Automatic pipe jacking machine for pipe jacking construction

Abstract

The invention provides an automatic pipe jacking machine for pipe jacking construction, and belongs to the technical field of automatic pipe jacking machines. The arc-shaped groove is formed in the side end of the tunneling pipe and communicates with the tunneling pipe, a hemisphere sleeve is rotationally connected between the inner walls of the arc-shaped groove, a cutter head is rotationally connected between the inner walls of the hemisphere sleeve, and the hemisphere sleeve and the cutter head are indirectly pulled through the push-pull rod to deflect in the arc-shaped groove; the semispherical sleeve and the cutter head are limited not to deflect up and down in the axial advancing direction, the semispherical sleeve drives the cutter head to deflect, deflection of the cutter head caused by obstacles in soil is counteracted, it is guaranteed that the automatic pipe jacking machine conducts axial linear movement in the soil in a three-dimensional space, friction stress of underground pipe fittings is prevented from being increased in the tunneling process of the automatic pipe jacking machine, and the service life of the underground pipe fittings is prolonged. Dramatic increase of the moving pressure of the pipe fitting in pipe jacking construction is avoided, and the pipe jacking construction efficiency of the automatic pipe jacking machine is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic pipe jacking machines, and in particular relates to an automatic pipe jacking machine used for pipe jacking construction. Background Art

[0002] An automatic pipe jacking machine is a pipe jacking machine operated by an automatic control system. It can complete the laying of underground pipelines across roads, railways, rivers, ground buildings, underground structures, etc. without excavating the surface layer. According to different working principles and applicable conditions, automatic pipe jacking machines can be divided into many types, such as earth pressure balance pipe jacking machine, slurry balance pipe jacking machine, etc.

[0003] Pipe jacking construction is a construction method that uses the jacking force generated by jacking equipment in the working pit to overcome the friction between the pipeline and the surrounding soil, jack the pipeline into the soil according to the designed slope, and transport the earth away. It uses the thrust of the main jacking cylinder and the pipeline room, relay room, etc. to push the tool pipe or tunnel boring machine from the working pit through the soil layer and into the receiving pit for hoisting. The pipeline follows the tool pipe or tunnel boring machine and is buried between the two pits.

[0004] The authorization publication number "CN102720503B" records "an active automatic deviation correction device for a pipe jacking machine. It can realize automatic, efficient, safe and reliable deviation correction for the deviation of the forward direction of the pipe jacking machine relative to the design axis of the pipeline. The hydraulic cylinder has a small deviation correction output force and can be used for curved pipe jacking. It provides a technical basis for the automated pipe jacking of pipe jacking machines, avoids the problems of deviation correction failure and low deviation correction efficiency caused by operator misjudgment or incorrect input of operating instructions due to ever-changing construction conditions, extremely high labor intensity, lack of operator experience or carelessness, etc., thereby improving the efficiency of pipe jacking and the quality of pipe jacking construction."

[0005] The above invention realizes the automatic, efficient, safe and reliable accurate deviation correction of the pipe jacking machine, and can be used for curved pipe jacking. The hydraulic cylinder has a small deviation correction output force, which provides a technical basis for the automatic pipe jacking of the pipe jacking machine, and avoids the problems of deviation correction failure and low deviation correction efficiency caused by operator misjudgment or incorrect input of operating instructions due to ever-changing construction conditions, extremely high labor intensity, lack of operating experience or carelessness of operators. It improves the efficiency of pipe jacking and the quality of pipe jacking construction. In the actual excavation process, the excavation cutter head is blocked by obstacles of different hardness in the soil, which makes the pressure points on the excavation cutter head different, causing the excavation cutter head to be vertical. The existing automatic pipe jacking machine uses multiple hydraulic cylinders with even symmetrical distribution to adjust the forward direction of the excavation cutter disc at multiple angles, but cannot perform targeted correction adjustment of the positive and negative 8 degree deviation angles in the axial forward direction and 360 degree axial rotation in the vertical plane, and cannot adapt to the soil excavation needs of different obstacles. The automatic pipe jacking machine makes a three-dimensional deflection in the soil, resulting in low excavation accuracy of the automatic pipe jacking machine's pipe jacking construction, increased friction stress of underground pipe fittings during the excavation process of the automatic pipe jacking machine, and a sharp increase in the moving pressure of pipe fittings during the pipe jacking construction, resulting in reduced efficiency of the pipe jacking construction. For this reason, we propose an automatic pipe jacking machine for pipe jacking construction. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic pipe jacking machine for pipe jacking construction, which aims to avoid the automatic pipe jacking machine from deflecting in three-dimensional space in the soil by performing targeted correction adjustment of the excavation cutter disc by positive and negative 8 degrees, improve the excavation accuracy of the pipe jacking construction, reduce the friction stress of underground pipes during the excavation of the automatic pipe jacking machine, avoid a sharp increase in the moving pressure of the pipes during the pipe jacking construction, and improve the pipe jacking construction efficiency of the automatic pipe jacking machine.

[0007] To achieve the above object, the present invention provides the following technical solutions: An automatic pipe jacking machine for pipe jacking construction, comprising a tunneling pipe; An arc-shaped groove, wherein the arc-shaped groove is opened at the side end of the tunneling pipe and is communicated with the tunneling pipe, a hemispherical sleeve is rotatably connected between the inner walls of the arc-shaped groove, and a cutter head is rotatably connected between the inner walls of the hemispherical sleeve; An extension pipe, the extension pipe being fixedly connected to a side end of the tunneling pipe; A rotating sleeve, the rotating sleeve is rotatably connected to the extension pipe through a plurality of bearings, and one end of the rotating sleeve extends into the tunneling pipe; and The adjusting mechanism is arranged between the excavation pipe and the extension pipe, and the adjusting mechanism is connected to the cutter disc to move the cutter disc.

