Vertical shaft tunneling robot and open caisson soil taking device

Abstract

The invention relates to the field of open caisson construction equipment, in particular to a vertical shaft tunneling robot and an open caisson soil borrowing device.The vertical shaft tunneling robot comprises a rack and a vertical shaft tunneling mechanism, and a vertical shaft tunneling front-back driving mechanism is arranged between the rack and the vertical shaft tunneling mechanism; the vertical shaft tunneling mechanism comprises a digging mounting seat, rollers, a digging rotating seat, a digging rotating driving cylinder, a digging arm, a swing driving cylinder, a reamer head and a reamer driving cylinder, a rack rotating mechanism is arranged on the rack, the open caisson soil taking device comprises an open caisson, the vertical shaft tunneling robot is arranged on the open caisson, and an open caisson supporting beam is arranged at the lower end of the open caisson. Adjusting supporting legs are arranged at the lower end of the annular fixing base at intervals, the annular fixing base is connected with the inner wall of the open caisson in an up-down sliding mode, the adjusting supporting legs are driven by supporting leg driving cylinders, and the lower end faces of the adjusting supporting legs abut against open caisson supporting beams. The excavator is novel in structure, large in excavation range, high in flexibility, good in stability, high in working efficiency and low in cost.

Description

[0001] This application claims priority to Chinese patent application No. 2023109476648, filed on July 31, 2023, entitled Shaft Boring Robot and Caisson Excavation Device. Technical Field

[0002] The invention relates to the field of caisson construction equipment, in particular to a vertical shaft excavation robot and a caisson soil taking device. Background Art

[0003] At present, the traditional techniques for deep shaft construction include traditional open excavation and traditional caisson construction. In traditional caisson construction, the soil below the blade foot is excavated and the sinking is achieved by the deadweight of the structure. The drag reduction measures for the shaft wall include smooth processing of the side wall, application of heavy oil, paraffin wax, and clay slurry. Traditional caissons are prone to problems such as sudden structural subsidence, uneven subsidence, tilting, and large ground settlement and deformation. In recent years, some new techniques and methods have emerged to improve the traditional caisson techniques, mainly including the pressure-in caisson method, the pneumatic caisson method, and the VSM (sunken shaft boring machine) and other construction techniques. However, the new techniques still have problems such as difficulty in controlling ground settlement, difficulty in controlling the caisson posture, low degree of mechanization and automation, and low construction efficiency. After searching, the Chinese patent CN115928780A discloses an invention patent named Active Controlled Assembled Mechanized Caisson System, which includes a propulsion suspension device. , a pipeline reel device, a floating platform, an underwater excavation device, an assembled caisson body, a grouting device, a control device, a mud and water device and a visual interface; a plurality of propulsion suspension devices are respectively arranged on the ground around the well body at intervals, and the assembled caisson body is suspended or pressed down into the well body by a plurality of propulsion suspension devices; the floating platform floats on the water surface in the assembled caisson body, and a hollow structure is formed in the middle of the floating platform, so that the underwater excavation device is suspended below the floating platform and is located at the bottom of the assembled caisson body. The pipeline of the underwater excavation device passes through the hollow structure upward through the floating platform and is led out of the assembled caisson body and then bypasses the pipeline reel device. The pipeline reel device is arranged on the ground beside the well body; the grouting device and the mud water device are both arranged on the ground outside the well body, the grouting device injects grout between the well wall and the outer wall of the assembled caisson body, and the mud water device is connected to the underwater excavation device; the control device is electrically connected to the propulsion suspension device, the pipeline reel device, the floating platform, the underwater excavation device, the assembled caisson body, the grouting device, the mud water device and the visual interface respectively, and the underwater excavation device includes a fixed base, a turntable assembly, a mechanical arm assembly, a swing drive, a dredging pump and a lifting drive; the fixed base is fixedly installed at the top center of the cross beam of the assembled caisson body, the turntable assembly The mechanical arm assembly is rotatably mounted on the fixed base; the lifting drive member is fixedly mounted on the turntable assembly, one end of the mechanical arm assembly is rotatably connected to the driving end of the lifting drive member through a first pin shaft, and the bottom of the mechanical arm assembly near the lifting drive member is rotatably connected to the ear plate on the turntable assembly through a second pin shaft, so that the mechanical arm assembly can rotate horizontally synchronously with the turntable assembly, and can rotate vertically relative to the turntable assembly around the second pin shaft through the lifting drive member; the dredging pump is swingably mounted on the other end of the mechanical arm assembly through a swinging drive member, so that the dredging pump can rotate, lift or swing around the fixed base and excavate the soil, and the dredging pump is connected to the mud and water device;The swing drive is electrically connected to the underwater excavation hydraulic controller. The above patent has the following shortcomings: First, the above patent has a complex structure and uses many devices. In addition, the underwater excavation device in the above patent is fixed at the top center of the cross beam of the caisson body, which makes the underwater excavation device only able to excavate near the center of the caisson body. For caissons with larger diameters, it may not be possible to excavate the edge of the caisson, resulting in a limited excavation range; second, the underwater excavation device in the above patent uses a lifter to adjust the up and down position of the underwater excavation device, which has high use costs, and when the underwater excavation device moves downward, it cannot maintain the stability of the underwater excavation device, and it is not convenient to adjust; third, the caisson in the above patent requires several lifting and pulling drive members to drive the sinking at the same time, which has high use costs, troublesome operation, time-consuming and labor-intensive, and increases the use cost of shaft excavation. ; Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies in the prior art and to provide a shaft excavation robot and a caisson soil taking device which have a novel structure, a large excavation range, high flexibility, good stability, high working efficiency and low cost.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: A shaft excavation robot comprises a frame and a shaft excavation mechanism, characterized in that: a shaft excavation front and rear drive mechanism is arranged between the frame and the shaft excavation mechanism, the shaft excavation front and rear drive mechanism comprises a slideway and a front and rear drive cylinder, the frame is fixedly provided with a slideway, the shaft excavation mechanism is connected to the frame in a front and rear sliding manner, the frame is provided with a front and rear drive cylinder, one end of the front and rear drive cylinder is connected to the frame, and the other end is connected to the shaft excavation mechanism, so as to facilitate the shaft excavation mechanism to move forward and backward through the front and rear drive cylinders, thereby widening the excavation range.

