A trenching device for underground continuous wall across pipeline areas

Abstract

This invention provides a trenching device for diaphragm walls spanning pipeline areas, comprising a main boom, a lifting robotic arm assembly, and a main milling device. The main boom internally houses a vertical rotating drive shaft and two mud guide pipes. A large bearing plate is connected within the main boom, and the bearing plate has a large bearing hole and two mud guide pipe holes. This invention relates to the field of underground construction engineering technology, and particularly to a trenching device for diaphragm walls spanning pipeline areas. Addressing the shortcomings of existing technologies, this invention develops a trenching device for diaphragm walls spanning pipeline areas, enabling the excavation of irregular diaphragm wall morphologies, including the soil beneath underground pipelines, in complex urban underground environments. This ensures the safety of underground structures and the convenience of diaphragm wall construction, shortens the construction cycle, and reduces construction costs.

Description

Technical Field

[0001] This invention relates to the field of underground construction technology, and in particular to a trenching device for underground continuous walls spanning pipeline areas. Background Technology

[0002] With the development and construction of underground space, subway construction has been developing rapidly, but it has also encountered a more complex urban underground environment. Subway construction is often affected by underground pipelines, especially during the construction of diaphragm walls. Encountering important culverts or pipelines that are difficult to relocate due to complex underground environments has caused construction difficulties. Therefore, how to carry out diaphragm wall construction safely and conveniently at pipeline locations has become an urgent problem to be solved.

[0003] The prior art patent document with publication number CN113756284A proposes a method and system for constructing underground diaphragm walls under pipelines, which is used to improve the safety of in-situ pipelines and the construction efficiency of underground diaphragm walls in pipeline areas. The method includes: when an underground pipeline crosses an underground diaphragm wall, the soil below the pipeline is excavated by a cutting blade welded on the grab bucket of a trenching machine, and the trench for the underground diaphragm wall below the pipeline is completed with the help of ultrasonic detection. Then, the steel cage is lowered in an orderly manner and precisely spliced ​​to achieve seamless connection of the steel cage. Finally, the underground diaphragm wall concrete of the pipeline section is poured as a whole.

[0004] The above technical solution has at least one of the following problems: 1. Compared with the hydraulic grab bucket mechanism proposed in the patent document with publication number CN212294803U, the cutting blade grab bucket trenching machine is a hydraulic grab bucket trenching machine, which can only perform trenching construction in a straight up and down manner. Although the cutting blade grab bucket trenching machine has some improvements, with cutting blades welded on the side grab bucket, it still has too many limitations when excavating the soil under pipelines in actual operation, resulting in poor practical application; 2. In addition, for the increasingly complex urban underground space and the irregular underground continuous wall shape, it poses a greater challenge to the existing construction technology. The above technical solution mentions that only the cutting blades welded on the grab bucket of the trenching machine are used to excavate the soil, which has poor flexibility and cannot meet the special trenching requirements when encountering the variable underground space structure.

[0005] Therefore, in order to address the above problems, a trenching device for underground continuous walls across pipeline areas is proposed to solve these problems. Summary of the Invention

[0006] This invention addresses the shortcomings of existing technologies by developing a trenching device for diaphragm walls spanning pipeline areas. This device enables the excavation of soil beneath underground pipelines in complex urban underground environments, including irregular diaphragm wall formations, ensuring the safety of underground structures and the convenience of diaphragm wall construction, while shortening the construction cycle and reducing construction costs.

