Walking type multifunctional integrated machine for digging

Abstract

The present application relates to a kind of walking multifunctional integrated machine of diving, including chassis module, rotating frame module is arranged on chassis module, rotating frame module top is provided with upper vehicle module, power pack module, drill boom module and excavator arm module, power pack module is arranged in upper vehicle module side, drill boom module and excavator arm module are arranged in upper vehicle module other side, drill boom module is provided with propelling beam module, one end of propelling beam module is provided with top module, propelling beam module is provided with drill bit magazine module, excavator arm module is located right beside drill boom module, propelling beam module is driven to the top of power pack module by the drill boom module and is placed.Integrated with drill boom module and excavator arm module, excavator arm module is telescopic excavator arm, can be used for construction work when digging platform, flat ground, clearing roadblock, auxiliary walking, auxiliary climbing, excavator arm can be used for hoisting reinforcement cage after elongation, auxiliary drill boom module construction.

Description

Technical Field

[0001] This invention relates to a walking multi-functional submersible excavator, and relates to the field of drilling equipment technology. Background Technology

[0002] Currently, the construction of power transmission tower foundations in mountainous areas has long been hampered by high labor input, limited use of construction machinery, and a lack of efficient and specialized construction equipment. The machinery and equipment currently available on the market mainly include large equipment such as rotary drilling rigs, anchor drilling rigs, and power construction drilling rigs, which are difficult to adapt to the requirements of power transmission line foundation construction in hard rock geology in mountainous areas. Furthermore, the foundation holes in hard rock geology in mountainous areas are deep and have large diameters, the ground is rugged, and the terrain is steeper, resulting in high construction risks. It is difficult to use conventional machinery and facilities for construction, and simultaneous operation is not possible. Supporting facilities and logistical support are also difficult. Traditional wheeled or tracked drilling rigs are difficult to carry out construction under the above conditions. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a walking multi-functional submersible excavator, which integrates a drill arm module and an excavator arm module. The excavator arm module is a telescopic excavator arm, which can be used for excavating foundations, leveling the ground, clearing obstacles, assisting in walking, and assisting in climbing slopes during construction operations. After the excavator arm is extended, it can be used to lift engineering materials such as steel cages and assist in the construction of the drill arm module.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: a walking multi-functional submersible excavator, including a chassis module, a rotating frame module mounted on the chassis module, an upper vehicle module, a power pack module, a drill arm module, and an excavator arm module mounted on the top of the rotating frame module, the power pack module being located on one side of the upper vehicle module, and the drill arm module and excavator arm module being located on the other side of the upper vehicle module, the drill arm module being mounted on a propulsion beam module, a center module being located at one end of the propulsion beam module, a drill housing module being located on the propulsion beam module, the excavator arm module being located to the right side of the drill arm module, and the propulsion beam module being driven by the drill arm module to swing and be placed on top of the power pack module.

[0005] Preferably, the chassis module includes a first base frame, a plurality of adjusting cylinders, a plurality of adjusting wheels, a second base frame, a plurality of positioning cones, a plurality of auxiliary wheels, and a plurality of outrigger assemblies. The first base frame has a plurality of the adjusting cylinders on its side, and the plurality of adjusting wheels are arranged on the side of the first base frame. The positions of the plurality of adjusting cylinders and the plurality of adjusting wheels are correspondingly connected to each other. The second base frame has a plurality of positioning cones installed at one end near the first base frame, and a plurality of auxiliary wheels are installed on the side of the second base frame near the first base frame. The first base frame and the second base frame are combined by the plurality of positioning cones. The first base frame and the second base frame are symmetrically provided with a plurality of outrigger assemblies.

[0006] Preferably, the outrigger assembly includes a support, hind limbs, forelimbs, tires, forepaws, a plurality of swinging leg cylinders, and a plurality of outrigger cylinders. The support is movably connected to the first base frame and the second base frame, respectively. The hind limbs are movably connected to the support, and the forelimbs are movably connected to the hind limbs. The tires are disposed on the outer side of the forelimbs, and the forepaws are movably connected to the ends of the forelimbs. The plurality of swinging leg cylinders are disposed on the inner outer side of the first base frame and the second base frame and connected to the support. The plurality of outrigger cylinders are connected between the support and the hind limbs, so that the tires can move laterally and longitudinally according to the movement of the swinging leg cylinders and the outrigger cylinders.

[0007] Preferably, the vehicle module includes a frame assembly, an operating platform, a hydraulic oil tank, and an electrical cabinet. The frame assembly is mounted on the rotating frame of the rotating frame module. The operating platform is mounted on top of the frame assembly. The hydraulic oil tank is mounted on top of the frame assembly. The electrical cabinet is mounted on top of the frame assembly at a position corresponding to the operating platform. The hydraulic oil tank is located between the operating platform and the electrical cabinet.

[0008] Preferably, the power pack module includes a power pack frame, an engine, a radiator, a power supply, a diesel tank, a hydraulic pump, and an aftertreatment system. The power pack frame is positioned above the rotating frame of the rotating chassis module. The engine is located in the middle inside the power pack frame. The radiator is located to the right of the engine inside the power pack frame. The hydraulic pump is located to the left of the engine inside the power pack frame. The diesel tank is located to the left of the hydraulic pump inside the power pack frame. The aftertreatment system is located at the top front of the power pack frame. The exhaust gas from the engine is purified by the aftertreatment system before being discharged.

[0009] Preferably, the drill arm module includes a boom support assembly, a first boom side plate, a pitch support assembly, a plurality of first boom lifting cylinders, a first pitch cylinder, a center bracket, a swing cylinder, and a compensation cylinder. The boom support assembly is located at one end of the top of the frame assembly. The first boom side plate is movably connected to the boom support assembly. The plurality of first boom lifting cylinders are located on the boom support assembly and hinged to the first boom side plate. The pitch support assembly is rotatably located at one end of the first boom side plate. The center bracket is rotatably located on the pitch support assembly. The swing cylinder is located at one end of the center bracket and connected to the pitch support assembly. The first pitch cylinder is located at the other end of the first boom side plate and connected to the pitch support assembly. The compensation cylinder is located at the top of the center bracket.

[0010] Preferably, the propulsion beam module includes a main beam, a first hydraulic winch assembly, a rotary head slide, and a hydraulically powered rotary head. The main beam is movably connected to the central support and connected to a compensation cylinder. A drive chain and a propulsion cylinder are installed inside the main beam. The first hydraulic winch assembly is installed at one end of the main beam. The rotary head slide is movably connected to the main beam and connected to the drive chain inside the main beam. The rotary head slide can slide up and down on the main beam. The hydraulically powered rotary head is mounted on the rotary head slide.

