Open caisson type vertical shaft heading machine

Abstract

The invention provides an open caisson type vertical shaft heading machine, and belongs to the technical field of tunnel construction. Comprising a heading machine main machine, a central rotary drive, a rotary device, a crushing device, a cleaning device and a cutting device, the fixed end of the central rotary drive is connected with the heading machine main machine, and the driving end of the central rotary drive is connected with the rotary device; the crushing device is used for crushing tunneled boulders, one end of the crushing device is hinged to the rotating device, and the other end of the crushing device is connected with the cutting device; and the cleaning device is arranged on the crushing device and is used for cleaning the tunneled hole wall. According to the open caisson type vertical shaft heading machine, the crushing device used for crushing boulders, the cleaning device used for cleaning the hole wall and the cutting device used for heading are integrated, so that heading, cleaning and crushing are carried out at the same time, and the overall working efficiency of the open caisson type vertical shaft heading machine is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction and relates to a caisson type vertical shaft boring machine. Background Art

[0002] As a passage connecting the surface and the underground, vertical shafts occupy an increasingly important position in the development of urban underground space. However, the current construction of vertical shafts is mainly based on traditional maintenance structures + open excavation, which has shortcomings such as low construction efficiency, high investment costs, intensive labor, and poor safety. At present, more and more vertical shafts within 100 meters in cities are constructed using the caisson tunneling machine method. This method uses equipment to dive underwater to excavate and extract soil. There is no need to construct maintenance structures in advance, and there is no need to pump out groundwater inside and outside the well. It is currently the most advanced well construction method.

[0003] Due to the characteristics of caisson boring machines that excavate without drainage, after the shaft is excavated to the designed depth, the sediment at the bottom of the shaft and the scum on the shaft wall must be cleaned (well washing) before underwater bottom sealing can be carried out. At present, the scum on the shaft wall is mainly washed away by high-pressure water jets. Generally, the jet device is lowered to the predetermined depth by a crane, and its relative position to the shaft wall is uncertain. In addition, the reaction force generated during the jet washing process causes the nozzle to be in a shaking state, resulting in inadequate cleaning and unsatisfactory washing effect.

[0004] At present, there are mainly mud and water slag discharge, vacuum slag discharge, air lift reverse circulation slag discharge and other methods for shaft boring machines. All of the above slag discharge methods have corresponding slag discharge pipelines. Due to the limitations of pipeline diameter and pump slag discharge capacity, large-grained pebbles or boulders within the excavation range of the shaft cannot be discharged through the pipeline. The actual practice is to lower the grab bucket to assist in slag discharge. Since the caisson-type shaft adopts an in-well undrained construction process, the grab bucket cannot effectively identify the position of the boulders and can only perform inefficient blind grabbing operations, with poor application effects. As the excavation depth increases, pebbles and boulders accumulate more and more and stay at the bottom of the shaft for a long time, which will increase the resistance to the equipment movement and intensify the vibration. At the same time, secondary damage to the cutter head will occur, and the equipment failure rate will increase. Summary of the invention

[0005] The present invention provides a caisson type shaft boring machine, comprising a boring machine main machine, a central rotary drive, a rotary device, a crushing device, a cleaning device and a cutting device;

[0006] The fixed end of the central rotary drive is connected to the main machine of the tunnel boring machine, and the driving end of the central rotary drive is connected to the rotary device;

[0007] The crushing device is used to crush the isolated rocks after excavation, and one end of the crushing device is hinged to the rotating device, and the other end of the crushing device is connected to the cutting device;

[0008] The cleaning device is arranged on the crushing device and is used for cleaning the hole wall after excavation.

[0009] Furthermore, the crushing device includes a boom, a bucket arm, a drive assembly and a crushing bucket;

[0010] One end of the boom is hinged to one end of the bucket arm, and the other end of the bucket arm is hinged to the crushing bucket;

[0011] The driving assembly is used to drive the crushing bucket to swing, and one end of the driving assembly is hinged to the bucket arm, and the other end of the adjusting assembly is hinged to the crushing bucket;

[0012] The crushing bucket is connected to the cutter disc, and the crushing bucket is configured as a jaw plate structure, a roller structure or a clamp structure.

[0013] Furthermore, the crushing bucket specifically includes a movable jaw, a fixed jaw, a crushing bucket body, a crushing bucket inlet and a crushing bucket outlet;

[0014] The crushing bucket body is set as a bucket type structure, and the crushing bucket body is hinged with the bucket arm, and a crushing bucket inlet and a crushing bucket outlet are respectively provided on two end surfaces perpendicular to the displacement direction of the crushing bucket and the regulating cylinder;

[0015] The movable jaw is rotatably connected to the crushing bucket body, the fixed jaw is rotatably connected to the crushing bucket body, and the movable jaw and the fixed jaw are spaced apart from each other and their rotation directions are the same as the displacement direction of the adjusting cylinder.

