Multi-degree-of-freedom vertical shaft excavator

Abstract

The invention provides a multi-degree-of-freedom vertical shaft excavator, and relates to the technical field of vertical shaft excavation engineering machinery, according to the multi-degree-of-freedom vertical shaft excavator, a tunneling head has a space trajectory programming capability through a separated multi-shaft movement mechanism, the multi-degree-of-freedom vertical shaft excavator can adapt to excavation of a square vertical shaft and a special-shaped vertical shaft, and the construction equipment cost of the special-shaped vertical shaft is effectively reduced. Multi-degree-of-freedom motion control enables a single device to have the capacity of excavating various section shapes, and investment of special devices is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of shaft excavation engineering machinery, in particular to a multi-degree-of-freedom shaft excavator. Background Art

[0002] With the development of the national economy, the construction of urban rail transit and urban underground pipe gallery has developed rapidly in recent years; various shafts are needed in the construction of underground projects. At present, there are mainly the following methods for the excavation of small-sized shafts, with a scale of 2-5M. One is to use a large rotating cutter head to dig a circular well; the other is the support structure method, which uses densely arranged steel sheet piles or steel pipe piles to surround it first, and then dig out the soil in the middle to form a circular or square pile. Both of the above schemes are limited by the size of the equipment or the height of the pile, and cannot dig deeper wells. To dig deeper wells, the caisson method is generally used, that is, the cast-in-place or prefabricated well wall is used as a structure to maintain the stability of the shaft soil, and sink while digging. For large-diameter shafts, such as those with a diameter of more than 5M, there is currently a more mature mechanical caisson method, which fixes the excavation equipment at the bottom of the caisson, sinks while digging, and transports the slag to the outside of the well in the form of mud, but it is currently unable to dig square shafts, and the equipment system price is as high as tens of millions of yuan.

[0003] Therefore, how to simultaneously dig square and circular, deeper and smaller shafts has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a multi-degree-of-freedom shaft excavator to solve the technical problem in the prior art of lacking excavation equipment that can simultaneously excavate square and circular shafts of greater depth and smaller scale.

[0005] In order to achieve the above-mentioned object, the present invention provides a multi-degree-of-freedom shaft excavator, comprising a machine base and a tunneling machine, wherein the machine base is fixed to the ground, the tunneling machine is arranged below the machine base, and a suspension assembly for suspending the tunneling machine for upward and downward movement is arranged between the machine base and the tunneling machine;

[0006] The tunnel boring machine includes a fixing mechanism, a slewing mechanism, a tunnel boring mechanism and a power system. The fixing mechanism is connected to the suspension assembly. The slewing mechanism is rotatably arranged below the fixing mechanism. The tunnel boring mechanism and the power system are both installed below the slewing mechanism. The slewing mechanism and the power system are both drivingly connected to the tunnel boring mechanism. The slewing mechanism and the power system drive the tunnel boring mechanism to perform multi-degree-of-freedom rotation.

[0007] Optionally, the power system drives the tunneling mechanism to perform multi-degree-of-freedom rotation, including rotating around the center of the shaft, swinging around the horizontal axis, telescoping along the central axis of the tunneling mechanism, and rotating around the central axis of the tunneling mechanism.

[0008] Optionally, the tunneling mechanism includes a tunneling arm and a tunneling head. The power system is drivingly connected to the tunneling arm to control the swinging of the tunneling arm around the horizontal axis. One end of the tunneling arm is swingably arranged on the rotating assembly, and the other end of the tunneling arm is drivingly connected to the tunneling head to control the telescoping of the tunneling head along the central axis and the rotation of the tunneling head around the central axis of the tunneling head.

[0009] Optionally, the tunneling arm has a hollow columnar structure, and there is a telescopic oil cylinder and a tunneling head driving motor inside, which drive the tunneling head to telescope along the central axis and rotate around the central axis of the tunneling head.

[0010] Optionally, the fixing mechanism includes a main machine fixing bracket. The main machine fixing bracket is connected to the suspension assembly. The rotating assembly is rotatably arranged below the main machine fixing bracket. There are several cutter foot connecting brackets extending downward at the edge of the main machine fixing bracket, and the cutter foot connecting brackets are provided with locking bolts.

[0011] Optionally, the suspension assembly includes a rope, a winch and a pulley block. The pulley block is installed on both the machine base and the main machine fixing bracket at the same time. The winch is installed on the machine base. The winch is drivingly connected to the rope, and the rope bypasses the pulley blocks on the machine base and the main machine fixing bracket at the same time.

