Automatic shaft entry and exit device, shaft boring machine and shaft construction method

Abstract

The present invention discloses an automatic shaft entry and exit device, a shaft boring machine and a shaft construction method, comprising: at least one guide rail, arranged on the inner wall surface of the shaft along the axial direction of the shaft; at least one active walking mechanism, connected to the main machine of the shaft boring machine, the active walking mechanism comprising an active walking gear and a walking drive structure, the active walking gear is meshed and connected with at least one of the guide rails, the walking drive structure drives the active walking gear to rotate and roll along the guide rail, and drives the main machine to enter the shaft downward along the axial direction of the shaft or to exit the shaft upward along the axial direction of the shaft. The present invention can realize the automatic entry and exit of the shaft boring machine in both conventional environments without water or less water and complex water-rich environments, without the need for workers to go down the shaft for auxiliary operations, with high operating efficiency and guaranteed safety of construction workers.

Description

Technical Field

[0001] The invention relates to the technical field of shaft construction, and in particular to an automatic shaft entry and exit device, a shaft boring machine and a shaft construction method. Background Art

[0002] The development of cities has brought about a series of problems such as traffic congestion, environmental pollution, urban land shortage, and severe energy shortage. In order to maintain normal life or for other needs such as war preparedness, people are constantly seeking to develop new spaces. Nowadays, the field of human activities has developed towards three-dimensional space. In addition to the ground and water surface space, it has also begun to advance into the vast underground space. Shaft construction has been widely used under this demand. For example, the starting and receiving shafts of underground tunnel boring machines, tunnel ventilation shafts, urban drainage system shafts, underground stereo garages and storage shafts, mining shafts, bridge engineering shafts, etc.

[0003] The entry and exit of the shaft boring machine is an important step in the shaft construction. When the equipment fails or needs to be exited, only two methods can be chosen: manual entry and equipment exit. When the equipment is in a water-rich working environment, the conditions for personnel to go down the shaft are not met, and the method of personnel-assisted exit cannot be used. Even if the equipment is in a waterless or water-scarce environment, the working environment in the shaft is extremely harsh when the manual entry method is used, and the workers' operating level and experience are required to be high. When the equipment exits the shaft, it is currently mostly completed through hoisting or main engine recovery system. Since the hoisting or main engine recovery system does not have a guiding function, the position of the main engine and the fixed seat body needs to be calibrated during the lowering of the main engine. During the calibration process, personnel need to go down the shaft to assist, and in the auxiliary process, there are many problems such as small space and high difficulty. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic shaft entry and exit device, a shaft boring machine and a shaft construction method to solve the technical problem that it is difficult to achieve shaft entry and exit for a shaft boring machine in a water-rich environment, and the technical problem that shaft boring machines need to go down to assist in entering and exiting the shaft in a waterless or water-scarce environment, which is difficult to operate.

[0005] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0006] The present invention provides an automatic well entry and exit device, comprising: at least one guide rail, which is arranged on the inner wall surface of a shaft along the axial direction of the shaft; at least one active walking mechanism, which is connected to a main machine of a shaft boring machine, the active walking mechanism comprising an active walking gear and a walking drive structure, the active walking gear is meshed and connected with at least one of the guide rails, the walking drive structure drives the active walking gear to rotate and roll along the guide rail, and drives the main machine to enter the shaft downward along the axial direction of the shaft or exit the shaft upward along the axial direction of the shaft.

[0007] In an embodiment of the present invention, a circumferential limiting structure is provided on the main machine, and the circumferential limiting structure is used to abut against the guide rail in the circumferential direction of the shaft to limit the movement of the main machine in the circumferential direction of the shaft.

[0008] In an embodiment of the present invention, the bottom surface of the tooth groove on the guide rail can limit the main engine from driving the active travel gear to move radially outward along the shaft, and a radial limiting structure is provided on the main engine, which can abut against the guide rail to limit the main engine from moving radially inward along the shaft.

[0009] In an embodiment of the present invention, the circumferential limiting structure includes a first limiting block and a second limiting block, and the first limiting block and the second limiting block are arranged at intervals along the circumference of the shaft and are located on both sides of the guide rail.

[0010] In an embodiment of the present invention, one end of the guide rail is connected to the inner wall surface of the wellbore through a fixed block, and a mounting groove is provided between the other end of the guide rail and the inner wall surface of the wellbore, and the radial limiting structure includes a third limiting block, and the third limiting block is connected to the first limiting block and extends into the mounting groove.

