A blind area excavation device suitable for special-shaped pipe jacking machines

Abstract

The present invention discloses a blind spot excavation device suitable for a special-shaped pipe jacking machine, which comprises a blind spot excavation and crushing device, a driving device and an articulated support device. The blind spot excavation and crushing device is a straight rod member, one end of which is a working end, the other end is a control end, and a ball hinge portion is provided between the working end and the control end; the articulated support device is arranged at a preset position of a front shield pressure-bearing partition at the rear of a shield body soil bin; the blind spot excavation and crushing device is embedded into the articulated support device through the ball hinge portion to form a ball hinge kinematic pair A, and at the same time, the driving device is universally connected to the control end of the blind spot crushing device, so as to realize the blind spot excavation and crushing device to rotate with the ball hinge kinematic pair A as a rotation fulcrum and the distance R1 from the ball hinge kinematic pair A to the control end of the blind spot excavation and crushing device as a radius, thereby controlling the circumferential rotation position of the control end of the blind spot excavation and crushing device, and then realizing the position positioning of the working end of the blind spot excavation and crushing device.

Description

Technical Field

[0001] The invention relates to the technical field of trenchless engineering equipment and methods, and in particular to a blind area excavation device suitable for a special-shaped pipe jacking machine. Background Art

[0002] At present, most rectangular pipe jacking construction uses rectangular pipe jacking machines. This type of pipe jacking machine uses a multi-disc structure for rotary excavation. The circular structure of the disc determines that it cannot cover all areas where the rectangle exists, such as Figure 1 As shown in the shaded part, there is a large excavation blind area. The blind area is large and widely distributed. The low excavation efficiency directly leads to increased resistance to jacking, which not only increases the difficulty of excavation advancement, but also greatly increases the pressure on the shell chest plate, greatly affecting the safety and reliability of the entire machine.

[0003] To this end, the industry has disclosed a pipe jacking machine, see CN202926334U patent document, such as Figure 2 As shown, the pipe jacking machine includes a shield body 1', a driving system for advancing the shield body, a multi-disc combined cutting system 2' arranged on the shield body 1', and a blind spot cutting system 3' of multiple cutting systems arranged on the shield body 1'. The blind spot is excavated by the blind spot cutting system 3' of the cutting system, but the cutting is insufficient, that is, there is still a large area of ​​excavation blind spot.

[0004] In view of this, the inventor conducted in-depth research on the above-mentioned defects in the prior art, and thus came up with this case. Summary of the invention

[0005] The invention aims at providing a blind area excavation device suitable for a rectangular pipe jacking machine, which has high accuracy, stability and flexibility.

[0006] To achieve the above-mentioned purpose, a blind spot excavation device suitable for a rectangular pipe jacking machine is provided, which includes a blind spot excavation and crushing device, a driving device and an articulated support device, wherein the blind spot excavation and crushing device is a straight rod member, one end of which is a working end, the other end is a control end, and a ball hinge portion is provided between the working end and the control end; the articulated support device is arranged at a preset position of a front shield pressure-bearing partition at the rear of the shield body soil bin; the blind spot excavation and crushing device is embedded in the articulated support device through the ball hinge portion to form a ball hinge kinematic pair A, and at the same time, the driving device is universally connected to the control end of the blind spot crushing device, so as to realize the blind spot excavation and crushing device with the ball hinge kinematic pair A as a rotation fulcrum and the distance R1 from the ball hinge kinematic pair A to the control end of the blind spot excavation and crushing device as a radius rotation, thereby realizing the control of the circumferential rotation position of the control end of the blind spot excavation and crushing device, and then realizing the position positioning of the working end of the blind spot excavation and crushing device.

[0007] With the above design, the driving device controls the control end of the blind spot crushing device to rotate circumferentially with the ball-jointed kinematic pair A as the rotation fulcrum and the distance R1 from the ball-jointed kinematic pair A to the control end of the blind spot excavation and crushing device as the radius, thereby realizing the position positioning of the working end of the blind spot excavation and crushing device. Therefore, it is only necessary to determine the motion trajectory of the control end to determine the excavation and cutting trajectory of the working end. The excavation device has high accuracy and can excavate the blind spot more fully, thereby improving the excavation efficiency of the blind spot; at the same time, the driving device is universally connected to the control end of the blind spot excavation and crushing device, so that the control end of the blind spot excavation and crushing device can rotate 360°, avoiding the entire device from getting stuck during operation and improving flexibility.