[0008] As a preferred solution of the present invention, the adjusting mechanism includes a driving assembly, a rotating assembly, a pushing assembly, a connecting rod assembly, a limiting assembly and a sealing assembly. The driving assembly is arranged between the inner walls of the excavation pipe, the driving assembly is connected to the cutter head, the connecting rod assembly is arranged in the rotating sleeve, the connecting rod assembly is connected to the driving assembly, the pushing assembly is arranged on the inner wall of the rotating sleeve, the pushing assembly is connected to the connecting rod assembly, the rotating assembly is arranged between the inner walls of the excavation pipe, the rotating assembly is connected to the rotating sleeve, the limiting assembly is arranged between the inner walls of the excavation pipe, the limiting assembly is connected to the rotating sleeve, and the sealing assembly is arranged between the hemispherical sleeve and the excavation pipe.

[0009] As a preferred solution of the present invention, the driving assembly includes a casing, a fixed plate, a rotating shaft, a gear cover, a first driven gear, a first driving gear and a second motor. The casing is fixedly connected to the side end of the hemispherical sleeve, one end of the casing extends into the excavation pipe, and the casing is communicated with the hemispherical sleeve. The fixed plate is fixedly connected to the circumferential surface of the casing, and the fixed plate is located in the excavation pipe. The gear cover is fixedly connected to the extended end of the casing, the rotating shaft is rotatably connected in the casing, one end of the rotating shaft is fixedly connected to the cutter disc, and the other end of the rotating shaft extends into the gear cover. The first driven gear is fixedly connected to the extended end of the rotating shaft, and the first driven gear is located in the gear cover. The first driving gear is arranged in the gear cover, and the first driving gear is meshed with the first driven gear. The second motor is fixedly connected to the side end of the fixed plate, the output end of the second motor extends into the gear cover, and the output end of the second motor is fixedly connected to the first driving gear.

[0010] As a preferred solution of the present invention, the rotating assembly includes a second driven gear, a second driving gear and a third motor, the second driven gear is fixedly connected to the circumferential surface of the rotating sleeve, the third motor is fixedly connected to the circumferential inner wall of the tunneling pipe, the second driving gear is fixedly connected to the output end of the third motor, and the second driving gear is meshed with the second driven gear.

[0011] As a preferred solution of the present invention, the limiting assembly includes a ratchet, a fixed frame, a pawl, a rocker arm and an electric push rod, the ratchet is fixedly connected to the circumferential inner wall of the rotating sleeve, the fixed frame is fixedly connected to the circumferential inner wall of the tunneling pipe, the fixed frame is located on the extension side of the rotating sleeve, the pawl is rotatably connected to the side end of the fixed frame through an axle rod, the pawl is engaged with the ratchet, and the pawl axle rod extends into the fixed frame, the rocker arm is fixedly connected to the axle rod of the fixed frame, and the rocker arm is located in the fixed frame, the electric push rod is rotatably connected to the inner wall of the fixed frame, and the output end of the electric push rod is rotatably connected to the rocker arm.

[0012] As a preferred solution of the present invention, the connecting rod assembly includes an adapter sleeve and a push-pull rod. Two adapter sleeves are provided. The two adapter sleeves are fixedly connected to the circumferential surface of the sleeve, and the two adapter sleeves are symmetrically distributed. The push-pull rod is provided in the rotating sleeve, and one end of the push-pull rod is rotatably connected to the two adapter sleeves through a hinge shaft.

[0013] As a preferred scheme of the present invention, the pushing assembly includes a slide rail, a slider, a limit groove, a limit block and a screw rod. The slide rail is fixedly connected to the circumferential surface of the rotating sleeve, the first motor is fixedly connected to the side end of the slide rail, two limit grooves are provided, the two limit grooves are opened at the two side ends of the slide rail, and the two limit grooves are communicated with the inner wall of the slide rail, the screw rod is rotatably connected between the inner walls of the slide rail, one end of the screw rod extends to the side end of the slide rail and is connected to the first motor, and the extending end of the screw rod is fixedly connected to the output end of the first motor, the slider is sleeved on the circumferential surface of the screw rod, and the slider slides in the slide rail, two limit blocks are provided, the two limit blocks slide in the two limit grooves, and the two limit blocks are connected to the slider.

[0014] As a preferred solution of the present invention, the sealing assembly includes a sealing ring and a sealing rubber sleeve, the sealing ring is arranged between the inner walls of the arc groove, and the sealing ring is fixedly connected to the circumferential surface of the hemispherical sleeve, the sealing rubber sleeve is arranged on the circumferential surface of the casing, and the sealing rubber sleeve is fixedly connected to the inner wall of the tunneling pipe.

[0015] As a preferred solution of the present invention, a bracket is fixedly connected between the circumferential inner walls of the rotating sleeve, a pump slurry pipe is arranged between the inner walls of the bearing, one end of the pump slurry pipe is connected to the sleeve, and the other end of the pump slurry pipe passes through the bracket.