[0007] The technical solution to the technical problem solved by the present invention is as follows: The present invention provides a trenching device for underground continuous walls across pipeline areas, including a main boom, a lifting robotic arm assembly, and a main milling device; the main boom has a vertical rotating transmission shaft inside and two mud slurry guide pipes; a large bearing plate is connected inside the main boom, the large bearing plate has a large bearing hole and two mud slurry guide pipe holes, the two mud slurry guide pipes are respectively installed in the corresponding mud slurry guide pipe holes, the two mud slurry guide pipes are respectively connected to the main boom, a bearing is installed in the large bearing hole, and the bearing is connected to the vertical rotating transmission shaft; the main boom is connected to an engine, the main... The main boom is connected to the engine shaft via a bearing, and the engine's output shaft is connected to the engine shaft via a drive belt. The upper end of the vertical rotating drive shaft and the engine shaft are respectively connected to conversion drive gears, which mesh with each other. The lower end of the vertical rotating drive shaft is connected to a vertical drive gear, whose front and rear edges mesh with lateral drive gears. The central shafts of the two lateral drive gears are respectively connected to the main boom via bearings. The main boom is connected to two upper lateral drive shafts via bearings. The central shafts of the two lateral drive gears are respectively connected to the upper pulleys of the lateral drive belt mechanism. The two upper lateral drive shafts are respectively connected to corresponding... The lower pulley of the lateral transmission belt mechanism; the extension robotic arm assembly includes a robotic arm body, an upper hydraulic sliding arm, a lower hydraulic sliding arm, and a robotic arm transmission belt. Two robotic arm bodies are rotatably connected to one side of the main arm, two upper hydraulic sliding arms are rotatably connected to one side of the main arm, the piston rods of the two upper hydraulic sliding arms are rotatably connected to the robotic arm body, two lower hydraulic sliding arms are rotatably connected to their corresponding robotic arm bodies, the piston rods of the two lower hydraulic sliding arms are rotatably connected to a stabilizing transmission arm, and each stabilizing transmission arm is rotatably connected to its corresponding lower lateral transmission belt. The system comprises two mechanical arm drive belts, each with its ends wrapped around a corresponding transverse drive shaft. The two lower transverse drive shafts are respectively bearing-connected to the corresponding mechanical arm bodies. The main body milling device includes large milling drive wheels, each of which is connected to a milling drive shaft. Each milling drive shaft is respectively bearing-connected to a corresponding stabilizing drive arm. The two ends of four large milling cutter discs are wrapped around the corresponding large milling drive wheels. Multiple sets of auxiliary milling cutter discs are arranged in the middle of the two sets of symmetrical large milling cutter discs. One end of each stabilizing drive belt is wrapped around the corresponding lower transverse drive shaft, and each stabilizing drive belt is wrapped around the corresponding milling drive shaft.

[0008] As an optimization, the auxiliary milling cutter head has a gear hole at its center, which can be assembled with the assembly gear shaft, and the assembly gear shaft is connected to the milling drive shaft.

[0009] As an optimization, the assembled gear shaft has a gear end and a plug shaft end at both ends. The gear end has a plug hole in its cross section, and the plug shaft end can be inserted into the plug hole of the gear end. The gear end matches the gear hole of the auxiliary milling cutter head, and the plug shaft end is connected to the milling drive shaft.

[0010] As an optimization, the two inner milling drive shafts are respectively connected to the middle of the middle drive gears, and the two middle drive gears mesh with the end gears on both sides. Each end gear is connected to the inner end of the transverse shaft spiral cutter cutting device, and the outer end of each transverse shaft spiral cutter cutting device is connected to the bearing plate. Each bearing plate is connected to the corresponding stabilizing drive arm.

[0011] As an optimization, the mud conduit extends through the main boom, the lifting robotic arm assembly, and the main milling device, with the mud conduit port located on the side of the milling cutter head within the main milling device.

[0012] As an optimization, the transverse shaft spiral cutter cutting devices on both sides are located in the middle of the corresponding main milling device, and the adjacent transverse shaft spiral cutter cutting devices are driven by the end gear to rotate in opposite directions, thereby realizing the aggregation of soil slurry.

[0013] As an optimization, the upper end of the main body of the robotic arm is provided with a protruding arm rod, the end of which is connected to the upper hydraulic sliding arm, and the middle part of the main body of the robotic arm is provided with a protruding arm rod, the end of which is connected to the lower hydraulic sliding arm.

[0014] The effects described in the invention are merely those of the embodiments, and not all the effects of the invention. The above technical solutions have the following advantages or beneficial effects:

[0015] 1. This trenching machine for diaphragm wall trenching, which crosses underground pipelines, is equipped with an upper hydraulic sliding arm and a lower hydraulic sliding arm. When encountering soil beneath important underground pipelines that needs to be excavated, the extension and retraction of the upper hydraulic sliding arm enables angular rotation between the extended robotic arm and the main boom, thus stabilizing the lifting end of the extended robotic arm. The extension and retraction of the lower hydraulic sliding arm enables angular rotation between the main milling device and the extended robotic arm, thus stabilizing the overall rotation and lifting of the main milling device. Therefore, based on the coordinated extension and retraction of the upper and lower hydraulic sliding arms, the main milling device can achieve independent lifting and rotation in all directions during diaphragm wall trenching. Thus, this trenching machine can flexibly cross underground pipelines to excavate the soil beneath them. Moreover, it is not limited to excavating the soil beneath underground pipelines; it can also flexibly handle the trenching needs of irregularly shaped diaphragm walls with irregular underground obstacles.

