Propelling deviation rectifying structure of vertical shaft heading machine and vertical shaft heading machine

Abstract

The invention discloses a vertical shaft heading machine and a propelling deviation rectifying structure thereof. The propelling deviation rectifying structure comprises a first supporting platform and at least three deviation rectifying oil cylinders, and the lower end of the first supporting platform is connected with a second supporting platform through a universal hinge assembly; the multiple deviation rectifying oil cylinders are evenly distributed in the circumferential direction at intervals, the telescopic ends of the deviation rectifying oil cylinders are hinged to the first supporting platform, and cylinder barrels of the deviation rectifying oil cylinders are hinged to the second supporting platform. A tunneling cutterhead driven by a rotary driving assembly to rotate is arranged at the end, away from the first supporting platform, of the second supporting platform, and the rotary driving assembly is located at the end, facing the first supporting platform, of the second supporting platform and connected with a universal hinge assembly through a propelling assembly. According to the driving device, the installation occupied space of the propelling assembly is reduced on the basis that the same cutter shaft pressure is applied to the tunneling cutter, and the driving device can have the higher cutter pressing capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shaft sinking equipment, in particular to a pushing and deviation correcting structure of a shaft sinking machine and the shaft sinking machine. BACKGROUND

[0002] In order to achieve the predetermined shaft sinking accuracy and the driving speed, the pushing direction of the rock breaking cutter head needs to be controlled in real time during the driving process of the shaft sinking machine, and at the same time, a sufficient downward pressure needs to be applied to the cutter head to push the cutter head downward to realize the automatic rock breaking driving.

[0003] During the driving process of the shaft sinking machine, the route deviation is inevitable, in order to ensure the shaft sinking accuracy, the pushing and deviation correcting system of most of the existing shaft sinking machines adopts multiple groups of obliquely arranged oil cylinders to realize the composite action, but the above-mentioned pushing and deviation correcting system has the following defects: 1. Although the oblique arrangement of the oil cylinder can realize the composite action of the guiding and deviation correcting and the pushing, the two actions are coupled with each other, the guiding control accuracy is poor, the guiding stability is poor, and especially when the ground pressure is uneven, the cutter head is easy to be impacted and deviated.

[0004] 2. Due to the oblique arrangement of the pushing oil cylinder, a part of the pushing force of the oil cylinder will be lost in the direction of the cutter head shaft pressure, under the same cutter head shaft pressure, a larger section oil cylinder needs to be used, which leads to the need to occupy a larger space.

[0005] Therefore, there is an urgent need for a pushing and deviation correcting system which can ensure the guiding control accuracy and reduce the occupied space on the basis of applying the same cutter head shaft pressure. SUMMARY

[0006] The present application provides a pushing and deviation correcting structure of a shaft sinking machine and the shaft sinking machine, which solves the technical problem that the prior art lacks a pushing and deviation correcting system which can ensure the guiding control accuracy and reduce the occupied space on the basis of applying the same cutter head shaft pressure.

[0007] In a first aspect, the present application provides a pushing and deviation correcting structure of a shaft sinking machine, comprising: a first support platform; a second support platform located below the first support platform in the vertical direction; a universal hinge assembly arranged between the first support platform and the second support platform and used for allowing the second support platform to rotate universally relative to the first support platform; at least three deviation correcting oil cylinders which are uniformly distributed in the circumferential direction, the telescopic end of the deviation correcting oil cylinder is hinged to one of the first support platform and the second support platform, and the cylinder barrel of the deviation correcting oil cylinder is hinged to the other one of the first support platform and the second support platform; The excavating cutter head is arranged at one end of the second support platform away from the first support platform. The rotary driving assembly is arranged at one end of the second support platform towards the first support platform, and the output end of the rotary driving assembly is connected to the excavating cutter head and drives the excavating cutter head to rotate. The advancing assembly is connected between the rotary driving assembly and the universal hinge assembly, and the advancing assembly is used to drive the excavating cutter head and the rotary driving assembly to ascend and descend relative to the second support platform.

