Pipe jacking machine penetrating through geogrid and construction method of pipe jacking machine

Abstract

The invention belongs to the technical field of tunnel engineering construction machinery, and relates to a pipe jacking machine penetrating through a geogrid and a construction method thereof.The pipe jacking machine comprises a telescopic center cutter arranged in the middle of a cutter head of the pipe jacking machine, and a mechanical arm device and a manipulator device which are arranged in the pipe jacking machine, located on the peripheral side of the center cutter and capable of synchronously rotating along with the cutter head; a telescopic cutter device capable of extending and retracting is further arranged on a quarter area of the outer edge of the pipe jacking machine cutter head; the telescopic knife device preliminarily cuts the obstacle area into a circular part; the mechanical arm device can freely stretch out and draw back to rotationally cut a fixed area, and the manipulator device can freely stretch out and draw back to grab obstacles; according to the pipe jacking machine penetrating through the geogrid, obstacles such as net-shaped obstacles can be cleaned in a cutting and directional grabbing mode, so that the construction cost is reduced, and the construction progress is accelerated.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel engineering construction machinery and relates to a pipe jacking machine passing through a geogrid and a construction method thereof. Background Art

[0002] As an innovative trenchless construction technology, pipe jacking has many advantages, such as strong adaptability to the stratum, little impact on the surrounding environment, diverse cross-section forms and high space utilization, low requirements for soil cover depth and high land utilization, small amount of requisition and demolition, and no impact on the operation of ground transportation and underground pipelines and other facilities. When implementing pipe jacking construction, if encountering obstacles such as geogrids, the traditional pipe jacking machine cutter can effectively break the soil but cannot effectively cut obstacles such as geogrids. If no auxiliary equipment is used, there is a high possibility of blocking the pipe jacking machine. At this time, it is necessary to use some auxiliary mechanical equipment to improve the traditional pipe jacking machine model. When traditional pipe jacking machines encounter similar geogrid blocking pipe jacking machines, they often need to be cleared manually, which will greatly increase the construction cost and cause great waste of resources. At the same time, the risk of manual clearing is relatively high, which will increase the construction risk and cause personal injury. Although the existing pipe jacking construction technology has certain treatment methods for underground obstacles, the construction technology has gradually matured. However, the existing pipe jacking construction technology is relatively short of methods for crossing geogrids, and no fixed solution has been formed. Summary of the invention

[0003] In view of this, in order to solve the problem that the existing jacking construction technology is relatively short of methods for passing through geogrids, and no fixed solution has been formed, manual clearance is often required, which increases construction costs and causes great waste of resources, while also increasing construction risks and causing personal injury. A jacking machine for passing through geogrids and a construction method thereof are provided, which can clear obstacles such as mesh-like objects by cutting and directional grabbing, thereby reducing construction costs and speeding up construction progress.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A pipe jacking machine that passes through a geogrid comprises a retractable center knife arranged in the middle of a cutter disc of the pipe jacking machine, a mechanical arm device and a mechanical hand device arranged in the pipe jacking machine and located around the center knife and capable of rotating synchronously with the cutter disc, a retractable retractable knife device is also arranged on a quarter area of ​​the outer edge of the cutter disc of the pipe jacking machine; the retractable knife device preliminarily cuts an obstacle area into circular parts; the mechanical arm device can be freely retracted to rotate and cut a fixed area, and the mechanical hand device can be freely retracted to grab obstacles.

[0006] Furthermore, the robotic arm device includes a cutting disc, a robotic arm rotating shaft, a miniature camera I, a hydraulic lifting device I and a rotating wheel. The front section of the robotic arm rotating shaft is connected to the cutting disc, and the rear section of the robotic arm rotating shaft is connected to the hydraulic lifting device I, and the hydraulic lifting device I is a two-section type arranged in parallel. The miniature camera I is arranged inside the robotic arm device at the location of the robotic arm rotating shaft. The hydraulic lifting device I is electrically connected to a starting device and a control motor, and the rotating wheel is also electrically connected to a starting device and a control motor.

[0007] Furthermore, the robotic arm device also includes a sensor and a high-pressure water spray device. The sensor is arranged on the cutting disc and can detect the blockage of the cutting disc in time. The high-pressure water spray device is arranged near the micro camera I and the cutting disc. After the obstacles adhere to the cutting disc, they are flushed through the high-pressure water spray device.

[0008] Furthermore, the manipulator device includes a mechanical gripper, a hydraulic lifting device II, a micro camera II, and a slide rail. The slide rail and the mechanical gripper are perpendicular to each other. The hydraulic lifting device II is a two-stage parallel arrangement. The hydraulic lifting device II is connected to a starting device and a control motor.

