annular slide rail 20, and the locking claws 72 are driven to open and close by the locking drive cylinder 73. The locking drive cylinder 73 is connected to the frame 1, and the locking claws 72 clamp the annular slide rail 20 to limit and fix the frame 1 to the annular fixing seat 17, so that when the frame stops, the locking claws clamp the annular slide rail to fix the position of the frame.

[0058] A press-in caisson soil-extracting device comprises a caisson 21, wherein a caisson downward pressure driving mechanism 80 is arranged on the outer side of the caisson 21, and the characteristic is that: the shaft excavation robot 22 described above is arranged in the caisson 21, a guide slide 23 is fixedly arranged on the inner wall of the caisson 21, a caisson support beam 24 is arranged on the lower end of the caisson 21, a guide wheel 25 is installed on the outer wall of the annular fixing seat 17, and adjustment legs 26 are arranged at intervals on the lower end of the annular fixing seat 17, the annular fixing seat 17 is connected to the inner wall of the caisson 21 for sliding up and down, the adjustment legs 26 are driven by a leg driving cylinder 27, the leg driving cylinder 27 is fixedly connected to the annular fixing seat 17, the lower end surface of the adjustment legs 26 abuts against the caisson support beam 24, the outer end of the caisson support beam 24 is fixedly connected to the lower end of the caisson 21, so as to facilitate the robot to fall along the inner wall of the caisson for excavation, and the adjustment legs at different positions are driven to extend by the leg driving cylinder to adjust the balance of the annular fixing seat.

[0059] The caisson 21 of the present invention is provided with a caisson pressing down driving mechanism 80 on the outside, and the caisson pressing down driving mechanism 80 includes a through-core hydraulic cylinder 81, a support frame 82, a steel strand 83, and an anti-pulling pile 84. The outer circumference of the caisson 21 is distributed with through-core hydraulic cylinders 81, and the through-core hydraulic cylinders 81 are fixedly connected to the caisson 21 via a support frame 82. One end of the steel strand 83 is a free end, and the other end passes through the through-core hydraulic cylinder 81 and is fixedly connected to the pull-out pile 84. The steel strand 83 is driven or locked by the through-core hydraulic cylinder 81 to pull the steel strand through the through-core hydraulic cylinder, thereby applying a downward top pressure to the caisson, so that the caisson sinks under the action of this top pressure and its own gravity.

[0060] The caisson support beam 24 of the present invention is provided with a leg fixing pin 74, the lower end of the leg fixing pin 74 is fixedly connected to the caisson support beam 24, and the upper end is conical, and the lower end of the adjusting leg 26 is provided with a fixing pin through-hole 75, and the adjusting leg 26 is inserted into the fixing pin through-hole 75 through the leg fixing pin 74 and fixed to the caisson support beam 24, so that the vertical shaft excavation robot is limited and fixed in the caisson through the leg fixing pin and the fixing pin through-hole.

[0061] A supporting hoisting mechanism 76 is provided above the annular fixing seat 17 of the present invention. The supporting hoisting mechanism 76 includes an upper platform 77, connecting cables 78, and a hoisting wire rope 79. An upper platform 77 is provided above the annular fixing seat 17, and both ends of the upper platform 77 are placed on the upper end surface of the caisson 21. The upper platform 77 is provided with a lifting hole, a connecting cable 78 and a lifting wire rope 79. One end of the connecting cable 78 extends downward to be connected to the rack control cabin 59, and the other end passes through the upper platform 77 to form an external connection end. One end of the lifting wire rope 79 is fixedly connected to the annular fixing seat 17, and the other end is fixedly connected to the upper platform 77, so as to lift and support the annular fixing seat through the supporting lifting mechanism.

[0062] The mud discharge pipeline 30 of the present invention extends upward, passes through the upper platform 77 and extends out, and is placed outside the upper platform to form a mud discharge end.