[0008] According to the advancing and deviation rectifying structure of the shaft excavating machine, at least the following beneficial effects are achieved: The second support platform is connected to the first support platform through the universal hinge assembly, the excavating cutter head and the rotary driving assembly are connected to one end of the universal hinge assembly towards the second support platform, and the advancing assembly can drive the excavating cutter head and the rotary driving assembly to ascend and descend relative to the second support platform; when it is necessary to rectify the deviation of the excavating cutter head, the rectifying oil cylinders at different circumferential positions are controlled to extend and retract at different set strokes, so that the excavating cutter head, the rotary driving assembly and the advancing assembly can be accurately controlled to deflect and rectify at a set angle relative to the first support platform together with the second support platform, the angular deflection action is transferred to the relative angular deflection rectification between the first support platform and the second support platform, the stability of the deviation rectifying motion is improved, the circumferentially spaced rectifying oil cylinders can effectively absorb the rock impact generated in the process of excavating a large section, the uneven rock breaking impact force during excavation is reduced, the cutter head deflection phenomenon is reduced, and the drilling precision is improved; when straight-line excavation is performed, the first support platform and the second support platform are first fixed to the shaft wall of the shaft, then the advancing assembly is controlled to drive the excavating cutter head and the rotary driving assembly to descend to the position where the excavating cutter head contacts the rock surface, so that the rock breaking roller cutter on the excavating cutter head extrudes and breaks the rock surface in contact therewith; and the rotary driving assembly is controlled to drive the excavating cutter head to rotate to break the rock of the excavating section; the angular deflection rectifying motion and the downward pressing and rotating excavating motion of the excavating cutter head are completely independent, and there is no action interference between the motions, the reliability is higher, and the support rigidity during excavation is higher. Meanwhile, the advancing assembly only applies downward pressing force to the excavating cutter head, can be arranged in parallel to the axial direction of the second support platform, reduces the installation space of the advancing assembly on the basis of applying the same cutter head axial pressure to the excavating cutter head, can have greater cutter head downward pressing capacity, and is beneficial to improving the rock breaking effect and the excavation speed.

[0009] In an optional embodiment, the universal hinge assembly comprises a support seat and a universal rotation joint, the top end of the support seat is connected to the bottom end of the first support platform through the universal rotation joint, the bottom end of the support seat is connected to the top end of the second support platform through a guide column, and the advancing assembly is connected to the bottom end of the support seat.

[0010] In an alternative embodiment, a plurality of said guide columns are provided, and the plurality of said guide columns are circumferentially and evenly spaced around said rotary drive assembly.

[0011] In an alternative embodiment, said rotary drive assembly is slidably arranged along a vertical direction of said guide column.

[0012] In an alternative embodiment, said universal joint is provided as a cross shaft universal joint, said cross shaft universal joint is connected to said first support platform via a first yoke, and said cross shaft universal joint is connected to said support base via a second yoke.

[0013] In an alternative embodiment, said propulsion assembly comprises a plurality of propulsion oil cylinders, said plurality of propulsion oil cylinders are circumferentially and evenly spaced around said rotary drive assembly, a cylinder barrel of said plurality of propulsion oil cylinders is fixedly connected to said rotary drive assembly, and a piston rod of said plurality of propulsion oil cylinders is fixedly connected to said universal joint assembly.

[0014] In an alternative embodiment, said rotary drive assembly comprises: a connecting plate fixedly connected to said cylinder barrel of said propulsion oil cylinder; a plurality of hydraulic motors evenly arranged on said connecting plate, said plurality of hydraulic motors are connected with an output shaft via a speed reduction assembly, and said output shaft is fixedly connected to said boring cutter head.

[0015] In an alternative embodiment, a plurality of first support shoes are circumferentially and evenly spaced on a side wall of said first support platform, said plurality of first support shoes are driven by a first support shoe oil cylinder to move radially along the wellbore, and said plurality of first support shoes are used to radially support on a well wall of the wellbore.

[0016] In an alternative embodiment, a plurality of second support shoes are circumferentially and evenly spaced on a side wall of said second support platform, said plurality of second support shoes are driven by a second support shoe oil cylinder to move radially along the wellbore, and said plurality of second support shoes are used to radially support on a well wall of the wellbore.

[0017] In a second aspect, the present application further provides a shaft boring machine comprising the propulsion and deviation correction structure provided in the first aspect.

[0018] The shaft boring machine comprises the propulsion and deviation correction structure, and has the same beneficial effects as the propulsion and deviation correction structure, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0020] Figure 1 A perspective view of a pushing and correcting structure according to the present embodiment; Figure 2 An exploded view of a pushing and correcting structure according to the present embodiment; Figure 3 A partial view of a pushing and correcting structure according to the present embodiment; Figure 4 A front view of a pushing and correcting structure according to the present embodiment; Figure 5 A view of a pushing and correcting structure according to the present embodiment in a straight tunneling in a shaft, wherein (a) is a view of a pushing and correcting structure according to the present embodiment in a shallow part of a shaft, and (b) is a view of a pushing and correcting structure according to the present embodiment in a straight tunneling in a shaft after a certain depth; Figure 6 A view of a pushing and correcting structure according to the present embodiment in a tunneling direction of a tunneling cutter deviating from a preset track, wherein (c) is a view of a pushing and correcting structure according to the present embodiment in a shallow part of a shaft, and (d) is a view of a pushing and correcting structure according to the present embodiment in a tunneling direction deviating from a preset track after a certain depth;