[0016] 2. The trenching machine for diaphragm wall trenching that crosses underground pipelines is equipped with an auxiliary milling cutter head and an assembly gear shaft. The trenching width can be modified according to the actual needs of the diaphragm wall thickness on site. A single auxiliary milling cutter head and a single assembly gear shaft are assembled into one unit, and multiple assemblies are combined to form an auxiliary milling cutter head with a variable overall width. This allows for the modification of the trenching width, greatly improving the convenience and flexibility of on-site construction. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0018] Figure 1 This is a schematic diagram of a trenching device for underground continuous wall spanning pipeline areas provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the fully extended robotic arm in a trenching device for underground continuous walls spanning pipeline areas, provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the internal structure of some components of a trenching device for underground continuous walls across pipeline areas provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the internal vertical-horizontal transmission change structure of the main boom in a trenching device for underground continuous walls across pipeline areas provided by the present invention.

[0022] Figure 5 This is a schematic diagram of the engine assembly in a trenching device for underground continuous walls spanning pipeline areas provided by the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the main milling device with varying width in a trenching device for underground continuous walls spanning pipeline areas, provided by the present invention.

[0024] Figure 7 This is a schematic diagram of the assembly structure of the auxiliary milling cutter head and the assembly gear shaft in a trenching device for underground continuous walls across pipeline areas provided by the present invention.

[0025] Figure 8 This is a schematic diagram of the transverse shaft spiral cutter cutting device inside the main milling device of a trenching device for underground continuous walls across pipeline areas provided by the present invention.

[0026] Figure 9 This is a schematic diagram of pipeline crossing construction in a trenching device for underground continuous wall crossing pipeline areas provided by the present invention.

[0027] Figure 10 This is a schematic diagram of the installation of a steel reinforcement cage into a trench in a trenching device for an underground continuous wall spanning a pipeline area, provided by the present invention.

[0028] Figure 11 This is a flowchart of the construction process of a trenching device for underground continuous walls that cross pipeline areas, provided by the present invention.

[0029] In the diagram: 1. Main boom; 2. Main body of the robotic arm; 3. Main milling device; 4. Upper hydraulic sliding arm; 5. Lower hydraulic sliding arm; 6. Stabilizing transmission arm; 7. Large milling transmission wheel; 8. Large milling cutter head; 11. Vertical rotation transmission shaft; 12. Vertical transmission gear; 13. Horizontal transmission gear; 14. Horizontal transmission belt mechanism; 15. Mud duct; 16. Engine shaft; 17. Conversion engine gear; 18. Engine belt; 19. Engine; 21. Robotic arm transmission belt; 22. Horizontal transmission shaft; 31. Auxiliary milling cutter head; 32. Assembly. 33. Gear shaft, 34. Transverse shaft spiral cutter cutting device, 111. Milling drive shaft, 112. Large bearing plate, 113. Large bearing hole, 114. Mud duct hole, 321. Gear end, 322. Insert shaft end, 331. End gear, 332. Middle drive gear, 333. Bearing plate, 51. Unexcavated soil layer, 52. Soil below pipeline, 53. Obstacle pipeline, 54. Rubber protective layer, 61. Stabilizing drive belt, 701. A-head steel cage, 702. B-head steel cage, 703. H-beam, 704. Hook. Detailed Implementation

