Pile cutting shield machine and pile-passing shield method

Abstract

The present invention relates to a pile-cutting shield machine, comprising a shield body, a cutterhead provided at the front end of the shield body, an opening provided on the cutterhead, and a thermal imaging device provided on the cutterhead; a pile-cutting device, the pile-cutting device being arranged inside the rear end of the shield body and connected to the shield body via a multi-degree-of-freedom manipulator; the pile-cutting device activating an operating mode in response to data fed back by the thermal imaging device, and when the pile-cutting device is in the operating mode, the multi-degree-of-freedom manipulator drives the pile-cutting device to extend from the opening of the cutterhead; the pile-cutting device comprising a high-pressure water jet device and a laser cutting device, the high-pressure water jet device being used to break up pile concrete, and the laser cutting device being used to cut exposed steel bars inside the concrete. The present invention also provides a pile-cutting shield method. The above-mentioned pile-cutting shield machine and pile-cutting shield method have good safety and high construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery shield machines, and in particular to a pile-cutting shield machine and a pile-passing shield method. Background Art

[0002] Currently, urban subway and tunnel construction utilizes shield machines for excavation. During construction, the machine passes over the piles of existing buildings, which are constructed from steel and high-strength concrete. However, the machine inevitably needs to pass through these existing piles, which are located above existing buildings that cannot be demolished. During this process, the machine must minimize disturbance of these structures, as this could affect the lifespan and strength of the structures themselves.

[0003] There is no dedicated pile passing device on the current shield machine. There are two commonly used pile passing methods:

[0004] 1. Manual pile breaking. The shield machine is shut down, and workers enter the excavation chamber and manually use specialized equipment to break the piles ahead of the tunnel. During the pile-breaking process, operators must enter the excavation chamber under pressure. The chamber must be pressurized to maintain the stability of the tunnel face, requiring them to withstand the high-pressure environment. This process is time-consuming and costly, and improper operation during the pressure increase and decrease process can easily cause permanent damage to the operator's health.

[0005] 2. Cutterhead pile grinding. The shield machine cutterhead tool is used to directly grind the pile. The pile is directly ground and cut by the mechanical action of the cutterhead tool, which causes greater wear on the tool and is inconvenient to change the tool. At the same time, the steel bars are easily wrapped around the cutterhead, and the cutterhead is directly stuck, causing the shield to stop. The large steel bars cut off also have a great impact on the screw conveyor blades. The shield screw conveyor may be stuck by the steel bars, and the shield machine cannot operate normally. After the shield machine cuts the pile foundation, the steel bars in the pile foundation will enter the screw conveyor. The steel bars may be stuck in the gap between the spiral blades and the inner wall of the screw conveyor sleeve, causing the screw conveyor to be stuck, which directly leads to the inability to discharge slag normally, affecting the subsequent excavation.

[0006] 3. Water jet, laser, or water-guided laser pile grinding. CN114151095B discloses a coaxial, variable-speed shield machine / TBM equipped with a high-pressure water jet structure. The shield machine / TBM has a cutterhead with a guide rail, a movable nozzle seat disposed within the rail, and a water jet nozzle mounted within the movable nozzle seat. This achieves a mutually complementary effect between high-pressure water jet cutting technology and existing shield machine / TBM metal cutters in cutting existing underground high-strength rock or reinforced concrete structures. High-pressure water flow is used to erode or cut high-strength hard rock or reinforced concrete, thereby reducing metal cutter wear and improving construction efficiency. CN11400088 discloses the use of a water-guided laser nozzle to replace the traditional laser nozzle. This method utilizes the total reflection of the laser at the interface between water and air, and transmits the laser through a high-pressure water channel, cleverly solving the problem of laser nozzle protection. This method avoids wear and damage to the laser nozzle during use, while also removing rock debris and rock dust from interfering with the optical path. Furthermore, the water jet has rock-breaking capabilities. While the laser weakens the rock mass, the water jet impact can peel the rock in real time, preventing the formation of rock glaze and significantly improving rock-breaking efficiency. In the above-mentioned scheme, the use of a water jet for demolition requires high water pressure due to the removal of hard rebar. Furthermore, directly breaking ground piles may disturb the surface structure, creating safety issues. Similarly, using a water-guided laser nozzle to directly break ground piles may also disturb the surface structure, creating safety issues.