[0021] Explanation of reference signs: 100 - first support platform, 110 - first yoke, 120 - first support shoe; 200 - second support platform, 210 - second support shoe; 300 - correcting cylinder; 400 - tunneling cutter; 500 - rotating drive assembly, 510 - connecting plate, 520 - hydraulic motor, 530 - output shaft; 610 - support seat, 611 - second yoke, 620 - guide column, 630 - cross shaft universal joint; 700 - pushing cylinder; 800 - shaft. DETAILED DESCRIPTION

[0022] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0023] In the description of the present embodiments, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" 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 convenience of describing the present embodiments 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 present embodiments. In addition, the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present embodiments, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present embodiments can be understood according to the specific circumstances.

[0025] The embodiments of the present application will be described below with reference to Figures 1 to 6 .

[0026] According to a first aspect of the embodiments of the present application, a propulsion deviation rectification structure of a shaft tunneling machine is provided, comprising a first support platform 100 and at least three deviation rectification oil cylinders 300, preferably four deviation rectification oil cylinders 300, the first support platform 100 being provided with a second support platform 200 below in the vertical direction, a universal hinge assembly being provided between the first support platform 100 and the second support platform 200, the universal hinge assembly being used to enable the second support platform 200 to rotate in all directions relative to the first support platform 100; the four deviation rectification oil cylinders 300 being uniformly distributed in the circumferential direction, the telescopic end of the deviation rectification oil cylinder 300 being hinged to one of the first support platform 100 and the second support platform 200, the cylinder barrel of the deviation rectification oil cylinder 300 being hinged to the other one of the first support platform 100 and the second support platform 200, preferably the telescopic end of the deviation rectification oil cylinder 300 being hinged to the first support platform 100 and the cylinder barrel of the deviation rectification oil cylinder 300 being hinged to the second support platform 200; the second support platform 200 being provided with a tunneling cutter head 400 at the end away from the first support platform 100, the second support platform 200 being provided with a rotary drive assembly 500 at the end towards the first support platform 100, the output end of the rotary drive assembly 500 being connected to the tunneling cutter head 400 and driving the tunneling cutter head 400 to rotate with the axis direction of the second support platform 200 as the rotation axis; a propulsion assembly being connected between the rotary drive assembly 500 and the universal hinge assembly, the propulsion assembly being used to drive the tunneling cutter head 400 and the rotary drive assembly 500 to ascend and descend together relative to the second support platform 200.

[0027] The propulsion deviation rectification structure of the present embodiment connects the second support platform 200 to the first support platform 100 through the universal hinge assembly, connects the tunneling cutter head 400 and the rotary drive assembly 500 to the end of the universal hinge assembly towards the second support platform 200, and the propulsion assembly can drive the tunneling cutter head 400 and the rotary drive assembly 500 to ascend and descend together relative to the second support platform 200; as Figure 6 (c) and Figure 6(d) as shown, when the excavating cutterhead 400 needs to be corrected, by controlling the different set strokes of the correction oil cylinders 300 at different circumferential positions to extend and retract, the excavating cutterhead 400, the rotary driving assembly 500 and the advancing assembly can be accurately controlled to deflect and correct at a set angle relative to the first support platform 100 together with the second support platform 200, the angular deflection action is transferred to the relative angular deflection correction between the first support platform 100 and the second support platform 200, the stability of the correction movement is improved, and the four circumferentially spaced correction oil cylinders 300 can effectively absorb the rock impact generated during large-section excavation, reducing the phenomenon of cutterhead deflection caused by uneven rock breaking impact during excavation, and improving drilling precision; when straight-line excavation is performed, the first support platform 100 and the second support platform 200 are first fixed to the sidewall of the wellbore 800, then the advancing assembly is controlled to drive the excavating cutterhead 400 and the rotary driving assembly 500 to descend together until the excavating cutterhead 400 contacts the rock surface, so that the rock breaking roller on the excavating cutterhead 400 extrudes and breaks the rock surface in contact with it; and the rotary driving assembly 500 is controlled to drive the excavating cutterhead 400 to rotate to break the rock of the excavation section; the angular deflection correction movement and the downward pressure and rotation of the excavating cutterhead 400 are completely independent, and there is no action interference between each movement, the reliability is stronger, and the support rigidity during excavation is stronger. At the same time, the advancing assembly only applies downward pressure to the excavating cutterhead 400, which can be arranged parallel to the axis direction of the second support platform 200, thereby reducing the installation space of the advancing assembly on the basis of applying the same cutterhead axial pressure to the excavating cutterhead 400, and the cutterhead downward pressure capacity can be greater, which is beneficial to improve the rock breaking effect and the excavation speed.