[0006] The frame of the present invention is provided with a drag chain, one end of the drag chain is fixedly connected to the frame, and the other end is connected to the shaft excavation mechanism, so as to protect the cables on the shaft excavation mechanism through the drag chain.

[0007] The shaft excavation mechanism of the present invention comprises an excavation mounting seat, a roller, an excavation rotating seat, an excavation rotating driving cylinder, an excavation arm, a swing driving cylinder, a reamer head and a reamer driving cylinder, an excavation mounting seat is provided under the frame, a roller is fixedly provided on the excavation mounting seat, the excavation mounting seat is slidably connected to the frame via rollers and slideways, the excavation mounting seat is driven to move forward and backward by front and rear driving cylinders, an excavation rotating seat is provided under the excavation mounting seat, an excavation rotating driving cylinder is fixedly provided on the excavation mounting seat, and the excavation rotating seat is driven to rotate by the excavation rotating driving cylinder, an excavation arm is provided on the excavation rotating seat, a swing driving cylinder is provided between the excavation arm and the excavation rotating seat, one end of the excavation arm is hinged to the excavation rotating seat, and the other end is equipped with a reamer head, one end of the swing driving cylinder is hinged to the excavation rotating seat, and the other end is hinged to the excavation arm, the reamer head is driven by the reamer driving cylinder, and the reamer driving cylinder is fixed on the excavation arm, so that the reamer head can not only move forward and backward, but also rotate 360° for operation, thereby widening the excavation range.

[0008] The shaft excavation mechanism described in the present invention is provided with a slag conveying mechanism, and the slag conveying mechanism includes a slag suction pipe, a slag discharge pipe and a slag conveying driving component. The excavation arm is provided with a slag suction pipe, and the slag suction pipe is fixedly connected to the excavation arm. One end of the slag suction pipe faces the cutter head, and the other end is connected to the slag conveying driving component. The slag discharge pipe is connected to the slag conveying driving component, and the slag conveying driving component is arranged on the excavation arm.