[0009] Furthermore, a pulley adapted to the slide rail is fixedly installed at one end of the mechanical gripper connected to the slide rail, and the pulleys are evenly arranged on the slide rail.

[0010] Furthermore, the retractable knife device includes a large hydraulic lifting device, a small hydraulic lifting device, a rotating cutting disc and a control motor electrically connected to the large hydraulic lifting device. The large hydraulic lifting device and the small hydraulic lifting device are both two-stage and are used to control the ejection of the rotating cutting disc for rotating cutting.

[0011] Furthermore, the center knife is a fishtail-shaped center knife with a high center and low sides. The central rotating shaft where the fishtail-shaped center knife is located is a retractable device and is connected to a micro-lifting device.

[0012] A construction method of a pipe jacking machine passing through a geogrid comprises the following steps:

[0013] S1. When encountering geogrid obstacles, the pipe jacking machine retracts the central knife in the middle, extends the retractable rotary cutting disc and starts the disc to run idle at the same time, and uses the retractable rotary cutting disc in the retractable rotary cutting device at the outer edge of the disc to preliminarily divide the grid into the outline shape of the pipe jacking machine;

[0014] S2, stop the rotation of the rotary cutting disc and extend the cutting disc in the mechanical arm device, and use the micro camera I to assist in redividing the cutting area into sector-shaped cutting areas;

[0015] S3, retract the robot arm device and rotate the mechanical gripper in the robot hand device to the corresponding fan-shaped cutting area in step S2, use the micro camera II to assist in grabbing the grid grid, and repeat the above operation until the pipe jacking machine passes smoothly.

[0016] The beneficial effects of the present invention are:

[0017] 1. The pipe jacking machine that passes through the geogrid disclosed in the present invention first retracts the center knife that is in advance in the middle, and then preliminarily cuts the grid net into the external contour shape of the pipe jacking machine through the retractable rotating cutting disc, and then extends the cutting disc in the mechanical arm device to re-cut the circular geogrid obstacle area directly in front of the pipe jacking machine, and finally the mechanical gripper in the rotating mechanical arm device grabs the completely cut area in sections, thereby realizing the function of smoothly cleaning the geogrid net and achieving the ability to smoothly pass through obstacles.

[0018] 2. Compared with the traditional pipe jacking machine, the pipe jacking machine that passes through the geogrid disclosed in the present invention has a mechanical arm device and a manipulator device, and a retractable cutter disc is set in a quarter area around the cutter disc of the pipe jacking machine. The mechanical arm device and the manipulator device are connected to the main shaft of the pipe jacking machine, and can rotate around the center of the pipe jacking separately. This arrangement will not cause conflicts between the working surfaces of the shield machine during normal operation. The method of cutting first and then pulling is adopted, which greatly improves the phenomenon of clogging the slurry pipeline due to incomplete cutting. In addition, the device can move with the pipe jacking machine and provide corresponding obstacle clearing work in time during the pipe jacking construction, thereby reducing construction costs and speeding up construction progress.

[0019] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 The structure of the pipe jacking machine passing through the geogrid of the present invention is shown in FIG. Figure 1 ;

[0022] Figure 2 The structure of the pipe jacking machine passing through the geogrid of the present invention is shown in FIG. Figure 2 ;

[0023] Figure 3 For the present invention Figure 2 A schematic diagram of the structure of the middle telescopic knife device;

[0024] Figure 4 For the present invention Figure 2 Schematic diagram of the structure of the mechanical gripper in the robot device when it is working Figure 1 ;

[0025] Figure 5 For the present invention Figure 2 Schematic diagram of the structure of the mechanical gripper in the robot device when it is working Figure 2 ;

[0026] Figure 6 For the present invention Figure 2 Schematic diagram of the structure of the robotic arm device.

[0027] Figure numerals: telescopic knife device 1, center knife 2, manipulator device 3, manipulator arm device 4, large hydraulic jacking device 11, small hydraulic jacking device 12, rotating cutting disc 13, center shaft 21, manipulator gripper 31, hydraulic jacking device II 32, micro camera II 33, slide rail 34, cutting disc 41, manipulator arm shaft 42, micro camera I 43, hydraulic jacking device I 44, rotating wheel 45. DETAILED DESCRIPTION

[0028] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0029] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0030] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] like Figures 1 to 6 A pipe jacking machine for passing through geogrids shown in the figure comprises a retractable center knife 2 arranged in the middle of the cutter disc of the pipe jacking machine, a mechanical arm device 4 and a mechanical hand device 3 arranged in the pipe jacking machine and located around the center knife and capable of rotating synchronously with the cutter disc, and a retractable retractable knife device 1 is also arranged on a quarter area of ​​the outer edge of the cutter disc of the pipe jacking machine; the mechanical arm device 4 can be freely retracted to rotate and cut a fixed area, and the mechanical hand device 3 can be freely retracted to grab obstacles;

[0032] The center knife 2 is a fishtail-shaped center knife with a high center and low sides. The center shaft 21 where the fishtail-shaped center knife is located is a retractable device, which contains a micro-lifting device, and the center knife 2 can be freely retracted through the micro-lifting device.