[0028] It should be noted that after the correction is completed (i.e. the excavation direction of the excavating cutterhead 400 does not deviate from the preset trajectory), the excavation operation is then performed, as shown in Figure 5 (a) and Figure 5 (b), each correction oil cylinder 300 is in an excavation state with unchanged extension and retraction stroke and set pressure locking, so that the entire structure has stronger structural rigidity, and has better vibration damping effect on the vibration impact transmitted by the excavating cutterhead 400, which is beneficial to absorb the rock impact during large-section excavation, thereby reducing the phenomenon of cutterhead deflection caused by uneven rock breaking impact during excavation, and improving drilling precision.

[0029] It should be noted that in the embodiment, the two ends of the deviation correction oil cylinder 300 are respectively hinged to the first support platform 100 and the second support platform 200, and the first support platform 100 and the second support platform 200 are connected through the universal hinge assembly to realize the universal rotation, so that the second support platform 200 and all components (specifically, the tunneling cutterhead 400, the rotary driving assembly 500 and the advancing assembly) mounted thereon can be precisely controlled to rotate around the X, Y and Z axes relative to the first support platform 100, so that the tunneling cutterhead 400 can be precisely controlled to swing around the three axes by any angle relative to the first support platform 100 to realize the deviation correction.

[0030] It can be understood that when the axis direction of the tunneling cutterhead 400 is deviated from the axis direction of the first support platform 100, that is, there is a non-zero included angle between the axis directions of the two, it indicates that the tunneling direction of the tunneling cutterhead 400 is deviated from the preset trajectory, and the control system of the shaft sinking machine provided with the advancing and deviation correction structure of the embodiment can detect the deviation of the tunneling direction, and the control system can determine the direction and target angle of the tunneling cutterhead 400 according to the deviation, and the control system automatically controls each deviation correction oil cylinder 300 to extend or retract according to the corresponding setting to adjust the tunneling direction of the tunneling cutterhead 400.

[0031] It should be noted that the angle deflection correction motion of the embodiment and the downward pressing and rotating tunneling motion of the tunneling cutterhead 400 are completely independent, and there is no action interference between the motions (that is, the motions are not coupled with each other), the structure has high rigidity during the tunneling operation, the reliability and control accuracy of the tunneling direction control are better than those of the related art advancing and deviation correction system, and the control logic of the control system of the shaft sinking machine provided with the advancing and deviation correction structure of the embodiment is simpler.

[0032] It should be noted that in the embodiment, the tunneling cutterhead 400 and the second support platform 200 have synchronous angle deflection, and the tunneling cutterhead 400 has independent advancing and rotating, which ensures the use effect, transfers the angle deflection correction motion of the tunneling cutterhead 400 to the angle deflection between the first support platform 100 and the second support platform 200, improves the stability, reduces the interference between the motions, and controls more simply.

[0033] It can be understood that when the axis direction of the tunneling cutterhead 400 is not deviated from the axis direction of the first support platform 100, the axis direction of the first support platform 100, the axis direction of the second support platform 200 and the axis direction of the tunneling cutterhead 400 are overlapped, and the axis direction of the first support platform 100 is parallel to the vertical direction, for the convenience of description, the axis direction of the first support platform 100 is taken as the X axis direction, the axis direction of the second support platform 200 is taken as the Y axis direction, and the axis direction of the tunneling cutterhead 400 is taken as the Z axis direction. Figure 4The vertical direction mentioned is used to describe the vertical direction as mentioned in the text, but it is not used to specifically limit the vertical direction mentioned in the text.

[0034] It is understandable that, regardless of whether there is any offset between the axial direction of the tunneling cutterhead 400 and the axial direction of the first support platform 100, the axial direction of the second support platform 200 and the axial direction of the tunneling cutterhead 400 always overlap.

[0035] In another alternative embodiment, the telescopic end of the correction cylinder 300 is hinged to the second support platform 200, and the cylinder barrel of the correction cylinder 300 is hinged to the first support platform 100.

[0036] In practical applications, the number of correction cylinders 300 can be reasonably increased or decreased according to actual needs. For example, in other embodiments, the number of correction cylinders 300 may be three, five, six or seven, etc.