[0009] The slag conveying driving component of the present invention may be a slag pump, which is fixed on the excavation arm, the suction port of the slag pump is fixedly connected to the slag suction pipe, and the discharge port of the slag pump is fixedly connected to the slag discharge pipe.

[0010] The slag conveying driving component of the present invention can also be a accommodating chamber and an air source. The excavating arm is fixed with an accommodating chamber, which is connected to the air source through an air pipe. One end of the accommodating chamber is connected to the slag suction pipe, and the other end is connected to the slag discharge pipe.

[0011] The frame of the present invention is provided with a frame rotation mechanism, which includes an annular fixed seat, a track wheel, a track wheel driving motor, and a tightening driving cylinder. An annular fixed seat is provided on the outer side of the frame, an annular slide rail is provided on the annular fixed seat, a track wheel is installed at the lower end of the frame, and the track wheel is driven by the track wheel driving motor. The frame is rotatably connected to the annular fixed seat via the track wheel and the annular slide rail. Tightening driving cylinders are respectively provided at both ends of the frame, and the cylinder seat of the tightening driving cylinder is fixedly connected to the frame, and the telescopic rod of the tightening driving cylinder abuts against the annular fixed seat to fix the frame to the annular fixed seat, so as to facilitate the frame to rotate or be fixed relative to the annular fixed seat.

[0012] A caisson soil-extracting device comprises a caisson, characterized in that: the caisson is provided with the above-mentioned vertical shaft excavation robot, the inner wall of the caisson is fixedly provided with a guide slide, the lower end of the caisson is provided with a caisson support beam, the outer wall of the annular fixed seat is installed with a guide wheel, the lower end of the annular fixed seat is provided with adjustment legs at intervals, the annular fixed seat is connected to the inner wall of the caisson for sliding up and down via the guide wheel and the guide slide, the adjustment legs are driven by a leg driving cylinder, the leg driving cylinder is fixedly connected to the annular fixed seat, the lower end surface of the adjustment legs is abutted against the caisson support beam, the outer end of the caisson support beam is fixedly connected to the lower end of the caisson, so as to facilitate the robot to fall along the inner wall of the caisson for excavation, and the adjustment legs in different positions are driven to extend by the leg driving cylinder to adjust the balance of the annular fixed seat.

[0013] The annular fixing seat of the present invention is provided with a hoisting hole to facilitate hoisting of the robot.

[0014] A control connection mechanism is provided above the annular fixed seat of the present invention, and the control connection mechanism includes a supporting and fixing beam, a cable winch, a slag discharge guide wheel, a guide pulley, and a slip ring. A supporting and fixing beam is provided above the annular fixed seat, and both ends of the supporting and fixing beam are placed on the upper end surface of the caisson, and a cable winch and a slag discharge guide wheel are fixedly provided on the supporting and fixing beam. A pipeline through-hole is provided in the middle of the supporting and fixing beam, and guide pulleys are respectively installed on the inner wall of the pipeline through-hole and the supporting and fixing beams on both sides of the upper end of the pipeline through-hole. A frame control system is fixedly provided on the frame, and a slip ring is fixedly provided in the middle of the frame, and a pipe through-hole is provided in the middle of the slip ring. A lead at one end of the slip ring is connected to a cable on the cable winch, and a lead at the other end of the slip ring is connected to the frame control system. The slag discharge pipe passes through the pipe through-hole in the middle of the slip ring, passes through the pipeline through-hole, bypasses the guide pulley, and extends to the outside of the caisson through the slag discharge guide wheel, so as to facilitate controlling the robot through the frame control system and constantly understanding the depth of the descent of the annular fixed seat.

[0015] The supporting and fixing cross beam of the present invention is fixedly provided with a hoisting hole to facilitate hoisting of the supporting and fixing cross beam.

[0016] Due to the adoption of the above structure, the present invention has the advantages of novel structure, large excavation range, high flexibility, good stability, high working efficiency, low cost and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the shaft excavation robot of the present invention.

[0018] Figure 2 The present invention Figure 1 main view.

[0019] Figure 3 It is a structural schematic diagram of the caisson soil taking device of the present invention.

[0020] Figure 4 The present invention Figure 3 Stereoscopic image without the caisson.

[0021] Figure 5 The present invention Figure 4 sectional view of .