[0011] Preferably, the top module includes a top support, a dust collector bracket, a guide cover assembly, a cover, a drill bit unloading caliper seat, a positioning block seat, a drill bit unloading cylinder, a caliper cylinder, a pressure plate, a caliper plate, and a drill rod positioning sleeve. The top support is mounted on the main beam, the dust collector bracket is mounted on the top support, the guide cover assembly is mounted on the dust collector bracket, the cover is mounted on the guide cover assembly, the drill bit unloading caliper seat is located outside the top support, the positioning block seat is located inside the drill bit unloading caliper seat, the drill bit unloading cylinder is located inside the drill bit unloading caliper seat and connected to the positioning block seat, the caliper cylinder is located on one side of the top of the drill bit unloading caliper seat, the caliper plate is movably connected to the end of the caliper cylinder, the pressure plate is located on both sides of the caliper cylinder at the top of the drill bit unloading caliper seat, and the drill rod positioning sleeve is mounted on the drill bit unloading caliper seat and located at the bottom of the caliper plate.

[0012] Preferably, the drill bit module includes several drill bit support brackets, several main drill bit support plates, a drill bit storage rod connecting rod, hook plates, a middle drill bit support plate, several drill bit protection cylinders, several drill bit guard plates, several rotating seats, an upper connecting frame, a lower connecting frame, a mechanical gripper assembly, and a swing cylinder. Several of the drill bit support brackets are spaced apart and mounted on the main beam. Each of the drill bit support brackets is connected to a main drill bit support plate. The drill bit storage rod is rotatably connected to the center of each main drill bit support plate. Several hook plates are spaced apart on the drill bit storage rod. The middle drill bit support plate passes through the drill bit storage rod and is mounted on the main beam. The middle storage plate is located between the two main storage plates. A plurality of drill bit protection cylinders and a plurality of drill rod protection plates are respectively disposed outside the main storage plate and the middle storage plate. The drill rod protection plate is located to the left of the drill bit protection cylinder and is movably connected to the drill bit protection cylinder. A plurality of rotating seats are all connected to the main storage plate. The upper rotating seat is connected to the upper connecting frame, and the lower rotating seat is connected to the lower connecting frame. The mechanical gripper assembly is connected between the upper connecting frame and the lower connecting frame. The swing cylinder is disposed on the upper and lower main storage plates.

[0013] Preferably, the excavator boom module includes a horizontal slewing drive, a quick connector assembly, a second boom side plate, an outer boom, a multi-functional connector, a bucket, a second pitch cylinder, a second boom lifting cylinder, a luffing cylinder, and a lifting plate. The horizontal slewing drive is rotatably connected to one end of the chassis assembly. The quick connector assembly is mounted on the horizontal slewing drive. The second boom side plate is mounted on the quick connector assembly. The second boom lifting cylinder is mounted on the quick connector assembly and connected to the second boom side plate. The outer boom is connected to the end of the second boom side plate. The multi-functional connector is connected to the end of the outer boom. The bucket is mounted on the multi-functional connector and connected to the second pitch cylinder located on the lower side of the outer boom for drive. The luffing cylinder is connected between the second boom side plate and the outer boom. The lifting plate is located on the outer top of the outer boom at a position corresponding to the second pitch cylinder.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The walking multi-functional submersible excavator integrates a drill arm module and an excavator arm module. The excavator arm module is a telescopic excavator arm, which can be used for excavating foundations, leveling the ground, clearing obstacles, assisting in walking, and assisting in climbing slopes during construction operations. After the excavator arm is extended, it can be used to lift engineering materials such as steel cages and assist in the construction of the drill arm module.

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the structure of an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the chassis module.

[0018] Figure 3 Schematic diagram of the first base frame Figure 1 .

[0019] Figure 4 Schematic diagram of the second base frame Figure 1 .

[0020] Figure 5 Schematic diagram of the first base frame Figure 2 .

[0021] Figure 6 Schematic diagram of the second base frame Figure 2 .

[0022] Figure 7 This is a schematic diagram of the structure of the loading module.

[0023] Figure 8 This is a schematic diagram of the power pack module.

[0024] Figure 9 Schematic diagram of the drill arm module, propulsion beam module, and center point module. Figure 1 .

[0025] Figure 10 Schematic diagram of the drill arm module, propulsion beam module, and center point module. Figure 2 .

[0026] Figure 11 This is a partial structural diagram of the drill arm module, the propulsion beam module, and the center module.

[0027] Figure 12 This is a schematic diagram of the drill bit module structure.

[0028] Figure 13 This is a schematic diagram of the guide cover assembly.

[0029] Figure 14 This is a schematic diagram of the unscrewing caliper holder structure.

[0030] Figure 15 This is a schematic diagram of the card plate structure.

[0031] Figure 16 This is a partial structural diagram of an embodiment of the present invention.

[0032] Figure 17 This is a schematic diagram of the excavator arm module.

[0033] In the diagram: 1. Chassis module; 11. First underframe; 12. Adjusting cylinder; 13. Adjusting wheel; 14. Second underframe; 15. Positioning cone; 16. Auxiliary wheel; 17. Outrigger assembly; 171. Bracket; 172. Rear limb; 173. Forelimb; 174. Tire; 175. Front claw; 176. Swinging leg cylinder; 177. Outrigger cylinder; 2. Rotating frame module; 22. Rotating frame; 3. Upper vehicle module; 31. Frame assembly; 32. Control panel; 33. Hydraulic oil tank; 34. Electrical cabinet; 301. Power pack module; 301 1. Power pack frame; 3012. Engine; 3013. Radiator; 3014. Power supply; 3015. Diesel tank; 3016. Hydraulic pump; 3017. After-processing unit; 4. Drill arm module; 41. Boom support assembly; 42. First boom side plate; 43. Pitch seat assembly; 44. First boom lifting cylinder; 45. First pitch cylinder; 46. Center support; 47. Swing cylinder; 48. Compensation cylinder; 5. Propulsion beam module; 51. Main beam; 52. First hydraulic winch assembly; 53. Slewing head carriage; 54. Hydraulic power slewing mechanism. 6. Head; 7. Top Module; 8. Top Support; 9. Dust Collection Hood Bracket; 10. Guide Cover Assembly; 11. Cover; 2. Unloading Clamp Seat; 3. Positioning Block Seat; 4. Unloading Cylinder; 5. Clamp Cylinder; 66. Pressure Plate; 79. Clamping Plate; 80. Drill Rod Positioning Sleeve; 11. Drill Barrel Module; 12. Barrel Seat Bracket; 13. Main Barrel Seat Plate; 14. Drill Barrel Connecting Rod; 15. Hook Plate; 16. Middle Barrel Seat Plate; 17. Drill Rod Protector Cylinder; 18. Drill Rod Protector Plate; 19. Rotary Seat; 20. Upper Connecting Frame; 21. Lower Connecting Frame; 711. Mechanical gripper assembly; 712. Swing cylinder; 8. Excavator boom module; 81. Horizontal slewing drive; 82. Quick connector assembly; 83. Second boom side plate; 84. Outer boom; 85. Multi-functional connector; 86. Bucket; 87. Second pitch cylinder; 88. Second boom lifting cylinder; 89. Luffing cylinder; 810. Lifting plate; 9. Lifting cylinder; 901. Rotary shaft; 902. Chisel inlet / outlet; 903. Dust exhaust hole; 904. Baffle ring; 905. Push rod; 906. Square notch; 907. Front claw cylinder. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] like Figures 1-17 As shown in the figure, this embodiment provides a walking multi-functional submersible excavator.