[0030] To clearly illustrate the technical features of this solution, the invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the invention. To simplify the disclosure of the invention, components and arrangements of specific examples are described below. Furthermore, reference numerals and / or letters may be repeated in different examples. This repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted to avoid unnecessarily limiting the invention. Terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] like Figures 1 to 8As shown, a trenching device for diaphragm walls across pipeline areas includes a main boom 1, a lifting robotic arm assembly, and a main milling device 3. The main boom 1 has a vertical rotating drive shaft 11 internally, and two mud conduits 15. A large bearing plate 111 is connected inside the main boom 1. The large bearing plate 111 has a large bearing hole 112 and two mud conduit holes 113. The two mud conduits 15 are respectively installed in the corresponding mud conduit holes 113 and are connected to the main boom 1. A bearing 114 is installed in the large bearing hole 112 and connected to the vertical rotating drive shaft 11. The main boom 1 is connected to an engine 19. A bearing connects to the engine shaft 16, and the output shaft of the engine 19 is connected to the engine shaft 16 via an engine belt 18. The upper end of the vertical rotating drive shaft 11 and the engine shaft 16 are respectively connected to conversion drive gears 17, which mesh with each other. The lower end of the vertical rotating drive shaft 11 is connected to a vertical drive gear 12, whose front and rear edges mesh with transverse drive gears 13. The central shafts of the two transverse drive gears 13 are respectively connected to the main body arm 1 via bearings. The main body arm 1 is connected to two upper transverse drive shafts 22 via bearings. The central shafts of the two transverse drive gears 13 are respectively connected to the upper pulleys of the transverse drive belt mechanism 14. The two upper transverse drive shafts 22... The lower pulleys of the corresponding transverse transmission belt mechanism 14 are respectively connected; the lifting robotic arm assembly includes a robotic arm body 2, an upper hydraulic sliding arm 4, a lower hydraulic sliding arm 5, and a robotic arm transmission belt 21. Two robotic arm bodies 2 are rotatably connected to one side of the main arm 1, two upper hydraulic sliding arms 4 are rotatably connected to one side of the main arm 1, the piston rods of the two upper hydraulic sliding arms 4 are rotatably connected to the robotic arm body 2, two lower hydraulic sliding arms 5 are rotatably connected to their corresponding robotic arm bodies 2, and the piston rods of the two lower hydraulic sliding arms 5 are rotatably connected to a stabilizing transmission arm 6. Each stabilizing transmission arm 6 is rotatably connected to the corresponding lower transverse transmission shaft 22. The two ends of the two robotic arm drive belts 21 are respectively wrapped around the corresponding transverse drive shafts 22, and the two lower transverse drive shafts 22 are respectively bearing connected to the corresponding robotic arm bodies 2; the main body milling device 3 includes large milling drive wheels 7, each of the large milling drive wheels 7 is respectively connected to a milling drive shaft 34, each milling drive shaft 34 is respectively bearing connected to the corresponding stable drive arm 6, the two ends of the four large milling cutter heads 8 are respectively wrapped around the corresponding large milling drive wheels 7, and multiple sets of auxiliary milling cutter heads 31 are arranged in the middle of the two sets of symmetrical large milling cutter heads 8; one end of each stable drive belt 61 is wrapped around the corresponding lower transverse drive shaft 22, and each stable drive belt 61 is wrapped around the corresponding milling drive shaft 34.

[0032] Reference Figure 1-3 The main arm 1 is a square shell structure, which contains the vertical rotating transmission shaft 11, the vertical transmission gear 12, the horizontal transmission gear 13, the horizontal transmission belt mechanism 14, the mud conduit 15 and the upper hydraulic sliding arm 4. The lower end of the main arm 1 is provided with a horizontal transmission shaft 22 as the main connection force point to connect the two mechanical arm bodies 2. The two mechanical arm bodies 2 are respectively located on the left and right sides of the lower end of the main arm 1.

[0033] The upper end of the robotic arm body 2 is provided with a protruding arm rod, the end of which is connected to the upper hydraulic sliding arm 4. The middle part of the robotic arm body 2 is provided with a protruding arm rod, the end of which is connected to the lower hydraulic sliding arm 5.

[0034] Reference Figure 1-3 The length of the upper protruding arm should not be too long or too short, approximately one-third of the length of the main body 2 of the robotic arm, and the angle between it and the main body 2 of the robotic arm should be an acute angle, approximately 60°. The length and angle of this protruding arm, based on the angle of force applied to the arm, facilitate the extension and retraction of the upper hydraulic sliding arm 4 connecting the main arm 1 and the main body 2 of the robotic arm, enabling the main body 2 of the robotic arm to be raised at an angle to the main arm 1 with the upper transverse transmission shaft 22 as the fulcrum.