[0037] like Figures 1 to 4 As shown, in some embodiments, the universal joint assembly includes a support base 610 and a universal joint. The top end of the support base 610 is connected to the bottom end of the first support platform 100 via the universal joint, and the bottom end of the support base 610 is connected to the top end of the second support platform 200 via a guide post 620. The propulsion assembly is connected to the bottom end of the support base 610. By mounting the cutterhead 400 and the rotary drive assembly 500 together with the propulsion assembly on the support base 610, it is ensured that the cutterhead 400, the rotary drive assembly 500, and the propulsion assembly deflect and correct relative to the first support platform 100 at a set angle along with the second support platform 200. This transfers the angle deflection action of the cutterhead 400 to the relative angle deflection between the first support platform 100 and the second support platform 200, improving the stability of the correction motion.

[0038] like Figure 2 As shown, specifically, multiple guide posts 620 are provided, preferably two, which are evenly spaced around the rotary drive assembly 500 in the circumferential direction. This arrangement increases the structural strength of the connection between the support base 610 and the second support platform 200, ensuring that when the cutterhead 400 and the rotary drive assembly 500 are mounted together with the propulsion assembly on the support base 610, the rotary drive assembly 500 can independently drive the cutterhead 400 to rotate, and the propulsion assembly can independently apply downward pressure to the cutterhead 400.

[0039] In specific applications, the number of guide posts 620 can be reasonably increased or decreased according to actual needs. For example, in other embodiments, the guide posts 620 are provided in other quantities such as three, four, five or six.

[0040] In some embodiments, the rotary drive assembly 500 is arranged to slide along the vertical direction on the guide column 620. The guide column 620 guides the lifting movement of the rotary drive assembly 500 and the cutting head 400, ensuring the stability of the lifting movement of the cutting head 400, in particular, the stability of the lowering movement of the cutting head 400, which is conducive to improving the drilling accuracy.

[0041] As shown in Figure 2 and Figure 3 In some embodiments, the universal joint is a cross shaft universal joint 630, which connects the first support platform 100 through a first joint fork 110 and connects the support base 610 through a second joint fork 611. The support base 610 equipped with the cross shaft universal joint 630 achieves the universal articulation of the first support platform 100 and the second support platform 200, which is simpler, more compact, more rigid, and has greater cutting head pressing capacity than other methods of connecting the cutting head 400 and the support platform through oil cylinders to achieve deviation correction, which is conducive to improving the rock breaking effect and the drilling speed.

[0042] It should be noted that, based on the transmission characteristics of the cross shaft universal joint 630, the second support platform 200 and all components mounted thereon can rotate around the X, Y, and Z axes relative to the first support platform 100, so the cutting head 400 can swing at any angle relative to the second support platform 200.

[0043] It should be noted that the support base 610 mounted on the second support platform 200 is connected to the first support platform 100 through the cross shaft universal joint 630, and under the action of gravity, the second support platform 200 and all components mounted thereon are suspended below the second support platform 200.

[0044] It should be noted that the support base 610 equipped with the cross shaft universal joint 630 achieves the universal articulation of the first support platform 100 and the second support platform 200, and the first support platform 100 and the second support platform 200 can deflect at any angle around the center of the cross shaft universal joint 630; by connecting the first support platform 100 and the second support platform 200 through multiple deviation correction oil cylinders 300, the deflection angle of the second support platform 200 relative to the first support platform 100 in any direction can be accurately controlled.

[0045] In specific applications, the universal joint can also be implemented by other connection structures with one degree of rotational freedom, such as a spherical hinge, a composite hinge structure, etc.

[0046] As shown in Figure 1 , Figure 2 and Figure 4As shown, in some embodiments, the propulsion assembly comprises a plurality of propulsion oil cylinders 700, here four propulsion oil cylinders 700 are preselected, and the four propulsion oil cylinders 700 are arranged in a circumferential ring around the rotary drive assembly 500, the rotary drive assembly 500 is fixedly connected with the cylinder barrels of the four propulsion oil cylinders 700, and the piston rods of the propulsion oil cylinders 700 are fixedly connected to the support seat 610. By such an arrangement, when the propulsion oil cylinders 700 are actuated to extend or retract, the cylinder barrels of the propulsion oil cylinders 700 can be driven to lift or lower relative to the support seat 610 and the second support platform 200, so as to drive the cutting head 400 and the rotary drive assembly 500 to lower together until the cutting head 400 contacts the rock surface to realize the tunneling operation.