[0038] like Figure 1 As shown, the walking-type multi-functional submersible excavator includes a chassis module 1, on which a rotating frame module 2 is mounted. The top of the rotating frame module 2 is equipped with an upper vehicle module 3, a power pack module 301, a drill arm module 4, and an excavator arm module 8. The power pack module 301 is located behind the upper vehicle module 3, while the drill arm module 4 and excavator arm module 8 are located in front of the upper vehicle module 3. A propulsion beam module 5 is mounted on the drill arm module 4, with a center module 6 at one end. A drill bit module 7 is mounted on the propulsion beam module 5. The excavator arm module 8 is located to the right of the drill arm module 4. The propulsion beam module 5 is driven by the drill arm module 4 to rotate and be placed on top of the power pack module 301. The drill arm module 4 and excavator arm module 8, mounted on the same side of the upper vehicle module 3, facilitate quick module switching, saving time spent adjusting the equipment balance when changing modules on steep terrain.

[0039] In this embodiment of the invention, the chassis module 1 includes a first base frame 11, a plurality of adjusting cylinders 12, a plurality of adjusting wheels 13, a second base frame 14, a plurality of positioning cones 15, a plurality of auxiliary wheels 16, and a plurality of outrigger assemblies 17. The first base frame 11 is provided with a plurality of the adjusting cylinders 12 on its side, and the plurality of adjusting wheels 13 are provided on the side of the first base frame 11. The positions of the plurality of adjusting cylinders 12 and the plurality of adjusting wheels 13 are correspondingly connected to each other. The second base frame 14 is provided with a plurality of positioning cones 15 near the end of the first base frame 11, and a plurality of auxiliary wheels 16 are provided on the side of the second base frame 14 near the end of the first base frame 11. The first base frame 11 and the second base frame 14 are combined by the plurality of positioning cones 15. The first base frame 11 and the second base frame 14 are symmetrically provided with a plurality of outrigger assemblies 17.

[0040] like Figures 2-6As shown, specifically, chassis module 1 includes a first base frame 11. An adjusting cylinder 12 and an adjusting wheel 13 are connected to the front and rear sides of the left and right portions of the first base frame 11, respectively. The front end of the cylinder body of the adjusting cylinder 12 is hinged to the first base frame 11. The adjusting wheel 13 is mounted on an adjusting wheel frame, and the rear end of the adjusting wheel frame is hinged to the first base frame 11. The rear end of the piston rod of the adjusting cylinder 12 is hinged to the front end of the adjusting wheel frame, used to control the up-and-down swing of the adjusting wheel frame. The adjusting cylinder 12 is connected to the upper vehicle module 3 via a hydraulic pipe. After the tapered inlet on the rear end face of the first base frame 11 is inserted into and positioned by the positioning cone 15 on the front end face of the second base frame 14, the first and second base frames are then fixed together by bolts. A detachable auxiliary wheel 16 is installed on each of the left and right sides of the second base frame 14. A support leg assembly 17 is installed on each of the two front corners of the first base frame 11 and the two rear corners of the second base frame 14. When the first base frame 11 and the second base frame 14 are spliced, the auxiliary wheel 16 is installed in the opposite direction to contact the ground, which facilitates the movement of the second base frame 14. The adjusting wheel 13 is swung downwards under the action of the adjusting cylinder 12 until it contacts the ground, which facilitates the movement of the first base frame 11. During the movement of the first and second base frames, the support leg assembly 17 is connected to the upper vehicle module 3 through a hydraulic pipe to provide power, which drives the second base frame 14 to move forward and the first base frame 11 to move backward to splice the two.

[0041] In this embodiment of the invention, the outrigger assembly 17 includes a bracket 171, a hind limb 172, a forelimb 173, a tire 174, a forepaw 175, a plurality of leg-swinging cylinders 176, and a plurality of outrigger cylinders 177. The bracket 171 is movably connected to the first base frame 11 and the second base frame 14, respectively. The hind limb 172 is movably connected to the bracket 171, and the forelimb 173 is movably connected to the hind limb 172. The tire 174 is disposed on the outer side of the forelimb 173, and the forepaw 175 is movably connected to the end of the forelimb 173. The plurality of leg-swinging cylinders 176 are disposed inside and outside the first base frame 11 and the second base frame 14 and connected to the bracket 171. The plurality of outrigger cylinders 177 are connected between the bracket 171 and the hind limb 172, so that the tire 174 can move laterally and longitudinally according to the movement of the leg-swinging cylinders 176 and the outrigger cylinders 177.

[0042] like Figures 2-6As shown, specifically, the outrigger assembly 17 includes a bracket 171. Four brackets 171 are rotatably connected to the two front corners of the first base frame 11 and the two rear corners of the second base frame 14 via vertical axes. A hind limb 172 is rotatably connected to the bracket 171 via a horizontal axis. A forelimb 173 is rotatably connected to the end of the hind limb 172 via a horizontal axis. A tire 174 is rotatably mounted on the outer side of the end of the forelimb 173. A foreclip 175 is rotatably connected to the end of the forelimb 173 via a horizontal axis. A foreclip cylinder 907 is movably connected between the foreclip 175 and the forelimb 173. The cylinder body of the foreclip cylinder is hinged to the forelimb 173, and the piston rod is hinged to the foreclip 175. A swing-leg cylinder 176 is installed at a corresponding position between the first base frame 11 and the second base frame 14 and the support 171. The swing-leg cylinder 176 is horizontal and its cylinder body is hinged to the base frame. The piston rod is hinged to the support 171. A support-leg cylinder 177 is movably connected between the top of the support 171 and the top end of the hind limb 172. One end of the support-leg cylinder 177 is hinged to the top of the support 171, and the other end is hinged to the top end of the hind limb 172. When encountering uneven terrain, the swing-leg cylinder 176 can be activated to move the hind limb 172 outward, thereby moving the tire 174 on the forelimb 173 connected to the hind limb 172 outward to avoid abnormal terrain. Alternatively, the support-leg cylinder 177 can be activated to move the forectomy claw 175 on the forelimb 173 connected to the hind limb 172 for support, thereby enabling construction on uneven terrain.