[0035] Reference Figure 1-3 The length of the central protruding arm should not be too long or too short, approximately 1 / 4 of the length of the main body 2 of the robotic arm, and perpendicular to the main body 2 of the robotic arm. The length and angle of the protruding arm are designed to facilitate the extension and retraction of the lower hydraulic sliding arm 5 between the main body 2 of the robotic arm and the stabilizing transmission arm 6, based on the force angle of the arm. This allows the stabilizing transmission arm 6 to be raised at an angle to the main body 2 of the robotic arm, with the lower transverse transmission shaft 22 as the fulcrum.

[0036] Reference Figure 4 A single transverse drive shaft 22 drives two mechanical arm drive belts 21 on one side. These two mechanical arm drive belts 21 are located inside the front and rear mechanical arm rods of the single mechanical arm body 2, respectively. The four mechanical arm drive belts 21 make the trenching machine more powerful, and the front and rear mechanical arm rods of the single mechanical arm body 2 make the trenching machine more stable in the front and rear directions during construction.

[0037] Reference Figure 4When the vertical drive shaft 11 rotates, it drives the vertical drive gear 12 to rotate. The vertical drive gear 12 drives the horizontal drive gears 13 on both sides to rotate. The horizontal drive gears 13 drive the horizontal drive belt mechanism 14 to move. The horizontal drive belt mechanism 14 drives the upper horizontal drive shaft 22 to rotate. The teeth of the vertical drive gear 12 and the horizontal drive gear 13 are of equal size, which allows their gear grooves to mesh and lock together. The gear disk of the vertical drive gear 12 is larger than that of the horizontal drive gear 13, which allows the smaller horizontal drive gear 13 to rotate at high speed, thereby driving the subsequent drive components to rotate at high speed.

[0038] The transverse transmission belt mechanism 14 adopts an existing mechanism. The structure and working principle of the transmission belt and pulley are well known to those skilled in the art and will not be described in detail here.

[0039] Reference Figure 1-4 The transverse transmission shaft 22 is located at both ends of the lower end of the main arm 1, serving as the support points for the two extension robotic arm assemblies on the left and right sides, respectively. The upper transverse transmission shaft 22 drives the robotic arm transmission belt 21 inside the extension robotic arm assembly, which in turn drives the lower transverse transmission shaft 22. The transverse transmission shaft 22 drives the stabilizing transmission belt 61 inside the stabilizing transmission arm 6, which in turn drives the milling transmission shaft 34 inside the main milling device 3. The milling transmission shaft 34 drives the large milling transmission wheel 7, which in turn drives the large milling cutter head 8 and the auxiliary milling cutter head 31 to rotate, ultimately achieving high-speed rotation of the large milling cutter head 8 and the auxiliary milling cutter head 31 inside the main milling device 3 for cutting the underground soil.

[0040] The main milling device 3 can independently extend and retract the upper hydraulic sliding arm 4 and the lower hydraulic sliding arm 5 to achieve soil cutting in different directions (up, down, left, and right), and can adapt to more complex trenching shapes for underground continuous walls.

[0041] The auxiliary milling cutter head 31 has a gear hole at its center, which can be assembled with the assembly gear shaft 32, and the assembly gear shaft 32 is connected to the milling transmission shaft 34.

[0042] The assembled gear shaft 32 has a gear end 321 and a shaft insertion end 322 at both ends. The gear end 321 has a insertion hole in its cross section. The shaft insertion end 322 can be inserted into the insertion hole of the gear end 321. The gear end 321 matches the gear hole of the auxiliary milling cutter head 31. The shaft insertion end 322 is connected to the milling drive shaft 34.

[0043] Reference Figure 5 Two mud conduit holes 113 are used for two mud conduits 15, which are plastically flexible connected at the locations where they pass through the two mud conduit holes 113.

[0044] Reference Figure 5 The conversion gear 17 realizes the horizontal-vertical steering connection between the vertical rotation drive shaft 11 and the engine shaft 16. The engine shaft 16 is connected to the engine 19 through the engine belt 18. Under the drive of the engine 19, the vertical rotation drive shaft 11 moves.

[0045] The starting device mechanism: the starting shaft 16, the starting belt 18, and the engine 19 adopt existing mechanisms. The structure and working principle of the engine are well known to those skilled in the art and will not be described in detail here.

