Underwater heading machine, vertical shaft excavating equipment and excavating method

Abstract

The invention provides an underwater heading machine, vertical shaft excavating equipment and an excavating method, and relates to the technical field of underground structure engineering, the underwater heading machine has the following beneficial effects that a conical heading head is adopted, compared with a traditional milling and excavating roller, the conical heading head has higher crushing capacity for boulders, pebble beds and hard rocks, and the excavating problem of complex geology is effectively solved. The cantilever type structure is combined with the multi-degree-of-freedom swing capacity, so that the tunneling head can flexibly stretch into and accurately cut dead angle areas such as supporting soil bodies below the vertical shaft blade foot and the like which are difficult to touch by traditional equipment, and it is guaranteed that the shaft wall can uniformly and safely settle. By means of the design of the double-conical tunneling head and the synchronous or asynchronous cooperative control mode, multiple tunneling machines conduct combined excavation, the excavation efficiency is improved, large boulders and other special obstacles can be treated through specific cooperative actions (such as clamping and crushing), and the operation reliability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground structure engineering, and in particular to an underwater tunneling machine, a shaft excavating device and an excavating method. BACKGROUND

[0002] With the acceleration of urbanization, the development and utilization of underground space is increasingly important. Shaft engineering, as a key passage connecting the ground and the underground, is widely used in various underground engineering. When constructing a shaft in a water-rich stratum, the underwater excavation method is usually used to ensure construction safety.

[0003] In the prior art, underwater excavation often uses a grab bucket or a digging bucket to break rocks and take soil. These devices perform well when dealing with soft or medium-strength rock strata. Some tunneling devices use a densely packed cutting tooth to break rocks in order to improve the rock breaking capacity, but they cannot handle complex geology such as boulders and pebble layers. SUMMARY

[0004] Therefore, one of the purposes of the present application is to provide an underwater tunneling machine to solve the technical problems that the prior art cannot efficiently cut the rock and soil under the blade, and cannot break the pebble layer.

[0005] The second purpose of the present application is to provide a shaft excavating device comprising the underwater tunneling machine.

[0006] The third purpose of the present application is to provide an excavating method using the shaft excavating device.

[0007] To achieve the above-mentioned one of the purposes, the present application provides an underwater tunneling machine, comprising a working tank, a track mechanism arranged below the working tank, an excavating mechanism arranged in front of the track mechanism, and a driving mechanism for driving the excavating mechanism, wherein the excavating mechanism comprises two cantilevered conical tunneling heads arranged in the same direction, and the two conical tunneling heads rotate around their own axes, swing left and right, or swing up and down synchronously or asynchronously under the driving of the driving mechanism. A slag suction mechanism is arranged at the rear end of the two conical tunneling heads, which sucks in broken rock and soil and transports them to the ground.

[0008] Optionally, the driving mechanism comprises a left-right swing driving mechanism, an up-down driving mechanism, and a self-rotation driving mechanism. The left-right swing driving mechanism is located between the two conical tunneling heads and drives the conical tunneling heads to swing left and right. The up-down driving mechanism is arranged on the outer wall of the working tank and is drivingly connected to the two conical tunneling heads through a connecting plate. The self-rotation driving mechanism of the tunneling head is located in the inner cavity of the conical tunneling head, and the power source thereof is arranged in the working tank and is drivingly connected to the motor.

[0009] Optionally, a conical heading cover is arranged above the two conical heading.

[0010] Optionally, the sludge suction mechanism comprises sludge suction filters, a sludge pump and a sludge conveying pipe. The sludge suction filters are arranged at the rear of the two conical heading. The sludge conveying pipe is arranged between the sludge suction filters and extends upward. The sludge pump is arranged between the tracks of the track mechanism. The sludge pump is a plunger pump.

[0011] Optionally, the working tank is provided with underwater sonar sensors for sensing underwater terrain, autonomous positioning, obstacle avoidance and navigation, and a heading controller. The underwater sonar sensors are electrically connected to the heading controller. The heading controller is electrically connected to a ground controller.

[0012] Optionally, the working tank is provided with an ultrasonic transmitter and an ultrasonic receiver.