[0016] Furthermore, the crushing bucket comprises a roller, a drum, a crushing bucket body, a crushing bucket inlet and a crushing bucket outlet;

[0017] The crushing bucket body is configured as a bucket-type structure, and the crushing bucket body is simultaneously hinged to the bucket arm and the driving assembly;

[0018] The roller is rotatably connected to the crushing bucket body, and the drum is rotatably connected to the crushing bucket body. The rotation directions of the roller and the drum are the same as the distribution directions from the crushing bucket inlet and the crushing bucket outlet. The rock enters the crushing bucket body from the crushing bucket inlet, and is then relatively squeezed and crushed through the relative rotation between the roller and the drum, and then discharged through the crushing bucket outlet.

[0019] Furthermore, the crushing bucket comprises a crushing bucket body, a fixed clamp, a movable clamp and a clamp cylinder;

[0020] The fixed clamp is fixedly connected to the crushing bucket body, and the movable clamp is hinged to the crushing bucket body;

[0021] One end of the clamp oil cylinder is hinged to the crushing bucket body, and the other end of the clamp oil cylinder is hinged to the movable clamp, which is used to drive the movable clamp to open and close relative to the fixed clamp.

[0022] Further, the cleaning device includes a sliding assembly, a mechanical arm and a cleaning assembly;

[0023] The fixed end of the sliding assembly is fixedly connected to the movable arm, and a mechanical arm is installed on the driving end of the sliding assembly to drive the mechanical arm to move along the length direction of the movable arm;

[0024] A cleaning component is installed on one end of the mechanical arm away from the sliding component.

[0025] Furthermore, a rotary drive is provided between the sliding assembly and the robotic arm for driving the robotic arm to rotate 360 ​​degrees relative to the sliding assembly.

[0026] Furthermore, a hydraulic swing cylinder for driving the cleaning assembly to swing relative to the robotic arm is provided between the robotic arm and the cleaning assembly.

[0027] Further, the cleaning assembly includes a sliding frame, a roller brush and a driving motor;

[0028] The sliding frame comprises a first connecting block, a second connecting block and a third connecting block connected in sequence, the first connecting block and the third connecting block are symmetrically arranged along the second connecting block, and the first connecting block and the second connecting block are perpendicular or inclined to each other;

[0029] The second connecting block is simultaneously articulated with the mechanical arm and the hydraulic swing cylinder;

[0030] One end of the roller brush is rotatably connected to the first connecting block, and the other end of the roller brush is rotatably connected to the third connecting block; and a plurality of elastic steel plate bundle brush heads are arranged on the outer surface of the roller brush;

[0031] The fixed end of the driving motor is fixedly connected to the first connecting block or the third connecting block, and the driving end of the driving motor is connected to the roller brush through a coupling to drive the roller brush to rotate.

[0032] Furthermore, the cutting device includes a cutting arm and a drum base and a cutting drum arranged on the cutting arm. The drum base is fixedly connected to one end of the cutting arm. The cutting drum is rotatably installed on the drum base. The cutting drum rotates around its own axis and swings actively driven by the cutting arm.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The caisson-type shaft boring machine provided by the present invention integrates a crushing device for crushing boulders, a cleaning device for cleaning the cave wall and a cutting device for excavation, thereby realizing excavation, cleaning and crushing at the same time, effectively improving the overall working efficiency of the caisson-type shaft boring machine.

[0035] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0037] Figure 1 It is a partial schematic diagram of a caisson-type shaft boring machine in an embodiment of the present invention;

[0038] Figure 2 It is a partial cross-sectional schematic diagram of a caisson-type shaft boring machine according to an embodiment of the present invention;

[0039] Figure 3 yes Figure 2 Schematic diagram of the structure of the medium crushing device;

[0040] Figure 4 yes Figure 3 Schematic diagram of the structure of the middle crushing bucket;

[0041] Figure 5 yes Figure 4 A side view schematic diagram of a first structure;

[0042] Figure 6 yes Figure 4 A side view schematic diagram of a second structure;

[0043] Figure 7 yes Figure 3 Schematic diagram of the third structure of the crushing bucket;

[0044] Figure 8 yes Figure 1 A first axonometric diagram of the central cleaning device;

[0045] Fig. 9 yes Figure 1 A second axonometric diagram of the central cleaning device;

[0046] Fig.10 yes Figure 8 , Fig. 9 A schematic diagram of the structure of the cleaning component;

[0047] Fig.11 yes Figure 1 A schematic diagram of the structure of the cutting device;

[0048] Fig.12 yes Fig.11 A partial enlarged schematic diagram of point Ⅰ in the middle.