[0046] Reference Figure 6-7 The auxiliary milling cutter head 31 and the assembly gear shaft 32 can be assembled and disassembled at both the front and rear ends of the main milling device 3, enabling the width of the main milling device 3 to vary and adapt to actual engineering needs, flexibly changing the thickness of the trench formed for the ground-connected wall. The front end involves the mutual assembly and disassembly of the auxiliary milling cutter head 31 and the assembly gear shaft 32, while the rear end involves the assembly and disassembly of the auxiliary milling cutter head 31, the assembly gear shaft 32, and the milling transmission shaft 34.

[0047] Reference Figure 8 The two milling drive shafts 34 on the inner side are respectively connected to the middle drive gears 332. The two middle drive gears 332 mesh with the end gears 331 on both sides. Each end gear 331 is connected to the inner end of the transverse shaft spiral cutter cutting device 33. Each transverse shaft spiral cutter cutting device 33 is connected to the bearing plate 333 on the outer end. Each bearing plate 333 is connected to the corresponding stable drive arm 6.

[0048] Reference Figure 8 The teeth of the end gear 331 and the middle transmission gear 332 are of the same size, which allows the gear grooves of the two to fit together and lock. The rotation of the middle transmission gear 332 drives the two end gears 331 to rotate. The two end gears 331 rotate symmetrically, which drives the two transverse shaft spiral cutting devices 33 to rotate radially symmetrically. This can excavate the soil between the two large milling cutter discs 8 of the main milling device 3, and at the same time, it can stir and gather the mud mixture of the excavated soil, so that the mud duct 15 can suck in the mud mixture for replacement and circulation.

[0049] The mud conduit 15 passes through the main arm 1, the extension robotic arm assembly, and the main milling device 3. The port of the mud conduit 15 is located on the side of the milling cutter head 31 attached to the main milling device 3.

[0050] Specifically, the mud conduit 15 runs through the interior of the main arm 1 and connects to the surface mud replacement and circulation pool. The port of the mud conduit 15 is located on the side and rear of the auxiliary milling cutter head 31, which facilitates the efficient flow of the mud mixture after cutting to the surface; when the lifting robotic arm assembly and the main milling device 3 are oriented and lifted according to the above embodiment.

[0051] Specifically, the mud conduit 15 is connected at the following locations: the connection between the extension robotic arm assembly and the main milling device 3, the connection between the main arm 1 and the extension robotic arm assembly, and the connection between the mud conduit hole 113 passing through the interior of the main arm 1. The mud conduit 15 is plastically flexible, while other conduit sections are rigid, which is convenient to adapt to the positional changes of the extension robotic arm assembly and the main milling device 3.

[0052] The transverse shaft spiral cutter cutting devices 33 on both sides are located in the middle of the corresponding main milling device 33, and the adjacent transverse shaft spiral cutter cutting devices 33 are driven by the end gear 331 to rotate in opposite directions, thereby realizing the aggregation of soil slurry.

[0053] Reference Figure 9 This invention describes the trenching operation of a continuous underground wall trenching device for crossing pipeline areas. The main boom 1 moves vertically downwards, driving the entire main milling device 3 to cut downwards into the unexcavated soil layer 51, completing the excavation of that trench section. When excavating the soil 52 below the obstructing pipeline 53, the main milling device 3 needs to be extended and retracted for excavation. Specific implementation steps are described below. Figures 1-4 And the above-mentioned detailed description: The upper hydraulic sliding arm 4 and the lower hydraulic sliding arm 5 slide and extend independently and work together to complete the extension and retraction of both sides of the main milling device 3 and the cutting of soil at different azimuth angles.

[0054] The excavation obstacle pipeline 53 has a rubber protective layer 54 on its surface. The rubber wrapping protects the pipeline and can play a role in collision buffering.

[0055] The telescopic excavation of the main milling device 3 can extend and retract laterally to excavate the soil 52 below the pipeline and complete the excavation of the entire trench section containing the obstructing pipeline 53.

[0056] Reference Figure 10 This invention introduces the construction operation of a ductwork trenching device for underground continuous walls across pipeline areas, which involves hoisting a steel cage across a pipeline. The steel cage adopts a segmented design, dividing the steel cage into two sections with an AB head structure and H-beam 703 joints, namely, the A-head steel cage 701 "┗" and the B-head steel cage 702 "┓".