[0022] Figure 6 It is an enlarged schematic diagram of the caisson of the present invention.

[0023] Figure 7 The present invention Figure 5 The upper part is an enlarged diagram rotated 90 degrees.

[0024] Figure 8 The present invention Figure 5 The lower part is an enlarged diagram rotated 90 degrees.

[0025] Figure numerals: frame 1, shaft excavation mechanism 2, shaft excavation front and rear drive mechanism 3, slideway 4, front and rear drive cylinder 5, drag chain 6, excavation mounting seat 7, roller 8, excavation rotating seat 9, excavation rotating drive cylinder 10, excavation arm 11, swing drive cylinder 12, reamer head 13, reamer drive cylinder 14, slurry pump 15, frame rotation mechanism 16, annular fixed seat 17, track wheel 18, tightening drive cylinder 19, annular slide rail 20, caisson 21, shaft excavation robot 22, guide slideway 23, caisson support beam 24, guide wheel 25, adjustment leg 26, leg drive cylinder 27, lifting hole 28, control connection mechanism 29, support fixed beam 30, cable winch 31, slag discharge guide wheel 32, guide pulley 33, slip ring 34, slag discharge pipe 35, pipeline perforation 36. DETAILED DESCRIPTION

[0026] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0027] A shaft excavation robot 22 includes a frame 1 and a shaft excavation mechanism 2, characterized in that a shaft excavation front and rear drive mechanism 3 is provided between the frame 1 and the shaft excavation mechanism 2, the shaft excavation front and rear drive mechanism 3 includes a slide 4 and a front and rear drive cylinder 5, the frame 1 is fixedly provided with a slide 4, the shaft excavation mechanism 2 is connected to the frame 1 in a front and rear sliding manner, the frame 1 is provided with a front and rear drive cylinder 5, one end of the front and rear drive cylinder 5 is connected to the frame 1, and the other end is connected to the shaft excavation mechanism 2, so as to facilitate driving the shaft excavation mechanism to move forward and backward through the front and rear drive cylinders, thereby widening the excavation range.

[0028] The frame 1 of the present invention is provided with a drag chain 6, one end of the drag chain 6 is fixedly connected to the frame 1, and the other end is connected to the shaft excavation mechanism 2, so as to protect the cables on the shaft excavation mechanism through the drag chain.

[0029] The shaft excavation mechanism 2 of the present invention includes an excavation mounting seat 7, a roller 8, an excavation rotating seat 9, an excavation rotating drive cylinder 10, an excavation arm 11, a swing drive cylinder 12, a reamer head 13, a reamer driving cylinder 14, a slag suction pipe and a slurry pump 15. The excavation mounting seat 7 is provided below the frame 1, and the roller 8 is fixedly provided on the excavation mounting seat 7. The excavation mounting seat 7 is slidably connected to the frame 1 via the roller 8 and the slideway 4. The excavation mounting seat 7 is driven to move forward and backward by the front and rear drive cylinders 5. The excavation rotating seat 9 is provided below the excavation mounting seat 7, and the excavation rotating drive cylinder 10 is fixedly provided on the excavation mounting seat 7. The excavation rotating seat 9 is driven by the excavation rotating drive cylinder 10. Rotation, an excavation arm 11 is provided on the excavation rotating seat 9, and a swing driving cylinder 12 is provided between the excavation arm 11 and the excavation rotating seat 9, one end of the excavation arm 11 is hinged to the excavation rotating seat 9, and a reamer head 13 is installed on the other end, and a slag suction pipe is provided on the excavation arm 11, one end of the swing driving cylinder 12 is hinged to the excavation rotating seat 9, and the other end is hinged to the excavation arm 11, and the reamer head 13 is driven by a reamer driving cylinder 14, and the reamer driving cylinder 14 is fixed on the excavation arm 11, and the slag suction pipe is fixedly connected to the excavation arm 11, one end of the slag suction pipe faces the reamer head 13, and the other end is connected to the slurry pump 15, and the slurry pump 15 is fixed on the excavation arm 11, so that the reamer head can not only move forward and backward, but also rotate 360°, thereby widening the excavation range.