[0011] In an embodiment of the present invention, the travel drive structure is connected to the main machine via a travel box, the active travel gear is installed in the travel box, and part of the gear teeth of the active travel gear extends from the travel box and meshes with the guide rail.

[0012] In an embodiment of the present invention, the automatic entry and exit device also includes at least one driven walking mechanism, at least one active walking mechanism and at least one driven walking mechanism are arranged at intervals along the circumference of the shaft, and at least two guide rails are arranged at intervals along the circumference of the shaft on the inner wall surface of the shaft, the driven walking mechanism includes a driven walking gear, at least two walking boxes are installed on the main machine, the driven walking gear is installed in another walking box, and some gear teeth of the driven walking gear extend from the walking box and are meshed with the other guide rail, and the driven walking gear can rotate synchronously with the active walking gear and roll along the guide rail.

[0013] In an embodiment of the present invention, the shaft is formed by assembling a plurality of steel pipe segments along the axial direction of the shaft, and at least one guide rail segment is provided on the inner wall surface of the plurality of steel pipe segments along the axial direction of the shaft, and at least one guide rail segment on the plurality of steel pipe segments is assembled along the axial direction of the shaft to form at least one guide rail.

[0014] The present invention also provides a shaft boring machine, comprising the main machine and the automatic shaft entry and exit device.

[0015] The present invention also provides a shaft construction method, which adopts the above-mentioned shaft boring machine, and specifically comprises the following steps: equipment entering the shaft: the travel drive structure drives the active travel gear to roll downward along the guide rail until the excavation end of the main machine contacts the soil below it; shaft excavation: the main machine excavates downward, and the shaft and the main machine sink synchronously until the excavation end of the main machine reaches a set depth; equipment exiting the shaft: when the main machine fails during the excavation process or the shaft construction is completed, the travel drive structure drives the active travel gear to roll upward along the guide rail until the main machine extends out of the shaft.

[0016] In an embodiment of the present invention, the excavation end reaches a set depth and forms a concave structure at the bottom of the shaft, and the shaft excavation step also includes the following steps: the travel drive structure drives the active travel gear to roll upward along the guide rail until there is space for the excavation end to swing above the concave structure; the excavation end is swung to a position on the concave structure that is higher than the set depth; the main machine excavates downward, and the travel drive structure drives the active travel gear to roll downward synchronously with the main machine along the guide rail; the above steps are repeated until the concave structure forms the bottom plane of the shaft, and the bottom plane is flush with the set depth.

[0017] The characteristics and advantages of the present invention are:

[0018] The automatic shaft entry and exit device, shaft boring machine and shaft construction method of the present invention are connected to the main machine of the shaft boring machine by arranging at least one active walking mechanism, and at least one guide rail is arranged on the inner wall surface of the shaft, and the active walking gear is meshed and connected with the guide rail, and then the active walking gear is driven to rotate by the walking drive structure, so that the active walking gear rolls along the guide rail, thereby driving the main machine to enter the shaft downward along the axial direction of the shaft or to exit the shaft upward along the axial direction of the shaft. It can be seen that the present invention can realize the automatic entry and exit of the shaft boring machine in both conventional environments without water or less water and complex water-rich environments, without the need for staff to go down the shaft for auxiliary operations, with high operating efficiency and ensuring the safety of construction personnel. In addition, the meshing relationship between the guide rail and the active walking gear can also play a guiding role in the process of shaft boring and sinking of the shaft boring machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1It is a schematic structural diagram of the automatic well entry and exit device of the present invention.

[0021] Figure 2 It is a top view of the automatic well entry and exit device of the present invention.

[0022] Figure 3 It is a structural schematic diagram of the traveling box of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the active travel gear and the guide rail of the present invention.

[0024] Figure 5 It is a schematic diagram of the structure of the shaft boring machine after the shaft construction of the present invention is completed.