[0049] in:

[0050] 1. Main machine of the tunnel boring machine, 2. Center rotary drive, 3. Rotating device, 4. Crushing device, 5. Cleaning device, 6. Cutting device;

[0051] 2.1, first row of slurry pipes, 2.2, slurry swivel joint;

[0052] 3.1, rotary table, 3.2, swing cylinder;

[0053] 4.1, boom cylinder, 4.2, boom, 4.3, arm cylinder, 4.4, arm, 4.5, adjustment cylinder, 4.6, crushing bucket, 4.6.1, crushing bucket outlet, 4.6.2, crushing bucket body, 4.6.3, crushing bucket inlet, 4.6.4, movable jaw, 4.6.5, first motor, 4.6.6, fixed jaw, 4.6.7, roller, 4.6.8, drum, 4.6.9, second motor, 4.6.10, third motor, 4.6.11, fixed clamp, 4.6.12, movable clamp, 4.6.13, clamp cylinder;

[0054] 5.1, sliding assembly, 5.1.1, sliding frame, 5.1.2, hydraulic motor, 5.1.3, sprocket chain assembly, 5.1.4, energy chain, 5.1.5, rotary encoder, 5.2, rotary drive, 5.3, mechanical arm, 5.3.1, first arm section, 5.3.2, second arm section, 5.3.3, third arm section, 5.4, cleaning assembly, 5.4.1, sliding frame 5.1.1, 5.4.2, roller brush, 5.4.3, drive motor;

[0055] 6.1, cutting arm, 6.2, slurry discharge pump, 6.3, pump suction port, 6.4, first cone plate, 6.5, filter grid plate, 6.5.1, grid hole, 6.6, second cone plate, 6.7, second slurry discharge pipe, 6.8, flushing port, 6.9, slag discharge chamber, 6.10, drum base, 6.11, cutting drum. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned purposes, features and advantages of the present invention more clear and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It should be noted that the drawings of the present invention are all simplified and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the implementation of the present invention; the "number" mentioned in the present invention is not limited to the specific number in the examples in the accompanying drawings; the directions or positional relationships indicated by "front", "middle", "back", "left", "right", "up", "down", "top", "bottom", "middle", etc. mentioned in the present invention are based on the directions or positional relationships shown in the drawings of the present invention, and do not indicate or imply that the devices or components referred to must have a specific direction, nor can they be understood as limitations on the present invention.

[0057] Example:

[0058] See also Figure 1 and Figure 2 As shown, a caisson type shaft boring machine provided by the present invention comprises a boring machine main body 1, a central rotary drive 2, a rotary device 3, a crushing device 4, a cleaning device 5 and a cutting device 6;

[0059] The fixed end of the central rotary drive 2 is connected to the main machine 1 of the tunnel boring machine, and the driving end of the central rotary drive 2 is connected to the rotary device 3;

[0060] The crushing device 4 is used to crush the boulders after excavation, and one end of the crushing device 4 is hinged to the rotating device 3, and the other end of the crushing device 4 is connected to the cutting device 6;

[0061] The cleaning device 5 is arranged on the crushing device 4 and is used for cleaning the hole wall after excavation.

[0062] Preferably, the central rotary drive 2 is also provided with a first row of slurry pipes 2.1 and a mud rotary joint 2.2. The first row of slurry pipes 2.1 is connected to a third row of slurry pipes 6.6 arranged in the cutting device 6 through the mud rotary joint so as to discharge the mud residue generated by the cutting device 6 during the excavation process.

[0063] Preferably, the rotating device 3 includes a rotating table 3.1 and a swing cylinder 3.2, the fixed end of the rotating table 3.1 is fixedly connected to the shield body in the tunnel boring machine main body 1, and the swing cylinder 3.2 and the crushing device 4 are hinged on the driving end of the rotating table 3.1. The crushing device 4 is driven by the rotating table 3.1 to perform a 360-degree rotating motion, and is driven by the swing cylinder 3.2 to swing relative to the rotating table 3.1.

[0064] See also Figures 3 to 7 As shown, the crushing device includes a boom cylinder 4.1, a boom 4.2, a bucket cylinder 4.3, a bucket 4.4, an adjustment cylinder 4.5 and a crushing bucket 4.6;

[0065] One end of the boom cylinder 4.1 is hinged to the turntable 3.1, and the other end of the boom cylinder 4.1 is hinged to one end of the boom 4.2, so as to drive the boom 4.2 to swing relative to the turntable 3.1;

[0066] The other end of the movable arm 4.2 is hinged to one end of the bucket arm 4.4, and is arranged at an angle less than 180 degrees with the bucket arm 4.4; the other end of the bucket arm 4.4 is hinged to the crushing bucket 4.6;

[0067] One end of the arm cylinder 4.3 is hinged to the boom 4.2, and the other end of the arm cylinder 4.3 is hinged to the arm 4.4, for driving the arm 4.4 to swing relative to the boom 4.2;

[0068] One end of the regulating oil cylinder 4.5 is hinged to the bucket arm 4.4, and the other end of the regulating oil cylinder 4.5 is hinged to the crushing bucket 4.6, so as to drive the crushing bucket 4.6 to swing relative to the movable arm 4.2.