[0007] Therefore, how to improve the safety and construction efficiency of shield machines passing through piles is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0008] (1) Technical issues to be resolved

[0009] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a pile-cutting shield machine and a pile-passing shield method, which can improve the safety and construction efficiency of the shield machine passing through piles.

[0010] (2) Technical solution

[0011] In order to solve the above problems, the present invention provides a pile cutting shield machine, comprising:

[0012] A shield body, wherein a cutter disc is provided at the front end of the shield body, an opening is formed on the cutter disc, and a thermal imaging device is provided on the cutter disc;

[0013] A pile cutting device is disposed within the rear end of the shield body and connected to the shield body via a multi-degree-of-freedom manipulator. The pile cutting device activates an operating mode in response to data fed back by the thermal imaging device. When the pile cutting device is in the operating mode, the multi-degree-of-freedom manipulator drives the pile cutting device to extend from the opening of the cutter head. The pile cutting device includes a high-pressure water jet device and a laser cutting device. The high-pressure water jet device is used to break and demolish the pile body concrete, and the laser cutting device is used to cut the exposed steel bars within the concrete.

[0014] Optionally, the high-pressure water jet device includes a high-pressure water jet nozzle arranged at the front end of the multi-degree-of-freedom manipulator and a pump station arranged at the rear end of the multi-degree-of-freedom manipulator, and the pump station is connected to the high-pressure water jet nozzle through a high-pressure resistant hose.

[0015] Optionally, the laser cutting device includes a laser cutting head arranged at the front end of the multi-degree-of-freedom manipulator and a laser generating device arranged at the rear end of the multi-degree-of-freedom manipulator, and the laser generating device is connected to the laser cutting head via an optical fiber.

[0016] Optionally, it also includes a monitoring device and a shield machine controller, the monitoring device includes a camera arranged at the front end of the multi-freedom manipulator, the shield machine controller is connected to the camera and the multi-freedom manipulator, the camera collects real-time images of concrete breaking and steel bar cutting status and feeds them back to the shield machine controller, and the shield machine controller controls the multi-freedom manipulator to drive the pile cutting device into working state.

[0017] Optionally, an advance drilling device and a grouting device are provided at the upper end of the shield body, the advance drilling device is used to drill holes in the ground pile area, and the grouting device is used to perform grouting reinforcement around the ground pile.

[0018] Optionally, the screw conveyor is arranged at the bottom of the shield body to transport the demolished concrete debris and cut steel bars.

[0019] Optionally, the screw conveyor includes a body surrounded by an outer wall of the screw conveyor, a screw conveyor shaft arranged in the body, and spiral blades arranged along the screw conveyor shaft; the broken concrete debris and cut steel bars are transported out during the rotation of the spiral blades.

[0020] A pile-cutting shield tunneling method using the pile-cutting shield machine as described above comprises:

[0021] S1. After the surrounding rock of the pile is reinforced, the cutterhead retracts as a whole. The pile cutting device activates its working mode in response to data fed back by the thermal imaging device. The multi-degree-of-freedom manipulator drives the pile cutting device out of the cutterhead opening and uses a high-pressure water jet device to break and remove the concrete structure of the pile, exposing the internal steel bars.

[0022] S2. After the concrete of the pile is demolished, the exposed internal steel bars are cut using a laser cutting device.