[0063] As attached Figure 1-10 , an off-hole control system can be set on the upper platform 77 or a place far away from the caisson, the off-hole control system, the control system in the frame control cabin 59, and the control system in the mechanical arm control cabin 60, such as a PLC control system, the front and rear drive cylinders 5, the excavation rotation drive cylinder 10, the slurry pump 15, the leg drive cylinder 27, the mud discharge hydraulic butterfly valve 67, the backwash hydraulic butterfly valve 69, the pressure sensor 70, the locking drive cylinder 73, and the through-core hydraulic cylinder 81 are all connected to the control system in the frame control cabin 59, the swing drive cylinder 12, and the reamer drive cylinder 14 are all connected to the control system in the mechanical arm control cabin 60, one end of the connecting cable 78 is connected to the control system in the frame control cabin 59, and the other end passes through the upper platform 77 to be connected to the off-hole control system, and the annular fixed seat 17 and the excavation arm 11 can be provided with a camera. The camera, lighting, and sonar are all connected to the control system outside the well through the rack control system, which is convenient for the operator to control the shaft excavation robot in real time outside the well. Each driving cylinder can be a hydraulic cylinder. The slag conveying driving component can be a slurry pump 15 or a containing chamber and an air source. The air source can be a compressor. By continuously delivering air, the mud suction pipeline absorbs the mud after the auger head 13 digs the well, enters the containing chamber, and then discharges it through the mud discharge pipeline 30. The two types of slag conveying driving components can be selected and set according to needs. This embodiment takes the slag conveying driving component as a slurry pump 15 as an example for explanation, as shown in the attached figure. Fig. 9 and attached Fig.10Before use, a pit is dug after selecting a site, the caisson 21 is lowered, and a support frame 82, a steel strand 83, and an anti-pulling pile 84 are installed on the outer wall of the caisson 21. In this embodiment, eight support frames 82 are arranged at intervals on the outer wall of the caisson 21, and a through-core hydraulic cylinder 81 is installed on the support frame 82, which is connected to the anti-pulling pile 84 through the steel strand 83. The anti-pulling pile 84 is on the ground outside the caisson 21, and the steel strand 83 is driven upward and locked by the through-core hydraulic cylinder 81 to shorten the distance between the support frame 82 and the anti-pulling pile 84, and a downward pressure is applied to the caisson 21 to make the caisson sink downward. The control system outside the well can timely understand the sinking amount of the caisson 21 in all directions through the stroke of each through-core hydraulic cylinder 81, and control and adjust the sinking amount of the caisson 21 in all directions by controlling the stroke of the through-core hydraulic cylinder 81, so that the caisson 21 itself The verticality and stability of the shaft excavation robot are adjusted. After the adjustment is completed, the upper platform and the shaft excavation robot are hoisted into the entrance of the caisson 21 through the hoisting holes on the upper platform 77. The guide wheels 25 are installed on the outer wall of the annular fixing seat 17. The guide wheels 25 slide downward along the guide slideway 23 on the inner wall of the caisson 21 until the adjustment legs 26 contact the caisson support beam 24. The leg fixing pins 74 on the caisson support beam 24 are embedded in the fixing pin through-holes 75 at the lower ends of the adjustment legs 26, so that the shaft excavation robot 22 is limited in the caisson 21. The shaft excavation robot 22 can drive the adjustment legs 26 to extend or retract through the leg driving cylinders 27 to adjust the height of the shaft excavation robot 22 and the bottom of the caisson 21. The caisson support beam 24 is a cross beam, so that four excavation holes are formed between the caisson support beam 24 and the bottom of the pit, which is convenient for the robot to excavate. The steps are as follows: Step 1: Place the annular fixing seat 17 into the caisson 21 by means of a crane or other lifting equipment, so that the guide wheel 25 of the annular fixing seat 17 is slidably connected with the guide slideway 23, the lower end of the adjusting leg 26 is abutted against the upper end surface of the caisson support beam 24, the leg fixing pin 74 is embedded in the fixing pin through hole 75 at the lower end of the adjusting leg 26, the position of the shaft excavation robot 22 in the caisson 21 is fixed, the upper platform 77 is placed on the upper end of the caisson 21 by means of a crane or other lifting equipment, the mud discharge pipeline 30 extends out of the upper platform 77 and is connected to the slag discharge box to facilitate slag discharge; Step 2: The operator controls the entire press-in caisson soil extraction device through the off-well control system. Start the front and rear drive cylinders 5 to drive the auger head 13 to move forward and backward and move it to above an excavation hole on the caisson support beam 24. The excavation arm 11 is a telescopic mechanical arm that can be extended and retracted. Accordingly, the mud suction pipeline 29 can be set as a telescopic pipeline, which is convenient for the excavation arm 11 to be extended and retracted. Start the excavation arm 11 so that the auger head 13 contacts the bottom of the pit. Start the auger drive cylinder 14 and the slurry pump 15 to start excavating and taking soil. The auger head 13 can rotate 360 ​​degrees under the drive of the excavation rotation drive cylinder 10. At the same time, the swing drive cylinder 12 can change the excavation angle of the auger head 13. When an excavation hole is excavated, that is, the auger head 13 does not contact the soil at the bottom of the pit, start the front and rear drive cylinders 5 to adjust the front and rear positions of the auger head 13, or release the locking drive cylinder 73 so that the locking drive cylinder 73 drives the locking claw 72 to open, releases the clamping of the annular slide rail 20, and the track wheel drive motor of the frame rotation mechanism 16 drives the track wheel 18 to rotate, thereby driving the frame 1 to rotate , and then drive the auger head 13 to rotate, adjust the auger head 13 to another excavation hole, and excavate and take soil as above. After excavation is completed, the next excavation hole is excavated. After the four excavation holes formed by the caisson support beam 24 are excavated, the soil at the lower end of the caisson 21 collapses into the excavation hole, and the caisson 21 moves downward under the action of its own gravity. At the same time, the through-core hydraulic cylinder 81 is started, so that the caisson 21 moves downward steadily under the action of its own gravity and the through-core hydraulic cylinder 81. The annular fixed seat 17 moves downward along the guide slideway 23 on the inner wall of the caisson 21 through the guide wheel 25, and the adjustment leg moves downward accordingly. At the same time, the leg driving cylinder 27 of the four adjustment legs 26 at the lower end of the annular fixed seat 17 is started. The four adjustment legs 16 are distributed circumferentially below the annular fixed seat 17. The horizontal state of the annular fixed seat 17 is maintained by adjusting the length of each adjustment leg 27, and then the four excavation holes on the caisson 21 are continued to be excavated as above until the caisson excavation and soil taking operation is completed; Step 3: Take out the upper platform 77 and the annular fixing seat 17 from the caisson 21 by means of a crane or a lifting device.