[0047] Specifically, the propulsion oil cylinders 700 are arranged parallel to the axial direction of the second support platform 200. Such an arrangement of the propulsion oil cylinders 700 can effectively reduce the installation space occupied by the propulsion oil cylinders 700 on the basis of applying the same head axial pressure to the cutting head 400, and can have greater head pressing capacity, which is beneficial to improve the rock breaking effect and the tunneling speed.

[0048] Specifically, each guide column 620 is located between two adjacent propulsion oil cylinders 700, which optimizes the layout and saves more installation space.

[0049] It should be noted that the cylinder barrel of the propulsion oil cylinder 700 is slidably arranged on the piston rod of the propulsion oil cylinder 700, one end of the piston rod of the propulsion oil cylinder 700 is fixedly connected to the support seat 610, and the other end is fixedly connected to the second support platform 200, which is beneficial to improve the support rigidity of the present embodiment.

[0050] In specific applications, the number of propulsion oil cylinders 700 can be reasonably increased or decreased according to actual needs, for example, in other embodiments, the propulsion oil cylinders 700 can be provided with two, three, five, or six or other numbers.

[0051] For example, Figure 1 , Figure 2 and Figure 4As shown in the drawings, in some embodiments, the rotary drive assembly 500 comprises a connecting plate 510 fixedly connected to the cylinder barrels of the four propulsion oil cylinders 700, and a plurality of hydraulic motors 520 evenly distributed on the connecting plate 510, wherein the hydraulic motors 520 are connected with output shafts 530 through a speed reduction assembly, and the output shafts 530 are fixedly connected with the cutting head 400. By fixing the connecting plate 510 to the cylinder barrels of the four propulsion oil cylinders 700, and mounting a plurality of hydraulic motors 520 on the connecting plate 510 as a bearing part, and simultaneously applying torque to the cutting head 400 by the plurality of hydraulic motors 520, the cutting head 400 can be driven to break rock on a larger excavation section.

[0052] It should be noted that in the present embodiment, preferably, there are seven hydraulic motors 520, one of which is arranged at the middle of the connecting plate 510, and the remaining six hydraulic motors 520 are evenly distributed along the circumference around the hydraulic motor 520 at the middle.

[0053] Specifically, the cutting head 400 is connected with the output shafts 530 of the rotary drive assembly 500 through the structural column.

[0054] In specific applications, the number of hydraulic motors 520 can be reasonably increased or decreased according to actual needs, for example, in other embodiments, the hydraulic motors 520 can be provided with two, three, four, five, six, or eight other numbers.

[0055] As shown in the drawings, Figure 1 , Figure 2 and Figures 4 to 6 In some embodiments, the sidewall of the first support platform 100 is evenly spaced with a plurality of first support shoes 120 along the circumference, preferably four first support shoes 120, which are driven by the first tensioning oil cylinder to move radially along the wellbore 800, and the first support shoes 120 are used to radially tighten on the well wall of the wellbore 800. By so arranging, when performing straight-line excavation, first control the first tensioning oil cylinder to drive the first support shoes 120 to move radially outward relative to the first support platform 100 to be tightly supported on the well wall, at this time, relying on the friction force between the first support shoes 120 and the well wall, the first support platform 100 and the second support platform 200 can be stably fixed on the wellbore 800, and ensure that the center of the first support platform 100 is located at the required vertical shaft excavation center, so as to control the propulsion assembly to drive the cutting head 400 and the rotary drive assembly 500 to descend together until the cutting head 400 contacts the rock surface, so that the rock breaking roller cutter on the cutting head 400 extrudes and breaks the rock surface in contact with it; and control the rotary drive assembly 500 to drive the cutting head 400 to rotate to break rock on the excavation section.

[0056] It should be noted that the shaft 800 mentioned in the text is a vertical shaft after the excavation is completed.

[0057] It should be noted that the extension movement, angle deflection correction movement of the first support shoe 120 and the downward pressing and rotating excavation movement of the cutting head 400 of the embodiment are completely independent, and each movement does not interfere with each other, the reliability is stronger, and the support rigidity is stronger during excavation.

[0058] It can be understood that when the shaft sinking machine is excavating, the control system of the shaft sinking machine equipped with the propulsion correction structure of the embodiment determines the extension stroke of the four first supporting cylinders according to the measurement signal, so as to ensure that the center of the first supporting platform 100 is located at the required shaft sinking center.

[0059] In specific applications, the number of first support shoes 120 can be reasonably increased or decreased according to actual needs, for example, in other embodiments, the first support shoe 120 can be provided with two, three, five or six other numbers.