[0025] In the figure:

[0026] 1. Guide rail; 11. Guide rail section; 12. Protruding tooth; 12', protruding tooth; 13. Tooth groove; 131, groove bottom surface; 14, inner side surface; 15, outer side surface; 16, first side surface; 17, second side surface; 2. Active travel mechanism; 21. Active travel gear; 211, gear teeth; 22, travel drive structure; 3. Driven travel mechanism; 31, driven travel gear; 4. Travel box; 41, circumferential limit structure; 411, first Limit block; 412, second limit block; 42, radial limit structure; 421, third limit block; 422, mounting groove; 43, flange; 5, fixing block; 51, inner side; 52, outer side; 6, wellbore; 61, steel pipe segment; 7, main engine; 71, main engine platform; 72, main drive device; 73, slewing device; 74, swing arm cylinder; 75, cutting head; 751, excavation end; 8, concave structure; 9, well bottom plane. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Implementation Method 1

[0029] like Figure 1 and Figure 2As shown, the present invention provides an automatic well entry and exit device, comprising: at least one guide rail 1, which is arranged on the inner wall surface of a shaft 6 along the axial direction Z of the shaft; at least one active walking mechanism 2, which is connected to a main machine 7 of a shaft boring machine, and the active walking mechanism 2 comprises an active walking gear 21 and a walking drive structure 22, the active walking gear 21 is meshed and connected with the guide rail 1, and the walking drive structure 22 drives the active walking gear 21 to rotate and roll along the guide rail 1, and drives the main machine 7 to enter the well downward along the axial direction Z of the shaft or to exit the well upward along the axial direction Z of the shaft.

[0030] The automatic well entry and exit device of the present invention is connected to the main machine 7 of the shaft boring machine by setting at least one active walking mechanism 2, and setting at least one guide rail 1 on the inner wall surface of the shaft 6, and the active walking gear 21 is meshed and connected with the guide rail 1, and then the active walking gear 21 is driven to rotate by the walking drive structure 22, so that the active walking gear 21 rolls along the guide rail 1, thereby driving the main machine 7 to enter the well downward along the axial direction Z of the shaft or to exit the well upward along the axial direction Z of the shaft. It can be seen that the present invention can realize the automatic entry and exit of the shaft boring machine in both conventional environments without water or less water and complex water-rich environments, without the need for staff to go down to the well for auxiliary operations, with high operating efficiency and ensuring the safety of construction personnel. In addition, the meshing relationship between the guide rail 1 and the active walking gear 21 can also play a guiding role in the process of excavation and sinking of the shaft boring machine.

[0031] Specifically, the first entry of the shaft boring machine into the shaft includes the following steps: after the starting shaft is excavated, the starting section of the shaft 6 is installed in the starting shaft and the guide rail 1 is installed on the inner wall surface of the starting section of the shaft 6, the main machine 7 and the active walking mechanism 2 are assembled outside the shaft, and the main machine 7 and the active walking mechanism 2 are lowered into the starting shaft by the hoisting equipment, and the main machine 7 and the active walking mechanism 2 are kept horizontal until the active walking gear 21 is fully engaged with the guide rail 1, thereby completing the first entry of the shaft boring machine into the shaft. After the shaft boring machine has excavated downward to a certain depth, if the shaft boring machine fails, the shaft construction is completed, or there are other times when it is necessary to exit the shaft, the active walking gear 21 is driven to rotate by the walking drive structure 22, so that the active walking gear 21 rolls upward along the guide rail 1, thereby driving the main machine 7 to move upward along the axial direction Z of the shaft until the main machine 7 extends out of the shaft, and then the main machine 7 and the active walking mechanism 2 are hoisted out of the shaft by the hoisting equipment. When the fault is rectified and the shaft boring machine needs to be put into the shaft again, the main machine 7 and the active traveling mechanism 2 are lowered into the starting shaft by hoisting equipment, and the main machine 7 and the active traveling mechanism 2 are kept horizontal until the active traveling gear 21 is fully engaged with the guide rail 1, and then the active traveling gear 21 is driven to rotate by the traveling driving structure 22, so that the active traveling gear 21 rolls downward along the guide rail 1, thereby driving the main machine 7 to move downward along the axial direction Z of the shaft until the main machine 7 contacts the soil at the bottom of the shaft.

[0032] like Figure 3 As shown, in the embodiment of the present invention, a circumferential limiting structure 41 is provided on the main machine 7, and the circumferential limiting structure 41 is used to abut against the guide rail 1 in the circumferential direction S of the shaft to limit the movement of the main machine 7 in the circumferential direction S of the shaft. By providing the circumferential limiting structure 41, it is prevented that the active travel gear 21 moves along the circumferential direction S of the shaft when rolling on the guide rail 1 along the axial direction Z of the shaft, thereby preventing the main machine 7 from shaking in the circumferential direction S of the shaft.