[0008] One of the embodiments of the driving device is as follows: the driving device includes a first moving seat, a second moving seat, a third moving seat, a driving seat, a first driving mechanism and a second driving mechanism; the first moving seat is fixedly connected to the shield body, the second moving seat and the first moving seat are mutually limited along the x-axis direction and the z-axis direction, and the displacement of the second moving seat relative to the first moving seat along the y-axis direction is realized by the first driving mechanism; the third moving seat is arranged in the second moving seat, and it is mutually limited with the second moving seat along the x-axis direction and the y-axis direction, and there is a displacement space with the second moving seat along the z-axis direction, and the third moving seat is provided with an arc control surface, and the arc control surface is provided with a first limiting groove along the x-axis direction; the driving seat is arranged in the third moving seat, and one end of the driving seat is inserted into the first limiting groove, and the other end is universally connected with the control end of the blind area excavation and crushing device, the driving seat and the third moving seat are mutually limited along the y-axis direction and the z-axis direction, and the second driving mechanism is used to realize the left and right swing of the driving seat relative to the third moving seat in the first limiting groove along the x-axis direction.

[0009] With the above design, the second moving seat is displaced relative to the first moving seat along the y-axis direction by the first driving mechanism, thereby driving the control end of the blind area excavation and crushing device to move up and down along the y-axis direction, and the driving seat is swung left and right in the first limit slot relative to the third moving seat by the second driving mechanism, thereby driving the control end of the blind area excavation and crushing device to swing left and right in the x-axis direction. At the same time, when the second moving seat is displaced relative to the first moving seat along the y-axis direction and the driving seat is swung left and right in the first limit slot relative to the third moving seat, the blind area excavation and crushing device will move forward and backward in a small range in the z-axis direction. For this reason, there needs to be displacement clearance space between the third moving seat and the second moving seat along the z-axis direction.

[0010] Furthermore, the driving seat includes a connecting block, and one end of the connecting block facing the control end is a ball joint. The driving seat is embedded in the control end of the blind spot excavation and crushing device through the ball joint to form a ball joint kinematic pair B, so that the control end of the blind spot excavation and crushing device can rotate 360°, thereby improving flexibility; at the same time, the other end of the connecting block extends out of the first limiting groove of the third movable seat and is fixedly connected to the limiting block, and the inner end face of the limiting block is tangent to the outer end face of the arc-shaped control surface of the third movable seat. In this way, the driving seat and the third movable seat are mutually limited along the y-axis direction and the z-axis direction, and the second driving mechanism is used to realize the left and right swing of the driving seat relative to the third movable seat in the first limiting groove along the x-axis direction.

[0011] Furthermore, a support platform is provided in the third movable seat at the position of the drive seat connection block, and the support platform is used to provide effective support for the connection block. The connection block abuts against the support platform, so that the drive seat can be stably swung left and right along the x-axis direction in the first limit slot relative to the third movable seat; at the same time, the setting of the support platform prevents the blind area crushing device from interfering with the bottom surface of the third movable seat during operation.

[0012] One embodiment of the first moving seat, the second moving seat and the third moving seat is as follows: the first moving seat is composed of at least a bottom plate and two side plates, the two side plates are arranged in parallel and perpendicular to the bottom plate, and each side plate is provided with a second limiting through groove along the y-axis direction;

[0013] The second movable seat is a U-shaped groove member formed by at least two side walls and a bottom wall, and the two outer edges of each side wall along the width direction extend outwardly along the x-axis direction to form a first boss, and the inner edge of the top of the side wall extends inwardly along the x-axis direction to form a second boss; the second movable seat is arranged in the first movable seat, the outer sides of the two side walls of the second movable seat respectively abut against the inner sides of the corresponding first movable seat side plates, and the first boss clamps each first movable seat side plate therein, so that the first movable seat and the second movable seat are mutually limited in the x-axis direction and the z-axis direction, and the second movable seat is displaced in the second limiting groove relative to the first movable seat by the first driving mechanism;

[0014] The third movable seat is formed by at least two side surfaces, a bottom surface and an arc-shaped control surface, and the arc-shaped control surface is arranged at the rear end of the third movable seat; the third movable seat is arranged in the second movable seat, and the outer sides of the two side surfaces of the third movable seat respectively abut against the inner sides of the corresponding side walls of the second movable seat, and the two ends of the third movable seat along the y-axis direction respectively abut against the bottom wall of the second movable seat and the second boss, so that the third movable seat and the second movable seat are mutually limited along the x-axis direction and the y-axis direction.