[0023] Optionally, a monitoring device is used to locate the position of the ground pile, and the shield machine controller is used to control the movement of the multi-degree-of-freedom manipulator to accurately position the high-pressure water jet nozzle and the laser cutting head to the ground pile position, control the water jet demolition and laser cutting time, and provide real-time feedback on the status and effect of the ground pile concrete demolition and steel bar cutting through images.

[0024] Optionally, before step S1, the following steps are further included:

[0025] The ground pile area is drilled by the advance drilling equipment above the shield body, and the grouting equipment is started to carry out grouting reinforcement around the ground piles. The grouting pressure and grouting volume are controlled by the shield machine controller.

[0026] (3) Beneficial effects

[0027] In the pile-cutting shield machine and pile-passing shield method of the present invention, the cutting shield machine is equipped with a pile-cutting device at the rear end of the shield body. The multi-degree-of-freedom manipulator extends the cutterhead to work only when cutting piles. In other words, when the cutterhead is excavating normally, the pile-cutting device does not work, thereby protecting the laser cutting device. When the shield machine cutterhead reaches the ground pile area, the pile-cutting device begins to cut piles. The pile-cutting device uses a dual-mode collaborative cutting method of water jet concrete demolition and laser steel bar cutting to cut piles. The high-pressure water jet is used to efficiently and quickly dismantle the ground pile structure, and then the laser cutting device is used to cut the exposed internal steel bars to a suitable length suitable for conveyance by the screw conveyor. The concrete body is first broken, and then the steel bar cutting is carried out to avoid disturbing the ground building structure and causing safety problems. At the same time, the high-pressure water jet is used to efficiently and quickly dismantle the ground pile structure before laser cutting is carried out, which also protects the laser cutting device. Compared to pure water jet cutting devices, conventional water jets cannot cut rebar. Abrasive water jets or ultra-high-pressure water jets are required to cut rebar. However, using abrasive water jets makes it difficult to maintain stable abrasive delivery over long periods of time. Using a water-guided laser nozzle to directly break up piles can disrupt surface structures and create safety concerns. Overall, the pile-cutting shield machine of the present invention operates more reliably and stably, offers superior safety performance, and offers high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the pile cutting shield machine of the present invention.

[0029] Figure 2 This is a schematic diagram of the invention showing the internal steel bars exposed after the pile is demolished by high-pressure water jet.

[0030] Figure 3It is a structural schematic diagram of the screw conveyor of the present invention.

[0031] Figure 4 This is a front view of the cutter head of the pile cutting shield machine of the present invention.

[0032] [Description of Reference Numerals]

[0033] 101: Pouring reinforced concrete; 102: Ground piles; 103: Pile cutting device; 104: Advanced drilling equipment and grouting equipment; 105: Shield; 106: Pump station; 107: Cutter head; 108: Multi-degree-of-freedom manipulator; 109: Laser generator; Thermal imaging device 110; 201: Pouring concrete on ground piles; 202: Rebar exposed after demolition; 300: Screw conveyor; 301: Outer wall of screw conveyor; 302: Spiral blades; 303: Cut and broken rebar or rebar cage; 304: Screw conveyor shaft. DETAILED DESCRIPTION

[0034] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0035] The present invention provides a pile-cutting shield machine comprising: a pile-cutting device 103, a shield 105, a cutterhead 107, a multi-degree-of-freedom manipulator 108, and a thermal imaging device 110. The pile-cutting device 103 includes a laser cutting device and a high-pressure water jet device. Specifically, the cutterhead 107 is provided at the front end of the shield 105, and the thermal imaging device 110 is mounted on the cutterhead 107. The cutterhead 107 has an opening. The pile-cutting device 103 is located within the rear end of the shield 105 and connected to the shield 105 via the multi-degree-of-freedom manipulator 108. When not in operation, the pile-cutting device 103 is housed within the cavity of the shield 105. When the pile-cutting device 103 is required to operate, it activates an operating mode in response to data fed back by the thermal imaging device 110. In this operating mode, the multi-degree-of-freedom manipulator 108 extends from the opening of the cutterhead 107 and aims at the ground piles to perform its operation. The pile cutting device 103 includes a high-pressure water jet device and a laser cutting device, wherein the high-pressure water jet device is used to break the concrete of the pile body, and the laser cutting device is used to cut the exposed steel bars inside the concrete.