[0012] Optionally, the tunneling head is conical and is provided with several picks on its surface.

[0013] Optionally, a guard plate is provided on one side of the tunneling head close to the tunneling arm. The guard plate telescopes and rotates together with the tunneling head. A through cavity is provided inside the guard plate and is connected to the mud pump inlet. There are several slurry suction holes on the side of the guard plate facing the tunneling head;

[0014] The distance between the guard plate and the picks gradually decreases along the circumferential direction of the tunneling head.

[0015] The multi-degree-of-freedom shaft excavator provided by the present invention has the following technical effects:

[0016] Compared with the existing shaft tunneling machine that can only excavate circular shapes, the multi-degree-of-freedom shaft excavator of the present invention enables the tunneling head to have the ability of spatial trajectory programming through a split multi-axis motion mechanism, can adapt to the excavation of square shafts and special-shaped shafts, and effectively reduces the construction equipment cost of special-shaped shafts. The multi-degree-of-freedom motion control enables a single device to have the ability to excavate various cross-sectional shapes, reducing the investment in special equipment. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0018] Figure 1 is a schematic three-dimensional structure diagram of a preferred embodiment of the multi-degree-of-freedom shaft excavator of the present invention;

[0019] Figure 2 is Figure 1 Another perspective three-dimensional structure diagram of the multi-degree-of-freedom shaft excavator in

[0020] Figure 3 is Figure 1 The structure diagram of the tunneling head of the multi-degree-of-freedom shaft excavator in

[0021] Among them, Figures 1 - 3 :

[0022] 1. Machine base;

[0023] 2. Tunneling machine; 21. Fixing mechanism; 211. Main machine fixing bracket; 2111. Cutting edge connecting bracket; 2112. Locking bolt; 22. Rotary mechanism; 221. Main body of the machine; 223. Hydraulic cylinder; 23. Tunneling mechanism; 231. Tunneling arm; 232. Tunneling head; 2321. Picks; 233. Guard plate; 2331. Slurry suction hole; 24. Hydraulic system;

[0024] 3. Suspension assembly; 31. Rope; 32. Winch; 33. Pulley block. Specific embodiments

[0025] To make the purpose, technical solutions and advantages of the present invention clearer, the following will describe the technical solutions of the present invention in detail. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0026] In the prior art, in the construction of urban underground projects, shafts of different shapes and depths need to be dug. Traditional methods have problems such as high equipment cost, single applicable shape, and limited excavation depth. For example, the construction speed of the open caisson method is slow, and it is difficult to process square shafts by the mechanical open caisson method. Existing equipment cannot balance the construction requirements of small sizes and deep shafts, restricting the flexibility and economy of underground project construction.

[0027] In order to solve the above problems, the poor shape adaptability and depth limitation defects of traditional shaft excavation equipment were analyzed and found that the key lies in the lack of freedom of movement of the equipment. If the excavation device can have multi-axial movement capabilities, special-shaped cutting and continuous digging functions can be achieved at the same time. Based on this idea, the suspension lifting mechanism is combined with the multi-degree-of-freedom rotary mechanism 22 to form a split structural design, and the operation is coordinated through independently controlled motion components.

[0028] Therefore, this application proposes a multi-degree-of-freedom shaft excavator. Figures 1 - 3 The multi-degree-of-freedom shaft excavator of the present invention will be described in detail.

[0029] like Figures 1 - 2 As shown, the machine base 1 is fixed to the ground, and the tunnel boring machine 2 is arranged below the machine base 1 and is lifted and lowered by a suspension assembly; the tunnel boring machine 2 comprises a fixing mechanism 21, a slewing mechanism 22, a tunnel boring mechanism 23 and a power system 24, the fixing mechanism 21 is connected to the suspension assembly, the slewing mechanism 22 is rotatably installed below the fixing mechanism 21, the tunnel boring mechanism 23 and the power system 24 are both installed below the slewing mechanism 22, the slewing mechanism 22 and the power system 24 are drivingly connected to the tunnel boring mechanism 23, and the slewing mechanism 22 and the power system 24 drive the tunnel boring mechanism 23 to rotate with multiple degrees of freedom.

[0030] The suspension assembly of the present invention is a lifting device connecting the ground machine base 1 and the underground equipment. It can adopt a steel cable transmission system in which a pulley block and a winch cooperate, and realize smooth lifting by changing the direction of traction force through multiple sets of pulleys.