[0043] In this embodiment of the invention, the structure of the rotating frame module 2 is the same as that of the rotating frame of the excavator, and will not be described in detail here.

[0044] In this embodiment of the invention, the vehicle module 3 includes a frame assembly 31, an operating platform 32, a hydraulic oil tank 33, and an electrical cabinet 34. The frame assembly 31 is mounted on the rotating frame 22 of the rotating frame module 2. The operating platform 32 is mounted on top of the frame assembly 31. The hydraulic oil tank 33 is mounted on top of the frame assembly 31. The electrical cabinet 34 is mounted on top of the frame assembly 31 at a position corresponding to the operating platform 32. The hydraulic oil tank 33 is located between the operating platform 32 and the electrical cabinet 34.

[0045] like Figure 7As shown, specifically, the upper module 3 includes a frame assembly 31, which is mounted on top of the rotating frame 22. An operating console 32 is installed on the left side of the top center of the frame assembly 31, and a hydraulic oil tank 33 is installed on the right side of the operating console 32. An electrical cabinet 34 is installed on the right side of the hydraulic oil tank 33. The electrical cabinet 34 contains a wireless controller component. When the upper module 3 is installed, the machine can be controlled through the operating console 32. The control data is collected through the electrical cabinet 34 and fed back to the display of the operating console 32. When on-site construction is not possible, a real-time short-range remote control scheme (20M) and a real-time system long-range remote control scheme (3km) can be realized through the controller.

[0046] In this embodiment of the invention, the power pack module 301 includes a power pack frame 3011, an engine 3012, a radiator 3013, a power supply 3014, a diesel tank 3015, a hydraulic pump 3016, and an aftertreatment system 3017. The power pack frame 3011 is disposed above the rotating frame 22 of the rotating frame module 2. The engine 3012 is disposed in the middle inside the power pack frame 3011. The radiator 3013 is disposed to the right of the engine 3012 inside the power pack frame 3011. The hydraulic pump 3016 is disposed to the left of the engine 3012 inside the power pack frame 3011. The diesel tank 3015 is disposed to the left of the hydraulic pump 3016 inside the power pack frame 3011. The aftertreatment system 3017 is disposed on the front top of the power pack frame 3011. The exhaust gas of the engine 3012 is purified by the aftertreatment system 3017 before being discharged.

[0047] like Figure 8As shown, specifically, a power pack module 301 is mounted on the top rear side of the frame assembly 31. The power pack module 301 includes a power pack frame 3011, which is mounted on the rear side of the hydraulic oil tank 33 on the top of the frame assembly 31. An engine 3012 is mounted in the middle inside the power pack frame 3011. A radiator 3013 is mounted on the right side of the engine 3012 inside the power pack frame 3011. A hydraulic pump 3016 is mounted on the left side of the engine 3012 inside the power pack frame 3011. The hydraulic pump 3016 is connected to the hydraulic oil tank 33 via a pipe. A diesel tank 3015 is mounted on the left side of the hydraulic pump 3016 inside the power pack frame 3011. The diesel tank 3015 is connected to the engine 3012 via a pipe. The power supply 3014 is installed on the right side of the diesel tank 3015 inside the power pack frame 3011. The aftertreatment 3017 is installed on the top of the power pack frame 3011 and connected to the engine 3012 through a pipe. The engine 3012 is started by the power supply 3014. After the engine 3012 starts, the diesel fuel in the diesel tank 3015 flows into the engine 3012 for combustion to provide power. The engine 3012 provides power to the hydraulic pump 3016 to transport the oil in the hydraulic oil tank 33 to each cylinder through pipes. The heat emitted by the engine 3012 is partially dissipated to the outside through the radiator 3013. The exhaust gas from the diesel combustion inside the engine 3012 is purified by the aftertreatment 3017 and then discharged to the outside.

[0048] In this embodiment of the invention, the drill arm module 4 includes a boom support assembly 41, a first boom side plate 42, a pitch support assembly 43, a plurality of first boom lifting cylinders 44, a first pitch cylinder 45, a center support 46, a swing cylinder 47, and a compensation cylinder 48. The boom support assembly 41 is disposed at one end of the top of the frame assembly 31. The first boom side plate 42 is movably connected to the boom support assembly 41. A plurality of first boom lifting cylinders 44 are disposed on the boom support assembly 41 and... Hinged to the first boom side plate 42, the pitch seat 43 is rotatably mounted on one end of the first boom side plate 42, the middle bracket 46 is rotatably mounted on the pitch seat 43, the swing cylinder 47 is mounted on one end of the middle bracket 46 and connected to the pitch seat 43, the first pitch cylinder 45 is mounted on the other end of the first boom side plate 42 and connected to the pitch seat 43, and the compensation cylinder 48 is mounted on the top of the middle bracket 46.

[0049] like Figures 9-10As shown, specifically, a drill arm module 4 is installed on the top front left end of the frame assembly 31. The drill arm module 4 includes a boom support assembly 41, which is fixed to the top left end of the frame assembly 31. A first boom side plate 42 is hinged to the top of the boom support assembly 41 via a horizontal axis. A pitch seat assembly 43 is hinged to the lower front end of the first boom side plate 42 via a horizontal axis. A first boom lifting cylinder 44 is connected between the boom support assembly 41 and the first boom side plate 42. The cylinder body of the first boom lifting cylinder 44 is hinged to the boom support assembly 41, and the piston rod is hinged to the first boom. Side plate 42; A first pitch cylinder 45 is connected between the first boom side plate 42 and the pitch seat assembly 43. The cylinder body of the first pitch cylinder 45 is hinged to the first boom side plate 42, and the piston rod is hinged to the pitch seat assembly 43. A middle bracket 46 is rotatably connected to the front side of the pitch seat assembly 43. A swing cylinder 47 is connected between the bottom side of the middle bracket 46 and the bottom of the pitch seat assembly 43. The cylinder body of the swing cylinder 47 is hinged to the pitch seat assembly 43, and the piston rod is hinged to the middle bracket 46, causing the middle bracket 46 to swing left and right. A compensation cylinder 48 is installed on the top of the middle bracket 46. When needed, the first boom lifting cylinder 44 is hydraulically driven to adjust the first boom side plate 42 up and down to the designated position, and then the first pitch cylinder 45 is activated to adjust the pitch seat assembly 43 up and down to the designated position. After the pitch seat assembly 43 is adjusted to the designated position, the swing cylinder 47 is activated to adjust the middle bracket 46 left and right to the designated position.

[0050] In this embodiment of the invention, the propulsion beam module 5 includes a main beam 51, a first hydraulic winch assembly 52, a rotary head slide 53, and a hydraulic power rotary head 54. The main beam 51 is movably connected to the central support 46 and connected to the compensation cylinder 48. A drive chain and a propulsion cylinder are provided inside the main beam 51. The first hydraulic winch assembly 52 is provided at one end of the main beam 51. The rotary head slide 53 is movably connected to the main beam 51 and connected to the drive chain inside the main beam 51. The rotary head slide 53 can slide up and down on the main beam 51. The hydraulic power rotary head 54 is mounted on the rotary head slide 53.