[0057] The placement of the reinforcing cages into the trench should be carried out in sections. First, the A-head reinforcing cage 701 should be placed. After the A-head reinforcing cage 701 is placed into the trench to the designed depth, it should be moved horizontally to below the obstruction pipeline 53. Then, the B-head reinforcing cage 702 should be placed. Both the A-head and B-head reinforcing cages are equipped with hooks 704 to facilitate horizontal dragging after the reinforcing cages are offset into the trench. When dragging the reinforcing cages, care should be taken to avoid scratching the trench wall and pipelines. The A-head reinforcing cage 701 should be placed as close as possible to the B-head reinforcing cage 702 to ensure that the gap between the two reinforcing cages is no more than 20cm. During the fabrication of the A and B-head reinforcing cages, a certain gap should be left around the pipeline to ensure that the gap between the two reinforcing cages and the pipeline is about 20cm after they are placed into the trench, thus preventing collisions with the pipeline during construction.

[0058] Reference Figure 11 The present invention provides a construction process flow for a trenching device for underground continuous walls spanning pipeline areas:

[0059] A. Pipeline protection: Before trenching, the pipeline is protected by excavating the soil above and on the surface of the pipeline and checking for any damage. Then, a rubber protective layer is wrapped around the pipeline for protection.

[0060] B. Guide wall construction: First, the guide wall trench is excavated. The trench excavation depth must be at least 1m deeper than the pipeline burial depth. The guide wall is a continuous reinforced concrete wall. C30 concrete is used for the guide wall. The clear distance of the guide wall is 40mm greater than the design width of the underground continuous wall. The top elevation of the guide wall follows the ground elevation. The depth of the guide wall must ensure that the distance from the bottom of the guide wall to the bottom of the casing is not less than 1m.

[0061] C. Slurry preparation: Because the construction time of in-situ protection diaphragm wall is relatively long, in order to ensure the stability of the trench wall during construction, the in-situ protection construction trench section should use specially prepared high-quality slurry. The slurry ratio should be adjusted according to the soil conditions and groundwater level.

[0062] D. Trenching Construction: Refer to the specific trenching construction steps. Figure 8 In accordance with the above-mentioned corresponding embodiments, the retractable main milling device 3 is used to excavate the soil 52 below the pipeline to complete the trenching construction of this section.

[0063] E. Lifting and lowering the reinforcing cage: Refer to the specific construction steps for lifting and lowering the reinforcing cage. Figure 9 In its corresponding embodiments, the steel cage adopts a segmented design, and the steel cages at both ends AB are hoisted and offset respectively to complete the splicing of the steel cages crossing the pipeline into the trench.

[0064] F. Concrete Pouring: Multiple guide pipes with a diameter of 250mm are used for concrete pouring, with a spacing of 2-3m between pipes. High-flowability, workable commercial concrete with a slump of 18-22cm is used, ensuring continuity during pouring. The top surface of the concrete is ultimately over-poured by 50cm to facilitate the removal of the laitance layer and ensure the top elevation meets design requirements.

[0065] Although the specific embodiments of the invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the invention. Based on the technical solutions of the invention, various modifications or variations that can be made by those skilled in the art without creative effort are still within the scope of protection of the invention.