[0033] The mechanical arm device 4 includes a cutting blade 41, a mechanical arm shaft 42, a micro camera I 43, a hydraulic lifting device I 44 and a rotating wheel 45. The front section of the mechanical arm shaft 42 is connected to the cutting blade 41, and the rear section of the mechanical arm shaft 42 is connected to the hydraulic lifting device I 44, and the hydraulic lifting device I 44 is a two-stage parallel arrangement. The micro camera I 43 is arranged inside the mechanical arm device 4 where the mechanical arm shaft 42 is located. The hydraulic lifting device I 44 is electrically connected to a starter and a control motor, and the rotating wheel 45 is also electrically connected to a starter and a control motor. The mechanical arm shaft 42 can be freely extended and can be used to rotate and cut a fixed area. The front of the mechanical arm shaft 42 is connected to the strip device part at the rear of the cutting blade 41, the micro camera I 43 is arranged inside the mechanical arm device 4 near the cutting blade 41, and the starter and the control motor on the hydraulic lifting device I 44 and the starter and the control motor on the rotating wheel 45 are all arranged in the mechanical arm chamber. A track is arranged in the mechanical arm chamber where the rotating wheel 45 is located, so as to precisely control the telescopic path of the cutting disc 41 . The cutting disc 41 is evenly provided with a plurality of rotating cutting blades with a starting device and a control motor.

[0034] The robot arm device 4 also includes a sensor and a high-pressure water spraying device. The robot arm device 4 is connected to the shield main shaft and can rotate along with the shield main shaft. The sensor is arranged on the cutting disc 41 and can detect the blockage of the disc in time. The high-pressure water spraying device is arranged near the micro camera I 43 and the cutting disc 41. After the obstacles adhere to the cutting disc 41, they are flushed through the high-pressure water spraying device.

[0035] The manipulator device 3 includes a mechanical gripper 31, a hydraulic lifting device II 32, a micro camera II 33, and a slide rail 34. The slide rail 34 and the mechanical gripper 31 are perpendicular to each other. The hydraulic lifting device II 32 is a two-stage type arranged in parallel. The hydraulic lifting device II 32 is connected to a starting device, and the starting device is connected to a control motor. The mechanical device 3 can be freely extended and can slide up and down according to the slide rail 34 provided by the device to grab obstacles at different positions. The slide rail 34 can transport the separated mechanical gripper 31 to the designated part for directional grabbing, and the hydraulic lifting device II 32 can eject the mechanical gripper 31. The mechanical gripper 31 is connected to the slide rail 34 at one end and is fixedly mounted with a pulley adapted to the slide rail 34. The pulleys are evenly arranged on the slide rail. The control motor is connected to the starting device and the hydraulic lifting device Ⅱ32. The micro camera Ⅱ33 is arranged in a cylinder for protecting the micro camera Ⅱ33. The starting device is arranged in the chamber of the mechanical arm device 3 where the slide rail 34 is located. The grid mesh inside a certain range can be freely grasped with the assistance of the micro camera Ⅱ33, which is convenient for the mechanical gripper 31 to grasp.

[0036] The retractable knife device 1 includes a large hydraulic lifting device 11, a small hydraulic lifting device 12, a rotary cutting blade 13, and a starting device and a control motor electrically connected to the large hydraulic lifting device 11. The large hydraulic lifting device 11 and the small hydraulic lifting device 12 are both two-stage, which are used to control the ejection of the rotary cutting blade 13 for rotary cutting, so as to realize a freely retractable cutting form for directional cutting of the designated part.

[0037] The construction method of the pipe jacking machine passing through the geogrid comprises the following steps:

[0038] S1. When encountering geogrid obstacles, the pipe jacking machine retracts the central knife 2 in the middle, extends the retractable rotary cutting disc 13 and starts the disc to run idle at the same time, and the rotary cutting disc 13 in the retractable retractable knife device 1 at the outer edge of the disc of the pipe jacking machine is used to preliminarily divide the grid net into the outline shape of the pipe jacking machine;

[0039] S2, stop the rotation of the cutting disc 13 and extend the cutting disc 41 in the mechanical arm device 4, and use the micro camera I 43 to assist in subdividing the cutting area into sector-shaped cutting areas;

[0040] S3, retract the robot arm device 4 and rotate the robot gripper 31 in the robot hand device 3 to the corresponding fan-shaped cutting area in step S2, use the micro camera II 33 to assist in grabbing the grid grid, and repeat the above operation until the pipe jacking machine passes smoothly.