[0016] As a preferred solution of the present invention, a three-dimensional gyroscope is fixedly connected to the circumferential inner wall of the tunneling pipe.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. In this scheme, during the deflection process of the hemispherical sleeve and the cutter disc, the first motor is powered on and started, and the output end of the first motor drives the screw rod to rotate. The screw rod pushes the slider to reciprocate in the slide rail through the sliding cooperation with the slider. The slider pulls the push-pull rod to move through the reciprocating movement, and indirectly pulls the hemispherical sleeve and the cutter disc to deflect in the arc groove through the push-pull rod. The pushing component uses the self-locking property of the screw rod and the slider to limit the hemispherical sleeve and the cutter disc from deflecting up and down in the axial forward direction. The cutter disc is deflected by the hemispherical sleeve to offset the deflection of the cutter disc caused by obstacles in the soil, thereby ensuring that the automatic pipe jacking machine performs axial linear movement in three-dimensional space in the soil, preventing the increase of friction stress of underground pipe fittings during the excavation of the automatic pipe jacking machine, avoiding the sharp increase of pipe fitting movement pressure during pipe jacking construction, and effectively improving the pipe jacking construction efficiency of the automatic pipe jacking machine.

[0018] 2. In this scheme, when it is necessary to rotate the hemispherical sleeve and the cutter disc, the output end of the electric push rod extends to push the swing rod, and the swing rod drives the pawl to engage with the ratchet through the shaft rod. The pawl locks the rotation of the hemispherical sleeve and the cutter disc by engaging with the ratchet wheel, thereby ensuring that during the excavation process of the automatic pipe jacking machine, the cutter disc deflects to make the forward direction of the automatic pipe jacking machine and the pipe fittings return to the set route. After the forward direction of the automatic pipe jacking machine and the pipe fittings return to the set route, the output end of the electric push rod contracts and pulls the swing rod, and the swing rod drives the pawl away from the ratchet wheel through the shaft rod, releasing the engagement of the pawl and the ratchet wheel, thereby releasing the deflection of the hemispherical sleeve and the cutter disc, and limiting and locking the deflection angle of the hemispherical sleeve and the cutter disc by extending and retracting the output end of the electric push rod. The pawl engages with the ratchet wheel to limit the rotation of the hemispherical sleeve and the cutter disc, so as to control the cutter disc from rotating on the axial vertical plane, effectively ensuring that the cutter disc of the automatic pipe jacking machine will not deflect again, thereby improving the pipe jacking construction accuracy of the automatic pipe jacking machine.

[0019] 3. In this scheme, after the cutter disc is deflected by positive and negative 8 degrees in the vertical section, the third motor is powered on to start, and the output end of the third motor drives the second driving gear to rotate, and the second driving gear drives the second driven gear to rotate by meshing with the second driven gear, and the second driven gear drives the rotating sleeve to rotate, and the rotating sleeve then drives the pushing assembly, the connecting rod assembly and the rotating assembly to rotate, so that the cutter disc can perform targeted correction adjustment of 360 degrees in the vertical axial rotation, so that after the cutter disc is deflected, the end face center of the cutter disc is concentric with the axial direction of the construction path after the deflection direction, so that the automatic pipe jacking machine can adapt to the different deflection direction needs in the underground three-dimensional space, and improve the ability of the automatic pipe jacking machine to adapt to the needs of bent pipe jacking construction.

[0020] 4. In this scheme, the sealing ring is used to fill the gap between the hemispherical sleeve and the tunneling pipe, and the sealing rubber sleeve is used to wrap the gap between the casing and the tunneling pipe. The sealing ring and the sealing rubber sleeve are used to prevent the mud in the tunneling process of the automatic pipe jacking machine from seeping into the tunneling pipe and the extension pipe, avoid mud interfering with the adjusting mechanism, and improve the sealing performance of the automatic pipe jacking machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 A first-view stereoscopic diagram of an automatic pipe jacking machine for pipe jacking construction according to the present invention; Figure 2 A second perspective stereogram of an automatic pipe jacking machine for pipe jacking construction according to the present invention; Figure 3 A first half cross-sectional view of an automatic pipe jacking machine for pipe jacking construction according to the present invention; Figure 4 The invention discloses an automatic pipe jacking machine for pipe jacking construction. Figure 3 A magnified view of point B; Figure 5 The invention discloses an automatic pipe jacking machine for pipe jacking construction. Figure 3 A magnified image of point A; Figure 6 A second half cross-sectional view of an automatic pipe jacking machine for pipe jacking construction according to the present invention; Figure 7 A third half cross-sectional view of an automatic pipe jacking machine for pipe jacking construction according to the present invention; Figure 8 This is a disassembly diagram of a cutter head of an automatic pipe jacking machine used for pipe jacking construction according to the present invention; Fig. 9 An exploded view of an adjustment mechanism of an automatic pipe jacking machine for pipe jacking construction according to the present invention; Fig.10 The invention discloses an automatic pipe jacking machine for pipe jacking construction. Fig. 9 Enlarged view of point C.