[0036] In the pile-cutting shield machine and pile-passing shield method of the present invention, the cutting shield machine is equipped with a pile-cutting device at the rear end of the shield body. The multi-degree-of-freedom manipulator extends the cutterhead to work only when cutting piles. In other words, when the cutterhead is excavating normally, the pile-cutting device does not work, thereby protecting the laser cutting device. When the shield machine cutterhead reaches the ground pile area, the pile-cutting device begins to cut piles. The pile-cutting device uses a dual-mode collaborative cutting method of water jet concrete demolition and laser steel bar cutting to cut piles. The high-pressure water jet is used to efficiently and quickly dismantle the ground pile structure, and then the laser cutting device is used to cut the exposed internal steel bars to a suitable length suitable for conveyance by the screw conveyor. The concrete body is first broken, and then the steel bar cutting is carried out to avoid disturbing the ground building structure and causing safety problems. At the same time, the high-pressure water jet is used to efficiently and quickly dismantle the ground pile structure before laser cutting is carried out, which also protects the laser cutting device. Compared to pure water jet cutting devices, conventional water jets cannot cut rebar. Abrasive water jets or ultra-high-pressure water jets are required to cut rebar. However, using abrasive water jets makes it difficult to maintain stable abrasive delivery over long periods of time. Using a water-guided laser nozzle to directly break up piles can disrupt surface structures and create safety concerns. Overall, the pile-cutting shield machine of the present invention operates more reliably and stably, offers superior safety performance, and offers high efficiency.

[0037] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0038] like Figure 1-4 As shown, the present invention provides a pile cutting shield machine comprising: a pile cutting device 103, a shield body 105, a cutter head 107, a thermal imaging device 110 integrated on the cutter head, a multi-degree-of-freedom manipulator 108, and a screw conveyor 300. The pile cutting device 103 comprises a laser cutting device and a high-pressure water jet device.

[0039] Specifically, a cutterhead 107 with an opening is located at the front end of the shield 105. A pile cutting device 103 is located within the rear end of the shield 105 and connected to the shield 105 via a multi-degree-of-freedom manipulator 108. When not in operation, the pile cutting device 103 is housed within the cavity of the shield 105. During operation, the multi-degree-of-freedom manipulator 108 extends the cutterhead 107's opening. The pile cutting device 103 includes a high-pressure water jet and a laser cutting device. The high-pressure water jet is used to break down the concrete in the pile body, while the laser cutting device is used to cut exposed rebar within the concrete.

[0040] Specifically, in one embodiment, the high-pressure water jet device includes a high-pressure water jet nozzle arranged at the front end of the multi-degree-of-freedom manipulator 108 and a pump station 106 arranged at the rear end of the multi-degree-of-freedom manipulator 108. The pump station 106 transmits water to the water jet nozzle through a high-pressure resistant hose.

[0041] Specifically, the laser cutting device includes a laser cutting head arranged at the front end of the multi-degree-of-freedom manipulator 108 and a laser generating device 109 arranged at the rear end of the multi-degree-of-freedom manipulator 108. The laser generating device 109 transmits laser to the laser cutting head through optical fiber.

[0042] Specifically, the pile-cutting shield machine also includes a monitoring device and a shield machine controller. The monitoring device includes a camera arranged at the front end of the multi-degree-of-freedom manipulator 108. The shield machine controller is connected to the camera and the multi-degree-of-freedom manipulator 108. The camera collects real-time images of the concrete breaking and steel bar cutting status and feeds them back to the shield machine controller. The shield machine controller controls the multi-degree-of-freedom manipulator 108 to drive the pile-cutting device into working state.