[0030] The frame 1 of the present invention is provided with a frame rotation mechanism 16, and the frame rotation mechanism 16 includes an annular fixed seat 17, a track wheel 18, a track wheel driving motor, and a tightening driving cylinder 19. An annular fixed seat 17 is provided on the outer side of the frame 1, and an annular slide rail 20 is provided on the annular fixed seat 17. A track wheel 18 is installed at the lower end of the frame 1, and the track wheel 18 is driven by the track wheel driving motor. The frame 1 is rotatably connected to the annular fixed seat 17 via the track wheel 18 and the annular slide rail 20. Tightening driving cylinders 19 are respectively provided at both ends of the frame 1, and the cylinder seat of the tightening driving cylinder 19 is fixedly connected to the frame 1, and the telescopic rod of the tightening driving cylinder 19 abuts against the annular fixed seat 17, so that the frame 1 is fixedly connected to the annular fixed seat 17, so that the frame can be rotated or fixed relative to the annular fixed seat.

[0031] A caisson soil-extracting device comprises a caisson 21, characterized in that: the caisson 21 is provided with the above-mentioned vertical shaft excavation robot 22, the inner wall of the caisson 21 is fixedly provided with a guide slideway 23, the lower end of the caisson 21 is provided with a caisson support beam 24, the outer wall of the annular fixed seat 17 is installed with a guide wheel 25, the lower end of the annular fixed seat 17 is provided with adjustment legs 26 at intervals, the annular fixed seat 17 is connected to the inner wall of the caisson 21 for vertical sliding connection via the guide wheel 25 and the guide slideway 23, the adjustment legs 26 are driven by a leg driving cylinder 27, the leg driving cylinder 27 is fixedly connected to the annular fixed seat 17, the lower end surface of the adjustment leg 26 abuts against the caisson support beam 24, the outer end of the caisson support beam 24 is fixedly connected to the lower end of the caisson 21, so as to facilitate the robot to fall along the inner wall of the caisson for excavation, and the adjustment legs at different positions are driven to extend by the leg driving cylinder to adjust the balance of the annular fixed seat.

[0032] The annular fixing seat 17 of the present invention is provided with a hoisting hole 28 to facilitate hoisting of the robot.

[0033] A control connection mechanism 29 is provided above the annular fixed seat 17 of the present invention, and the control connection mechanism 29 includes a supporting fixed beam 30, a cable winch 31, a slag discharge guide wheel 32, a guide pulley 33, a slip ring 34, and a slag discharge pipe 35. A supporting fixed beam 30 is provided above the annular fixed seat 17, and both ends of the supporting fixed beam 30 are placed on the upper end surface of the caisson 21. The cable winch 31 and the slag discharge guide wheel 32 are fixed on the supporting fixed beam 30. A pipeline through hole 36 is provided in the middle of the supporting fixed beam 30, and the inner wall of the pipeline through hole 36 and the supporting fixed beam 30 on both sides of the upper end of the pipeline through hole 36 are respectively provided. A guide pulley 33 is installed, a frame control system is fixedly provided on the frame 1, a slip ring 34 is fixedly provided in the middle of the frame 1, a pipe through hole is provided in the middle of the slip ring 34, a lead at one end of the slip ring 34 is connected to the cable on the cable winch 31, and a lead at the other end of the slip ring 34 is connected to the frame control system, a slag discharge pipe 35 is fixedly provided at the discharge outlet of the slurry pump 15, the slag discharge pipe 35 passes through the pipe through hole in the middle of the slip ring 34, passes through the pipeline through hole 36, bypasses the guide pulley 33, and is guided by the slag discharge guide wheel 32 to extend to the outside of the caisson 21, so as to facilitate the control of the robot through the frame control system and to understand the depth of the descent of the annular fixed seat at all times.

[0034] The supporting and fixing cross beam 30 of the present invention is fixedly provided with a hoisting hole to facilitate hoisting of the supporting and fixing cross beam.