[0022] In the figure: 1. Excavation pipe; 2. Extension pipe; 3. Hemispherical sleeve; 4. Sealing ring; 5. Cutter head; 6. Casing; 7. Arc groove; 8. Fixed plate; 9. Adapter sleeve; 10. Pump slurry pipe; 11. Rotating shaft; 12. Bearing; 13. Rotating sleeve; 14. Bracket; 15. Slide rail; 16. Sliding block; 17. Limiting groove; 18. Limiting block; 19. Push-pull rod; 20. First motor; 21. Gear cover; 22. First driven gear; 23. First driving gear; 24. Second motor; 25. Ratchet; 26. Fixed frame; 27. Ratchet; 28. Rocker; 29. ​​Electric push rod; 30. Second driven gear; 31. Second driving gear; 32. Third motor; 33. Sealing rubber sleeve; 34. Three-dimensional gyroscope; 35. Screw. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example 1 Reference Figure 1 - Fig.10 , an automatic pipe jacking machine for pipe jacking construction, comprising: Excavation pipe 1; The arc groove 7 is provided at the side end of the tunneling pipe 1, and the arc groove 7 is connected to the tunneling pipe 1, the inner wall of the arc groove 7 is rotatably connected with the hemispherical sleeve 3, and the inner wall of the hemispherical sleeve 3 is rotatably connected with the cutter head 5; An extension pipe 2, the extension pipe 2 is fixedly connected to the side end of the tunneling pipe 1; A rotating sleeve 13, the rotating sleeve 13 is rotatably connected to the extension pipe 2 through a plurality of bearings 12, and one end of the rotating sleeve 13 extends into the tunneling pipe 1; and The adjusting mechanism is arranged between the excavation pipe 1 and the extension pipe 2 , and the adjusting mechanism is connected to the cutter head 5 to move the cutter head 5 .

[0025] In the present invention, the boring pipe 1 is used to accommodate and support the hemispherical sleeve 3, the arc groove 7 is used to accommodate the hemispherical sleeve 3, the cutter head 5 crushes and stirs the soil and other obstacles through rotation to guide them out, the rotating sleeve 13 supports the bracket 14, the ratchet 25 and the second driven gear 30, the extension pipe 2 drives the pipe to move by inserting it into the underground pipe, and the adjustment mechanism is connected to the cutter head 5 to move the cutter head 5.

[0026] The adjusting mechanism includes a driving assembly, a rotating assembly, a pushing assembly, a connecting rod assembly, a limiting assembly and a sealing assembly. The driving assembly is arranged between the inner walls of the excavation pipe 1, the driving assembly is connected to the cutter head 5, the connecting rod assembly is arranged in the rotating sleeve 13, the connecting rod assembly is connected to the driving assembly, the pushing assembly is arranged on the inner wall of the rotating sleeve 13, the pushing assembly is connected to the connecting rod assembly, the rotating assembly is arranged between the inner walls of the excavation pipe 1, the rotating assembly is connected to the rotating sleeve 13, the limiting assembly is arranged between the inner walls of the excavation pipe 1, the limiting assembly is connected to the rotating sleeve 13, and the sealing assembly is arranged between the hemispherical sleeve 3 and the excavation pipe 1.

[0027] In the present invention, the driving assembly is used to drive the hemispherical sleeve 3 and the cutter disc 5 to rotate, the connecting rod assembly is used to pull the hemispherical sleeve 3 and the cutter disc 5 to deflect, the pushing assembly is used to push and pull the connecting rod assembly, the rotating assembly is used to drive the cutter disc 5 to rotate, the limiting assembly is used to limit the deflection of the hemispherical sleeve 3 and the cutter disc 5, and the sealing assembly is used to fill the gap between the hemispherical sleeve 3 and the tunneling pipe 1.

[0028] The driving assembly includes a casing 6, a fixed plate 8, a rotating shaft 11, a gear cover 21, a first driven gear 22, a first driving gear 23 and a second motor 24. The casing 6 is fixedly connected to the side end of the hemispherical sleeve 3, one end of the casing 6 extends into the tunneling pipe 1, and the casing 6 is connected to the hemispherical sleeve 3. The fixed plate 8 is fixedly connected to the circumferential surface of the casing 6, and the fixed plate 8 is located in the tunneling pipe 1. The gear cover 21 is fixedly connected to the extended end of the casing 6, and the rotating shaft 11 is rotatably connected to the casing 6. One end of the rotating shaft 11 is connected to the cutter. The disk 5 is fixedly connected, the other end of the rotating shaft 11 extends into the gear cover 21, the first driven gear 22 is fixedly connected to the extended end of the rotating shaft 11, and the first driven gear 22 is located in the gear cover 21, the first driving gear 23 is arranged in the gear cover 21, the first driving gear 23 is meshed with the first driven gear 22, the second motor 24 is fixedly connected to the side end of the fixed disk 8, the output end of the second motor 24 extends into the gear cover 21, and the output end of the second motor 24 is fixedly connected to the first driving gear 23.

[0029] In the present invention, the sleeve 6 is used to accommodate the rotation of the rotating shaft 11, the fixed plate 8 is used to support and fix the second motor 24, the gear cover 21 is used to accommodate the first driven gear 22 and the first driving gear 23, the rotating shaft 11 is used to drive the cutter head 5 to rotate, the first driven gear 22 is used to drive the rotating shaft 11 to rotate, the first driving gear 23 drives the first driven gear 22 to rotate by meshing with the first driven gear 22, and the second motor 24 is used to drive the first driving gear 23 to rotate. In the process of jacking pipe excavation, The second motor 24 is powered on and started, and the output end of the second motor 24 drives the first driving gear 23 to rotate. The first driving gear 23 drives the first driven gear 22 to rotate by meshing with the first driven gear 22. The first driven gear 22 drives the rotating shaft 11 to rotate. The rotating shaft 11 drives the cutter head 5 to rotate. The cutter head 5 mixes soil, water and crushing obstacles into mud through rotation, and extracts the mud along the gap between the casing 6 and the rotating shaft 11, so as to facilitate the crushing and extraction of soil in the excavation direction and realize rapid excavation.