[0051] like Figures 9-10As shown, specifically, the propulsion beam module 5 includes a main beam 51, which is slidably mounted on a slider fixed to the middle bracket 46. The upper rear side of the main beam 51 is hinged to the cylinder body of the compensation cylinder 48, and the piston rod of the compensation cylinder 48 is hinged to the middle bracket 46. A first hydraulic winch assembly 52 is mounted on the top of the main beam 51. A rotary head slide 53 is slidably mounted on the main beam 51, and a hydraulically powered rotary head 54 is mounted on the rotary head slide 53. A chisel is threadedly connected to the bottom of the hydraulically powered rotary head 54, and the bottom of the chisel is threadedly connected to... The drill bit is connected and can be replaced according to usage requirements. When it is necessary to push the drill rod downward, the main beam 51 is adjusted to a suitable position by the compensation cylinder 48. The drive chain inside the main beam 51 pushes the rotary head slide 53 downward under the drive of the propulsion cylinder. The downward movement of the rotary head slide 53 drives the hydraulic power rotary head 54 to move downward, pushing the drill rod downward. The downward movement of the drill rod drives the drill bit downward. At this time, starting the hydraulic power rotary head 54 can drive the drill rod to rotate, and the rotation of the drill rod will in turn drive the drill bit to rotate.

[0052] In this embodiment of the invention, the center module 6 includes a center support 60, a dust hood bracket 61, a guide hood assembly 62, a cover 63, a drill bit removal caliper seat 64, a positioning block seat 65, a drill bit removal cylinder 66, a caliper cylinder 67, a pressure plate 68, a clamping plate 69, and a drill rod positioning sleeve 610. The center support 60 is mounted on the main beam 51, the dust hood bracket 61 is mounted on the center support 60, the guide hood assembly 62 is mounted on the dust hood bracket 61, and the cover 63 is mounted on the guide hood assembly 62. The drill bit removal caliper seat 64... 4. The positioning block seat 65 is provided inside the unloading caliper seat 64, which is located outside the top support 60. The unloading cylinder 66 is located inside the unloading caliper seat 64 and connected to the positioning block seat 65. The caliper cylinder 67 is provided on one side of the top of the unloading caliper seat 64. The caliper plate 69 is movably connected to the end of the caliper cylinder 67. The pressure plate 68 is located on both sides of the caliper cylinder 67 at the top of the unloading caliper seat 64. The drill rod positioning sleeve 610 is provided on the unloading caliper seat 64 and located at the bottom of the caliper plate 69.

[0053] like Figure 11 , 13As shown in Figures 14 and 15, specifically, a top-mounted module 6 is installed at the bottom of the main beam 51. The top-mounted module 6 includes a top-mounted support 60 and a dust collection hood bracket 61. The dust collection hood bracket 61 is slidably installed on the top-mounted support 60 for lifting and adjustment. The power source for lifting and adjustment is a lifting cylinder 9. The cylinder body of the lifting cylinder is hinged to the top-mounted support 60 with its cylinder facing upwards, and the piston rod is hinged to the dust collection hood bracket 61 with its piston rod facing downwards. A guide hood assembly 62 is installed at the bottom of the dust collection hood bracket 61 at a position corresponding to the hydraulic power rotary head 54. The guide hood assembly 62 is a hood with a narrow upper opening and a wide lower opening. The narrow upper opening is used for the drill rod to pass through. Several dust discharge holes 903 are provided on the circumference of the upper part of the guide hood assembly 62. A baffle ring 904 is provided on the outer periphery of the several dust discharge holes to guide the upward dust to be discharged through the dust discharge holes and then blocked by the baffle ring to fall downwards. A cover 63 is installed at the bottom of the dust collector bracket 61, corresponding to the upper narrow opening of the guide cover assembly 62. A rod removal caliper seat 64 is installed on top of the top support 60. Two symmetrically positioned positioning blocks 65 are installed inside the rod removal caliper seat 64. The positioning blocks 65 inside the rod removal caliper seat 64 are driven to move radially by the rod removal cylinder 66. A caliper cylinder 67 is installed on top of the rod removal caliper seat 64. Pressure plates 68 are installed on both sides of the caliper cylinder 67 on top of the rod removal caliper seat 64. A clamping plate 69 is hinged to the end of the piston rod of the caliper cylinder 67. A drill rod positioning sleeve 610 is installed at the top center of the 64. The drill rod positioning sleeve 610 can rotate at the top center of the drill rod caliper seat 64. The cylinder body of the caliper cylinder 67 is hinged to the top surface of the drill rod positioning sleeve 610. The caliper plate 69 is guided by the gap between the pressure plate 68 and the top surface of the drill rod positioning sleeve 610. A square notch 906 is opened on the caliper plate 69. The entire caliper plate 69 is driven to swing horizontally by the push rod 905 hinged on the drill rod caliper seat 64. The push rod is a hydraulic cylinder and the cylinder body is hinged to the drill rod caliper seat 64. The piston rod is hinged to the top surface of the drill rod positioning sleeve 610. When the top module 6 is needed, the dust collection hood bracket 61 is installed on the top support 60, the guide hood assembly 62 is adjusted and then the cover 63 is fixed. The guide hood assembly 62 on the dust collection hood bracket 61 is pushed down by the lifting cylinder to contact the ground to prevent dust from impacting upwards. When the drill rod needs to be removed, the drill rod removal cylinder 66 is activated to push the positioning block seat 65 to fix the bottom drill rod. Then the caliper cylinder 67 is activated to push the caliper plate 69 so that its square notch is locked with the peripheral plane groove on the top drill rod. The push rod in the drill rod removal caliper seat 64 pushes the caliper plate 69 to rotate counterclockwise to loosen the threaded connection between the upper and lower drill rods. Finally, the hydraulic power rotary head 54 is activated to rotate and completely unscrew the threaded connection between the upper and lower drill rods. At the same time, the drill rod is fixed by the drill bin module 7. Each drill rod is disassembled and stored in the drill bin module 7.