[0035] As attached Figure 1-6In the present invention, a hydraulic system can be arranged on the frame 1, and the hydraulic system is connected to the frame control system. The front and rear drive cylinders 5, the excavation rotation drive cylinder 10, the swing drive cylinder 12, the reamer drive cylinder 14, the slurry pump 15 or the air source, the tightening drive cylinder 19, and the leg drive cylinder 27 are all connected to the frame control system and controlled by the frame control system. One end of the cable winch 31 is connected to the frame control system, and the other end is connected to the control system of the operating platform on the road surface by bypassing the winch shaft of the cable winch 31. The control system of the operating platform and the frame control system can both adopt a PLC control system. The operator can operate the entire caisson soil taking device at the upper end of the caisson. The annular fixed seat 17 or the excavation arm 11 can be provided with a camera and a lighting lamp, which are all connected to the frame control system to facilitate the understanding of the underground situation at any time. Each drive cylinder can adopt a hydraulic cylinder. The slag conveying drive component can be a slurry pump 15 or a containing chamber and an air source. The air source can be a compressor. The air is transported so that the slag suction pipe absorbs the mud after the auger head 13 digs the well, enters the containing chamber, and then is discharged through the slag discharge pipe 35. The two slag conveying driving components can be selected and set according to needs. This embodiment takes the slag conveying driving component as a slurry pump 15 as an example to illustrate. When in use, first dig a pit where a well needs to be dug. The preceding steps are the same as those in the prior art and are not repeated here. Then, the caisson 21 is put in, and the lower end of the caisson 21 is against the bottom of the pit, and the outer wall of the caisson 21 is fixed against the inner wall of the pit. A caisson support beam 24 is set at the lower end of the caisson 21, and the caisson support beam 24 is a cross beam, so that four excavation holes are formed between the caisson support beam 24 and the bottom of the pit, which is convenient for the robot to dig, as shown in the attached figure. Figure 3 As shown, The steps are as follows: Step 1: Place the annular fixing seat 17 into the caisson 21 by means of a crane or other lifting equipment, make the guide wheel 25 of the annular fixing seat 17 slidably connected with the guide slideway 23, adjust the lower end of the support leg 26 to abut against the upper end surface of the caisson support beam 24, fix the position of the shaft excavation robot 22 in the caisson 21, and place the supporting and fixing beam 30 on the upper end of the caisson 21 by means of a crane or other lifting equipment. Guardrails may be provided on both sides of the supporting and fixing beam 30 to prevent the cable or the slag discharge pipe 35 from slipping out of the supporting and fixing beam 30. The slag discharge pipe 35 extends to the outside of the caisson 22 and is connected to the slag discharge box to facilitate slag discharge; Step 2: The operator controls the entire caisson soil extraction device through the operating platform. The control system can start the front and rear drive cylinders 5 to drive the auger head 13 to move forward and backward and move it to above an excavation hole of the caisson support beam 24. The excavation arm 11 is a telescopic mechanical arm that can be retracted. Start the excavation arm 11 so that the auger head 13 contacts the bottom of the pit. Start the auger drive cylinder 14 and the slurry pump 15 to start excavating and extracting soil. The auger head 13 can rotate 360° driven by the excavation rotation drive cylinder 10. At the same time, the swing drive cylinder 12 can change the excavation angle of the auger head 13. When an excavation hole is excavated, that is, the auger head 13 does not contact the soil at the bottom of the pit, start the front and rear drive cylinders 5 to adjust the front and rear positions of the auger head 13, or start the tightening drive cylinder 19 so that the telescopic rod of the tightening drive cylinder 19 does not contact the annular fixed seat 17, start the track wheel drive motor, and drive the track wheel 18 to drive the frame 1 to rotate The auger head 13 is rotated, thereby driving the auger head 13 to rotate, adjusting the auger head 13 to another excavation hole, and excavating and taking soil are carried out as above. After the excavation is completed, the next excavation hole is excavated. After the four excavation holes formed by the caisson support beam 24 are excavated, the soil at the lower end of the caisson 21 collapses into the excavation hole, and the caisson 21 moves downward under the action of its own gravity, and the supporting fixed crossbeam 30 moves downward accordingly. The annular fixing seat 17 moves downward along the guide slideway 23 on the inner wall of the caisson 21 through the guide wheel 25, and the adjustment leg moves downward accordingly, and the cable winch 31 is started to adapt to the downward movement of the annular fixing seat 17. At the same time, the leg driving cylinder 27 of the four adjustment legs 26 at the lower end of the annular fixing seat 17 is started. The four adjustment legs 16 are distributed circumferentially below the annular fixing seat 17. The horizontal state of the annular fixing seat 17 is maintained by adjusting the length of each adjustment leg 27, and then the four excavation holes on the caisson 21 are continued to be excavated as above; Step 3: When the upper end of the caisson 21 is about to be lower than the ground height, start the cable winch 31, lengthen the cable, lift the supporting fixed beam 30 upward by a crane or a lifting device, and then install a section of the caisson 21 at the upper end of the caisson 21. The installation method is the same as that of the prior art. After the installation is completed, place the supporting fixed beam 30 on the upper end of the newly installed caisson; Step 4: Repeat steps 2 and 3 until the caisson excavation and soil taking operation is completed; Step 5: Take out the supporting and fixing beam 30 and the annular fixing seat 17 from the caisson 21 by means of a crane or a lifting device.