[0060] As shown in Figure 1 , Figure 2 and Figures 4 to 6 , in some embodiments, the side wall of the second supporting platform 200 is circumferentially spaced and uniformly distributed with a plurality of second support shoes 210, preferably four second support shoes 210, the second support shoes 210 are driven by the second supporting cylinder to move radially along the shaft 800, and the second support shoes 210 are used to radially tighten the shaft wall of the shaft 800. By so arranging, when there is no deviation and straight-line excavation is carried out, the first supporting cylinder is controlled to drive the first support shoe 120 to move radially outward relative to the first supporting platform 100 to be tightened on the shaft wall, and the second supporting cylinder is controlled to drive the second support shoe 210 to move radially outward relative to the second supporting platform 200 to be tightened on the shaft wall. At this time, the first supporting platform 100 and the second supporting platform 200 can be stably fixed on the shaft 800 by relying on the friction between the first support shoe 120 and the shaft wall and the friction between the second support shoe 210 and the shaft wall, and the center of the first supporting platform 100 is located at the required shaft sinking center, so as to control the propulsion assembly to drive the cutting head 400 and the rotating drive assembly 500 to descend to the cutting head 400 in contact with the rock surface, so that the rock breaking roller cutter on the cutting head 400 extrudes and crushes the rock surface in contact with it; and control the rotating drive assembly 500 to drive the cutting head 400 to rotate to realize the rock breaking of the excavation section.

[0061] It should be noted that the telescopic movement of the first support shoe 120, the telescopic movement of the second support shoe 210, the angle deflection correction movement, and the tunneling movement of the down pressure and rotation of the tunneling cutter head 400 are completely independent, and each movement does not interfere with each other, the reliability is stronger, and the support rigidity is stronger during tunneling.

[0062] In a specific application, the number of the second support shoes 210 can be reasonably increased or reduced according to actual needs, for example, in other embodiments, the second support shoes 210 can be provided with two, three, five, or six other numbers.

[0063] Specifically, the projection of the second support shoe 210 in the vertical direction falls within the range of the corresponding first support shoe 120, which is conducive to locating the centers of the first support platform 100 and the second support platform 200 at the required shaft tunneling center, and improving the stability of the first support platform 100 and the second support platform 200 fixed on the shaft 800.

[0064] According to the second aspect of the embodiment of the present application, there is also provided a shaft boring machine comprising the advancing and deviation rectifying structure provided by the first aspect of the embodiment of the present application. The advancing and deviation rectifying structure of the shaft boring machine of the present embodiment connects the second support platform 200 to the first support platform 100 through the universal hinge assembly, and connects the boring cutter head 400 and the rotary driving assembly 500 to the end of the universal hinge assembly facing the second support platform 200, and the advancing assembly can drive the boring cutter head 400 and the rotary driving assembly 500 to ascend and descend together relative to the second support platform 200; when it is necessary to rectify the deviation of the boring cutter head 400, the four deviation oil cylinders 300 arranged at different circumferential positions are controlled to extend and retract at different set strokes, so that the boring cutter head 400, the rotary driving assembly 500 and the advancing assembly can be accurately controlled to deflect and rectify at a set angle relative to the first support platform 100 together with the second support platform 200, the angular deviation rectifying movement is transferred to the relative angular deviation rectifying movement between the first support platform 100 and the second support platform 200, the stability of the deviation rectifying movement is improved, and the four deviation oil cylinders 300 arranged at different circumferential positions can effectively absorb the rock impact generated during the large-section boring process, reduce the cutter head deflection phenomenon caused by the uneven rock breaking impact force during boring, and improve the drilling accuracy of the shaft boring machine of the present embodiment; when straight-line boring is performed, the first support platform 100 and the second support platform 200 are first fixed to the sidewall of the shaft 800, and then the advancing assembly is controlled to drive the boring cutter head 400 and the rotary driving assembly 500 to descend together until the boring cutter head 400 contacts the rock surface, so that the rock breaking roller cutter on the boring cutter head 400 extrudes and breaks the rock surface in contact with it; and the rotary driving assembly 500 is controlled to drive the boring cutter head 400 to rotate to break the rock of the boring section; the angular deviation rectifying movement and the boring movement of the boring cutter head 400, including the downward pressure and the rotation, are completely independent of each other, there is no action interference between the movements, the reliability is higher, and the support rigidity is higher during boring. At the same time, the advancing assembly only applies downward pressure to the boring cutter head 400, and can be arranged parallel to the axis direction of the second support platform 200, so as to reduce the installation space of the advancing assembly on the basis of applying the same cutter head axial pressure to the boring cutter head 400, and can have greater cutter head downward pressure capacity, which is conducive to improving the rock breaking effect and the boring speed of the shaft boring machine of the present embodiment.