[0015] Furthermore, the outer surface of the bottom surface of the third movable seat is provided with a first stop edge and a second stop edge protruding downward at both ends along the z-axis direction, and the distance L1 between the first stop edge and the second stop edge in the z-axis direction is greater than the length L2 of the bottom wall of the second movable seat in the z-axis direction. By limiting the first stop edge and the second stop edge, the third movable seat can be moved forward and backward in a small range relative to the second movable seat along the z-axis direction.

[0016] Furthermore, a first fixed seat is fixedly provided at each of the two ends of the bottom plate of the first movable seat along the x-axis direction, and a first pivot seat is fixedly provided on the outer side of each of the two side walls of the second movable seat, and the first pivot seat is inserted into the second limiting through groove of the first movable seat and extends outward; the first driving mechanism is a hydraulic cylinder, which is provided in two, and the telescopic end of each of the first driving mechanisms is connected to the corresponding first pivot seat, and the other end is connected to the corresponding first fixed seat.

[0017] Furthermore, a second fixed seat is fixedly provided on the inner side of one of the side surfaces of the third movable seat, and a second pivot seat is fixedly provided on the driving seat; the second driving mechanism is a hydraulic cylinder, whose telescopic end is connected to the second pivot seat, and the other end is connected to the second fixed seat.

[0018] Furthermore, a hollow portion is respectively provided at the front end of the bottom wall of the second movable seat and the front end of the bottom surface of the third movable seat, and the hollow portion provides a space for the control end of the blind spot excavation and crushing device to swing up and down along the y-axis direction.

[0019] One embodiment of the articulated support device is as follows: the articulated support device includes a retaining ring and a flange, the retaining ring is fixed in the shield body through the flange, and the blind spot excavation and crushing device is embedded in the retaining ring and the flange through a ball hinge to form a ball hinge kinematic pair A. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The detailed description given as non-limiting examples better explains what the invention consists of and how it can be implemented, and furthermore, refers to the accompanying drawings, in which:

[0021] Figure 1 This is a schematic diagram of the blind area produced by a conventional rectangular pipe jacking machine;

[0022] Figure 2 It is a structural diagram of a rectangular pipe jacking machine disclosed in the CN202926334U patent document;

[0023] Figure 3 It is a distribution diagram of the blind area excavation device and the cutterhead of the present invention;

[0024] Figure 4 It is a combined stereogram of a blind area excavation device applicable to a special-shaped pipe jacking machine, which does not include a blind area excavation and crushing device of the present invention;

[0025] Figure 5 It is a front view of a blind area excavation device applicable to a special-shaped pipe jacking machine, which does not include a blind area excavation and crushing device of the present invention;

[0026] Figure 6 It is a combined diagram of a blind area excavation device suitable for a special-shaped pipe jacking machine of the present invention;

[0027] Figure 7 It is an exploded view of a blind area excavation device suitable for a special-shaped pipe jacking machine of the present invention;

[0028] Figure 8 It is a schematic diagram of the motion trajectories of the control end and the working end of the blind spot excavation and crushing device of the present invention.

[0029] Description of the figure numbers: blind spot excavation device 100, blind spot excavation and crushing device 10, working end 101, control end 102, ball hinge 103; driving device 20, first movable seat 1, bottom plate 11, side plate 12, second limit groove 121, first fixed seat 13; second movable seat 2, first boss 21, first pivot seat 22, second boss 23, side wall 25, bottom wall 26; third movable seat 3, arc control surface 31, first limit groove 311, first stop edge 32, second stop edge 33, second fixed seat 34, hollow part 24, 35, side surface 36, bottom surface 37, support platform 38; driving seat 4, second pivot seat 41, ball hinge joint 42, limit block 43, arc surface 431, connecting block 44; first driving mechanism 5, second driving mechanism 6, hinged support device 30, retaining ring 301, flange 302, cutter disc 200. DETAILED DESCRIPTION

[0030] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", and "bottom" refer to the following: Figure 5 The blind excavation device is shown oriented in the orthogonal coordinate system Oxyz. The terms "upper", "lower", "top", "bottom" refer to the orientation along the Oy axis, the terms "front", "rear" refer to the orientation along the Oz axis, and the terms "left", "right" refer to the orientation of Ox.