[0036] The present invention has an ingenious structure and is easy to operate. Compared with the prior art, the first point is that the present invention sets a soil taking forward and backward moving mechanism 3 so that the shaft excavation robot 22 can move forward and backward, thereby improving the working efficiency of shaft excavation. At the same time, a large-diameter caisson can be excavated, thereby reducing the cost of shaft construction. The second point is that the present invention sets an adjusting leg 26, and the stability of the entire robot operation is maintained by adjusting the length of the adjusting leg 26, thereby indirectly improving the efficiency of shaft excavation. The third point is that the present invention also sets a frame rotation mechanism 16 so that the frame 1 can rotate as a whole, thereby improving the flexibility of the robot operation. At the same time, the annular fixing seat 17 is tightened by the tightening drive cylinder 19, thereby avoiding the shaking of the robot during operation, thereby improving the stability and sustainability of the operation. In addition, the excavation arm 11 can also be rotated by the copper drum excavation rotating drive cylinder 10, thereby widening the operating range of the robot, thereby making the excavation faster and better. The fourth point is that the caisson 21 in the present invention can fall by gravity, and there is no need to use a hoisting device to lift the caisson. The caisson can sink under the action of its own gravity, thereby greatly improving the efficiency of shaft excavation, while reducing the cost of shaft excavation.

[0037] Due to the adoption of the above structure, the present invention has the advantages of novel structure, large excavation range, high flexibility, good stability, high working efficiency, low cost and the like.

Claims

1. A shaft excavation robot (22), comprising a frame (1) and a shaft excavation mechanism (2), characterized in that: A shaft excavation front and rear drive mechanism (3) is provided between the frame (1) and the shaft excavation mechanism (2), the shaft excavation front and rear drive mechanism (3) comprising a front and rear drive cylinder (5), the shaft excavation mechanism (2) being connected to the frame (1) in a front and rear sliding manner, one end of the front and rear drive cylinder (5) being connected to the frame (1), and the other end being connected to the shaft excavation mechanism (2).

2. A shaft boring robot according to claim 1, characterized in that: The shaft excavation mechanism (2) comprises an excavation mounting seat (7), an excavation rotating seat (9), an excavation rotating drive cylinder (10), an excavation arm (11), a swing drive cylinder (12), a reamer head (13), and a reamer drive cylinder (14). An excavation mounting seat (7) is provided below the frame (1). The excavation mounting seat (7) is slidably connected to the frame (1). The excavation mounting seat (7) is driven to move forward and backward by front and rear drive cylinders (5). An excavation rotating seat (9) is provided below the excavation mounting seat (7). An excavation rotating drive cylinder (10) is fixedly provided on the excavation mounting seat (7). The excavation rotating seat (9) is driven to rotate by an excavation rotating drive cylinder (10); an excavation arm (11) is provided on the excavation rotating seat (9); a swing drive cylinder (12) is provided between the excavation arm (11) and the excavation rotating seat (9); one end of the excavation arm (11) is hinged to the excavation rotating seat (9); a reamer head (13) is installed at the other end; one end of the swing drive cylinder (12) is hinged to the excavation rotating seat (9); the other end is hinged to the excavation arm (11); the reamer head (13) is driven by a reamer drive cylinder (14); and the reamer drive cylinder (14) is fixed to the excavation arm (11).