[0054] In this embodiment of the invention, the drill bit module 7 includes a plurality of drill bit support brackets 71, a plurality of main drill bit support plates 72, a drill bit storage rod connecting rod 73, hook plates 74, a middle drill bit support plate 75, a plurality of drill bit protection cylinders 76, a plurality of drill bit protection plates 77, a plurality of rotating seats 78, an upper connecting frame 79, a lower connecting frame 710, a mechanical gripper assembly 711, and a swing cylinder 712. The plurality of drill bit support brackets 71 are spaced apart and mounted on the main beam 51. Each of the drill bit support brackets 71 is connected to a main drill bit support plate 72. The drill bit storage rod 73 is rotatably connected to the middle of the main drill bit support plate 72. The drill bit storage rod 73 is provided with a plurality of hook plates 74 spaced apart. The middle drill bit support plate 75 passes through the drill bit storage rod 73 and is mounted on the main beam 51. On beam 51, the middle storage plate 75 is located between the two main storage plates 72. A plurality of drill rod protection cylinders 76 and a plurality of drill rod protection plates 77 are respectively arranged outside the main storage plate 72 and the middle storage plate 75. The drill rod protection plate 77 is located to the left of the drill rod protection cylinder 76 and is movably connected to the drill rod protection cylinder 76. A plurality of rotating seats 78 are all connected to the main storage plate 72. The upper rotating seat 78 is connected to the upper connecting frame 79, and the lower rotating seat 78 is connected to the lower connecting frame 710. The mechanical gripper assembly 711 is connected between the upper connecting frame 79 and the lower connecting frame 710. The swing cylinder 712 is arranged on the upper and lower main storage plates 72.

[0055] like Figure 12As shown, specifically, a drill bit module 7 is installed on the side of the main beam 51. The drill bit module 7 includes two bin support brackets 71, which are fixedly connected to the upper and lower parts of the main beam 51, respectively. A main bin support plate 72 is fixedly connected to each bin support bracket 71. A drill bit storage bin connecting rod 73 is rotatably connected to the middle of the main bin support plate 72. Two circular hook plates 74 are coaxially fixed to the drill bit storage bin connecting rod 73 at intervals. Several hook rod notches are evenly distributed around the circumference of the hook plates 74 for hooking drill rods. The main bin support plates 72 are all disc-shaped. The disc opening of the upper main bin support plate 72 faces downward and the disc opening of the lower main bin support plate 72 faces upward. The space between the two is used to accommodate the drill rods that are circumferentially distributed and located in the hook rod notches. A circular intermediate base plate 75 is fixedly connected to the upper middle position of the rod 73, corresponding to the position of the main beam 51. Several drill rods pass through the interior of the intermediate base plate 75. Drill rod inlets and outlets are provided around the periphery of the main base plate 72 and the intermediate base plate 75. A drill rod protection cylinder 76 and an arc-shaped drill rod guard plate 77 are installed on the lower outer wall of the main base plate 72 and the lower outer wall of the intermediate base plate 75, respectively. The piston rod end of the drill rod protection cylinder 76 is hinged to the drill rod guard plate 77. The cylinder body of the drill rod protection cylinder 76 is hinged to the base plate. The drill rod guard plate 77 can block or open the drill rod inlets and outlets by the extension and retraction of the drill rod protection cylinder 76. The rotation All seats 78 are connected to the main compartment seat plate 72. The upper rotating seat 78 is connected to the upper main compartment seat plate 72 via the upper connecting frame 79, and the lower rotating seat 78 is connected to the lower main compartment seat plate 72 via the lower connecting frame 710. The positions of the upper and lower connecting frames are fixed. A rotating shaft 901 parallel to the rod 73 of the storage bin is installed between the rotating seats 78 of the upper connecting frame 79 and the lower connecting frame 710. Multiple mechanical gripper assemblies 711 are axially spaced on the rotating shaft. Swing cylinders 712 are hinged to the outer sides of the upper and lower main compartment seat plates 72. The piston rod of the swing cylinder 712 is hinged to the eccentric block fixed on the rotating shaft. When it is necessary to place the drill rod, the drill rod guard cylinder 76 is activated to push the drill rod guard plate 77 to rotate and open the drill rod inlet / outlet 902. Then, the drill rod storage bin connecting rod 73 is driven to rotate by the motor, which in turn drives the hook plate 74 to rotate and rotate a drill rod to the designated position (drill rod inlet / outlet). At this time, the mechanical gripper assembly 711 is activated to grab the drill rod. Then, the swing cylinder 712 is activated, and the swing cylinder 712 drives the rotating shaft to swing, swinging the drill rod grabbed by the mechanical gripper assembly 711 to below the hydraulic power rotary head 54.

[0056] The mechanical gripper assembly 711 is a gripper that is radially extended and retracted by a hydraulic cylinder. It is existing technology. For example, the robotic arm (JXS) disclosed in patent CN102704869B can be used. Therefore, it will not be described in detail here.

[0057] In this embodiment of the invention, the excavator boom module 8 includes a horizontal slewing drive 81, a quick connector assembly 82, a second boom side plate 83, an outer boom 84, a multi-functional connector 85, a bucket 86, a second pitch cylinder 87, a second boom lifting cylinder 88, a luffing cylinder 89, and a lifting plate 810. One end of the frame assembly 31 is rotatably connected to the horizontal slewing drive 81. The quick connector assembly 82 is mounted on the horizontal slewing drive 81, and the second boom side plate 83 is mounted on the quick connector assembly 82. The second boom lifting cylinder 88 is... The quick connector assembly 82 is connected to the second boom side plate 83. The outer boom 84 is connected to the end of the second boom side plate 83. The multi-function connector 85 is connected to the end of the outer boom 84. The bucket 86 is mounted on the multi-function connector 85 and connected to the second pitch cylinder 87 located on the lower side of the outer boom 84 for drive. The luffing cylinder 89 is connected between the second boom side plate 83 and the outer boom 84. The lifting plate 810 is located on the top outer side of the outer boom 84 at a position corresponding to the second pitch cylinder 87.

[0058] like Figure 16 , 17 As shown, specifically, an excavator arm module 8 is mounted on the top of the chassis assembly 31. The excavator arm module 8 includes a horizontal slewing drive 81, which is mounted on the top of the chassis assembly 31. A quick connector assembly 82 is mounted on the horizontal slewing drive 81. A second boom side plate 83 is rotatably connected to the top of the quick connector assembly 82. The top end of the second boom side plate 83 is rotatably connected to the upper part of the outer boom 84. A multi-function connector 85 is rotatably connected to the bottom of the outer boom 84. A bucket 86 is connected to the end of the multi-function connector 85. A second pitch cylinder 87 is connected between the lower part of the outer boom 84 and the multi-function connector 85. The two pitch cylinders 87 can drive the bucket 86 to move. A second boom lifting cylinder 88 is installed between the quick connector assembly 82 and the second boom side plate 83. A luffing cylinder 89 is installed between the bottom of the second boom side plate 83 and the top of the outer boom 84. A lifting plate 810 is installed on the top of the outer boom 84. When it is necessary to move some debris and level the ground during construction, the luffing cylinder 89 and the second boom lifting cylinder 88 are activated to adjust to the corresponding positions, and then the second pitch cylinder 87 is activated to drive the bucket 86 to start working. When small lifting is required, it can also be hung on the multi-functional connector 85 and positioned by the lifting plate 810.