[0013] To achieve the second purpose, the present application provides a shaft excavation device comprising a plurality of underwater heading machines as described above, a ground recovery tower, a plurality of settlement units, a sludge-water separation system and a ground control system. The plurality of settlement units are arrayed around the shaft wall to control the settlement of the shaft wall and the blade foot ring by steel strands. The ground recovery tower is connected to the underwater heading machines by soft slurry pipelines. The ground control system is connected to the underwater heading machines, the ground recovery tower, the settlement units and the sludge-water separation system.

[0014] Optionally, the plurality of underwater heading machines crush the rock and soil at the bottom of the shaft and under the shaft wall under the control of the ground control system, and the crushed rock and soil is collected by the soft slurry pipelines to the ground recovery tower and then to the sludge-water separation system. The plurality of underwater heading machines cut the soil under the blade foot ring in an array along the central axis of the shaft wall.

[0015] To achieve the second purpose, the present application provides a shaft excavation method for the shaft excavation device as described above, comprising the following steps: Step S1: A plurality of underwater heading machines first complete the cutting of a layer of soil at the bottom of the shaft, leaving the annular soil at the bottom of the blade foot uncut. The underwater heading machines simultaneously pump the cut rock and soil to the ground recovery tower by pipeline. The slurry in the plurality of soft pipelines is collected and then discharged to the sludge-water separation system. Step S2: The plurality of underwater heading machines continue to cut a layer of soil under the blade foot. The plurality of underwater heading machines are evenly distributed inside the blade foot and cut the soil under the blade foot at an equal speed, synchronously, to maintain a moderate overbreak. Step S3: The sinking unit detects the tension change of the steel strand, controls the uniform sinking of the shaft wall and the blade foot, and ensures that the tension of the steel strand is between the minimum limit value and the maximum limit value; Step S4: The previous steps are repeated until the shaft bottom reaches the design depth, and the underwater tunneling machine is lifted to the water surface by the ground recovery tower; Step S5: After the underwater sediment is removed, the shaft bottom concrete is poured, and the gap between the shaft wall and the soil is filled with cement slurry; Step S6: The water in the shaft bottom is pumped out, and the shaft excavation is completed.

[0016] The underwater tunneling machine, shaft excavation device and excavation method provided by the present application have the following technical effects: 1. Strong rock breaking ability and wide adaptability. The present application adopts a conical tunneling head, which has stronger breaking ability for boulders, pebble layers and hard rocks than traditional milling and digging drums, effectively solving the excavation problem of complex geology.

[0017] 2. Flexible operation and no dead angle excavation. The cantilever structure combined with the multi-degree-of-freedom swinging ability enables the tunneling head to flexibly extend into and accurately cut the dead angle area of the supporting soil under the shaft blade foot, which is difficult to reach by traditional equipment, ensuring that the shaft wall can sink uniformly and safely.

[0018] 3. High efficiency and high synergy. The double-cone tunneling head design and synchronous or asynchronous cooperative control mode not only improve the excavation efficiency, but also handle large boulders and other special obstacles through specific cooperative actions (such as clamping and breaking), improving the reliability of the operation.

[0019] 4. Integrated construction and smooth process. The integration of excavation and slag removal functions realizes continuous operation of tunneling and slag removal, avoids the secondary slag removal process, simplifies the construction process, and improves the overall construction efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a first angle perspective structural schematic diagram of a preferred embodiment of the underwater tunneling machine of the present application; Figure 2 is a second angle perspective structural schematic diagram of the underwater tunneling machine in Figure 1 Figure 3 is​Figure 1 FIG. 3 is a third perspective view of the underwater tunneling machine; Figure 4 is Figure 1 FIG. 4 is a fourth perspective view of the underwater tunneling machine without the tunneling head cover; Figure 5 is Figure 1 FIG. 5 is a fifth perspective view of the underwater tunneling machine without the tunneling head cover; Figure 6 is Figure 1 FIG. 6 is a perspective view of the shaft excavation device of the underwater tunneling machine; Figure 7 is Figure 6 FIG. 7 is a vertical sectional view of the shaft excavation device without the recovery tower; Figure 8 is Figure 7 FIG. 8 is an enlarged view of A in FIG. 6; Figure 9 FIG. 9 is a flow chart of the shaft excavation method according to a preferred embodiment of the present application.