[0041] The device of the present invention can move together with the pipe jacking machine and provide corresponding obstacle clearing work in time during the pipe jacking construction, thereby reducing construction costs and accelerating construction progress.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A pipe jacking machine for penetrating geogrids, characterized in that: The invention comprises a telescopic central knife (2) arranged in the middle of a cutter head of a pipe jacking machine, a mechanical arm device (4) and a mechanical hand device (3) arranged in the pipe jacking machine and located around the central knife and capable of rotating synchronously with the cutter head, and a telescopic knife device (1) is also arranged on a quarter area of ​​the outer edge of the cutter head of the pipe jacking machine; the telescopic knife device (1) preliminarily cuts the obstacle area into circular parts; the mechanical arm device (4) can be freely telescopic to rotate and cut a fixed area, and the mechanical hand device (3) can be freely telescopic to grab the obstacle.

2. The pipe jacking machine for penetrating geogrids as claimed in claim 1, characterized in that: The mechanical arm device (4) comprises a cutting disc (41), a mechanical arm rotating shaft (42), a micro camera I (43), a hydraulic lifting device I (44) and a rotating wheel (45); the front section of the mechanical arm rotating shaft (42) is connected to the cutting disc (41); the rear section of the mechanical arm rotating shaft (42) is connected to the hydraulic lifting device I (44); the hydraulic lifting device I (44) is a two-section type arranged in parallel; the micro camera I (43) is arranged inside the mechanical arm device (4) where the mechanical arm rotating shaft (42) is located; the hydraulic lifting device I (44) is electrically connected to a starting device and a control motor; and the rotating wheel (45) is also electrically connected to a starting device and a control motor.

3. The pipe jacking machine for penetrating geogrids as claimed in claim 2, characterized in that: The mechanical arm device (4) also includes a sensor and a high-pressure water spray device. The sensor is arranged on the cutting disc (41) and can detect the blockage of the disc in time. The high-pressure water spray device is arranged near the micro camera I (43) and the cutting disc (41). When obstacles adhere to the cutting disc (41), they are washed away by the high-pressure water spray device.

4. The pipe jacking machine for penetrating geogrids as claimed in claim 2, characterized in that: The manipulator device (3) comprises a mechanical gripper (31), a hydraulic lifting device II (32), a micro camera II (33), and a slide rail (34). The slide rail (34) and the mechanical gripper (31) are perpendicular to each other. The hydraulic lifting device II (32) is a two-stage type arranged in parallel. A starting device and a control motor are connected to the hydraulic lifting device II (32).

5. The pipe jacking machine for penetrating geogrids as claimed in claim 4, characterized in that: The mechanical gripper (31) is connected to the slide rail (34) at one end, and a pulley matched with the slide rail (34) is fixedly installed thereon, and the pulleys are evenly arranged on the slide rail.

6. The pipe jacking machine for penetrating geogrids as claimed in claim 4, characterized in that: The telescopic knife device (1) comprises a large hydraulic jacking device (11), a small hydraulic jacking device (12), a rotary cutting knife disc (13) and a control motor electrically connected to the large hydraulic jacking device (11); the large hydraulic jacking device (11) and the small hydraulic jacking device (12) are both two-stage types, and are used to control the ejection of the rotary cutting knife disc (13) for rotary cutting.

7. The pipe jacking machine for penetrating geogrids as claimed in claim 1, characterized in that: The center knife (2) is a fishtail-shaped center knife with a high center and low sides. The center rotating shaft (21) where the fishtail-shaped center knife is located is a retractable device and is connected to a micro-lifting device.

8. The construction method of the pipe jacking machine passing through the geogrid as claimed in claim 6, characterized in that: The following steps are involved: S1. When encountering a geogrid obstacle, the pipe jacking machine retracts the central knife (2) in the middle and extends the retractable rotary cutting disc (13) and starts the disc to run idle at the same time, and the rotary cutting disc (13) in the retractable retractable knife device (1) at the outer edge of the disc of the pipe jacking machine is used to preliminarily divide the grid net into the outline shape of the pipe jacking machine; S2, stopping the rotation of the cutting disc (13) and extending the cutting disc (41) in the mechanical arm device (4), and using the micro camera I (43) to assist in redividing the cutting area into sector-shaped cutting areas; S3, retract the mechanical arm device (4) and rotate the mechanical gripper (31) in the mechanical hand device (3) to the corresponding fan-shaped cutting area in step S2, use the micro camera II (33) to assist in grabbing the grid grid, and repeat the above operation until the pipe jacking machine passes smoothly.

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