[0030] The rotating assembly includes a second driven gear 30, a second driving gear 31 and a third motor 32. The second driven gear 30 is fixedly connected to the circumferential surface of the rotating sleeve 13, the third motor 32 is fixedly connected to the circumferential inner wall of the tunneling pipe 1, the second driving gear 31 is fixedly connected to the output end of the third motor 32, and the second driving gear 31 is meshed with the second driven gear 30.

[0031] In the present invention, the second driven gear 30 is used to drive the rotating sleeve 13 to rotate, and the third motor 32 is used to drive the second driving gear 31 to rotate. The second driving gear 31 drives the second driven gear 30 to rotate by meshing with the second driven gear 30. After the cutter disc 5 is deflected by positive and negative 8 degrees in the vertical section, the third motor 32 is powered on and started, and the output end of the third motor 32 drives the second driving gear 31 to rotate. The second driving gear 31 drives the second driven gear 30 to rotate by meshing with the second driven gear 30. The second driven gear 30 drives the rotating sleeve 13 to rotate, and the rotating sleeve 13 then drives the pushing assembly, the connecting rod assembly and the rotating assembly to rotate, so that the cutter disc 5 performs targeted correction and adjustment of 360 degrees of axial rotation in the vertical plane, so that after the cutter disc 5 is deflected, the end face center of the cutter disc 5 is axially concentric with the construction path after the deflection direction, so that the automatic pipe jacking machine can adapt to different deflection directions in the underground three-dimensional space, and improve the automatic pipe jacking machine's ability to adapt to the bending pipe jacking construction needs.

[0032] The limiting assembly includes a ratchet 25, a fixing frame 26, a pawl 27, a rocker arm 28 and an electric push rod 29. The ratchet 25 is fixedly connected to the circumferential inner wall of the rotating sleeve 13. The fixing frame 26 is fixedly connected to the circumferential inner wall of the tunneling pipe 1. The fixing frame 26 is located on the extended side of the rotating sleeve 13. The pawl 27 is rotatably connected to the side end of the fixing frame 26 through an axis rod. The pawl 27 is engaged with the ratchet 25, and the axis rod of the pawl 27 extends into the fixing frame 26. The rocker arm 28 is fixedly connected to the axis rod of the fixing frame 26, and the rocker arm 28 is located in the fixing frame 26. The electric push rod 29 is rotatably connected to the inner wall of the fixing frame 26, and the output end of the electric push rod 29 is rotatably connected to the rocker arm 28.

[0033] In the present invention, the ratchet 25 rotates synchronously with the rotating sleeve 13, and the fixed frame 26 is used to support the swing rod 28, the pawl 27 and the electric push rod 29. The pawl 27 limits the rotation of the rotating sleeve 13 by engaging with the ratchet 25, thereby limiting the rotation of the hemispherical sleeve 3 and the cutter disc 5. The swing rod 28 drives the pawl 27 to deflect through the shaft rod, and the electric push rod 29 is used to push and pull the swing rod 28 to deflect. When the hemispherical sleeve 3 and the cutter disc 5 need to be rotated, the output end of the electric push rod 29 extends to push the swing rod 28, and the swing rod 28 drives the pawl 27 to engage with the ratchet 25 through the shaft rod. The pawl 27 locks the rotation of the hemispherical sleeve 3 and the cutter disc 5 by engaging with the ratchet 25, thereby ensuring that the cutter disc 5 is deflected during the excavation process of the automatic pipe jacking machine. The rotation makes the automatic pipe jacking machine and the pipe fittings return to the set route. After the automatic pipe jacking machine and the pipe fittings return to the set route, the output end of the electric push rod 29 contracts to pull the swing rod 28, and the swing rod 28 drives the pawl 27 away from the ratchet 25 through the shaft rod, releasing the engagement of the pawl 27 with the ratchet 25, and then releasing the deflection of the hemispherical sleeve 3 and the cutter disc 5. The deflection angle of the hemispherical sleeve 3 and the cutter disc 5 is restricted and locked by the extension and contraction of the output end of the electric push rod 29. The pawl 27 is engaged with the ratchet 25 to limit the rotation of the hemispherical sleeve 3 and the cutter disc 5, so as to control the cutter disc 5 not to rotate on the axial vertical plane, effectively ensuring that the cutter disc 5 of the automatic pipe jacking machine will not deflect again, thereby improving the pipe jacking construction accuracy of the automatic pipe jacking machine.

[0034] The connecting rod assembly includes an adapter sleeve 9 and a push-pull rod 19. Two adapter sleeves 9 are provided. The two adapter sleeves 9 are fixedly connected to the circumferential surface of the sleeve 6, and the two adapter sleeves 9 are symmetrically distributed. The push-pull rod 19 is arranged in the rotating sleeve 13, and one end of the push-pull rod 19 is rotatably connected to the two adapter sleeves 9 through a hinge shaft.

[0035] In the present invention, the two adapter sleeves 9 are used to accommodate the hinge shaft, and the push-pull rod 19 pushes and pulls the sleeve 6 through the hinge shaft, thereby realizing the deflection of the hemispherical sleeve 3 and the cutter disc 5.