[0043] The pile cutting device 103 is fixed inside the shield body 105 at the rear end of the shield machine cutterhead 107. During normal excavation, the pile cutting device 103 is inactive. When the shield machine cutterhead 107 reaches the ground pile area, the pile cutting process begins. The high-pressure water jet device and the laser cutting device's actuators (the corresponding high-pressure water jet nozzles and laser cutting heads) and the monitoring device's camera are all located at the front end of the multi-degree-of-freedom manipulator 108. Specifically, the actuator of the pile cutting device 103 is integrated at the front end of the multi-degree-of-freedom manipulator 108, while the other components are located at the rear end or other locations of the multi-degree-of-freedom manipulator 108. Specifically, the pump station for the high-pressure water jet device and the laser cutting device are located at the rear end of the multi-degree-of-freedom manipulator 108. The pump station is connected to the water jet nozzle via a high-pressure hose, which transmits water to the water jet nozzle. The laser generator is connected to the laser cutting head via an optical fiber, which transmits laser light to the laser cutting head. High-pressure hoses and optical fibers are arranged along the path of the multi-degree-of-freedom manipulator 108 and do not take up much space. The execution end is separated from other components. During operation, only the execution end faces the poured reinforced concrete 101 and the ground piles 102. The camera of the monitoring device can clearly capture the working status of the high-pressure water jet nozzle and the laser cutting head, while also protecting other components. The pile cutting device 103 uses a dual-mode synergistic approach of water jetting to break up concrete and laser cutting to cut steel bars. The high-pressure water jet is used to efficiently and quickly dismantle the structure of the ground piles, and then the laser cutting device is used to cut the exposed internal steel bars to a suitable length suitable for conveying by the screw conveyor. The concrete body is first broken, and then the steel bars are cut to avoid disturbing the ground building structure and causing safety problems.

[0044] Specifically, in one embodiment, a pre-drilling device and grouting device 104 (illustrated in the figure) are installed at the upper end of the shield body 105. The pre-drilling device is used to drill holes in the ground pile area, and the grouting device is used to grout and reinforce the area around the ground pile. Water jet scouring typically affects the surrounding rock in front of the tunnel face, potentially leading to soil erosion and ground collapse. Therefore, the pre-drilling device and grouting device 104 are installed on the shield body 105 to reinforce the surrounding rock before the pile cutting device 103 is activated, providing a safeguard.

[0045] Specifically, in one embodiment, the pile-cutting shield machine also includes a screw conveyor 300, which is located at the bottom of the shield body 105 and is used to transport the demolished concrete debris and cut steel bars. Specifically, the screw conveyor 300 includes a cylindrical body surrounded by a screw conveyor outer wall 301. A screw conveyor shaft 304 is provided axially midway along the body, and spiral blades 302 are arranged around the screw conveyor shaft 304. As the spiral blades 302 rotate, the demolished concrete debris and cut steel bars are transported.

[0046] The present invention further provides a pile-cutting shield tunneling method using the pile-cutting shield machine as described above, comprising the following steps:

[0047] S1. After the surrounding rock of the ground pile is reinforced, the cutterhead retracts as a whole. The pile cutting device 103 starts working mode based on the data fed back by the thermal imaging device. The pile cutting device 103 is extended from the opening of the cutterhead 107 by the multi-degree-of-freedom manipulator 108, and the concrete structure of the ground pile is demolished and removed by the high-pressure water jet device to expose the internal steel bars.

[0048] Specifically, in S1, when pile cutting is not required, the pile cutting device 103 is housed within the shield 105 at the rear end of the cutterhead 107. Only the cutterhead 107 performs excavation work, protecting the pile cutting device 103. When operation is required, data fed back by the thermal imaging device 110 activates the equipment into operation. The shield machine controller controls the movement of the multi-degree-of-freedom manipulator 108, extending the pile cutting device 103 from the opening of the cutterhead 107. The pile cutting device 103 extends out of the interface of the cutterhead 107. At this time, only the pile cutting device 103 is operating, while the cutterhead 107 is inoperative. The pile cutting device 103 and cutterhead 107 do not operate simultaneously, protecting the cutting tools and other components on the cutterhead 107, as well as the high-pressure water jet device and laser cutting device of the pile cutting device 103.