[0031] The slewing mechanism 22 is a motion conversion device installed between the fixing mechanism 21 and the tunneling head 232, which decomposes the power into rotation and swinging motion through multi-stage transmission.

[0032] The multi-degree-of-freedom rotation includes rotation around the vertical axis, swinging around the horizontal axis, axial extension and extension, and rotation. The split hydraulic actuator can be used to independently control the movement in each direction to achieve three-dimensional spatial trajectory control of the tunneling head 232.

[0033] Specifically, the machine base 1 serves as a ground bearing platform to provide a fixed fulcrum. The pulley block in the suspension assembly converts the traction force of the winch into vertical lifting power, driving the entire tunneling machine 2 to move downward. The fixing mechanism 21 serves as the basic framework of the underground equipment and forms a rigid connection with the precast shaft wall through the blade foot connecting bracket 2111. When the rotating disk 221 of the slewing mechanism 22 rotates around the vertical axis, it drives the tunneling head 232 to perform circular cutting. When the power system 24 drives the tunneling arm 231 to swing, it changes the operating angle of the tunneling head 232 in the horizontal direction. The internal transmission shaft of the hollow tunneling arm 231 simultaneously controls the telescopic stroke and the rotation speed of the tunneling head 232 with picks 2321. By coordinately controlling each motion component, the tunneling head 232 can form various cutting trajectories such as circular, fan-shaped, or linear, realizing continuous excavation operations with different cross-sectional shapes. For example, in addition to excavating circular shafts, it can also excavate square shafts.

[0034] Compared with the prior art, the traditional excavator uses an integral rotating cutter head and can only form a circular cross-section. In the present invention, through the split multi-axis motion mechanism, the tunneling head 232 has the ability of spatial trajectory programming and can adapt to the excavation of square shafts and special-shaped shafts.

[0035] Through the above technical solutions, the present invention can effectively reduce the construction equipment cost of special-shaped shafts. The multi-degree-of-freedom motion control enables a single device to have the ability to excavate various cross-sectional shapes, reducing the investment in special equipment. The split structure design allows the device to continuously dig down as the well depth increases, breaking through the height limitation of traditional equipment. The suspension system and the shaft wall fixing mechanism 21 work together to ensure the stability of the equipment during deep well operations and avoid the offset problems that occur in the traditional open caisson method.

[0036] Specifically, the slewing mechanism 22 drives the tunneling head 232 to perform multi-degree-of-freedom slewing, including rotating around the center of the shaft, swinging around the horizontal axis, telescoping along the central axis of the tunneling head 232, and rotating around the central axis of the tunneling head 232.

[0037] Rotating around the center of the shaft is the circular motion of the tunneling head 232 around the vertical axis of the shaft, which can be specifically realized by a gear transmission system or a slewing bearing. This action can expand the excavation range and form a circular cutting trajectory.

[0038] Swinging around the horizontal axis is the angle adjustment of the tunneling head 232 around the horizontal axis perpendicular to the center line of the shaft, which can be specifically driven by a hydraulic cylinder or a crank and connecting rod mechanism. This action enables the tunneling head 232 to adapt to different formation dips and adjust the cutting direction.

[0039] Telescoping along the central axis of the tunneling head 232 is the linear movement of the tunneling head 232 along its own length direction, which can be specifically realized by a hydraulic cylinder 223 or a lead screw transmission mechanism. This action realizes the precise control of the cutting depth and the layered peeling of the soil body.

[0040] Rotating around the central axis of the tunneling head 232 is the self-rotation movement of the tunneling head 232 around its own axis, which can be specifically achieved by an in-built motor driving a gearbox or a hydraulic motor. This action enhances the crushing efficiency of the picks 2321 on the soil and reduces jamming.

[0041] Specifically, the slewing mechanism 22 enables the tunneling head 232 to cover an annular working area by rotating around the central shaft of the shaft. The horizontal axis swings to adjust the inclination angle of the tunneling head 232 to cope with complex geological conditions. The telescoping along the axis controls the cutting depth to achieve layered excavation, and the self-rotation around the axis improves the crushing effect of the picks 2321 on the soil. The coordinated cooperation of the four-degree-of-freedom movement enables the tunneling head 232 to not only complete the continuous circumferential cutting of a circular shaft, but also form a polygonal or square cutting trajectory by adjusting the combination of the swing angle and the telescoping stroke. For example, the formation of a square shaft wall is achieved through segmented circumferential cutting and angle offset.