[0036] The pushing assembly includes a slide rail 15, a slider 16, a limit groove 17, a limit block 18 and a screw rod 35. The slide rail 15 is fixedly connected to the circumferential surface of the rotating sleeve 13. The first motor 20 is fixedly connected to the side end of the slide rail 15. Two limit grooves 17 are provided. The two limit grooves 17 are opened at the two side ends of the slide rail 15, and the two limit grooves 17 are both connected to the inner wall of the slide rail 15. The screw rod 35 is rotatably connected between the inner walls of the slide rail 15. One end of the screw rod 35 extends to the side end of the slide rail 15 and is connected to the first motor 20, and the extended end of the screw rod 35 is fixedly connected to the output end of the first motor 20. The slider 16 is sleeved on the circumferential surface of the screw rod 35, and the slider 16 slides in the slide rail 15. Two limit blocks 18 are provided. The two limit blocks 18 slide in the two limit grooves 17, and the two limit blocks 18 are both connected to the slider 16.

[0037] In the present invention, the slide rail 15 is used to accommodate the slider 16 and the screw rod 35, the first motor 20 is used to drive the screw rod 35 to rotate, the two limit grooves 17 are used to accommodate the two limit blocks 18 to slide, the screw rod 35 pushes the slider 16 to reciprocate in the slide rail 15 by sliding cooperation with the slider 16, the slider 16 pushes and pulls the push-pull rod 19 by reciprocating movement, and the two limit blocks 18 guide and limit the movement of the slider 16 by sliding cooperation with the two limit grooves 17. During the deflection process of the hemispherical sleeve 3 and the cutter disc 5, the first motor 20 is powered on and started, and the output end of the first motor 20 drives the screw rod 35 to rotate, and the screw rod 35 pushes the slider 16 to slide by sliding cooperation with the slider 16. The slide block 16 reciprocates in the rail 15, and the slide block 16 moves by pulling the push-pull rod 19 through the reciprocating movement, and indirectly pulls the hemispherical sleeve 3 and the cutter disc 5 to deflect in the arc groove 7 through the push-pull rod 19. The pushing component uses the self-locking property of the screw rod 35 and the slide block 16 to limit the hemispherical sleeve 3 and the cutter disc 5 from deflecting up and down in the axial forward direction. The hemispherical sleeve 3 drives the cutter disc 5 to deflect, offsetting the deflection of the cutter disc 5 caused by obstacles in the soil, ensuring that the automatic pipe jacking machine moves axially in a three-dimensional space in the soil, preventing the increase of friction stress of underground pipe fittings during the excavation process of the automatic pipe jacking machine, avoiding a sharp increase in the moving pressure of pipe fittings during pipe jacking construction, and effectively improving the pipe jacking construction efficiency of the automatic pipe jacking machine.

[0038] The sealing assembly includes a sealing ring 4 and a sealing rubber sleeve 33. The sealing ring 4 is arranged between the inner walls of the arc groove 7, and the sealing ring 4 is fixedly connected to the circumferential surface of the hemispherical sleeve 3. The sealing rubber sleeve 33 is sleeved on the circumferential surface of the casing 6, and the sealing rubber sleeve 33 is fixedly connected to the inner wall of the tunneling pipe 1.

[0039] In the present invention, the sealing ring 4 is used to fill the gap between the hemispherical sleeve 3 and the tunneling pipe 1, and the sealing rubber sleeve 33 is used to wrap the gap between the casing 6 and the tunneling pipe 1. The sealing ring 4 and the sealing rubber sleeve 33 are used to prevent mud from penetrating into the tunneling pipe 1 and the extension pipe 2 during the tunneling process of the automatic pipe jacking machine, thereby avoiding mud interfering with the adjusting mechanism and improving the sealing performance of the automatic pipe jacking machine.

[0040] A bracket 14 is fixedly connected between the circumferential inner walls of the rotating sleeve 13 , a pump slurry pipe 10 is arranged between the inner walls of the bearing 12 , one end of the pump slurry pipe 10 is connected to the sleeve 6 , and the other end of the pump slurry pipe 10 passes through the bracket 14 .

[0041] In the present invention, the bracket 14 is used to support and fix the slurry pumping pipe 10 , and the slurry pumping pipe 10 is used to pump out the slurry and supply water to the cutter head 5 .

[0042] A three-dimensional gyroscope 34 is fixedly connected to the circumferential inner wall of the tunneling pipe 1 .

[0043] In the present invention, the three-dimensional gyroscope 34 is used to detect the deflection angle of the tunneling pipe 1, the extension pipe 2 and the pipe jacking construction process in real time.