[0033] The groove bottom surface 131 of the tooth groove 13 on the guide rail 1 can limit the main machine 7 from driving the active travel gear 21 to move outward along the radial direction X of the shaft. The main machine 7 is provided with a radial limiting structure 42, which can abut against the guide rail 1 to limit the main machine 7 from moving inward along the radial direction X of the shaft. The active travel gear 21 moves outward along the radial direction X of the shaft with the main machine 7, so that the gear teeth 211 of the active travel gear 21 abut against the groove bottom surface 131 of the tooth groove 13, so that the main machine 7 cannot move outward along the radial direction X. The radial limiting structure 42 cooperates with the groove bottom surface 131 of the tooth groove 13 on the guide rail 1 to prevent the active travel gear 21 from moving along the radial direction X of the shaft when rolling on the guide rail 1 along the axial direction Z of the shaft, thereby preventing the main machine 7 from shaking in the radial direction X of the shaft.

[0034] Specifically, at least two guide rails 1 are arranged at intervals on the inner wall surface of the shaft 6 along the circumferential direction S of the shaft, and the main machine 7 is provided with corresponding at least two circumferential limiting structures 41 and at least two radial limiting structures 42. The stability of the main machine 7 is improved by the coordinated limiting of at least two circumferential limiting structures 41 and the coordinated limiting of at least two radial limiting structures 42, so as to prevent the main machine 7 from swinging during the excavation and sinking process, the automatic entry into the well and the automatic exit from the well.

[0035] like Figure 3As shown, in the embodiment of the present invention, the circumferential limiting structure 41 includes a first limiting block 411 and a second limiting block 412 , and the first limiting block 411 and the second limiting block 412 are arranged at intervals along the circumference S of the shaft and are located on both sides of the guide rail 1 . Specifically, in the present embodiment, the guide rail 1 has a first side surface 16 and a second side surface 17 in the circumferential direction S of the shaft, and a circumferential fitting clearance is provided between the first limit block 411 and the first side surface 16 of the guide rail 1, and between the second limit block 412 and the second side surface 17 of the guide rail 1. When the first limit block 411 moves along with the main machine 7 toward the first side surface 16 of the guide rail 1 in the circumferential direction S, the circumferential fitting clearance between the first limit block 411 and the first side surface 16 of the guide rail 1 is eliminated, and the first limit block 411 abuts against the first side surface 16 of the guide rail 1. When the second limit block 412 moves along with the main machine 7 toward the second side surface 17 of the guide rail 1 in the circumferential direction S, the circumferential fitting clearance between the second limit block 412 and the second side surface 17 is eliminated, and the second limit block 412 abuts against the second side surface 17 of the guide rail 1, thereby limiting the main machine 7 from continuing to move along the circumferential direction S. Therefore, by controlling the size of the circumferential fitting clearance, the range of movement of the main machine 7 along the circumferential direction S can be controlled. Optionally, the first limiting block is in frictional contact with a first side surface of the guide rail, and the second limiting block is in frictional contact with a second side surface of the guide rail.

[0036] One end of the guide rail 1 (i.e., the end of the guide rail 1 close to the second side surface 17) is connected to the inner wall surface of the wellbore 6 through the fixing block 5, and a mounting groove 422 is provided between the other end of the guide rail 1 (i.e., the end of the guide rail 1 close to the first side surface 16) and the inner wall surface of the wellbore 6, and the radial limiting structure 42 includes a third limiting block 421, and the third limiting block 421 is connected to the first limiting block 411 and extends into the mounting groove 422. Specifically, the fixed block 5 has relative outer side surfaces 52 and inner side surfaces 51 in the radial direction X of the shaft, and the guide rail 1 has relative outer side surfaces 15 and inner side surfaces 14 in the radial direction X of the shaft. The tooth groove 13 of the guide rail 1 penetrates from its inner side surface 14 to its outer side surface 15. The outer side surface 52 of the fixed block 5 is connected to the inner wall surface of the shaft 6, and the inner side surface 51 of the fixed block 5 is partially fitted with the outer side surface 15 of the guide rail 1, and the part of the inner side surface 51 of the fixed block 5 that is fitted with the guide rail 1 forms the groove bottom surface 131 of the tooth groove 13 of the guide rail 1. When the active travel gear 21 moves outward along the radial direction X of the shaft with the main machine 7, the gear teeth 211 of the active travel gear 21 abut against the inner side surface 51 of the fixed block 5, thereby limiting the main machine 7 from continuing to move outward along the radial direction X. The portion of the outer side surface 15 of the guide rail 1 that is not in contact with the fixed block 5 forms an installation groove 422 with the inner wall surface of the shaft 6, and a radial matching gap is provided between the third limit block 421 and the outer side surface 15 of the guide rail 1. When the third limit block 421 moves inward along the radial direction X of the shaft with the main machine 7, the radial matching gap is eliminated, and the third limit block 421 abuts against the outer side surface 15 of the guide rail 1, thereby limiting the main machine 7 from continuing to move inward along the radial direction X. Optionally, the third limit block and the installation groove are slidably matched along the axial direction of the shaft.