[0069] Preferably, the crushing bucket 4.6 comprises a crushing bucket body 4.6.2, a crushing bucket outlet 4.6.1, a crushing bucket inlet 4.6.3 and a crushing assembly; the crushing bucket outlet 4.6.1 and the crushing bucket inlet 4.6.3 are respectively arranged on two opposite end faces of the crushing bucket body 4.6.2, and the boulders to be crushed enter through the crushing bucket inlet 4.6.3, are crushed by the crushing assembly, and then discharged through the crushing bucket outlet 4.6.1.

[0070] Further preferably, the crushing assembly includes at least one of a jaw plate structure, a roller structure or a clamp structure.

[0071] As a further embodiment of the present invention, when the crushing mode of the crushing bucket 4.6 is set to a jaw plate crushing mode, the main structure of the crushing bucket 4.6 is set to a bucket structure, and the crushing bucket 4.6 specifically includes a movable jaw 4.6.4, a fixed jaw 4.6.6, a crushing bucket body 4.6.2, a crushing bucket inlet 4.6.3 and a crushing bucket outlet 4.6.1; the crushing bucket body 4.6.2 is set to a bucket structure, and the crushing bucket body 4.6.2 is hinged to the bucket arm 4.4, and in the crushing The two end surfaces of the bucket 4.6 and the adjusting oil cylinder 4.5, which are perpendicular to each other in displacement direction, are respectively provided with a crushing bucket inlet 4.6.3 and a crushing bucket outlet 4.6.1; the movable jaw 4.6.4 is rotatably connected to the crushing bucket body 4.6.2, the fixed jaw 4.6.6 is rotatably connected to the crushing bucket body 4.6.2, and the movable jaw 4.6.4 and the fixed jaw 4.6.6 are arranged at intervals from each other, and the rotation direction of the movable jaw 4.6.4 and the fixed jaw 4.6.6 is the same as the displacement direction of the adjusting oil cylinder 4.5. That is, the rotation direction of the movable jaw 4.6.4 and the fixed jaw 4.6.6 is the same as the distribution direction from the crushing bucket inlet 4.6.3 to the crushing bucket outlet 4.6.1, and the rock enters the crushing bucket body 4.6.2 from the crushing bucket inlet 4.6.3, and then is relatively squeezed and crushed through the relative rotation between the movable jaw 4.6.4 and the fixed jaw 4.6.6, and then discharged through the crushing bucket outlet 4.6.1.

[0072] Preferably, a first rotating bearing is provided between the movable jaw 4.6.4 and the crushing bucket body 4.6.2, a second rotating bearing is provided between the fixed jaw 4.6.6 and the crushing bucket body 4.6.2, and both ends of the movable jaw 4.6.4 are respectively extended to the outside of the crushing bucket body 4.6.2; in order to realize the driving of the movable jaw 4.6.4, a first motor 4.6.5 is also provided on the extended end of the movable jaw 4.6.4.

[0073] Further preferably, in order to achieve effective rock crushing, a plurality of tooth structures are provided on the outer surfaces of the movable jaw 4.6.4 and the fixed jaw 4.6.6.

[0074] More preferably, the distance between the movable jaw 4.6.4 and the fixed jaw 4.6.6 is adjustable, and the distance between the plurality of tooth-shaped structures provided on the outer surfaces of the movable jaw 4.6.4 and the fixed jaw 4.6.6 is set as an adjustable structure, so that the crushed stone particle size is ensured by the distance between the movable jaw 4.6.4 and the fixed jaw 4.6.6. Specifically, the distance between the movable jaw 4.6.4 and the fixed jaw 4.6.6 can be matched according to the passing capacity of the muddy and water slag discharge system.

[0075] As a further embodiment of the present invention, when the crushing mode of the crushing bucket 4.6 is set to a roller crushing mode, the crushing bucket 4.6 includes a roller 4.6.7, a drum 4.6.8, a crushing bucket body 4.6.2, a crushing bucket inlet 4.6.3 and a crushing bucket outlet 4.6.1; the crushing bucket body 4.6.2 is set to a bucket type structure, and the crushing bucket body 4.6.2 is hinged to the bucket arm 4.4, and a crushing bucket inlet 4.6.3 and a crushing bucket outlet 4.6.1 are respectively provided on two end surfaces of the crushing bucket 4.6 and the adjustment cylinder 4.5 in a mutually perpendicular displacement direction; the roller 4.6.7 is rotatably connected to the crushing bucket body 4.6.2, the drum 4.6.8 is rotatably connected to the crushing bucket body 4.6.2, and the roller 4.6.7 and the drum 4.6.8 are arranged at intervals from each other, and the rotation directions of the roller 4.6.7 and the drum 4.6.8 are the same as the displacement direction of the adjustment cylinder 4.5. That is, the rotation direction of the roller 4.6.7 and the drum 4.6.8 is the same as the distribution direction from the crushing bucket inlet 4.6.3 to the crushing bucket outlet 4.6.1. The rock enters the crushing bucket body 4.6.2 from the crushing bucket inlet 4.6.3, and is then relatively squeezed and crushed by the relative rotation between the roller 4.6.7 and the drum 4.6.8, and then discharged from the crushing bucket outlet 4.6.1.