[0042] Compared with the prior art, traditional shaft excavation equipment can only achieve single slewing or linear movement and cannot form a non-circular shaft wall structure 4 through multi-degree-of-freedom coordinated control. This embodiment breaks through the limitation of the equipment on the shape of the shaft through a compound motion mode, that is, the excavation of circular, square, and special-shaped shafts is achieved through a single device, solving the problems of single function and poor shape adaptability of the prior art equipment, and at the same time reducing the operation cost of frequently replacing tools or adjusting the equipment posture under complex geological conditions.

[0043] As a preferred embodiment, as Figure 1 and Figure 2 shown, the fixing mechanism 21 includes a main machine fixing bracket 211. The main machine fixing bracket 211 is connected to the suspension assembly. The slewing mechanism 22 is rotatably arranged below the main machine fixing bracket 211. A plurality of cutting edge connecting brackets 2111 extending downward are provided at the edge of the main machine fixing bracket 211, and locking bolts 2112 are provided on the outer surface of the cutting edge connecting brackets 2111.

[0044] The main machine fixing bracket 211 is a rigid support structure for connecting the suspension assembly and the slewing mechanism 22, which can be specifically realized by a welded steel structure frame. The downward extending part of its edge has the cutting edge connecting brackets 2111. The cutting edge connecting brackets 2111 are support components extending downward from the main machine fixing bracket 211, which can be specifically welded by steel plates and are used to lock with the shaft wall structure 4 during the shaft excavation process. The locking bolts 2112 are protruding structures provided on the outer surface of the cutting edge connecting brackets 2111 and are fixed by cooperating with the clamping grooves inside the cutting edge 43 of the shaft wall.

[0045] Specifically, during the shaft excavation process, after the shaft lining segments 421 are assembled, the cutter shoe 43 is installed at the bottom of the shaft lining segments 421. A clamping groove adapted to the shape of the locking bolt 2112 is provided inside the cutter shoe 43. After the main machine fixing bracket 211 is lowered to the target position through the suspension assembly, the locking bolt 2112 is inserted into the clamping groove of the cutter shoe 43, realizing the fixed connection between the tunneling machine 2 and the shaft wall structure 4. This fixing method can provide stable support during the excavation process and prevent the equipment from displacing due to changes in geological conditions or excavation reaction forces.

[0046] As a preferred embodiment, as Figure 1 and Figure 2 shown, the tunneling mechanism 23 includes a tunneling head 232 and a tunneling arm 231. The slewing mechanism 22 is rotatably provided below the fixing mechanism 21. The power system is provided inside the slewing mechanism 22 and is drivingly connected to the tunneling arm 231 to control the swing of the horizontal axis of the tunneling arm 231. One end of the tunneling arm 231 is swingably provided on the slewing mechanism 22, and the other end of the tunneling arm 231 is drivingly connected to the tunneling head 232 to control the telescoping of the tunneling head 232 along the central axis and the rotation around the central axis.

[0047] The slewing mechanism 22 is a basic component for supporting the slewing motion and can be specifically realized by using a rotating disk 221, and the rotating disk 221 provides the slewing freedom degree around the vertical axis. The power system 24 is the power source for driving the swing of the tunneling arm 231 and can be specifically realized by using a hydraulic cylinder, and the cylinder stroke forms a linear proportional relationship with the swing angle of the tunneling arm 231. The tunneling arm 231 is a robotic arm for transmitting power and realizing compound motion and can be specifically realized by using a hollow columnar structure and integrating the power system inside, and the telescoping and self-rotation of the tunneling head 232 are controlled through the internal transmission shaft.

[0048] Specifically, the slewing mechanism 22 forms a rotatable connection with the main machine fixing bracket 211 through the rotating disk 221, enabling the entire slewing mechanism 22 to have the ability to rotate around the vertical axis. The power system 24 is installed inside the slewing mechanism 22 and directly drives the tunneling arm 231 to swing around the horizontal axis through the telescoping of the hydraulic cylinder. One end of the tunneling arm 231 is hinged on the slewing mechanism 22, and the other end is connected to the tunneling head 232. The power system provided inside can simultaneously drive the tunneling head 232 to telescope along the axis direction and rotate around the axis. The coordinated work of each component enables the tunneling head 232 to form a four-degree-of-freedom compound motion trajectory of rotating around the vertical axis, swinging around the horizontal axis, telescoping axially, and self-rotating.

[0049] More specifically, the tunneling arm 231 has a hollow columnar structure, with a power system provided inside. The power system is drivingly connected to the tunneling head 232 to control the telescoping of the tunneling head 232 along the central axis and the rotation around the central axis of the tunneling head 232.