[0037] like Figure 2 and Figure 3 As shown, in the embodiment of the present invention, the travel drive structure 22 is connected to the main machine 7 through a travel box 4, the active travel gear 21 is installed in the travel box 4, and part of the gear teeth 211 of the active travel gear 21 extends from the travel box 4 and is meshed with the guide rail 1. In addition to being used to install the travel drive structure 22 and the active travel gear 21, the travel box 4 can also protect the active travel gear 21 to prevent the active travel gear 21 from being attached with debris and causing difficulty in rotation. Specifically, the travel drive structure 22 is a drive motor, which is installed on the travel box 4, and the output shaft of the drive motor extends into the travel box 4 and is connected to the active travel gear 21. The main machine 7 has an outer peripheral surface, and there is an annular installation space between the outer peripheral surface and the inner wall surface of the wellbore 6. The travel box 4 is connected to the outer peripheral surface of the main machine 7 through a flange 43 and is located in the annular installation space, with a compact structure and more stable. In this embodiment, the circumferential limiting structure 41 and the radial limiting structure 42 are both installed on the travel box 4. Optionally, the circumferential limiting structure and the radial limiting structure can be installed in other parts of the main machine.

[0038] The automatic well entry and exit device also includes at least one driven walking mechanism 3, at least one active walking mechanism 2 and at least one driven walking mechanism 3 are arranged at intervals along the circumferential direction S of the shaft, at least two guide rails 1 are arranged at intervals along the circumferential direction S of the shaft on the inner wall surface of the shaft 6, the driven walking mechanism 3 includes a driven walking gear 31, at least two walking boxes 4 are installed on the main machine 7, the driven walking gear 31 is installed in another walking box 4, and part of the gear teeth of the driven walking gear 31 extend from the walking box 4 and mesh with another guide rail 1, and the driven walking gear 31 can rotate synchronously with the active walking gear 21 and roll along the guide rail 1. The number of active walking mechanisms 2 is set according to the driving force required when the main machine 7 enters the well and when the main machine 7 exits the well, and then the number of driven walking mechanisms 3 is set according to the number of active walking mechanisms 2.

[0039] Specifically, Figure 2 and Figure 3 As shown, the driven travel gear 31 has the same structure as the active travel gear 21, and the only difference is that the driven travel gear 31 is rotatably installed in the travel box 4 through a bearing or other connecting parts, while the active travel gear 21 is installed in the travel box 4 through a travel drive structure 22. In this embodiment, the automatic well entry and exit device includes two active travel mechanisms 2 and a driven travel mechanism 3 arranged at intervals along the circumferential direction S of the shaft, and three guide rails 1 are arranged at intervals along the circumferential direction S of the shaft on the inner wall surface of the shaft 6. The travel drive structure 22 on the two active travel mechanisms 2 provides the driving force required for the main engine 7 to enter the well and exit the well. If only the two active travel mechanisms 2 are connected to the inner wall surface of the shaft 6, the stability is insufficient. By adding a driven travel mechanism 3 to connect to the inner wall surface of the shaft 6, the overall stability is improved. Therefore, by cooperating with the active travel mechanism 2 and the driven travel mechanism 3, the driving force requirements are met while ensuring the overall structural stability, and the increase in cost caused by the excessive number of active travel mechanisms 2 can be avoided. Optionally, two or more driven walking mechanisms are provided to further improve the overall structural stability. Optionally, if the number of active walking mechanisms required to meet the driving force requirements is sufficient, such as more than three, there is no need to provide a driven walking mechanism.