[0049] Specifically, in one embodiment, before step S1, the method further includes:

[0050] The pre-drilling equipment above the shield 105 drills holes in the ground pile area, and the grouting equipment is activated to grout the area around the ground pile for reinforcement. The shield machine controller controls the grouting pressure and volume. Typically, water jet scouring affects the surrounding rock at the front of the tunnel face, potentially leading to soil erosion and ground collapse. Therefore, before the pile cutting device 103 starts working, grouting the surrounding rock with the pre-drilling equipment and grouting equipment can provide a safeguard.

[0051] S2. After the concrete of the pile is demolished, the exposed internal steel bars are cut and separated by a laser cutting device.

[0052] After the concrete demolition of the piles is complete, the laser cutting head of the laser cutting device begins to cut and separate the internal rebar, completely separating the piles in the tunnel area from the surface buildings and preventing disturbance of the buildings during the shield tunneling process. Simultaneously, the manipulator cuts the rebar into sections of suitable lengths for transport via the screw conveyor. Advanced concrete demolition followed by rebar cutting is efficient, safe, and protects the laser cutting head.

[0053] Specifically, in one embodiment, in S1 and S2, a monitoring device is used to locate the position of the ground pile, and the shield machine controller controls the movement of the multi-degree-of-freedom manipulator to accurately position the high-pressure water jet nozzle and the laser cutting head to the ground pile position, control the water jet demolition and laser cutting time, and provide real-time feedback on the status and effect of the ground pile concrete demolition and steel bar cutting through images.

[0054] Specifically, in one embodiment, after S2, the process further includes S3, wherein the demolished concrete debris and the cut steel bars are transported out by a screw conveyor 300.

[0055] In the aforementioned pile-through shield method, the pile cutting device 103, extended by the multi-degree-of-freedom manipulator 108, only operates when cutting piles. In other words, when the cutterhead 107 is advancing normally, the pile cutting device 103 is inactive, thereby protecting the laser cutting device. The pile cutting device 103 only begins when the shield machine's cutterhead 107 reaches the ground pile area. The pile cutting device uses a dual-mode system: water jetting to break up concrete and laser cutting to cut rebar. The high-pressure water jet efficiently and quickly disassembles the ground pile structure, and then the laser cutting device cuts the exposed internal rebar to a suitable length suitable for conveying by the screw conveyor. This method first breaks up the concrete bulk before cutting the rebar, avoiding disturbing the ground building structure and potentially causing safety issues. Furthermore, the high-pressure water jet is used to efficiently and quickly disassemble the ground pile structure before laser cutting, which also protects the laser cutting device. Compared to pure water jet cutting devices, conventional water jets cannot cut rebar. Abrasive water jets or ultra-high-pressure water jets are required to cut rebar. However, using abrasive water jets makes it difficult to maintain stable abrasive delivery over long periods of time. Using a water-guided laser nozzle to directly break up piles can disrupt surface structures and create safety concerns. Overall, the pile-cutting shield machine of the present invention operates more reliably and stably, offers superior safety performance, and offers high efficiency.

[0056] It should be noted that all directional indications in this embodiment (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0057] In addition, the terms "first," "second," and so on are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0058] In this document, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this document can be understood according to specific circumstances.

[0059] It should be understood that the above description of the specific embodiments of the present invention is only for the purpose of illustrating the technical route and features of the present invention. Its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, but the present invention is not limited to the above-mentioned specific implementation methods. Any changes or modifications made within the scope of the claims shall be included in the scope of protection of the present invention.