[0076] Preferably, a first rotating bearing is provided between the roller 4.6.7 and the crushing bucket body 4.6.2, a second rotating bearing is provided between the drum 4.6.8 and the crushing bucket body 4.6.2, and one end of the roller 4.6.7 is extended to the outside of the crushing bucket body 4.6.2, and one end of the drum 4.6.8 is extended to the outside of the crushing bucket body 4.6.2; in order to realize the driving of the roller 4.6.7 and the drum 4.6.8 respectively, a second motor 4.6.9 is provided on the extended end of the roller 4.6.7, and a third motor 4.6.10 is provided on the extended end of the drum 4.6.8.

[0077] Further preferably, in order to achieve effective rock crushing, a plurality of tooth structures are provided on the outer surfaces of the roller 4.6.7 and the drum 4.6.8.

[0078] More preferably, the distance between the roller 4.6.7 and the drum 4.6.8 is adjustable, and the distance between the plurality of tooth structures provided on the outer surfaces of the roller 4.6.7 and the drum 4.6.8 is adjustable, so that the crushed stone particle size is ensured by the distance between the roller 4.6.7 and the drum 4.6.8. Specifically, the distance between the roller 4.6.7 and the drum 4.6.8 can be matched according to the passing capacity of the muddy and deslagging system.

[0079] As a further embodiment of the present invention, when the crushing mode of the crushing bucket 4.6 is set to a clamp-type crushing mode, the crushing bucket 4.6 includes a crushing bucket body 4.6.2, a fixed clamp 4.6.11, a movable clamp 4.6.12 and a clamp cylinder 4.6.13, the fixed clamp 4.6.11 is fixedly connected to the crushing bucket body 4.6.2, the movable clamp 4.6.12 is hinged to the crushing bucket body 4.6.2, one end of the clamp cylinder 4.6.13 is hinged to the crushing bucket body 4.6.2, and the other end of the clamp cylinder 4.6.13 is hinged to the movable clamp 4.6.12, which is used to drive the movable clamp 4.6.12 to open and close relative to the fixed clamp 4.6.11.

[0080] Preferably, in order to improve the stone crushing capability, the clamp cylinders 4.6.13 may be provided in plurality and arranged in parallel with each other.

[0081] Preferably, a plurality of tooth-shaped structures are provided on the end surfaces of the movable clamp 4.6.12 and the fixed clamp 4.6.11 for crushing stones.

[0082] Further preferably, when the crushing mode of the crushing bucket 4.6 is set to a clamp-type crushing mode, it can perform stone crushing operations at crushing positions ①-1, ①-2, ①-3, ..., ①-N in sequence along the excavation trajectory. The opening and closing direction of the clamp-type stone crushing device is perpendicular to the plane where the excavation trajectory is located. When the clamp-type stone crushing device moves at different crushing positions, it is in an open state to avoid pushing away the rock debris.

[0083] See also Figures 8 to 10 As shown, the cleaning device 5 comprises a sliding assembly 5.1, a rotary drive 5.2, a mechanical arm 5.3, a hydraulic swing cylinder and a cleaning assembly 5.4;

[0084] The fixed end of the sliding assembly 5.1 is mounted on the cutting arm 6.1 in the cutting device, and the driving end of the sliding assembly 5.1 is mounted with a rotary drive 5.2;

[0085] The driving end of the rotary driver 5.2 is connected to one end of the mechanical arm 5.3, and is used to drive the mechanical arm 5.3 to perform a 360-degree rotary motion relative to the sliding assembly 5.1;

[0086] One end of the hydraulic swing cylinder is hinged to the mechanical arm 5.3, and the other end of the hydraulic swing cylinder is hinged to the cleaning component 5.4, so as to drive the cleaning component 5.4 to swing relative to the mechanical arm 5.3;

[0087] The cleaning assembly 5.4 is installed on one end of the mechanical arm 5.3 away from the rotary driver 5.2, and is used to clean the hole wall or the pipe segment wall.

[0088] Preferably, the sliding assembly 5.1 comprises a sliding frame 5.1.1, a hydraulic motor 5.1.2, a sprocket chain assembly 5.1.3, an energy chain 5.1.4 and a rotary encoder 5.1.5;

[0089] The sliding frame 5.1.1 is installed on the cutting arm 6.1, and the sprocket chain assembly 5.1.3 is installed on the sliding frame 5.1.1; the fixed end of the hydraulic motor 5.1.2 is installed on the sliding frame 5.1.1, and the driving end of the hydraulic motor 5.1.2 is fixedly connected to the sprocket chain assembly 5.1.3, and is used to drive the sprocket chain assembly 5.1.3 to move; the fixed end of the slewing driver 5.2 is installed on the chain of the sprocket chain assembly 5.1.3, and is driven to move by the displacement of the sprocket chain; the number of sprocket chain displacement circles is collected by the energy chain 5.1.4 installed on the sliding frame 5.1.1, and the collected number of rotation circles is accurately measured by the rotary encoder 5.1.5 arranged on the sliding frame 5.1.1, so as to calculate the position of the slide of the robot arm 5.3.