[0059] In this embodiment of the invention, the working method of the walking multi-functional submersible excavator is as follows:

[0060] When needed, each module is transported to the designated location via cableway, assembled sequentially, and moved to the corresponding position. First, the position of the outrigger assembly 17 is adjusted to quickly level the equipment. After the equipment reaches balance, the luffing cylinder 89 and the second boom cylinder 88 are activated to adjust the position, and then the second pitch cylinder 87 is activated to drive the bucket 86 to start working. Some debris on the ground is removed and a working platform of a certain area is excavated. Drilling is then carried out. The first boom cylinder 44 is hydraulically driven to adjust the first boom side plate 42 up and down to the designated position, and then the first pitch cylinder 45 is activated to adjust the pitch seat assembly. 43. Adjust the vertical position to the designated position. After adjusting the pitch seat assembly 43 to the designated position, activate the swing cylinder 47 to adjust the center bracket 46 to the designated position. Install the dust collection hood bracket 61 on the top support 60. After adjusting the guide cover assembly 62, fix the cover 63. Push the guide cover assembly 62 on the dust collection hood bracket 61 downwards to contact the ground and prevent dust from impacting upwards. When it is necessary to place the drill rod, activate the drill rod protection cylinder 76 to push the drill rod protection plate 77 to rotate and open the drill rod inlet and outlet. Then, the drill rod storage bin connecting rod 73 is driven by the motor to rotate, which in turn drives the hook plate 74 to rotate. A drill rod is rotated to a designated position (drill rod inlet / outlet). At this time, the mechanical gripper assembly 711 is activated to grab the drill rod, and then the swing cylinder 712 is activated. The swing cylinder 712 drives the rotating shaft to swing, swinging the drill rod grabbed by the mechanical gripper assembly 711 to below the hydraulic power rotary head 54. After the drill rod is changed, the hydraulic power rotary head 54 continues to rotate. The drive chain inside the main beam 51 drives the rotary head slide 53 to move downward, continuously driving the drill rod downward into the hole to achieve drilling. When drilling is completed and the drill rod needs to be removed, the drill rod removal cylinder 66 is activated to push the positioning block seat 65 to remove the bottom drill rod. After fixing, the caliper cylinder 67 is activated to push the caliper plate 69 so that its square notch is locked into the peripheral plane groove on the top drill rod. The push rod in the unloading caliper seat 64 pushes the caliper plate 69 to rotate counterclockwise to loosen the threaded connection between the upper and lower drill rods. Finally, the hydraulic power rotary head 54 is activated to rotate and completely unscrew the threaded connection between the upper and lower drill rods. At the same time, the drill rod is fixed by the drill housing module 7. Each drill rod is disassembled and stored in the drill housing module 7. When on-site construction is not possible, a real-time short-range remote control scheme (20M) and a real-time system long-range remote control scheme (3km) can be realized through the remote controller.

[0061] This walking-type multi-functional submersible excavator adopts a walking chassis module. The chassis outriggers can be adjusted longitudinally, laterally, and vertically to adapt to mountainous environments, enabling it to operate in terrains inaccessible to traditional wheeled or tracked equipment. Employing a modular design, each module weighs less than two tons, and the limited number of modules meets cableway transport requirements, adapting to mountainous construction environments. Modules can be flexibly combined according to site conditions, reducing costs, transportation time, and accelerating project progress. Modules can be transported to designated locations in mountainous areas via cableway, avoiding ecological damage caused by road construction. It features an excavator arm module for assisting in climbing slopes, clearing obstacles, leveling sites, and excavating foundations. It can also switch to hydraulic breaker and rebar cage lifting operations. It offers both down-the-hole and rotary drilling modes; down-the-hole mode is suitable for hard rock geological construction, while rotary drilling mode is suitable for soil geological construction. Different drilling methods can be rationally selected according to specific geological conditions.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A walking-type multi-functional submersible excavator, characterized in that: The system includes a chassis module (1), on which a rotating frame module (2) is mounted. The rotating frame module (2) has a top-mounted upper vehicle module (3), a power pack module (301), a drill arm module (4), and an excavator arm module (8). The power pack module (301) is located on one side of the upper vehicle module (3), while the drill arm module (4) and excavator arm module (8) are located on the other side. A propulsion beam module (5) is mounted on the drill arm module (4), with a center point module (6) at one end of the propulsion beam module (5). A drill bit module (7) is mounted on the propulsion beam module (5). The excavator arm module (8) is located on the right side of the drill arm module (4), and the push beam module (5) is driven by the drill arm module (4) to swing to the top of the power pack module (301); the upper vehicle module (3) includes a frame assembly (31), an operating platform (32), a hydraulic oil tank (33), and an electrical cabinet (34). The frame assembly (31) is set on the rotating frame (22) of the rotating frame module (2), the operating platform (32) is set on the top of the frame assembly (31), the hydraulic oil tank (33) is set on the top of the frame assembly (31), and the electrical cabinet (34) is set on the frame assembly. (31) The top is located corresponding to the operating table (32), and the hydraulic oil tank (33) is located between the operating table (32) and the electrical cabinet (34); the drill arm module (4) includes a boom support assembly (41), a first boom side plate (42), a pitch seat assembly (43), several first boom lifting cylinders (44), a first pitch cylinder (45), a center bracket (46), a swing angle cylinder (47), and a compensation cylinder (48). The boom support assembly (41) is located at one end of the top of the frame assembly (31). The first boom side plate (42) is movably connected to the boom support assembly (41). Several of the first boom side plates (42) are located at the top of the frame assembly (31). The first boom lifting cylinder (44) is mounted on the boom support assembly (41) and hinged to the first boom side plate (42). The pitch seat assembly (43) is rotatably mounted on one end of the first boom side plate (42). The middle bracket (46) is rotatably mounted on the pitch seat assembly (43). The swing cylinder (47) is mounted on one end of the middle bracket (46) and connected to the pitch seat assembly (43). The first pitch cylinder (45) is mounted on the other end of the first boom side plate (42) and connected to the pitch seat assembly (43). The compensation cylinder (48) is mounted on the top of the middle bracket (46).The propulsion beam module (5) includes a main beam (51), a first hydraulic winch assembly (52), a rotary head slide (53), and a hydraulic power rotary head (54). The main beam (51) is movably connected to the middle bracket (46) and connected to the compensation cylinder (48). A drive chain and a propulsion cylinder are provided inside the main beam (51). The first hydraulic winch assembly (52) is provided at one end of the main beam (51). The rotary head slide (53) is movably connected to the main beam (51) and connected to the drive chain inside the main beam (51). The hydraulic power rotary head (54) can slide up and down on the main beam (51), and is mounted on the rotary head slide (53); the drill bit module (7) includes several drill bit support brackets (71), several main drill bit support plates (72), drill bit storage connecting rods (73), hook plates (74), middle drill bit support plates (75), several drill bit protection cylinders (76), several drill bit protection plates (77), several rotating seats (78), upper connecting frame (79), lower connecting frame (710), mechanical gripper assembly (711), and swing cylinder (712). Several of the drill bit support brackets (71) are installed at intervals on the main beam. On (51), a number of the bin support brackets (71) are connected to the main bin support plate (72). The main bin support plate (72) is rotatably connected to the rod storage bin connecting rod (73) in the middle. The rod storage bin connecting rod (73) is provided with a number of hook plates (74) at intervals. The middle bin support plate (75) passes through the rod storage bin connecting rod (73) and is set on the main beam (51). The middle bin support plate (75) is located between the two main bin support plates (72). A number of rod protection cylinders (76) and a number of rod protection plates (77) are respectively set on the main bin support plate (72) and the middle bin support plate. Outside the plate (75), the drill rod guard plate (77) is located to the left of the drill rod guard cylinder (76) and is movably connected to the drill rod guard cylinder (76). Several rotating seats (78) are connected to the main compartment seat plate (72). The upper rotating seat (78) is connected to the upper connecting frame (79), and the lower rotating seat (78) is connected to the lower connecting frame (710). The mechanical gripper assembly (711) is connected between the upper connecting frame (79) and the lower connecting frame (710). The swing cylinder (712) is set on the upper and lower main compartment seat plates (72).