3. A shaft boring robot according to claim 2, characterized in that: The shaft excavation mechanism (2) is provided with a slag conveying mechanism, the slag conveying mechanism comprising a slag suction pipe, a slag discharge pipe (35) and a slag conveying drive component, the slag suction pipe is fixedly connected to the excavation arm (11), one end of the slag suction pipe faces the reamer head (13), and the other end is connected to the slag conveying drive component, the slag discharge pipe (35) is connected to the slag conveying drive component, and the slag conveying drive component is arranged on the excavation arm (11).

4. A shaft boring robot according to claim 3, characterized in that: The slag conveying driving component is a slag pump (15), the slag pump (15) is fixed on the excavation arm (11), the suction port of the slag pump (15) is fixedly connected to the slag suction pipe, and the discharge port of the slag pump (15) is fixedly connected to the slag discharge pipe (35).

5. A shaft boring robot according to claim 3, characterized in that: The slag conveying driving component comprises a accommodating chamber and an air source. The excavating arm (11) is fixed with an accommodating chamber, the accommodating chamber is connected to the air source via an air pipe, one end of the accommodating chamber is connected to the slag suction pipe, and the other end is connected to the slag discharge pipe (35).

6. A shaft boring robot according to claim 1 or 2 or 3 or 4 or 5, characterized in that: The frame (1) is provided with a frame rotation mechanism (16), the frame rotation mechanism (16) comprising an annular fixing seat (17), a track wheel (18), a track wheel driving motor, and a tightening driving cylinder (19). An annular fixing seat (17) is provided on the outer side of the frame (1), an annular slide rail (20) is provided on the annular fixing seat (17), a track wheel (18) is installed at the lower end of the frame (1), the track wheel (18) is driven by the track wheel driving motor, the frame (1) is rotatably connected to the annular fixing seat (17) via the track wheel (18) and the annular slide rail (20), and tightening driving cylinders (19) are respectively provided at both ends of the frame (1), a cylinder seat of the tightening driving cylinder (19) is fixedly connected to the frame (1), and a telescopic rod of the tightening driving cylinder (19) abuts against the annular fixing seat (17), thereby fixing the frame (1) to the annular fixing seat (17).

7. A shaft boring robot according to claim 1 or 2 or 3 or 4 or 5, characterized in that: The frame (1) is provided with a drag chain (6), one end of the drag chain (6) is fixedly connected to the frame (1), and the other end is connected to the shaft excavation mechanism (2).

8. A caisson soil extraction device, comprising a caisson (21), characterized in that: The caisson (21) is provided with a shaft excavation robot (22) as claimed in claim 6. The inner wall of the caisson (21) is fixedly provided with a guide slideway (23). The lower end of the caisson (21) is provided with a caisson support beam (24). The outer wall of the annular fixing seat (17) is provided with a guide wheel (25). The lower end of the annular fixing seat (17) is provided with an adjustment leg (26) at intervals. The annular fixing seat (17) is connected to the inner wall of the caisson (21) by sliding up and down via the guide wheel (25) and the guide slideway (23). The adjustment leg (26) is driven by a leg driving cylinder (27). The leg driving cylinder (27) is fixedly connected to the annular fixing seat (17). The lower end surface of the adjustment leg (26) abuts against the caisson support beam (24). The outer end of the caisson support beam (24) is fixedly connected to the lower end of the caisson (21).

9. The caisson soil taking device according to claim 8, characterized in that: A control connection mechanism (29) is provided above the annular fixing seat (17), and the control connection mechanism (29) comprises a supporting and fixing beam (30), a cable winch (31), and a slip ring (34). A supporting and fixing beam (30) is provided above the annular fixing seat (17), and both ends of the supporting and fixing beam (30) are placed on the upper end surface of the caisson (21). The cable winch (31) is fixedly provided on the supporting and fixing beam (30). A frame control system is fixedly provided on the frame (1). A slip ring (34) is fixedly provided in the middle of the frame (1). A lead wire at one end of the slip ring (34) is connected to a cable on the cable winch (31), and a lead wire at the other end of the slip ring (34) is connected to the frame control system.

10. The caisson soil taking device according to claim 9, characterized in that: The annular fixing seat (17) is provided with a lifting hole (28), and the supporting fixing crossbeam (30) is fixedly provided with a lifting hole.

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