[0044] A method for using an automatic pipe jacking machine for pipe jacking construction comprises the following steps: S1. Straight excavation: During the pipe jacking construction process, the extension pipe 2 is inserted into the underground pipe fittings, and multiple pipe fittings extending from the foundation trench are pressed and pushed into the soil, so that the cutter disc 5 is pushed into the soil, and the second motor 24 is powered on and started, and the output end of the second motor 24 drives the first driving gear 23 to rotate, and the first driving gear 23 drives the first driven gear 22 to rotate by meshing with the first driven gear 22, and the first driven gear 22 drives the rotating shaft 11 to rotate, and the rotating shaft 11 drives the hemispherical sleeve 3 and the cutter disc 5 to rotate, and the cutter disc 5 mixes the soil, water and obstacles into mud by rotating, and discharges the mud through the pump slurry pipe 10, so as to realize the linear excavation in the pipe jacking construction; S2, Direction deflection: During the straight-line excavation process, when the three-dimensional gyroscope 34 detects that the excavation direction deviates from the designed construction path, the first motor 20 is powered on to start, and the output end of the first motor 20 drives the screw rod 35 to rotate. The screw rod 35 pushes and pulls the push-pull rod 19 through the sliding cooperation with the slider 16. The push-pull rod 19 pushes and pulls the two adapter sleeves 9 pushed and pulled by the shaft rod. The two adapter sleeves 9 push and pull the sleeve 6. The sleeve 6 drives the hemispherical sleeve 3 and the cutter disc 5 to deflect in the arc groove 7. The output end of the electric push rod 29 extends to push the swing rod 28. The swing rod 28 drives the pawl 27 to engage with the ratchet 25 through the shaft rod. The pawl 27 locks the rotation of the hemispherical sleeve 3 and the cutter disc 5 by engaging with the ratchet 25, and then the electric push rod 29 is powered on to start the first motor 20. The third motor 32 is electrically started, and the output end of the third motor 32 drives the second driving gear 31 to rotate. The second driving gear 31 drives the rotating sleeve 13 to rotate by meshing with the second driven gear 30. The rotating sleeve 13 then drives the pushing assembly, the connecting rod assembly and the rotating assembly to rotate, so that the end face center of the cutter disc 5 is axially concentric with the construction path. Then the output end of the electric push rod 29 is extended to push the swing rod 28. The swing rod 28 drives the pawl 27 to engage with the ratchet 25 through the shaft rod. The pawl 27 locks the rotation of the hemispherical sleeve 3 and the cutter disc 5 by engaging with the ratchet 25, so as to avoid the end face center of the cutter disc 5 from being misaligned with the axial concentricity of the construction path, thereby realizing the deflection of the direction of the jacking construction. S3, correction and reduction: During the straight-line excavation process, when the three-dimensional gyroscope 34 detects that the excavation direction of the cutter disc 5 deviates from the designed construction path due to obstacles in the soil, the output end of the electric push rod 29 contracts and pulls the swing rod 28, and the swing rod 28 drives the pawl 27 away from the ratchet 25 through the shaft rod, releases the engagement between the pawl 27 and the ratchet 25, and then releases the deflection of the hemispherical sleeve 3 and the cutter disc 5, firstly energizes and starts the third motor 32, and the output end of the third motor 32 drives the second driving gear 31 to rotate, and the second driving gear 31 drives the second driven gear 30 to rotate by meshing with the second driven gear 30, and the second driven gear 30 drives the rotating sleeve 13 to rotate, and the rotating sleeve 13 then drives the pushing component and the connecting rod group The first motor 20 is powered on and the output end of the first motor 20 drives the screw rod 35 to rotate. The screw rod 35 pushes the slider 16 to move back and forth in the slide rail 15 through the sliding cooperation with the slider 16. The slider 16 moves by pulling the push-pull rod 19 through the reciprocating movement, and indirectly pulls the hemispherical sleeve 3 and the cutter disc 5 to deflect in the arc groove 7 through the push-pull rod 19, so that the side end of the cutter disc 5 is deflected and reset by positive and negative 8 degrees against the obstruction, thereby offsetting the deflection of the cutter disc 5 caused by the obstruction in the soil, ensuring that the automatic pipe jacking machine moves axially in a three-dimensional space in the soil, and then realizing the correction and reset of the pipe jacking construction direction.

[0045] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic pipe jacking machine for pipe jacking construction, characterized in that: include; Boring pipe (1); An arc-shaped groove (7), the arc-shaped groove (7) being formed at a side end of the tunneling pipe (1), the arc-shaped groove (7) being connected to the tunneling pipe (1), a hemispherical sleeve (3) being rotatably connected between the inner walls of the arc-shaped groove (7), and a cutter head (5) being rotatably connected between the inner walls of the hemispherical sleeve (3); An extension pipe (2), the extension pipe (2) being fixedly connected to a side end of the tunneling pipe (1); A rotating sleeve (13), the rotating sleeve (13) being rotatably connected to the extension pipe (2) via a plurality of bearings (12), and one end of the rotating sleeve (13) extending into the tunneling pipe (1); as well as An adjusting mechanism, wherein the adjusting mechanism is arranged between the excavation pipe (1) and the extension pipe (2), and the adjusting mechanism is connected to the cutter head (5) and is used to move the cutter head (5).

2. The automatic pipe jacking machine for pipe jacking construction according to claim 1, characterized in that: The adjustment mechanism comprises a driving assembly, a rotating assembly, a pushing assembly, a connecting rod assembly, a limiting assembly and a sealing assembly. The driving assembly is arranged between the inner walls of the tunneling pipe (1), the driving assembly is connected to the cutter head (5), the connecting rod assembly is arranged in a rotating sleeve (13), the connecting rod assembly is connected to the driving assembly, the pushing assembly is arranged on the inner wall of the rotating sleeve (13), the pushing assembly is connected to the connecting rod assembly, the rotating assembly is arranged between the inner walls of the tunneling pipe (1), the rotating assembly is connected to the rotating sleeve (13), the limiting assembly is arranged between the inner walls of the tunneling pipe (1), the limiting assembly is connected to the rotating sleeve (13), and the sealing assembly is arranged between the hemispherical sleeve (3) and the tunneling pipe (1).