[0022] wherein, Figures 1-9 : 1 - underwater tunneling machine; 2 - shaft wall; 3 - blade foot ring; 4 - recovery tower; 5 - settling unit; 51 - steel strand; 6 - shaft bottom; 10 - working tank; 11 - sonar sensor; 20 - track mechanism; 30 - excavation mechanism; 31 - conical tunneling head; 32 - tunneling head cover; 33, 34 - left and right swing driving mechanism and up and down driving mechanism; 40 - slurry suction mechanism; 41 - slurry suction pipe; 411 - slurry suction port; 42 - slurry pump; 43 - slurry delivery pipe; 100 - shaft excavation device. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0024] In order to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be noted that the specific embodiments described here are only used to explain the present application, but not to limit the present application.

[0025] A preferred embodiment of the present application provides a basic structure of an underwater tunneling machine, please refer toFigures 1 to 5 As shown, these figures provide a schematic diagram of the overall structure of an underwater tunneling machine 1 according to a preferred embodiment of the present application. The underwater tunneling machine 1 is used for rock excavation and breaking in underwater environments, such as a caisson.

[0026] Specifically, the underwater tunneling machine 1 comprises a working tank 10 as the main frame, a track mechanism 20 arranged below the working tank 10, a digging mechanism 30 arranged in front of the working tank 10, a driving mechanism for driving the digging mechanism 30 to move, and a sludge suction mechanism 40 for discharging the excavated waste.

[0027] The working tank 10 serves as the core bearing platform and sealing unit of the machine. In this embodiment, it adopts a box-shaped structure welded from high-strength steel plates (such as Q345B or higher-grade wear-resistant steel). The interior is divided into multiple independent waterproof compartments, which house and protect the core power unit, hydraulic system, electrical control system, sensors, and other precision components, ensuring stable and safe operation in deep water and high-pressure environments. The exterior of the working tank 10 is coated with a professional anti-corrosion coating to resist corrosion in underwater environments. Correspondingly, the top of the working tank 10 is also provided with a lifting ring to facilitate the deployment and recovery of the equipment.

[0028] The track mechanism 20 is arranged at the bottom of the working tank 10 and serves as the movement system of the tunneling machine to achieve stable walking and precise positioning on uneven underwater work surfaces. The track mechanism 20 includes two tracks, which can be provided with teeth to increase friction. Each track is driven by an independent, high-torque hydraulic motor through a planetary gear reducer. It can be understood that this design of double-motor independent drive allows the tunneling machine to perform flexible maneuvers such as in-place turning and differential turning. The tension of the tracks is adjusted by a hydraulic tension cylinder to adapt to different geological conditions and prevent the tracks from falling off.

[0029] The digging mechanism 30 is the core component for rock breaking and cutting. As shown, Figures 1-5 The digging mechanism 30 includes two cantilevered conical tunneling heads 31. These two conical tunneling heads 31 are installed in a cantilevered manner at the front end of the working tank 10, with their rotational axes pointing in the direction of tunneling. This cantilevered structure allows the tunneling heads to reach areas that are difficult to access with traditional monolithic cutterheads, such as the arc-shaped space below the caisson blade foot.

[0030] The surface of each conical tunneling head 31 is embedded or welded with multiple picks in a spiral or array form. These cutters, as the part directly interacting with the rock, have high hardness and wear resistance.

[0031] A conical cutting head 31 is provided with a cutting head cover 32 above it, the arc-shaped inner wall of which can limit the rock between the two cutting heads and the cover when the cutting heads are rotating to break the rock, preventing a large amount of gravel from being blown away under the impact of the cutting head (for example, in a gravel layer), thereby improving the rock breaking efficiency, and guiding the cut rock and soil to the suction inlet of the suction mechanism 40 behind, reducing the entry of clear water with low solid content, and further improving the discharge efficiency.