Claims

1. A pile cutting shield machine, characterized in that: include: A shield body, wherein a cutter disc is provided at the front end of the shield body, an opening is formed on the cutter disc, and a thermal imaging device is provided on the cutter disc; A pile cutting device is disposed within the rear end of the shield body and connected to the shield body via a multi-degree-of-freedom manipulator. The pile cutting device activates an operating mode in response to data fed back by the thermal imaging device. When the pile cutting device is in the operating mode, the multi-degree-of-freedom manipulator drives the pile cutting device to extend from the opening of the cutter head. The pile cutting device includes a high-pressure water jet device and a laser cutting device. The high-pressure water jet device is used to break and demolish the pile body concrete, and the laser cutting device is used to cut the exposed steel bars within the concrete.

2. The pile cutting shield machine according to claim 1, characterized in that: The high-pressure water jet device includes a high-pressure water jet nozzle arranged at the front end of the multi-degree-of-freedom manipulator and a pump station arranged at the rear end of the multi-degree-of-freedom manipulator. The pump station is connected to the high-pressure water jet nozzle through a high-pressure hose.

3. The pile cutting shield machine according to claim 1, characterized in that: The laser cutting device includes a laser cutting head arranged at the front end of the multi-degree-of-freedom manipulator and a laser generating device arranged at the rear end of the multi-degree-of-freedom manipulator. The laser generating device is connected to the laser cutting head via an optical fiber.

4. The pile cutting shield machine according to claim 1, characterized in that: It also includes a monitoring device and a shield machine controller. The monitoring device includes a camera arranged at the front end of the multi-degree-of-freedom manipulator. The shield machine controller is connected to the camera and the multi-degree-of-freedom manipulator. The camera collects real-time images of concrete breaking and steel bar cutting status and feeds them back to the shield machine controller. The shield machine controller controls the multi-degree-of-freedom manipulator to drive the pile cutting device into working state.

5. The pile cutting shield machine according to claim 1, characterized in that: An advance drilling device and a grouting device are provided at the upper end of the shield body. The advance drilling device is used to drill holes in the ground pile area, and the grouting device is used to perform grouting reinforcement around the ground pile.

6. The pile cutting shield machine according to claim 1, characterized in that: It also includes a screw conveyor, which is arranged at the bottom of the shield body and is used to transport the demolished concrete debris and cut steel bars.

7. The pile cutting shield machine according to claim 6, characterized in that: The screw conveyor includes a body surrounded by an outer wall of the screw conveyor, a screw conveyor shaft arranged in the body, and spiral blades arranged along the screw conveyor shaft; the broken concrete debris and cut steel bars are transported out during the rotation of the spiral blades.

8. A pile-cutting shield method using the pile-cutting shield machine according to any one of claims 1 to 7, characterized in that: include: S1. After the surrounding rock of the pile is reinforced, the cutterhead retracts as a whole. The pile cutting device activates its working mode in response to data fed back by the thermal imaging device. The multi-degree-of-freedom manipulator drives the pile cutting device out of the cutterhead opening and uses a high-pressure water jet device to break and remove the concrete structure of the pile, exposing the internal steel bars. S2. After the concrete of the pile is demolished, the exposed internal steel bars are cut using a laser cutting device.

9. The pile shield method according to claim 8, characterized in that: In S1 and S2, a monitoring device is used to locate the position of the ground pile, and the shield machine controller controls the movement of the multi-degree-of-freedom manipulator to accurately position the high-pressure water jet nozzle and the laser cutting head to the ground pile position. The water jet demolition and laser cutting time are controlled, and the status and effect of the ground pile concrete demolition and steel bar cutting are fed back in real time through images.

10. The pile shield method according to claim 8, characterized in that: Before step S1, it also includes: The ground pile area is drilled by the advance drilling equipment above the shield body, and the grouting equipment is started to carry out grouting reinforcement around the ground piles. The grouting pressure and grouting volume are controlled by the shield machine controller.

Images