[0032] In addition, the terms "first" and "second" are used to distinguish different objects rather than to describe a specific order.

[0033] The present invention discloses a blind area excavation device 100 suitable for a special-shaped pipe jacking machine. Special-shaped pipe jacking refers to pipe jacking other than round end pipes. The most common ones are rectangular, arch and horseshoe shaped pipe jacking. This embodiment shows a rectangular pipe jacking machine, but is not limited thereto. Figure 3 The arrangement of the blind area excavation device 100 and the cutter head 200 is shown. Figure 3 The ghost part in the figure represents the blind area of ​​the rectangular pipe jacking machine during operation. The blind area excavation device 100 of the present invention is arranged in the blind area and is located at the rear end of the cutter head 200. Figure 3 The shaded and ghosted parts in the figure represent the cutting range of the blind area excavation device 100.

[0034] like Figures 4 to 7 As shown, the blind spot excavation device 100 includes a blind spot excavation and crushing device 10, a driving device 20 and an articulated support device 30. The blind spot excavation and crushing device 10 is a straight rod member, one end of which is a working end 101 and the other end is a control end 102, and a ball hinge part 103 is provided between the working end 101 and the control end 102. The articulated support device 30 is arranged at a preset position of the front shield pressure-bearing partition at the rear of the shield body soil bin. The blind spot excavation and crushing device 10 is embedded in the articulated support device 30 through the ball hinge part 103 to form a ball hinge motion pair A. At the same time, the driving device 20 is universally connected to the control end 102 of the blind spot crushing device, and the driving device 20 controls the control end 102 of the blind spot excavation and crushing device 10 to rotate circumferentially with the ball hinge motion pair A as the rotation fulcrum and the distance R1 from the ball hinge motion pair A to the control end 102 of the blind spot excavation and crushing device 10 as the radius. The motion trajectory of the control end 102 of the blind spot excavation and crushing device 10 is controlled by the driving device 20, and then the excavation and cutting trajectory of the working end 101 is determined, such as Figure 8 shown.

[0035] Specifically, Figures 4 to 7 As shown, the driving device 20 includes a first moving seat 1, a second moving seat 2, a third moving seat 3, a driving seat 4, a first driving mechanism 5 and a second driving mechanism 6. In this embodiment, two first driving mechanisms 5 are provided, and both the first driving mechanism 5 and the second driving mechanism 6 are hydraulic cylinders.

[0036] The first movable seat 1 is fixedly connected to the shield body. The first movable seat 1 is composed of at least a bottom plate 11 and two side plates 12. The two side plates 12 are arranged in parallel and perpendicular to the bottom plate 11. Each of the side plates 12 is provided with a second limiting groove 121 along the y-axis direction. A first fixed seat 13 is fixedly provided at both ends of the bottom plate 11 along the x-axis direction. A first pivot seat 22 is fixedly provided on the outer side of the two side walls 25 of the second movable seat 2. The first pivot seat 22 is inserted into the second limiting groove 121 of the first movable seat 1 and extends outward.

[0037] The second movable seat 2 is a U-shaped groove member formed by at least two side walls 25 and a top wall. The two outer edges of each side wall 25 along the width direction extend outward along the x-axis direction to form a first boss 21, and the inner edge of the top of the side wall 25 extends inward along the x-axis direction to form a second boss 23; the second movable seat 2 is arranged in the first movable seat 1, and the outer sides of the two side walls 25 of the second movable seat 2 are respectively against the inner side of the corresponding first movable seat 1 side plate 12, and the first boss 21 clamps each first movable seat 1 side plate 12 therein, so that the first movable seat 1 and the second movable seat 2 are mutually limited along the x-axis direction and the z-axis direction. The telescopic end of the first driving mechanism 5 is connected to the first pivot seat 22, and the other end is connected to the first fixed seat 13. The first driving mechanism 5 is used to realize the displacement of the second movable seat 2 relative to the first movable seat 1 in the second limiting slot 121, and then drives the control end 102 of the blind area excavation and crushing device 10 to move up and down along the y-axis direction.