[0090] Preferably, the mechanical arm 5.3 comprises a first arm section 5.3.1, a second arm section 5.3.2 and a third arm section 5.3.3 which are sequentially arranged one on the other; a first telescopic oil cylinder is hingedly connected between the first arm section 5.3.1 and the second arm section 5.3.2, and the second arm section 5.3.2 is extended or retracted relative to the first arm section 5.3.1 by the driving of the first telescopic oil cylinder; a second telescopic oil cylinder is hingedly connected between the second arm section 5.3.2 and the third arm section 5.3.3, and the third arm section 5.3.3 is extended or retracted relative to the second arm section 5.3.2 by the driving of the second telescopic oil cylinder.

[0091] Preferably, the cleaning assembly 5.4 comprises a sliding frame 5.1.15.4.1, a roller brush 5.4.2 and a driving motor 5.4.3; the sliding frame 5.1.15.4.1 comprises a first connecting block, a second connecting block and a third connecting block connected in sequence, the first connecting block and the third connecting block are symmetrically arranged along the second connecting block, and the first connecting block and the second connecting block are perpendicular or inclined to each other;

[0092] The second connecting block is simultaneously articulated with the mechanical arm 5.3 and the hydraulic swing cylinder;

[0093] One end of the roller brush 5.4.2 is rotatably connected to the first connecting block, and the other end of the roller brush 5.4.2 is rotatably connected to the third connecting block; and a plurality of elastic steel plate bundle brush heads are arranged on the outer surface of the roller brush 5.4.2;

[0094] The fixed end of the drum motor is fixedly connected to the first connecting block or the third connecting block, and the driving end of the drum motor is connected to the drum brush 5.4.2 through a coupling to drive the drum brush 5.4.2 to rotate.

[0095] Furthermore, the cleaning device 5 cleans the scum on the surface of the well wall by rotating. At the same time, in order to make the cleaning component 5.4 fit the well wall better, a hydraulic swing cylinder is set between the cleaning component 5.4 and the mechanical arm 5.3. The hydraulic swing cylinder is used to fine-tune the angle of the cleaning component 5.4. The cleaning component 5.4 adopts a cycloidal hydraulic motor 5.1.2 to drive the roller brush 5.4.2, which is covered with elastic steel plate bundle brush heads. During cleaning, the steel plate bundle brush heads always fit the well wall precisely and are embedded in the scum through elastic deformation, so as to realize the rapid cleaning of high viscosity soil on the well wall. The specific working process is as follows:

[0096] (1) The shaft is excavated to the designed depth;

[0097] After reaching the designed depth, the mud replacement inside the bottom of the well begins, and the mud density at the bottom of the well is reduced by circulating the mud.

[0098] (ii) Swinging the cutting arm 6.1 outward to position;

[0099] The swinging cutting arm 6.1 is driven to swing outward to a specific angle by the swinging oil cylinder 3.2.

[0100] (3) Manipulator deployment and positioning;

[0101] The scum on the surface of the well wall can be cleaned in sections from top to bottom. The mechanical arm is first slid to the top as a whole through the sliding component 5.1, and the roller brush of the cleaner is fitted to the well wall through the coordinated action of the rotary drive, the mechanical arm and the hydraulic swing cylinder.

[0102] (iv) Rotation cleaning;

[0103] The drive motor 5.4.3 is turned on, the shaft boring machine rotary device rotates slowly, and the cleaning assembly 5.4 starts to clean the shaft wall in a circular direction until the entire circle is cleaned.

[0104] (V) Secondary deployment and positioning of the manipulator;

[0105] The mechanical arm is first slid downward a certain distance by means of the sliding mechanism, and the cleaning assembly 5.4 is fitted to the well wall by means of the coordinated action of the rotary drive, the mechanical arm and the hydraulic swing cylinder.

[0106] (6) Secondary rotary cleaning;

[0107] The drive motor 5.4.3 is turned on, the shaft boring machine slewing device rotates slowly, and the roller brush in the cleaning assembly 5.4 starts to clean the shaft wall in a circular direction until the second full circle of cleaning is completed.

[0108] (VII) Circular cleaning;

[0109] Repeat steps (5) and (6) until the entire bottom section of the well wall is completely cleaned.

[0110] See also Fig.11 and Fig.12 As shown, the cutting device 6 includes a cutting arm 6.1 and a drum base 6.10 and a cutting drum 6.11 arranged on the cutting arm 6.1. The drum base 6.10 is fixedly connected to one end of the cutting arm 6.1. The cutting drum 6.11 is rotatably mounted on the drum base 6.10. The cutting drum 6.11 realizes excavation of the stratum by rotating around its own axis and swinging actively driven by the cutting arm 6.1.