[0064] The present invention has an ingenious structure and is easy to operate. Compared with the prior art, the present invention has the following advantages: first, the present invention sets a soil taking forward and backward moving mechanism 3, so that the shaft excavation robot 22 can move forward and backward, thereby improving the working efficiency of shaft excavation. At the same time, a large-diameter caisson can be excavated, thereby reducing the cost of shaft construction; second, the present invention sets an adjusting leg 26, and the stability of the entire robot operation is maintained by adjusting the length of the adjusting leg 26, thereby indirectly improving the efficiency of shaft excavation; third, the present invention also sets a frame rotating mechanism 16, so that the frame 1 can rotate as a whole, thereby improving the working efficiency of the machine. The robot 10 can be operated with a rotation locking mechanism 71 to limit and fix the frame 1 and the annular fixing seat 17, thereby avoiding the shaking of the robot during operation and improving the stability and sustainability of the operation. In addition, the digging arm 11 can also be rotated by the digging rotation drive cylinder 10, thereby widening the operating range of the robot and making the digging faster and better. Fourthly, the caisson 21 in the present invention can be sunk by gravity and the caisson pressing drive mechanism 80, and the sinking amount of the caisson in each direction can be corrected by monitoring the stroke of the through-core hydraulic cylinder 81 in each direction outside the caisson 21. , control the verticality of the well body, ensure the stability of the well body descent, the through-core hydraulic cylinder stretches or locks the steel strand using existing technology, the through-core hydraulic cylinder includes three driving cylinders connected at the top, middle and bottom, the upper and lower hydraulic cylinders are used to clamp or loosen the steel strand, and the middle hydraulic cylinder is used to stretch the steel strand; fifth point, the mud discharge pipeline 30 in the present invention includes a first mud discharge pipeline 62 and a second mud discharge pipeline 63, the first mud discharge pipeline 62 and the second mud discharge pipeline 63 are slidably connected, which not only widens the mud discharge channel, but also guides the forward and backward movement of the frame 1 through the second mud discharge pipeline 63. In addition, the present invention It is clear that a mud discharge hydraulic butterfly valve 67 is installed on the first mud discharge pipeline 62, a backwash pipeline 68 is set on one side of the first mud discharge pipeline 62, and a backwash hydraulic butterfly valve 69 is installed on the backwash pipeline 68. A pressure sensor 70 is installed on the second mud discharge pipeline 63. The pipeline pressure is monitored in real time by the pressure sensor 70 to ensure that the system works under good pressure conditions, thereby improving the working efficiency of the equipment. When the pipeline pressure is abnormal, clean water with a pressure of 1Mpa can be used to clean the underwater pipeline, reducing the water outlet maintenance of the equipment pipeline and improving the anti-clogging ability of the pipeline.The backwashing operation can be realized by controlling the switch of the mud discharge hydraulic butterfly valve 67 and the backwashing hydraulic butterfly valve 69. The operation is simple and the mud and water conveying capacity of the pipeline is improved. Specifically: during mud discharge: the mud discharge hydraulic butterfly valve 67 is opened, the backwashing hydraulic butterfly valve 69 is closed, and the mud and water mixture is discharged into the slag discharge box through the second mud discharge pipeline 63, the first mud discharge pipeline 62, and the mud discharge hydraulic butterfly valve 67 through the pipeline connected to the slag discharge box; during backwashing: when the pipeline pressure fed back by the pressure sensor 70 in the pipeline is abnormal or the pipeline needs to be backwashed, the mud discharge hydraulic butterfly valve 67 is closed, the backwashing hydraulic butterfly valve 69 is opened, and the external clean water passes through the backwashing pipeline 68, the backwashing hydraulic butterfly valve 69, the first mud discharge pipeline 62, and the second mud discharge pipeline 63 to perform reverse pipeline cleaning; Sixth, the present invention also provides a slip ring underwater protection mechanism 31 and an optical fiber slip ring connection protection mechanism to The electro-hydraulic slip ring and the optical fiber slip ring are used for protection. The electro-hydraulic slip ring 39 is arranged in the isolation space 45 to avoid the influence of water vapor and salt fog. The optical fiber communication transmission signal is stable and has strong anti-interference ability. However, the optical fiber slip ring is also not suitable for environments with water vapor and oil. The optical fiber slip ring 38 of the present invention is arranged in the mud pipeline 36 through the optical fiber slip ring protective shell 44, which improves the pressure resistance of the optical fiber slip ring. Moreover, under the premise of ensuring the communication quality, the inner diameter of the mud pipeline 36 of the present invention can be set larger, thereby realizing mud transportation in a large pipeline.