[0032] When the bottom of the normal digging blade is excavated, the cutting head 31 needs to maintain a safety distance of at least 100 mm from the blade foot, which is independently monitored by mechanical limit switches and sonar ranging sensors. The system will monitor two redundant signals. If the distance is less than 100 mm, the system will alarm, and the conical cutting head 31 will automatically adjust to descend. In the event of any sensor failure, the cutting head cover 32 can serve as the last line of defense.

[0033] The driving mechanism is used to provide power for the digging mechanism 30 to drive the two conical cutting heads 31 to realize complex multi-degree-of-freedom compound motion. The driving mechanism specifically includes: Rotary driving mechanism: driving the two conical cutting heads 31 to rotate around their respective axes, i.e., the direction of rotation. This mechanism can be a large-torque hydraulic motor built into each cutting head base or a sealed variable-frequency motor. Through the control system, the two cutting heads can be rotated at the same speed, in opposite directions, or at different speeds to adapt to different digging strategies.

[0034] Left-right swing driving mechanism 33: driving the two conical cutting heads 31 to perform left-right reciprocating horizontal swinging. This mechanism can be realized by one or more double-acting hydraulic cylinders arranged transversely between the two cutting head cantilever bases. Through the extension and retraction of the hydraulic cylinders, the two cutting heads can swing left simultaneously, right simultaneously, or one left and one right.

[0035] Up-down driving mechanism 34: driving the two conical cutting heads 31 to perform up-down reciprocating vertical lifting. This mechanism can be realized by vertical hydraulic cylinders connected between the cutting head supports and the main body of the working tank 10. By controlling the extension and retraction of the two cylinders, the cutting heads can be lifted as a whole, lowered, or subjected to small-range up-down reciprocating cutting.

[0036] The coordinated work of the above three driving mechanisms gives the conical cutting head 31 extremely high flexibility, enabling it to complete various complex digging actions such as rotary cutting, swinging scanning cutting, and pitching cutting.

[0037] The normal digging sequence should be to first excavate the rock and soil outside the blade foot to form a plane, and then excavate the rock and soil under the blade foot.

[0038] If the sudden well wall falls, and the cone heading head 31 is pressed by the blade foot, the cone heading head 31 can be swung in multiple directions or reversed until the trouble is solved.

[0039] There are two ways to cut rock and soil: Fixed angle cutting is mainly used for middle reciprocating heading, and the soil accounts for 90% of the total volume. The angle between the two cone heading heads 31 is the smallest and is fixed, and the walking of the track is used as feeding.

[0040] Swing cutting is used to excavate the rock and soil under the blade foot, which accounts for 10% of the total volume. The cone heading head 31 is continuously swung back and forth to cut, and the track is moved forward by a small step after each cycle is completed.

[0041] The sludge suction mechanism 40 is used to suck away the mud formed by mixing the broken rock and soil slurry with water in time during excavation, and transport it to the treatment system on the water surface through the pipeline, so as to realize the integrated operation of excavation and sludge discharge.

[0042] As an optional implementation, the sludge suction mechanism 40 includes a sludge suction pipe 41 arranged above the heading head, a sludge pump 42 arranged between the track mechanisms 20 at a low gravity center position, and a sludge conveying pipe 43 connected to the sludge pump 42 and extending to the water surface.

[0043] The inlet end of the sludge suction pipe 41 is designed as a porous sludge collecting cover opposite the rear of the heading head, so as to efficiently collect the mud flowing from the heading head cover 32. The sludge collecting cover performs preliminary filtration on the mud to prevent large particles of rock and soil from entering the conveying pipe 43. The sludge pump 42 is the core of the sludge suction system, and is used to pump high-concentration and high-abrasive mud containing a large amount of solid particles. In this embodiment, a high-power plunger pump can be preferably used. The plunger pump can generate extremely high outlet pressure, which is sufficient to overcome the pipeline resistance and water depth pressure, and can be transported to the ground hundreds of meters high. The sludge conveying pipe 43 is made of wear-resistant and high-pressure flexible composite material hose, one end of which is connected to the discharge port of the sludge pump 42, and the other end is connected to the ground recovery tower on the water surface.