[0050] A hollow columnar structure refers to a columnar member with an internal cavity, which can be specifically implemented as a steel hollow cylinder. This structure can effectively accommodate the power system while ensuring mechanical strength. The power system is a functional unit for transmitting kinetic energy, which can be specifically implemented by the cooperation of a hydraulic motor and a transmission gear set, and directly controls the movement trajectory of the tunneling head 232 through a drive unit built inside the tunneling arm 231.

[0051] Specifically, the power system is completely encapsulated in the internal cavity of the hollow columnar tunneling arm 231. The hydraulic motor is connected to the tunneling head 232 through a transmission shaft. When the hydraulic oil circuit is started, the hydraulic motor drives the transmission shaft to generate an axial thrust, causing the tunneling head 232 to perform telescopic movement along the central axis direction. At the same time, the transmission gear set transmits the rotational torque to the root of the tunneling head 232, causing it to perform rotational cutting action around its own axis.

[0052] In this embodiment, the power system for excavation drive and the slewing mechanism 22 with the power system arranged at the lower part of the equipment overcome the defect that in the prior art, similar products are arranged on the ground, resulting in the need for a large number of hydraulic pipelines and electrical pipelines to be sent from the ground to the underground, which is prone to failures.

[0053] In this embodiment, by integrating the power system inside the hollow tunneling arm 231, not only the power transmission path is shortened, but also the overall structure of the equipment is more compact, and it can adapt to the construction environment of small-diameter shafts.

[0054] As a preferred embodiment, as Figure 1 and Figure 2 shown, the suspension assembly includes a rope, a winch, and a pulley block. The pulley block is installed on both the machine base 1 and the main machine fixed bracket 211 at the same time. The winch is installed on the machine base 1. The winch is drivingly connected to the rope, and the rope bypasses the pulley blocks on the machine base 1 and the main machine fixed bracket 211 at the same time.

[0055] The winch is a power device for winding and unwinding the rope, which can be specifically implemented by a double-drum hydraulic winch. It has a two-way synchronous winding function to achieve lifting control. The winch is installed on one side of the frame. The installation method of the winch with the machine base 1 avoids the problem that a traditional external winch requires an additional fixed base. The pulley block is a pulley system composed of pulleys, which can be specifically implemented by two groups of cast iron pulleys with guide grooves respectively fixed in the middle of the machine base 1 and the middle of the main machine fixed bracket 211, and a multiple-strand steel wire rope forms a multi-fold transmission. The rope is a flexible component that bears tension and transmits power.

[0056] Specifically, when the winch is started, the driving rope circulates between the top of the machine base 1 and the pulley block on the main machine fixed bracket 211. Due to the multiplication effect of the pulley block, the relatively small pulling force output by the winch can be converted into a relatively large lifting force for the main machine fixed bracket 211. During the descending operation, the winch slowly releases the length of the rope to lower the tunneling machine 2 at a constant speed; when lifting and maintenance are required, the winch quickly winds up the rope to lift the entire equipment. The two sets of pulley blocks are respectively arranged at the two side edges of the machine base 1 and the corresponding positions of the main machine fixed bracket 211 to form a symmetric force transmission path, ensuring that the bracket remains horizontal during the lifting and lowering process.

[0057] One cable reel and one pneumatic balance air pipe reel are also provided on the side of the machine base 1. The electrical system includes a control unit and a multi-core cable. The multi-core cable includes a power line and a communication line.

[0058] A main machine is provided above or below the main machine fixed bracket 211. The installation height of the mounting seat of the main machine is adjustable in multiple levels or customized according to project requirements, and is locked by several bolts driven by push rods after installation.

[0059] As a more preferred embodiment, as Figure 3 shown, the tunneling head 232 is conical and several pick teeth 2321 are provided on its surface.

[0060] The conical tunneling head 232 is a conical structure with a gradually narrowing front end, and can be specifically cast from high-hardness alloy materials. Its conical contour can enhance the guiding and penetrating ability during soil cutting. The pick teeth 2321 are carbide cutting heads embedded in the surface of the tunneling head 232, and can be specifically arranged in an array, and the soil is broken by rotary cutting.

[0061] As a more preferred embodiment, as Figure 3 shown, a guard plate 233 is provided on one side of the tunneling head 232 close to the tunneling arm 231. The guard plate 233 expands, contracts and rotates together with the telescopic head. A through cavity is provided in the guard plate 233 and is connected to the slurry conveying pipeline. A number of slurry suction holes 2331 are provided on the side of the guard plate 233 facing the tunneling head 232. The distance between the slurry suction holes 2331 and the pick teeth 2321 gradually decreases along the circumferential direction of the tunneling head 232.