[0065] Due to the adoption of the above structure, the present invention has the advantages of novel structure, large excavation range, high flexibility, good stability, high working efficiency, low cost and the like.

Claims

1. A shaft excavation robot (22), comprising a frame (1) and a shaft excavation mechanism (2), characterized in that: A shaft excavation front and rear drive mechanism (3) is provided between the frame (1) and the shaft excavation mechanism (2), the shaft excavation front and rear drive mechanism (3) comprising a front and rear drive cylinder (5), the shaft excavation mechanism (2) being connected to the frame (1) in a front and rear sliding manner, the frame (1) being provided with a front and rear drive cylinder (5), one end of the front and rear drive cylinder (5) being connected to the frame (1), and the other end being connected to the shaft excavation mechanism (2).

2. A shaft boring robot according to claim 1, characterized in that: The shaft excavation mechanism (2) is provided with a mud transport mechanism (28), the mud transport mechanism (28) comprising a mud suction pipeline (29), a mud discharge pipeline (30) and a mud transport drive component, the mud suction pipeline (29) being fixedly connected to an excavation arm (11) of the shaft excavation mechanism (2), one end of the mud suction pipeline (29) facing the auger head (13) of the shaft excavation mechanism (2), and the other end being connected to the mud transport drive component, and the mud discharge pipeline (30) being connected to the mud transport drive component.

3. A shaft boring robot according to claim 2, characterized in that: The shaft excavation mechanism (2) is provided with a slip ring underwater protection mechanism (31), and the slip ring underwater protection mechanism (31) is used to protect the slip ring for safe use underwater.