[0044] The whole machine is controlled by a heading controller (such as a programmable logic controller) built in the working tank 10 and the ground control system. The heading controller is responsible for receiving instructions from the ground control system and directly controlling various hydraulic valves and motors to drive the actions of the track mechanism 20, the excavation mechanism 30 and the sludge suction mechanism 40. At the same time, various sensors installed on the machine body, such as inclination sensors for attitude sensing, sonar sensors for positioning, pressure and temperature sensors for sensing the state of the hydraulic system, etc., will transmit their data to the heading controller in real time, and the heading controller will transmit the data to the ground control system through the fiber optic cable for the operator to monitor and make decisions.

[0045] In operation, the operator at the surface control station observes the topographic images and tunneling machine status data transmitted by the underwater sonar system through the monitor screen, and remotely controls the tunneling machine 1 to move to the designated working area through the track mechanism 20. Then, the operator issues a digging instruction, and the tunneling controller controls the driving mechanism to start the two conical tunneling heads 31 to rotate and swing horizontally and vertically as needed to efficiently cut and crush the target rock-soil. At the same time, the slurry pump 42 is started, and the strong suction force of the pump body through the slurry suction pipe 41 pumps the slurry in the digging area to the ground through the slurry delivery pipe 43, thereby ensuring the continuity of the digging operation.

[0046] The present application also discloses a vertical shaft tunneling device and method applied to actual vertical shaft projects, which constitutes a systematic construction solution, as shown in Figures 6-9

[0047] Figure 6 The system architecture diagram of the vertical shaft tunneling device 100 provided in the embodiment is shown. The device is a complex system integrating the underground operation unit and the surface support unit.

[0048] In terms of system composition, the vertical shaft tunneling device 100 comprises: Underground part: Underwater tunneling machine 1: Usually, multiple underwater tunneling machines are deployed according to the diameter of the vertical shaft to work cooperatively, thereby greatly improving the excavation efficiency.

[0049] For large vertical shafts, 2-4 tunneling machines are arranged at the shaft bottom 6, for example, three tunneling machines are preferred in the embodiment, and the three tunneling machines simultaneously excavate the rock-soil under the blade feet to form three supporting points, thereby being more conducive to the stable settlement of the vertical shaft.

[0050] Shaft wall 2 and blade foot ring 3: This is the supporting structure of the vertical shaft, which is usually made of reinforced concrete, wherein the blade foot ring 3 is a sharp structure at the lower end of the shaft wall 2, which is used to cut into the soil during the settlement process to reduce the sinking resistance. The target of the excavation operation is to remove the soil in the shaft and the soil under the blade feet, and the soil is over-excavated in the radial direction to facilitate the sinking of the shaft wall 2 under the action of gravity.

[0051] Surface part: Surface control system: As the centralized control center, it is usually arranged in the workshop. The operator observes the status of all tunneling machines, underwater topography, shaft wall settlement data, etc. in the shaft through the large screen, and sends control instructions to each unit. The system is connected with the tunneling machine in the shaft through one or more umbilical cables (which can include power supply, optical fiber communication and hydraulic pipeline).

[0052] ​Sedimentation unit 5: As the key equipment to ensure the uniform and controllable sinking of the shaft wall 2, it is usually composed of multiple hydraulic jacks evenly distributed along the circumference of the shaft wall 2 and a computer control system. Each unit is connected to the blade foot through high-strength steel wire 51. The sedimentation unit 5 not only can monitor the stress state of the shaft wall in real time through the tension sensor, but also can control the sinking rate of the shaft wall by accurately controlling the loosening speed of the steel wire 51 to prevent tilting or too fast sinking.

[0053] Ground recovery tower 4 and slurry separation system: The slurry pumped from the underwater tunneling machine 1 is first transported to the ground recovery tower 4 through the spoil conveying pipe 43, and then flows into the rear-end slurry separation system by gravity. This system separates the solid spoil from the water in the slurry through a series of devices such as vibrating screen, cyclone, centrifugal dewatering machine, etc. The separated spoil is transported for disposal, and the water can be recycled or discharged after sedimentation and purification.