3. The automatic pipe jacking machine for pipe jacking construction according to claim 2, characterized in that: The drive assembly comprises a casing (6), a fixed plate (8), a rotating shaft (11), a gear cover (21), a first driven gear (22), a first driving gear (23) and a second motor (24); the casing (6) is fixedly connected to the side end of the hemispherical casing (3); one end of the casing (6) extends into the tunneling pipe (1), and the casing (6) is connected to the hemispherical casing (3); the fixed plate (8) is fixedly connected to the circumferential surface of the casing (6), and the fixed plate (8) is located in the tunneling pipe (1); the gear cover (21) is fixedly connected to the extended end of the casing (6); the rotating shaft (11) is rotatably connected to the casing (6); the rotating shaft (11) ) is fixedly connected to the cutter disc (5), the other end of the rotating shaft (11) extends into the gear cover (21), the first driven gear (22) is fixedly connected to the extended end of the rotating shaft (11), and the first driven gear (22) is located in the gear cover (21), the first driving gear (23) is arranged in the gear cover (21), the first driving gear (23) is meshed with the first driven gear (22), the second motor (24) is fixedly connected to the side end of the fixed disc (8), the output end of the second motor (24) extends into the gear cover (21), and the output end of the second motor (24) is fixedly connected to the first driving gear (23).

4. The automatic pipe jacking machine for pipe jacking construction according to claim 3, characterized in that: The rotating assembly comprises a second driven gear (30), a second driving gear (31) and a third motor (32); the second driven gear (30) is fixedly connected to the circumferential surface of the rotating sleeve (13); the third motor (32) is fixedly connected to the circumferential inner wall of the tunneling pipe (1); the second driving gear (31) is fixedly connected to the output end of the third motor (32); and the second driving gear (31) is meshed with the second driven gear (30).

5. The automatic pipe jacking machine for pipe jacking construction according to claim 4, characterized in that: The limiting assembly comprises a ratchet (25), a fixing frame (26), a pawl (27), a rocker (28) and an electric push rod (29), wherein the ratchet (25) is fixedly connected to the circumferential inner wall of the rotating sleeve (13), the fixing frame (26) is fixedly connected to the circumferential inner wall of the tunneling pipe (1), the fixing frame (26) is located on the extended side of the rotating sleeve (13), the pawl (27) is rotatably connected to the side end of the fixing frame (26) through a shaft, the pawl (27) is engaged with the ratchet (25), and the shaft of the pawl (27) extends into the fixing frame (26), the rocker (28) is fixedly connected to the shaft of the fixing frame (26), and the rocker (28) is located in the fixing frame (26), the electric push rod (29) is rotatably connected to the inner wall of the fixing frame (26), and the output end of the electric push rod (29) is rotatably connected to the rocker (28).

6. The automatic pipe jacking machine for pipe jacking construction according to claim 5, characterized in that: The connecting rod assembly comprises an adapter sleeve (9) and a push-pull rod (19), wherein two adapter sleeves (9) are provided, the two adapter sleeves (9) are fixedly connected to the circumferential surface of the sleeve (6), and the two adapter sleeves (9) are symmetrically distributed, the push-pull rod (19) is arranged in a rotating sleeve (13), and one end of the push-pull rod (19) is rotatably connected to the two adapter sleeves (9) via a hinge shaft.

7. The automatic pipe jacking machine for pipe jacking construction according to claim 6, characterized in that: The pushing assembly comprises a slide rail (15), a slider (16), a limit groove (17), a limit block (18) and a screw rod (35); the slide rail (15) is fixedly connected to the circumferential surface of the rotating sleeve (13); the first motor (20) is fixedly connected to the side end of the slide rail (15); two limit grooves (17) are provided, the two limit grooves (17) are opened at the two side ends of the slide rail (15), and the two limit grooves (17) are connected to the inner wall of the slide rail (15); the screw rod (35) is rotatably connected to the slide rail (15); ), one end of the screw rod (35) extends to the side end of the slide rail (15) and is connected to the first motor (20), and the extended end of the screw rod (35) is fixedly connected to the output end of the first motor (20), the slider (16) is sleeved on the circumferential surface of the screw rod (35), and the slider (16) slides in the slide rail (15), two limit blocks (18) are provided, the two limit blocks (18) slide in the two limit grooves (17), and the two limit blocks (18) are connected to the slider (16).

8. The automatic pipe jacking machine for pipe jacking construction according to claim 7, characterized in that: The sealing assembly comprises a sealing ring (4) and a sealing rubber sleeve (33); the sealing ring (4) is arranged between the inner walls of the arc groove (7), and the sealing ring (4) is fixedly connected to the circumferential surface of the hemispherical sleeve (3); the sealing rubber sleeve (33) is sleeved on the circumferential surface of the casing (6), and the sealing rubber sleeve (33) is fixedly connected to the inner wall of the tunneling pipe (1).

9. The automatic pipe jacking machine for pipe jacking construction according to claim 8, characterized in that: A bracket (14) is fixedly connected between the circumferential inner walls of the rotating sleeve (13), a slurry pump pipe (10) is arranged between the inner walls of the bearing (12), one end of the slurry pump pipe (10) is connected to the sleeve (6), and the other end of the slurry pump pipe (10) passes through the bracket (14).

10. The automatic pipe jacking machine for pipe jacking construction according to claim 10, characterized in that: A three-dimensional gyroscope (34) is fixedly connected to the circumferential inner wall of the tunneling pipe (1).

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