[0038] The third movable seat 3 is at least surrounded by two side surfaces 36, a bottom surface 37 and an arc-shaped control surface 31, the arc-shaped control surface 31 is arranged at the rear end of the third movable seat 3, and the arc-shaped control surface 31 is provided with a first limiting through groove 311 along the x-axis direction. The third movable seat 3 is arranged in the second movable seat 2, the outer sides of the two side surfaces 36 of the third movable seat 3 are respectively against the inner sides of the corresponding side walls 25 of the second movable seat 2, and the two ends of the third movable seat 3 along the y-axis direction are respectively against the bottom wall 26 and the second boss 23 of the second movable seat 2, so that the third movable seat 3 and the second movable seat 2 are mutually limited along the x-axis direction and the y-axis direction.

[0039] The driving seat 4 includes a connecting block 44, and one end of the connecting block 44 facing the control end 102 is a ball joint 42. The driving seat 4 is embedded in the control end 102 of the blind spot excavation and crushing device 10 through the ball joint 42 to form a ball joint kinematic pair B, so that the control end 102 of the blind spot excavation and crushing device 10 can rotate 360°, avoiding the whole device from getting stuck during operation and improving flexibility.

[0040] The other end of the connection block 44 extends out of the first limiting slot 311 of the third moving seat 3 and is fixed to the limiting block 43. The inner end surface of the limiting block 43 is an arc surface 431 tangent to the outer side of the arc control surface 31 of the third moving seat 3. In this way, the driving seat 4 and the third moving seat 3 are mutually limited along the y-axis direction and the z-axis direction. A support platform 38 is provided at the position of the connection block 44 of the driving seat 4 in the third moving seat 3. The support platform 38 is used to provide support for the connection block 44; the connection block 44 abuts against the support platform 38, so that the driving seat 4 can be stably swung left and right along the x-axis direction in the first limiting slot 311 relative to the third moving seat 3; at the same time, in this embodiment, the support platform 38 is located at the rear end of the third moving seat 3, and has a certain height between the inner end surface of the bottom surface 37 of the third moving seat 3, so as to avoid the blind spot crushing device 10 from interfering with the bottom surface 37 of the third moving seat 3 during operation.

[0041] A second fixed seat 34 is fixedly provided on the inner side of one of the side surfaces 36 of the third movable seat 3, and a second pivot seat 41 is fixedly provided on the driving seat 4; the telescopic end of the second driving mechanism 6 is connected to the second pivot seat 41, and the other end is connected to the second fixed seat 34, and the second driving mechanism 6 is used to realize the driving seat 4 to swing left and right along the x-axis direction in the first limiting groove 311 relative to the third movable seat 3, thereby driving the control end 102 of the blind spot excavation and crushing device 10 to swing left and right along the x-axis direction in the first limiting groove 311.

[0042] Since the second moving seat 2 is displaced relative to the first moving seat 1 along the y-axis direction and the driving seat 4 is swung left and right along the x-axis direction relative to the third moving seat 3 in the first limiting slot 311, the control end 102 of the blind area excavation and crushing device 10 will actually move in a small range in the z-direction. Therefore, there is a displacement space between the third moving seat 3 and the second moving seat 2 along the z-axis direction. Specifically, Figure 7 As shown, in the present embodiment, the outer surface of the bottom surface 37 of the third movable seat 3 is provided with a first stop edge 32 and a second stop edge 33 protruding downward at both ends along the z-axis direction, and the distance L1 between the first stop edge 32 and the second stop edge 33 is greater than the length L2 of the bottom wall of the second movable seat 2 along the z-axis direction. By limiting the first stop edge 32 and the second stop edge 33, the third movable seat 3 can be moved forward and backward in a small range relative to the second movable seat 2 along the z-axis direction to ensure that the blind spot excavation device 100 will not get stuck during operation.

[0043] Preferably, a hollow portion 24, 35 is respectively provided at the front end of the bottom wall 26 of the second movable seat 2 and the front end of the bottom surface 37 of the third movable seat 3, and the hollow portions 24, 35 provide space for the control end 102 of the blind spot excavation and crushing device 10 to swing up and down along the y-axis direction.