[0054] Based on the above vertical shaft excavation equipment 100, the embodiment provides an efficient and safe vertical shaft excavation method. Please refer to Figure 9 , which is a flowchart of the method. The specific steps are as follows: Step S1: Cutting the large surface of the shaft bottom 6 (S1-cutting the large surface of the shaft bottom 6 step). In the early stage of vertical shaft construction, the shaft is full of water. Several underwater tunneling machines 1 are hoisted into the shaft. Under the unified scheduling of the ground control system, the several tunneling machines work cooperatively, first cutting the large area of rock-soil in the central area of the shaft bottom 6. The goal of this step is to quickly remove most of the earthwork, creating space for the subsequent blade foot excavation.

[0055] It should be noted that in this step, the annular soil body directly below and around the blade foot ring 3 is intentionally left undisturbed, which serves as a temporary bearing platform to stably support the entire shaft wall structure and prevent accidental settlement before the preparatory work is completed.

[0056] Step S2: Synchronously cutting the soil under the blade foot (S2-synchronously cutting the soil under the blade foot step). After the central area is excavated, the several underwater tunneling machines 1 are moved to the inside of the shaft wall 2 and are roughly equally distributed along the circumference. At this time, each tunneling machine uses its unique cantilever structure and multi-degree-of-freedom movement capability to perform the key excavation work. Under the synchronous instruction of the ground control system, the conical tunneling head 31 of each tunneling machine extends and uses its horizontal and vertical swing functions to synchronously cut the annular support soil under the blade foot ring 3 at almost the same speed and cutting depth.

[0057] By using synchronous operation, it can ensure that the support under the blade foot ring 3 is uniformly removed, thereby laying the foundation for the uniform sinking of the shaft wall.

[0058] Step S3: Control uniform settlement (S3-Controlling uniform settlement step). When step S2 is performed, the sensors of the several sets of settlement units 5 on the ground monitor the tension of the steel strand 51 in real time. When the soil under the blade foot is excavated, the supporting force decreases, and the tension value increases accordingly. When the tension increases to the preset safety threshold, the ground control system accurately controls the settlement unit 5 to synchronously and slowly release the steel strand 51, allowing the entire shaft wall 2 and the blade foot ring 3 to stably and uniformly vertically descend a small distance (for example, 10-20 cm) under the action of gravity. Once the shaft wall settles and re-presses the soil below, the supporting force is restored, and the tension of the steel strand 51 decreases to a lower threshold, and the system stops releasing, completing a micro-settlement.

[0059] Step S4: Repeat the cycle (S4-Repeat step). The system determines whether the shaft has reached the designed depth. If not, the process returns to step S2 to start a new round of "synchronously cutting the soil under the blade foot - controlling uniform settlement" cycle. This "cutting while descending" operation mode makes the shaft excavation a continuous and controlled process, greatly improving the construction efficiency and safety.

[0060] Step S5: Dredging and pouring (S5-Dredging and pouring step). When the shaft settles to the designed elevation, the cycle operation stops. All underwater tunneling machines 1 are lifted out of the well. Then, a grab bucket or a dredging pump can be used to clean the bottom 6 of the well to ensure that there is no floating soil and debris. Then, high-strength grade concrete is poured underwater through a pipe method to form a solid bottom 6 sealing plate. The gap between the shaft wall and the soil is filled with cement slurry to make the shaft wall and the soil tightly combined into a stable whole.

[0061] Step S6: Water pumping is completed (S6-Water pumping is completed step). After the concrete at the bottom 6 of the well reaches the designed strength, a water pump is used to pump out the accumulated water in the well. At this point, the main structure of the shaft is completed, and the subsequent internal structure construction can be carried out.

[0062] The equipment and method shown in the embodiment effectively solve the technical problems of low efficiency, high risk, difficulty in handling complex geology, and inability to accurately control the settlement in the traditional underwater shaft construction by combining the innovative underwater tunneling machine with the precise settlement control system.

[0063] In the description of the application, it should be noted that, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0064] In the description of the application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0065] The above is only a specific embodiment of the application, but the protection scope of the application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the application, which should be covered within the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. An underwater tunneling machine comprising a working tank, a crawler mechanism provided below the working tank, a digging mechanism provided in front of the crawler mechanism, and a driving mechanism for driving the digging mechanism, characterized in that, The digging mechanism comprises two cantilevered conical digging heads arranged in the same direction, and the two conical digging heads rotate around their own axes, swing left and right, or swing up and down synchronously or asynchronously under the driving of the driving mechanism; The rear ends of the two conical digging heads are provided with slag suction mechanisms which suck in broken rock and soil and deliver them to the ground.