Claims

1. A trenching device for underground continuous walls spanning pipeline areas, characterized in that: Includes the main boom (1), the extension robotic arm assembly and the main milling device (3); The main arm (1) is equipped with a vertical rotating drive shaft (11) and two mud pipes (15). The main arm (1) is connected to a large bearing plate (111). The large bearing plate (111) is provided with a large bearing hole (112) and two mud conduit holes (113). Two mud conduits (15) are respectively installed in the corresponding mud conduit holes (113). The two mud conduits (15) are respectively connected to the main arm (1). A bearing (114) is installed in the large bearing hole (112). The bearing (114) is connected to the vertical rotation drive shaft (11). The main boom (1) is connected to the engine (19), the main boom (1) is connected to the engine shaft (16) by a bearing, and the output shaft of the engine (19) is connected to the engine shaft (16) via an engine belt (18). The upper end of the vertical rotating drive shaft (11) and the starting shaft (16) are respectively connected to the conversion starting gear (17), and the two conversion starting gears (17) mesh with each other; The lower end of the vertical rotating drive shaft (11) is connected to the vertical drive gear (12), and the front and rear edges of the vertical drive gear (12) respectively mesh with the horizontal drive gear (13). The central shafts of the two horizontal drive gears (13) are respectively connected to the main body arm (1) by bearings. The main body arm (1) is connected to the two upper horizontal drive shafts (22) by bearings. The central shafts of the two horizontal drive gears (13) are respectively connected to the upper pulleys of the horizontal drive belt mechanism (14). The two upper horizontal drive shafts (22) are respectively connected to the lower pulleys of the corresponding horizontal drive belt mechanism (14). The lifting robotic arm assembly includes a robotic arm body (2), an upper hydraulic sliding arm (4), a lower hydraulic sliding arm (5), and a robotic arm transmission belt (21). The two robotic arm bodies (2) are rotatably connected to one side of the main arm (1), the two upper hydraulic sliding arms (4) are rotatably connected to one side of the main arm (1), the piston rods of the two upper hydraulic sliding arms (4) are rotatably connected to the robotic arm body (2), the two lower hydraulic sliding arms (5) are rotatably connected to the corresponding robotic arm body (2), the piston rods of the two lower hydraulic sliding arms (5) are rotatably connected to the stabilizing transmission arm (6), each stabilizing transmission arm (6) is rotatably connected to the corresponding lower transverse transmission shaft (22), the two ends of the two robotic arm transmission belts (21) are respectively wrapped around the corresponding transverse transmission shaft (22), and the two lower transverse transmission shafts (22) are respectively bearing connected to the corresponding robotic arm body (2). The main milling device (3) includes a large milling drive wheel (7), each of the large milling drive wheels (7) is connected to a milling drive shaft (34), each of the milling drive shafts (34) is connected to the corresponding stable drive arm (6) by bearings, the two ends of the four large milling cutter discs (8) are respectively surrounded by the corresponding large milling drive wheel (7), and multiple sets of auxiliary milling cutter discs (31) are provided in the middle of the two sets of symmetrical large milling cutter discs (8). One end of each stabilizing drive belt (61) surrounds the corresponding lower transverse drive shaft (22), and each of the stabilizing drive belts (61) surrounds the corresponding milling drive shaft (34).

2. The trenching device for underground continuous wall crossing pipeline areas according to claim 1, characterized in that: The auxiliary milling cutter head (31) has a gear hole at its center, which can be assembled with the assembly gear shaft (32), and the assembly gear shaft (32) is connected to the milling drive shaft (34).

3. The trenching device for underground continuous wall crossing pipeline areas according to claim 2, characterized in that: The assembled gear shaft (32) has a gear end (321) and a plug shaft end (322) at both ends. The gear end (321) has a plug hole in its cross section. The plug shaft end (322) can be inserted into the plug hole of the gear end (321). The gear end (321) matches the gear hole of the auxiliary milling cutter head (31). The plug shaft end (322) is connected to the milling drive shaft (34).

4. The trenching device for underground continuous wall crossing pipeline areas according to claim 3, characterized in that: The two milling drive shafts (34) on the inner side are respectively connected to the middle drive gears (332). The two middle drive gears (332) mesh with the end gears (331) on both sides respectively. Each end gear (331) is connected to the inner end of the transverse shaft spiral cutter cutting device (33). The outer end of each transverse shaft spiral cutter cutting device (33) is connected to the bearing plate (333). Each bearing plate (333) is connected to the corresponding stable drive arm (6).

5. A trenching device for underground continuous wall crossing pipeline areas according to claim 4, characterized in that: The mud conduit (15) passes through the main arm (1), the extension robotic arm assembly and the main milling device (3), and the port of the mud conduit (15) is located on the side of the milling cutter head (31) attached to the main milling device (3).

6. A trenching device for underground continuous wall crossing pipeline areas according to claim 5, characterized in that: The transverse shaft spiral cutter cutting devices (33) on both sides are located in the middle of the corresponding main milling device (33), and the adjacent transverse shaft spiral cutter cutting devices (33) are driven by the end gear (331) to rotate in opposite directions to achieve the aggregation of soil slurry.

7. A trenching device for underground continuous walls across pipeline areas according to claim 1, characterized in that: The upper end of the main body (2) of the robotic arm is provided with a protruding arm rod, the end of which is connected to the upper hydraulic sliding arm (4). The middle part of the main body (2) of the robotic arm is provided with a protruding arm rod, the end of which is connected to the lower hydraulic sliding arm (5).

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