[0062] The guard plate 233 of this embodiment is a movable protection structure installed at the connection between the tunneling head 232 and the tunneling arm 231, and can be specifically formed by welding segmented steel plates into a cavity structure. The slurry suction holes 2331 are holes opened on the surface of the guard plate 233 to communicate with the cavity. The slurry suction holes 2331 have the function of restricting the particle size of the muck. The distance between the slurry suction holes 2331 and the pick teeth 2321 on the tunneling head 232 gradually decreases along the circumferential direction to break up the muck with too large a scale again.

[0063] Specifically, the protective plate 233 is connected to the slurry conveying pipeline through a built-in cavity. When the tunneling head 232 rotates to cut the soil, the soil residues broken by the picks 2321 are blocked by the protective plate 233 and guided to the vicinity of the slurry suction holes 2331. The synchronous telescopic and rotational movements of the protective plate 233 and the telescopic head enable it to always cover the gap between the tunneling arm 231 and the tunneling head 232, preventing soil particles from entering the mechanical transmission part.

[0064] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and 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 operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0065] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A multi-degree-of-freedom shaft excavator, characterized in that, It includes a machine base and a tunneling machine. The machine base is fixed to the ground. The tunneling machine is arranged below the machine base, and a suspension assembly for suspending the tunneling machine to move up and down is provided between the tunneling machine and the machine base. The tunneling machine includes a fixing mechanism, a slewing mechanism, a tunneling mechanism and a power system. The fixing mechanism is connected to the suspension assembly. The slewing mechanism is rotatably arranged below the fixing mechanism. The tunneling mechanism and the power system are both installed below the slewing mechanism. The slewing mechanism and the power system are both drivingly connected to the tunneling mechanism, and the slewing mechanism and the power system drive the tunneling mechanism to perform multi-degree-of-freedom slewing.

2. The multi-degree-of-freedom shaft excavator according to claim 1, characterized in that, The power system driving the tunneling mechanism to perform multi-degree-of-freedom slewing includes rotating around the center of the shaft, swinging around the horizontal axis, telescoping along the central axis of the tunneling mechanism, and rotating around the central axis of the tunneling mechanism.

3. The multi-degree-of-freedom shaft excavator according to claim 2, wherein, The tunneling mechanism includes a tunneling arm and a tunneling head. The power system is drivingly connected to the tunneling arm to control the swinging of the tunneling arm around the horizontal axis. One end of the tunneling arm is swingably arranged on a rotating assembly, and the other end of the tunneling arm is drivingly connected to the tunneling head to control the telescoping of the tunneling head along the central axis and the rotation of the tunneling head around the central axis of the tunneling head.

4. The multi-degree-of-freedom shaft excavator according to claim 3, characterized in that, The tunneling arm is of a hollow columnar structure, and there are a telescopic oil cylinder and a tunneling head driving motor inside, which drive the tunneling head to telescope along the central axis and rotate around the central axis of the tunneling head.

5. The multi-degree-of-freedom shaft excavator according to claim 3, wherein The fixing mechanism includes a main machine fixing bracket. The main machine fixing bracket is connected to the suspension assembly. A rotating assembly is rotatably arranged below the main machine fixing bracket. There are several cutter foot connecting brackets extending downward at the edge of the main machine fixing bracket, and the cutter foot connecting brackets are provided with locking bolts.

6. The multi-degree-of-freedom shaft excavator according to claim 5, characterized in that, The suspension assembly includes ropes, a winch and a pulley block. The pulley block is installed on both the machine base and the main machine fixing bracket at the same time. The winch is installed on the machine base. The winch is drivingly connected to the ropes, and the ropes bypass the pulley blocks on the machine base and the main machine fixing bracket at the same time.

7. The multi-degree-of-freedom shaft excavator according to any one of claims 4-6, characterized in that, The tunneling head is conical, and several picks are provided on its surface.

8. The multi-degree-of-freedom shaft excavator according to claim 7, characterized in that A guard plate is provided on one side of the tunneling head close to the tunneling arm. The guard plate telescopes and rotates together with the tunneling head. A through cavity is provided inside the guard plate and is connected to the inlet of the mud pump. Several slurry suction holes are provided on the side of the guard plate facing the tunneling head. The distance between the guard plate and the picks gradually decreases along the circumferential direction of the tunneling head.

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