2. The walking multi-functional submersible excavator according to claim 1, characterized in that: The chassis module (1) includes a first base frame (11), a plurality of adjusting cylinders (12), a plurality of adjusting wheels (13), a second base frame (14), a plurality of positioning cones (15), a plurality of auxiliary wheels (16), and a plurality of outrigger assemblies (17). The first base frame (11) is provided with a plurality of the adjusting cylinders (12) on its side, and a plurality of the adjusting wheels (13) are provided on the side of the first base frame (11). The positions of the plurality of adjusting cylinders (12) and the plurality of adjusting wheels (13) are connected to each other in a one-to-one correspondence. The second base frame (14) is provided with a plurality of positioning cones (15) at one end near the first base frame (11), and a plurality of auxiliary wheels (16) are provided on one side of the second base frame (14) at one end near the first base frame (11). The first base frame (11) and the second base frame (14) are combined by a plurality of positioning cones (15). A plurality of outrigger assemblies (17) are symmetrically provided on both the first base frame (11) and the second base frame (14).

3. The walking multi-functional submersible excavator according to claim 2, characterized in that: The outrigger assembly (17) includes a bracket (171), hind limbs (172), forelimbs (173), tires (174), forepaws (175), a plurality of swinging leg cylinders (176), and a plurality of outrigger cylinders (177). The bracket (171) is movably connected to the first base frame (11) and the second base frame (14), respectively. The hind limbs (172) are movably connected to the bracket (171), and the forelimbs (173) are movably connected to the hind limbs (172). The tire (174) is provided on the outside of the hind limb (173). The forepaw (175) is movably connected to the end of the forelimb (173). Several swing cylinders (176) are provided inside and outside the first base frame (11) and the second base frame (14) and connected to the bracket (171). Several support cylinders (177) are connected between the bracket (171) and the hind limb (172) so that the tire (174) can move laterally and longitudinally according to the movement of the swing cylinders (176) and the support cylinders (177).

4. The walking multi-functional submersible excavator according to claim 1, characterized in that: The power pack module (301) includes a power pack frame (3011), an engine (3012), a radiator (3013), a power supply (3014), a diesel tank (3015), a hydraulic pump (3016), and an aftertreatment system (3017). The power pack frame (3011) is located above the rotating frame (22) of the rotating chassis module (2). The engine (3012) is located in the middle inside the power pack frame (3011). The engine is located inside the power pack frame (3011). The radiator (3013) is located on the right side of the engine (3012). The hydraulic pump (3016) is located on the left side of the engine (3012) inside the power pack frame (3011). The diesel tank (3015) is located on the left side of the hydraulic pump (3016) inside the power pack frame (3011). The aftertreatment (3017) is located on the front top of the power pack frame (3011). The exhaust gas of the engine (3012) is purified by the aftertreatment (3017) before being discharged.

5. The walking multi-functional submersible excavator according to claim 1, characterized in that: The top module (6) includes a top support (60), a dust hood bracket (61), a guide hood assembly (62), a cover (63), a drill bit removal caliper seat (64), a positioning block seat (65), a drill bit removal cylinder (66), a caliper cylinder (67), a pressure plate (68), a clamping plate (69), and a drill rod positioning sleeve (610). The top support (60) is mounted on the main beam (51), the dust hood bracket (61) is mounted on the top support (60), the guide hood assembly (62) is mounted on the dust hood bracket (61), and the cover (63) is mounted on the guide hood assembly (62). The drill bit removal caliper seat (610) is mounted on the guide hood assembly (62). 4) The positioning block seat (65) is provided inside the unloading caliper seat (64) and the unloading cylinder (66) is provided inside the unloading caliper seat (64) and connected to the positioning block seat (65). The caliper cylinder (67) is provided on one side of the top of the unloading caliper seat (64). The caliper plate (69) is movably connected to the end of the caliper cylinder (67). The pressure plate (68) is located on both sides of the caliper cylinder (67) at the top of the unloading caliper seat (64). The drill rod positioning sleeve (610) is provided on the unloading caliper seat (64) and located at the bottom of the caliper plate (69).

6. The walking multi-functional submersible excavator according to claim 1, characterized in that: The excavator boom module (8) includes a horizontal slewing drive (81), a quick connector assembly (82), a second boom side plate (83), an outer boom (84), a multi-functional connector (85), a bucket (86), a second pitch cylinder (87), a second boom lifting cylinder (88), a luffing cylinder (89), and a lifting plate (810). The horizontal slewing drive (81) is rotatably connected to one end of the frame assembly (31). The quick connector assembly (82) is mounted on the horizontal slewing drive (81), and the second boom side plate (83) is mounted on the quick connector assembly (82). The second boom lifting cylinder (88) is mounted on the second boom side plate (83). The quick connector assembly (82) is connected to the second boom side plate (83), the end of the second boom side plate (83) is connected to the outer boom (84), the end of the outer boom (84) is connected to the multi-functional connector (85), the bucket (86) is disposed on the multi-functional connector (85) and connected to the second pitch cylinder (87) disposed on the lower side of the outer boom (84) for driving, the luffing cylinder (89) is connected between the second boom side plate (83) and the outer boom (84), and the lifting plate (810) is disposed on the outer side of the top of the outer boom (84) at a position corresponding to the second pitch cylinder (87).

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