4. A shaft boring robot according to claim 3, characterized in that: The mud discharge pipeline (30) comprises a first mud discharge pipeline (62) and a second mud discharge pipeline (63); the first mud discharge pipeline (62) is fixedly connected to the frame (1); one end of the second mud discharge pipeline (63) extends into the first mud discharge pipeline (62) and is sealed and slidably connected to the first mud discharge pipeline (62); and the other end is connected to the shaft excavation mechanism (2).

5. A shaft boring robot according to any one of claims 1 to 4, characterized in that: The frame (1) is provided with a frame rotation mechanism (16), the frame rotation mechanism (16) comprising an annular fixing seat (17), a track wheel (18), and a track wheel driving motor; an annular fixing seat (17) is provided on the outer side of the frame (1); an annular slide rail (20) is provided on the annular fixing seat (17); a track wheel (18) is installed on the frame (1); the track wheel (18) is driven by the track wheel driving motor; the frame (1) is rotationally connected to the annular fixing seat (17) via the track wheel (18) and the annular slide rail (20).

6. A shaft boring robot according to any one of claims 1 to 4, characterized in that: A track (4) is fixedly provided on the frame (1), a roller (8) is installed on the cylinder seat of the front and rear drive cylinders (5), the cylinder seat of the front and rear drive cylinders (5) is rollingly connected to the track (4) via the roller (8), the telescopic rod of the front and rear drive cylinders (5) is hinged to the frame (1), and the cylinder seat of the front and rear drive cylinders (5) is hinged to the excavation mounting seat (7).

7. A press-in caisson soil-taking device, comprising a caisson (21), wherein a caisson downward pressure driving mechanism (80) is provided on the outside of the caisson (21), characterized in that: The caisson (21) is provided with a shaft excavation robot (22) as claimed in claim 5. The inner wall of the caisson (21) is fixedly provided with a guide slideway (23). The lower end of the caisson (21) is provided with a caisson support beam (24). The outer wall of the annular fixing seat (17) is provided with a guide wheel (25). The lower end of the annular fixing seat (17) is provided with an adjustment leg (26) at intervals. The annular fixing seat (17) is connected to the inner wall of the caisson (21) by sliding up and down via the guide wheel (25) and the guide slideway (23). The adjustment leg (26) is driven by a leg driving cylinder (27). The leg driving cylinder (27) is fixedly connected to the annular fixing seat (17). The lower end surface of the adjustment leg (26) abuts against the caisson support beam (24). The outer end of the caisson support beam (24) is fixedly connected to the lower end of the caisson (21).

8. The press-in type caisson soil taking device according to claim 7, characterized in that: The caisson pressing down driving mechanism (80) comprises a through-core hydraulic cylinder (81), a support frame (82), a steel strand (83), and an anti-pulling pile (84). The through-core hydraulic cylinder (81) is distributed on the outer circumference of the caisson (21). The through-core hydraulic cylinder (81) is fixedly connected to the caisson (21) via the support frame (82). One end of the steel strand (83) is a free end, and the other end passes through the through-core hydraulic cylinder (81) and is fixedly connected to the anti-pulling pile (84). The steel strand (83) is driven or locked by the through-core hydraulic cylinder (81).

9. The press-in type caisson soil taking device according to claim 7, characterized in that: A leg fixing pin (74) is provided on the caisson support beam (24); the lower end of the leg fixing pin (74) is fixedly connected to the caisson support beam (24); the upper end is conical; a fixing pin through hole (75) is provided at the lower end of the adjustment leg (26); the adjustment leg (26) is inserted into the fixing pin through hole (75) through the leg fixing pin (74) and fixed to the caisson support beam (24) in a limited position.

10. The press-in type caisson soil taking device according to claim 7, characterized in that: A supporting hoisting mechanism (76) is provided above the annular fixing seat (17), and the supporting hoisting mechanism (76) comprises an upper platform (77), a connecting cable (78), and a hoisting wire rope (79). An upper platform (77) is provided above the annular fixing seat (17), and both ends of the upper platform (77) are placed on the upper end surface of the caisson (21). The upper platform (77) is provided with a hoisting hole, a connecting cable (78), and a hoisting wire rope (79). One end of the connecting cable (78) extends downward to be connected to the rack control cabin (59) on the rack (1), and the other end passes through the upper platform (77) to form an external connection end. One end of the hoisting wire rope (79) is fixedly connected to the annular fixing seat (17), and the other end is fixedly connected to the upper platform (77).

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