[0040] like Figure 1 and Figure 4As shown, the shaft 6 is formed by assembling multiple steel segments 61 along the axial direction Z of the shaft, and at least one guide rail segment 11 is provided on the inner wall surface of each of the multiple steel segments 61 along the axial direction Z of the shaft, and at least one guide rail segment 11 on each of the multiple steel segments 61 is assembled along the axial direction Z of the shaft to form at least one guide rail 1. Specifically, a fixing block 5 is fixed on the inner wall surface of each of the multiple steel segments 61, and one side of the guide rail segment 11 is connected to the fixing block 5 through a pin or other connecting member. The spacing between the upper and lower adjacent guide rail segments 11 is controlled according to the width of the tooth groove 13 on the guide rail segment 11, ensuring that the spacing between the bottommost convex tooth 12 on the upper guide rail segment 11 and the topmost convex tooth 12' on the lower guide rail segment 11 is equal to the width of the tooth groove 13 on each guide rail segment 11.

[0041] Implementation Method 2

[0042] like Figure 1 As shown, the present invention also provides a shaft boring machine, including a main machine 7 and an automatic shaft entry and exit device. The structure and working principle of the automatic shaft entry and exit device in this embodiment are the same as those of the automatic shaft entry and exit device described in the first embodiment, and will not be repeated here.

[0043] Specifically, the main machine 7 includes a main machine platform 71, a main drive device 72, a slewing device 73, a cutting head 75 and a swing arm cylinder 74. The slewing device 73 is installed below the main machine platform 71. The main drive device 72 is installed on the main machine platform 71 and connected to the slewing device 73. One end of the cutting head 75 is hinged to the slewing device 73, and the other end of the cutting head 75 (i.e., the excavation end 751 of the main machine 7) is in contact with the excavation surface. Both ends of the swing arm cylinder 74 are connected to the cutting head 75 and the slewing device 73. The slewing device 73 is driven to rotate by the main drive device 72, thereby driving the cutting head 75 to perform rotational excavation. At the same time, the cutting head 75 is driven to swing by the swing arm cylinder 74, thereby realizing full-section rotational excavation. Combined with Figure 2 As shown, the main engine platform 71 is connected to the inner wall surface of the shaft 6 through an automatic entry and exit device. In addition to driving the main engine 7 to move along the axial direction Z of the shaft to realize automatic exit and entry of the shaft boring machine, it can also drive the main engine 7 to reciprocate along the axial direction Z of the shaft, thereby assisting the main engine 7 in advancing excavation, so that the shaft boring machine can excavate the soil more flexibly.

[0044] Implementation Method 3

[0045] The present invention also provides a shaft construction method, using a shaft boring machine, which specifically includes the following steps: equipment entering the shaft: the travel drive structure 22 drives the active travel gear 21 to roll downward along the guide rail 1 until the excavation end 751 of the main machine 7 contacts the soil below it; shaft excavation: the main machine 7 excavates downward, and the shaft 6 and the main machine 7 sink synchronously until the excavation end 751 of the main machine 7 reaches the set depth; equipment exiting the shaft: when the main machine 7 fails during the excavation process or the shaft construction is completed, the travel drive structure 22 drives the active travel gear 21 to roll upward along the guide rail 1 until the main machine 7 extends out of the shaft. Among them, the working principle of equipment entering the shaft and equipment exiting the shaft is the same as the working principle of the automatic shaft entry and exit device driving the main machine 7 to enter and exit the shaft in the first embodiment, which will not be repeated here. The structure and working principle of the main machine 7 are the same as the main machine 7 described in the second embodiment, which will not be repeated here. Specifically, during the shaft excavation step, the main machine 7 can be pushed downward by its own gravity; and / or the travel drive structure 22 can be used to drive the active travel gear 21 to roll downward along the guide rail 1, thereby pushing the main machine 7 downward.

[0046] like Figure 1 and Figure 5 As shown, in the embodiment of the present invention, the excavation end 751 reaches the set depth and forms a concave structure 8 at the bottom of the shaft, and the shaft excavation step also includes the following steps: the travel drive structure 22 drives the active travel gear 21 to roll upward along the guide rail 1 until there is space for the excavation end 751 to swing above the concave structure 8; the excavation end 751 is swung to a position on the concave structure 8 that is higher than the set depth; the main machine 7 excavates downward, and the travel drive structure 22 drives the active travel gear 21 to roll downward synchronously with the main machine 7 along the guide rail 1; the above steps are repeated until the concave structure 8 forms the bottom plane 9 of the shaft, and the bottom plane 9 is flush with the set depth. The travel drive structure 22 reciprocates on the guide rail 1, thereby driving the main machine 7 to reciprocate along the axial direction Z of the shaft.