[0111] Preferably, a slag discharge chamber 6.9 is formed in the cutting arm 6.1, one end of the slag discharge chamber 6.9 is interconnected with the slurry discharge pump 6.2 through a pump suction port 6.3, and a second slurry discharge pipe 6.7 is also connected to the slurry discharge pump 6.2. The suction force of the slurry discharge pump 6.2 sucks in the slag generated by the cutting drum 6.11 during the excavation of the stratum and discharges it to the ground.

[0112] Preferably, a first cone plate 6.4, a filter grid plate 6.5 and a second cone plate 6.6 are further provided in the slag discharge chamber 6.9; the filter grid plate 6.5 is provided on a side of the cutting arm 6.1 close to the cutting drum 6.11, and a plurality of grid holes 6.5.1-1 are provided on the filter grid plate 6.5, and the slag generated during the excavation process of the cutting drum 6.11 is filtered through the filter grid plate 6.5 and then transported to the slag discharge chamber 6.9; one end of the first cone plate 6.4 is fixedly connected to the end of the filter grid plate 6.5 away from the cutting arm 6.1, and the first cone plate 6.4 is fixedly connected to the end of the filter grid plate 6.5 away from the cutting arm 6.1. The other end of the second cone plate 6.6 is extended to the end close to the pump suction port 6.3 and is fixedly connected to the inner wall of the slag discharge chamber 6.9; one end of the second cone plate 6.6 is fixedly connected to the end of the filtering grid plate 6.5 close to the cutting arm 6.1, and the other end of the second cone plate 6.6 is extended to the end close to the pump suction port 6.3 and is fixedly connected to the inner wall of the slag discharge chamber 6.9; the first cone plate 6.4, the second cone plate 6.6 and the filtering grid plate 6.5 are connected to each other to form a conical structure with a larger end close to the cutting drum 6.11 and a smaller end close to the pump suction port 6.3, so as to facilitate the gathering of slag to the pump suction port 6.3.

[0113] Further preferably, the filtering grid plate 6.5 is preferably configured as an inner arc structure to match the outer arc surface of the cutting drum 6.11 and to have a clearance fit with the outer arc surface of the cutting drum 6.11, so that the slag can be smoothly transported to the slag discharge chamber 6.9.

[0114] Further preferably, the grille holes 6.5.1 are preferably configured as a conical structure, so that it has the characteristics of a large inlet and a small outlet, thereby preventing pebbles from getting stuck in the grille holes 6.5.1 when entering the slag discharge chamber 6.9, causing blockage at the grille.

[0115] Further preferably, in order to prevent the pebbles or slag with larger particle size from settling in the slag discharge chamber 6.9, a flushing port 6.8 is further provided on the second cone plate 6.6, and a large flow of flushing liquid is injected to stir the slag and mud mixture in the slurry discharge chamber to prevent it from settling. Further preferably, the flushing liquid can be the return slurry after ground separation, and its flow rate is adjustable to prevent the solid content in the slag discharge slurry from being reduced and the slag carrying rate from being reduced due to the introduction of too much flushing liquid.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. 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. A caisson type shaft boring machine, characterized in that: It comprises a main machine of a tunnel boring machine (1), a central rotary drive (2), a rotary device (3), a crushing device (4), a cleaning device (5) and a cutting device (6); The fixed end of the central rotary drive (2) is connected to the main machine (1) of the tunnel boring machine, and the driving end of the central rotary drive (2) is connected to the rotary device (3); The crushing device (4) is used to crush the isolated rocks after excavation, and one end of the crushing device (4) is hinged to the rotating device (3), and the other end of the crushing device (4) is connected to the cutting device (6); The cleaning device (5) is arranged on the crushing device (4) and is used to clean the hole wall after excavation.

2. The caisson-type shaft boring machine according to claim 1, characterized in that: The crushing device (4) comprises a movable arm (4.2), a bucket arm (4.4), a driving assembly and a crushing bucket (4.6); One end of the movable arm (4.2) is hinged to one end of the bucket arm (4.4), and the other end of the bucket arm (4.4) is hinged to the crushing bucket (4.6); The driving assembly is used to drive the crushing bucket (4.6) to swing, and one end of the driving assembly is hinged to the bucket arm (4.4), and the other end of the adjusting assembly is hinged to the crushing bucket (4.6); The crushing bucket (4.6) is connected to the cutter disc, and the crushing bucket (4.6) is configured as a jaw plate structure, a roller structure or a clamp structure.

3. The caisson type shaft boring machine according to claim 2, characterized in that: The crushing bucket (4.6) specifically comprises a movable jaw (4.6.4), a fixed jaw (4.6.6), a crushing bucket body (4.6.2), a crushing bucket inlet (4.6.3) and a crushing bucket outlet (4.6.1); The crushing bucket body (4.6.2) is configured as a bucket-type structure, and the crushing bucket body (4.6.2) is hinged to the bucket arm (4.4), and a crushing bucket inlet (4.6.3) and a crushing bucket outlet (4.6.1) are respectively provided on two end surfaces of the crushing bucket (4.6) and the regulating oil cylinder (4.5) which are perpendicular to each other in displacement direction; The movable jaw (4.6.4) is rotatably connected to the crushing bucket body (4.6.2), and the fixed jaw (4.6.6) is rotatably connected to the crushing bucket body (4.6.2). The movable jaw (4.6.4) and the fixed jaw (4.6.6) are arranged at intervals from each other, and the rotation directions of the movable jaw (4.6.4) and the fixed jaw (4.6.6) are the same as the displacement direction of the adjusting cylinder (4.5).