2. The machine of claim 1, wherein, The driving mechanism comprises left and right swing driving mechanisms, up and down driving mechanisms and self-rotation driving mechanisms, the left and right swing driving mechanisms are located between the two conical digging heads and drive the conical digging heads to swing left and right, the up and down driving mechanisms are arranged on the outer wall of the working box and are driven to connect with the two conical digging heads, the self-rotation driving mechanisms of the digging heads are located in the cavities of the conical digging heads, the power sources of the self-rotation driving mechanisms are arranged in the working box, and the power sources are driven to connect with the motors.

3. The machine of claim 1, wherein, The upper parts of the two conical digging heads are provided with digging head covers.

4. The machine of claim 1, wherein, The slag suction mechanism comprises slag suction filtering ports, slag soil pumps and slag soil delivery pipes, the slag suction filtering ports are arranged in pairs at the rear parts of the two conical digging heads, the slag soil delivery pipes are arranged between the slag suction filtering ports and extend upward, and the slag soil pumps are arranged between the caterpillar tracks of the caterpillar track mechanism. The slag soil pump is a plunger pump.

5. The machine of claim 1, wherein, The working box is provided with a plurality of underwater sonar sensors for sensing underwater terrain, autonomous positioning, obstacle avoidance and navigation and a digging controller, the underwater sonar sensors are electrically connected with the digging controller, and the digging controller is electrically connected with a ground controller.

6. The machine of claim 5, wherein, The working box is provided with an ultrasonic transmitter and an ultrasonic receiver.

7. A shaft excavation apparatus, characterised in that, The underwater tunneling machine comprises a plurality of underwater tunneling machines as claimed in any one of claims 1-6, a ground recovery tower, a plurality of sinking units, a mud-water separation system and a ground control system, the plurality of sinking units are arrayed around the circumference of the shaft wall, the sinking of the shaft wall and the blade foot ring is controlled by steel strands, the ground recovery tower is communicated with the underwater tunneling machine through soft mud-water pipelines, and the ground control system is simultaneously connected with the underwater tunneling machine, the ground recovery tower, the sinking units and the mud-water separation system.

8. Shaft excavation apparatus according to claim 7, characterised in that, The plurality of underwater tunneling machines crush rock and soil at the bottom of the shaft and below the shaft wall, and the crushed rock and soil are collected to the ground recovery tower through the soft mud-water pipelines and then delivered to the mud-water separation system. The plurality of underwater tunneling machines arrayed around the central axis of the shaft wall cut the soil body below the blade foot ring.

9. A shaft excavating method of the shaft excavating apparatus as claimed in claim 7 or 8, characterized by, The method comprises the following steps: Step S1: a plurality of underwater tunneling machines first complete one layer of cutting of the soil body of the shaft bottom, leaving the annular soil body at the bottom of the blade foot without cutting, and the underwater tunneling machines simultaneously deliver the cut rock and soil to the ground recovery tower by the pipeline pumping mode, and the mud-water in the plurality of soft pipelines is collected and then discharged to the mud-water separation system; Step S2: the plurality of underwater tunneling machines continue to cut one layer of soil body below the blade foot, the plurality of underwater tunneling machines are evenly distributed on the inner side of the blade foot, cut the soil body below the blade foot at an equal speed and synchronously, and keep moderate overbreak; Step S3: the sinking units detect the change of the tension of the steel strands, control the uniform sinking of the shaft wall and the blade foot, and ensure that the tension of the steel strands is between the minimum limit value and the maximum limit value. Step S4: Repeat the previous steps until the shaft bottom reaches the design depth, and use the surface recovery tower to bring the underwater tunneling machine to the water surface; Step S5: After removing the underwater sediment, pour the bottom concrete, and fill the gap between the shaft wall and the soil with cement slurry; Step S6: Drain the water at the bottom of the shaft, and the shaft excavation is complete.

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