[0047] The above are only several embodiments of the present invention. Those skilled in the art may make various changes or modifications to the embodiments of the present invention based on the contents disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. An automatic well entry and exit device, characterized in that: include: At least one guide rail is arranged on the inner wall surface of the shaft along the axial direction of the shaft; At least one active traveling mechanism is connected to the main machine of the shaft boring machine, the active traveling mechanism comprises an active traveling gear and a traveling driving structure, the active traveling gear is meshingly connected with at least one of the guide rails, the traveling driving structure drives the active traveling gear to rotate and roll along the guide rail, and drives the main machine to enter the shaft downward along the axial direction of the shaft or to exit the shaft upward along the axial direction of the shaft; The main machine is provided with a circumferential limiting structure, and the circumferential limiting structure is used to abut against the guide rail in the circumferential direction of the shaft to limit the movement of the main machine in the circumferential direction of the shaft; The travel drive structure is connected to the main machine through a travel box, the active travel gear is installed in the travel box, and part of the gear teeth of the active travel gear extends from the travel box and is meshed and connected with the guide rail; The automatic well entry and exit device also includes at least one driven walking mechanism, at least one active walking mechanism and at least one driven walking mechanism are arranged at intervals along the circumference of the shaft, at least two guide rails are arranged at intervals along the circumference of the shaft on the inner wall surface of the shaft, the driven walking mechanism includes a driven walking gear, at least two walking boxes are installed on the main machine, the driven walking gear is installed in another walking box, and part of the gear teeth of the driven walking gear extends from the walking box and is meshed with the other guide rail, and the driven walking gear can rotate synchronously with the active walking gear and roll along the guide rail; The shaft is formed by assembling a plurality of steel pipe segments along the axial direction of the shaft, and at least one guide rail segment is provided on the inner wall surface of each of the plurality of steel pipe segments along the axial direction of the shaft, and at least one guide rail segment on each of the plurality of steel pipe segments is assembled along the axial direction of the shaft to form at least one guide rail; The bottom surface of the tooth groove on the guide rail can limit the main machine from driving the active travel gear to move radially outward along the shaft, and a radial limiting structure is provided on the main machine, which can abut against the guide rail to limit the main machine from moving radially inward along the shaft; The main machine can be pushed downward by its own gravity; and / or the travel drive structure can be used to drive the active travel gear to roll downward along the guide rail to push the main machine downward.

2. The automatic well entry and exit device according to claim 1, characterized in that: The circumferential limiting structure comprises a first limiting block and a second limiting block, wherein the first limiting block and the second limiting block are arranged at intervals along the circumference of the shaft and are located on both sides of the guide rail.

3. The automatic well entry and exit device according to claim 2, characterized in that: One end of the guide rail is connected to the inner wall surface of the wellbore through a fixing block, and a mounting groove is provided between the other end of the guide rail and the inner wall surface of the wellbore. The radial limiting structure includes a third limiting block, and the third limiting block is connected to the first limiting block and extends into the mounting groove.

4. A shaft boring machine, characterized in that: It comprises a main machine and the automatic well entry and exit device according to any one of claims 1-3.

5. A vertical shaft construction method, characterized in that: The shaft boring machine according to claim 4 specifically comprises the following steps: Equipment entering the well: the travel drive structure drives the active travel gear to roll downward along the guide rail until the excavation end of the main machine contacts the soil below it; Vertical shaft excavation: the main machine excavates downward, and the shaft sinks synchronously with the main machine until the excavation end of the main machine reaches the set depth; Equipment exiting the shaft: When the main machine fails during excavation or the shaft construction is completed, the travel drive structure drives the active travel gear to roll upward along the guide rail until the main machine extends out of the shaft.

6. The vertical shaft construction method according to claim 5, characterized in that: The excavation end reaches a set depth so that the bottom of the shaft forms a concave structure, and the shaft excavation step further includes the following steps: The travel drive structure drives the active travel gear to roll upward along the guide rail until there is space for the excavation end to swing above the concave structure; Swinging the excavation end to a position on the concave structure that is higher than the set depth; The main machine digs downward, and the travel drive structure drives the active travel gear to roll downward synchronously with the main machine along the guide rail; The above steps are repeated until the concave surface structure forms the bottom plane of the shaft, and the bottom plane is flush with the set depth.

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