4. The caisson type shaft boring machine according to claim 2, characterized in that: The crushing bucket (4.6) comprises a roller (4.6.7), a drum (4.6.8), a crushing bucket body (4.6.2), a crushing bucket inlet (4.6.3) and a crushing bucket outlet (4.6.1); The crushing bucket body (4.6.2) is configured as a bucket-type structure, and the crushing bucket body (4.6.2) is simultaneously hingedly connected to the bucket arm (4.4) and the driving assembly; The roller (4.6.7) is rotatably connected to the crushing bucket body (4.6.2), and the drum (4.6.8) is rotatably connected to the crushing bucket body (4.6.2). The rotation direction of the roller (4.6.7) and the drum (4.6.8) is the same as the distribution direction from the crushing bucket inlet (4.6.3) and the crushing bucket outlet (4.6.1). Rocks enter the crushing bucket body (4.6.2) from the crushing bucket inlet (4.6.3), and then undergo relative extrusion and crushing through relative rotation between the roller (4.6.7) and the drum (4.6.8), and then are discharged through the crushing bucket outlet (4.6.1).

5. The caisson type shaft boring machine according to claim 2, characterized in that: The crushing bucket (4.6) comprises a crushing bucket body (4.6.2), a fixed clamp (4.6.11), a movable clamp (4.6.12) and a clamp oil cylinder (4.6.13); The fixed clamp (4.6.11) is fixedly connected to the crushing bucket body (4.6.2), and the movable clamp (4.6.12) is hinged to the crushing bucket body (4.6.2); One end of the clamp oil cylinder (4.6.13) is hinged to the crushing bucket body (4.6.2), and the other end of the clamp oil cylinder (4.6.13) is hinged to the movable clamp (4.6.12) for driving the movable clamp (4.6.12) to open and close relative to the fixed clamp (4.6.11).

6. The caisson type shaft boring machine according to any one of claims 2 to 5, characterized in that: The cleaning device (5) comprises a sliding assembly (5.1), a mechanical arm (5.3) and a cleaning assembly (5.4); The fixed end of the sliding assembly (5.1) is fixedly connected to the movable arm (4.2), and a mechanical arm (5.3) is installed on the driving end of the sliding assembly (5.1) for driving the mechanical arm (5.3) to move along the length direction of the movable arm (4.2); A cleaning component (5.4) is installed on one end of the mechanical arm (5.3) away from the sliding component (5.1).

7. The caisson-type shaft boring machine according to claim 6, characterized in that: A rotary drive (5.2) is also provided between the sliding assembly (5.1) and the mechanical arm (5.3) for driving the mechanical arm (5.3) to rotate 360 ​​degrees relative to the sliding assembly (5.1).

8. The caisson-type shaft boring machine according to claim 6, characterized in that: A hydraulic swing cylinder for driving the cleaning component (5.4) to swing relative to the mechanical arm (5.3) is also provided between the mechanical arm (5.3) and the cleaning component (5.4).

9. The caisson type shaft boring machine according to claim 7 or 8, characterized in that: The cleaning assembly (5.4) comprises a sliding frame (5.1.1), a roller brush (5.4.2) and a driving motor (5.4.3); The sliding frame (5.1.1) comprises a first connecting block, a second connecting block and a third connecting block which are connected in sequence, the first connecting block and the third connecting block are symmetrically arranged along the second connecting block, and the first connecting block and the second connecting block are perpendicular or inclined to each other; The second connecting block is simultaneously articulated with the mechanical arm (5.3) and the hydraulic swing cylinder; One end of the roller brush (5.4.2) is rotatably connected to the first connection block, and the other end of the roller brush (5.4.2) is rotatably connected to the third connection block; and a plurality of elastic steel plate bundle brush heads are arranged on the outer surface of the roller brush (5.4.2); The fixed end of the driving motor (5.4.3) is fixedly connected to the first connecting block or the third connecting block, and the driving end of the driving motor (5.4.3) is connected to the roller brush (5.4.2) via a coupling, so as to drive the roller brush (5.4.2) to rotate.

10. The caisson type shaft boring machine according to claim 9, characterized in that: The cutting device (6) comprises a cutting arm (6.1), a roller base (6.10) and a cutting roller (6.11) arranged on the cutting arm (6.1); the roller base (6.10) is fixedly connected to one end of the cutting arm (6.1); the cutting roller (6.11) is rotatably mounted on the roller base (6.10); the cutting roller (6.11) rotates around its own axis and swings actively driven by the cutting arm (6.1).

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