[0044] Specifically, Figure 6 As shown, the articulated support device 30 includes a retaining ring 301 and a flange 302. The retaining ring 301 is fixed in the shield body through the flange 302. The blind spot excavation and crushing device 10 is embedded in the retaining ring 301 and the flange 302 through the ball hinge part 103 to form a ball hinge kinematic pair A.

[0045] The key point of the present invention is that the control end 102 of the excavation and crushing device is a circle C formed by rotating 360° in the Oxy plane with the ball joint pair A as the center and the distance R1 between the ball joint pair A and the control end 102 as the radius, as shown in FIG. Figure 8 The shaded part in the figure, and the motion trajectory of the driving device 20 is a rectangle formed by the displacement distance of the first limiting slot along the x-axis direction and the displacement distance of the second limiting slot along the y-axis direction. Therefore, under the control of the driving device 20, the motion trajectory of the control end 102 of the excavation and crushing device is the overlapping part between the circle C and the rectangle, as shown in FIG. Figure 8 The ghost part shown is used to locate the position of the working end 101 of the blind area excavation and crushing device 10.

[0046] The above embodiments and illustrations do not limit the product form and style of the present invention. Any appropriate changes and modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A blind area excavation device suitable for a special-shaped pipe jacking machine, characterized in that: It comprises a blind area excavation and crushing device (10), a driving device (20) and an articulated support device (30); the blind area excavation and crushing device (10) is a straight rod member, one end of which is a working end (101) and the other end is a control end (102); a ball hinge (103) is provided between the working end (101) and the control end (102); the articulated support device (30) is arranged at a preset position of a front shield pressure-bearing partition at the rear of the shield body soil bin; the blind area excavation and crushing device (10) is embedded in the articulated support device (30) through the ball hinge (103) to form a ball hinge kinematic pair A, and the The driving device (20) is universally connected to the control end (102) of the blind area crushing device, so as to realize the blind area excavation and crushing device (10) to rotate with the ball joint kinematic pair A as the rotation fulcrum and the distance R1 from the ball joint kinematic pair A to the control end (102) of the blind area excavation and crushing device (10) as the radius, thereby realizing the control of the circumferential rotation position of the control end (102) of the blind area excavation and crushing device (10), and then realizing the position positioning of the working end (101) of the blind area excavation and crushing device (10); the driving device (20) comprises a first moving seat (1), a second moving seat (2), a third moving seat (3), A drive seat (4), a first drive mechanism (5) and a second drive mechanism (6); the first movable seat (1) is fixedly connected to the shield body, the second movable seat (2) and the first movable seat (1) are mutually limited along the x-axis direction and the z-axis direction, and the first drive mechanism (5) is used to realize the displacement of the second movable seat (2) relative to the first movable seat (1) along the y-axis direction; the third movable seat (3) is arranged in the second movable seat (2), and is mutually limited with the second movable seat (2) along the x-axis direction and the y-axis direction, and has a displacement space with the second movable seat (2) along the z-axis direction, and the third movable seat (3) is provided with an arc The control surface (31) is provided with a first limiting slot (311) along the x-axis direction; the driving seat (4) is arranged in the third movable seat (3), and one end of the driving seat (4) is inserted into the first limiting slot (311), and the other end is universally connected to the control end (102) of the blind area excavation and crushing device (10); the driving seat (4) and the third movable seat (3) are mutually limited along the y-axis direction and the z-axis direction, and the driving seat (4) is swung left and right along the x-axis direction in the first limiting slot (311) relative to the third movable seat (3) by the second driving mechanism (6).

2. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 1, characterized in that: The driving seat (4) comprises a connecting block (44), one end of which facing the control end (102) is a ball joint (42), and the driving seat (4) is embedded in the control end (102) of the blind spot excavation and crushing device (10) through the ball joint (42) to form a ball joint kinematic pair B, and the other end of the connecting block (44) extends out of the first limiting groove (311) of the third movable seat (3) and is fixedly connected to the limiting block (43), and the inner end surface of the limiting block (43) is tangent to the outer end surface of the arc-shaped control surface (31) of the third movable seat (3).

3. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 2, characterized in that: A support platform (38) is provided inside the third movable seat at the position of the connecting block (44) of the driving seat (4), and the support platform (38) is used to provide support for the connecting block (44) of the driving seat (4).

4. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 1, characterized in that: The first movable seat (1) is composed of at least a bottom plate (11) and two side plates (12), the two side plates (12) are arranged in parallel and perpendicular to the bottom plate (11), and each side plate (12) is provided with a second limiting through groove (121) along the y-axis direction; The second movable seat (2) is a U-shaped groove member formed by at least two side walls (25) and a bottom wall (26), the two outer edges of each side wall (25) along the width direction extend outward along the x-axis direction to form a first boss (21), and the inner edge of the top of the side wall (25) extends inward along the x-axis direction to form a second boss (23); the second movable seat (2) is arranged in the first movable seat (1), the outer sides of the two side walls (25) of the second movable seat (2) respectively abut against the inner side of the corresponding first movable seat (1) side plate (12), and the first boss (21) clamps each first movable seat (1) side plate (12) therein, so that the first movable seat (1) and the second movable seat (2) are mutually limited along the x-axis direction and the z-axis direction, and the second movable seat (2) is displaced relative to the first movable seat (1) in the second limiting slot (121) by the first driving mechanism (5); The third movable seat (3) is at least formed by two side surfaces (36), a bottom surface (37) and an arc-shaped control surface (31), and the arc-shaped control surface (31) is arranged at the rear end of the third movable seat (3); the third movable seat (3) is arranged in the second movable seat (2), the outer sides of the two side surfaces (36) of the third movable seat (3) respectively abut against the inner sides of the corresponding side walls (25) of the second movable seat (2), and the two ends of the third movable seat (3) along the y-axis direction respectively abut against the bottom wall (26) of the second movable seat (2) and the second boss (23), so that the third movable seat and the second movable seat are mutually limited along the x-axis direction and the y-axis direction.

5. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 4, characterized in that: The outer surface of the bottom surface (37) of the third movable seat (3) is provided with a first stop edge (32) and a second stop edge (33) protruding downward at both ends along the z-axis direction, respectively. The distance L1 between the first stop edge (32) and the second stop edge (33) along the z-axis direction is greater than the length L2 of the bottom wall (26) of the second movable seat along the z-axis. By limiting the first stop edge (32) and the second stop edge (33), the third movable seat (3) can be moved forward and backward in a small range along the z-axis direction relative to the second movable seat (2).

6. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 4, characterized in that: A first fixed seat (13) is fixedly provided at each of the two ends of the bottom plate (11) of the first movable seat (1) along the x-axis direction, and a first pivot seat (22) is fixedly provided on the outer side of each of the two side walls (25) of the second movable seat (2), and the first pivot seat (22) is inserted into the second limiting groove (121) of the first movable seat (1) and extends outward; the first driving mechanism (5) is a hydraulic cylinder, which is provided in two, and the telescopic end of each of the first driving mechanisms (5) is connected to the corresponding first pivot seat (22), and the other end is connected to the corresponding first fixed seat (13).

7. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 4, characterized in that: A second fixed seat (34) is fixedly provided on the inner side of one of the side surfaces (36) of the third movable seat (3), and a second pivot seat (41) is fixedly provided on the driving seat (4); the second driving mechanism (6) is a hydraulic cylinder, a telescopic end of which is connected to the second pivot seat (41) and the other end is connected to the second fixed seat (34).

8. The blind area excavation device suitable for a special-shaped pipe jacking machine according to claim 4, characterized in that: A hollow portion (24, 35) is respectively provided at the front end of the bottom wall (26) of the second movable seat (2) and the front end of the bottom surface of the third movable seat (3), and the hollow portion (24, 35) provides a space for the control end (102) of the blind area excavation and crushing device (10) to swing up and down along the y-axis direction.

9. A blind area excavation device suitable for a special-shaped pipe jacking machine as claimed in claim 1, characterized in that: The hinged support device (30) comprises a retaining ring (301) and a flange (302); the retaining ring (301) is fixed in the shield body via the flange (302); the blind area excavation and crushing device (10) is embedded in the retaining ring (301) and the flange (302) via a ball hinge portion (103) to form a ball hinge kinematic pair A.

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