[0065] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the present application.

Claims

1. A propulsion and deviation structure of a shaft heading machine, characterized in that, The utility model relates to a tunneling machine, comprising: a first support platform (100); a second support platform (200) located below the first support platform (100) in a vertical direction; a universal hinge assembly arranged between the first support platform (100) and the second support platform (200) and configured to allow the second support platform (200) to rotate relative to the first support platform (100) in a universal manner; at least three correction oil cylinders (300) arranged at intervals in a circumferential direction, the extension end of the correction oil cylinder (300) being hinged to one of the first support platform (100) and the second support platform (200), and the cylinder barrel of the correction oil cylinder (300) being hinged to the other of the first support platform (100) and the second support platform (200); a tunneling cutterhead (400) arranged at an end of the second support platform (200) away from the first support platform (100); a rotary drive assembly (500) arranged at an end of the second support platform (200) facing the first support platform (100), the output end of the rotary drive assembly (500) being connected to the tunneling cutterhead (400) and configured to drive the tunneling cutterhead (400) to rotate; a propulsion assembly connected between the rotary drive assembly (500) and the universal hinge assembly, the propulsion assembly being configured to drive the tunneling cutterhead (400) and the rotary drive assembly (500) to move up and down relative to the second support platform (200).

2. A propulsion and deviation correction arrangement for a shaft sinking machine according to claim 1, characterised in that, The universal hinge assembly comprises a support seat (610) and a universal rotation joint, the top end of the support seat (610) being connected to the bottom end of the first support platform (100) through the universal rotation joint, and the bottom end of the support seat (610) being connected to the top end of the second support platform (200) through a guide column (620); the propulsion assembly is connected to the bottom end of the support seat (610).

3. A propulsion and deviation correction arrangement for a shaft sinking machine according to claim 2, characterised in that, The guide column (620) is arranged in a plurality of numbers, and the plurality of guide columns (620) are arranged at intervals in a circumferential direction around the rotary drive assembly (500).

4. A propulsion and deviation structure for a raise boring machine according to claim 3, characterised in that, The rotary drive assembly (500) is arranged in a sliding manner in a vertical direction on the guide column (620).

5. The propulsion and deviation correction structure of a shaft sinking machine according to claim 2, characterized in that, The universal rotation joint is arranged as a cross shaft universal joint (630), the cross shaft universal joint (630) being connected to the first support platform (100) through a first yoke (110), and the cross shaft universal joint (630) being connected to the support seat (610) through a second yoke (611).

6. A propulsion and deviation structure for a raise boring machine according to any one of claims 1 to 5, characterized in that, The propulsion assembly comprises a plurality of propulsion oil cylinders (700), the plurality of propulsion oil cylinders (700) being arranged at intervals in a circumferential direction around the rotary drive assembly (500), the rotary drive assembly (500) being fixedly connected to the cylinder barrels of the plurality of propulsion oil cylinders (700), and the piston rods of the propulsion oil cylinders (700) being fixedly connected to the universal hinge assembly.

7. A propulsion and deviation structure for a shaft sinking machine according to claim 6, characterised in that, The rotary drive assembly (500) comprises: a connecting plate (510) fixedly connected to the cylinder barrels of the propulsion oil cylinders (700); A plurality of hydraulic motors (520) are evenly distributed on the connecting plate (510), and the hydraulic motors (520) are connected with output shafts (530) through a speed reduction assembly, and the output shafts (530) are fixedly connected with the tunnel cutter head (400).

8. The propulsion and deviation correction structure of a shaft sinking machine according to claim 1, characterized in that, The sidewall of the first support platform (100) is circumferentially and intermittently provided with a plurality of first supporting shoes (120), the first supporting shoes (120) are driven by first supporting oil cylinders to move radially along the wellbore (800), and the first supporting shoes (120) are used for being radially braced on the sidewall of the wellbore (800) along the wellbore (800).

9. A propulsion and deviation structure for a shaft sinking machine according to claim 1 or 8, characterized in that The sidewall of the second support platform (200) is circumferentially and intermittently provided with a plurality of second supporting shoes (210), the second supporting shoes (210) are driven by second supporting oil cylinders to move radially along the wellbore (800), and the second supporting shoes (210) are used for being radially braced on the sidewall of the wellbore (800) along the wellbore (800).

10. A raise boring machine characterized by, A propulsion correction structure according to any one of claims 1 to 9.

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