An assembled vertical shaft segment special assembling machine and assembling method

Abstract

The application discloses a special assembling machine for fabricated shaft segment and an assembling method, and relates to the technical field of shaft construction. The special assembling machine comprises a transverse moving and swinging mechanism, a longitudinal moving and swinging mechanism, a vertical moving and swinging mechanism and a segment support which are connected in sequence. The transverse moving and swinging mechanism is used for driving the longitudinal moving and swinging mechanism to move along a first axis and swing around the first axis. The longitudinal moving and swinging mechanism is used for driving the vertical moving and swinging mechanism to move along a second axis and swing around the second axis. The vertical moving and swinging mechanism is used for driving the segment support to move along a third axis and swing around the third axis. The application is used for assembling shaft segments in shaft construction. Compared with the manual assembling mode, the application can quickly complete the accurate positioning and insertion connection of the segments, so that the socket and spigot self-locking quick insertion connection has the conditions for large-scale application in shaft engineering and can be applied on a large scale.

Description

Technical Field

[0001] This application relates to the field of shaft construction technology, specifically to a prefabricated shaft segment assembly machine and assembly method. Background Technology

[0002] As a key node in underground integrated pipe gallery, deep drainage tunnel, subway ventilation, and shield tunneling launch and reception, municipal vertical shaft engineering is increasingly limited by the traditional cast-in-place reverse construction method due to difficulties in formwork, long curing cycles, and enclosed working environments. Currently, the industry generally regards the prefabricated reverse construction method as the mainstream technical route for deep vertical shaft construction. This method involves casting a reinforced concrete shaft opening ring beam on the ground surface in one go, fixing the steel shaft opening ring with pre-embedded anchor plates or high-strength chemical anchors to form a rigid top boundary, and then excavating one ring at a time and installing one ring at a time in a cyclical manner along the vertical shaft from top to bottom, while simultaneously hoisting precast reinforced concrete segments, connecting adjacent segments with bolts, and stacking them ring by ring to form a permanent support structure.

[0003] Currently, the common method for assembling vertical shaft segments is as follows: a crawler crane or truck crane is used to vertically hoist individual segments into the shaft, and personnel underground adjust the position and orientation of the segments using simple tools such as traction ropes, crowbars, and jacks; after the bolt holes are aligned, adjacent segments are connected together using high-strength bolts. However, this assembly method relies entirely on manual visual inspection of the holes, and the swing amplitude of the hoisting rope increases linearly with the shaft depth, resulting in poor segment assembly accuracy and low assembly efficiency, making the assembly time for a single segment ≥15 minutes; bolt connections require manual tightening with a torque wrench, which is labor-intensive and often results in missed tightening, over-tightening, or insufficient torque; there is a 2-3mm gap between the bolt hole and the bolt rod, and the assembly error accumulates link by link. After 10 links, the verticality deviation of the shaft may not meet the requirements, requiring a shutdown for correction, further slowing down the construction progress.

[0004] To overcome bottlenecks, the industry has attempted to install self-locking quick-connect fittings at the top and bottom of shaft segments. These quick-connect fittings enable rapid connection between segments, eliminating the need for numerous bolts and aiming to further improve construction efficiency. However, because shaft segments are vertically stacked, quick-connect fittings require significant insertion force and high positioning accuracy. Current manual assembly methods lack active fine-tuning and attitude locking functions, resulting in insufficient positioning accuracy. Forced insertion can lead to failure, damage to the quick-connect fitting or the segment itself, and costly repairs. Therefore, self-locking quick-connect fittings remain in the laboratory verification stage in shaft engineering and are rarely used in practical applications. Summary of the Invention

[0005] The purpose of this application is to provide a special assembly machine and assembly method for prefabricated shaft segments, so as to solve the problems of poor assembly accuracy and low assembly efficiency of shaft segments.

[0006] The technical solution adopted by this application to solve its technical problem is:

[0007] In a first aspect, a prefabricated vertical shaft segment assembly machine is provided, comprising a horizontal swing mechanism, a vertical swing mechanism, and a segment support connected in sequence. The horizontal swing mechanism drives the vertical swing mechanism to move along a first axis and swing around the first axis. The vertical swing mechanism drives the vertical swing mechanism to move along a second axis and swing around the second axis. The vertical swing mechanism drives the segment support to move along a third axis and swing around the third axis. The first axis is perpendicular to the second axis, and the second axis is perpendicular to the third axis.

[0008] Furthermore, the lateral swing mechanism includes an excavator connecting seat, a lateral seat, a lateral cylinder, and a first rotary drive. The lateral seat is slidably connected to the excavator connecting seat and the lateral cylinder is connected between them. The lateral cylinder is used to drive the lateral seat to move along the first axis. The fixed part of the first rotary drive is connected to the lateral seat, and the rotating part of the first rotary drive is connected to the vertical swing mechanism. The center line of the first rotary drive forms the first axis, and the first rotary drive is used to drive the vertical swing mechanism to swing around the first axis.

[0009] Furthermore, the excavator connecting seat includes a connecting seat base plate and two connecting seat ear plates. The two connecting seat ear plates are fixedly connected to the connecting seat base plate and form a connecting cavity between the two connecting seat ear plates. The connecting seat ear plates are provided with two pin connecting holes. The transverse seat is slidably connected to the connecting seat base plate.

[0010] Furthermore, the longitudinal swing mechanism includes a fixed base, a longitudinal base, a longitudinal cylinder, a column, and a second swing cylinder. The fixed base is connected to the transverse swing mechanism. The longitudinal base is slidably connected to the fixed base and the longitudinal cylinder is connected between them. The longitudinal cylinder is used to drive the longitudinal base to move along the second axis. The lower end of the column is hinged to the longitudinal base, and the hinge center line of the two forms the second axis. The upper end of the column is hinged to the longitudinal base through the second swing cylinder. The second swing cylinder is used to drive the column to swing around the second axis. The column is connected to the vertical swing mechanism.

[0011] Furthermore, the vertical swing mechanism includes a third rotary drive, a crossbeam, and a vertical cylinder. The centerline of the third rotary drive forms the third axis. The third rotary drive is coaxially arranged with and slidably connected to the column. The fixed part of the third rotary drive is connected to the crossbeam, and the rotating part of the third rotary drive is connected to the segment support. The vertical cylinder is located below the crossbeam and is used to drive the crossbeam to move along the third axis. The third rotary drive is used to drive the segment support to swing around the third axis.

[0012] Furthermore, the upper end of the vertical moving cylinder is connected to the crossbeam, and the lower end of the vertical moving cylinder is connected to the support plate via a ball joint.

[0013] Furthermore, the vertical displacement cylinder comprises two cylinders, which are symmetrically arranged about the center line of the third rotary drive.

[0014] Furthermore, the segment support is provided with a support portion on the side away from the vertical swing mechanism, the support portion including a support bottom surface perpendicular to the third axis and a support side surface parallel to the third axis.

[0015] Furthermore, a positioning post is provided on the bottom surface of the support.

[0016] Secondly, a method for assembling prefabricated vertical shaft segments is provided, including:

[0017] Connect the assembly machine to the in-well excavator; the assembly machine is a special assembly machine for prefabricated vertical shaft segments.

[0018] The tunnel segments are hoisted into the well and temporarily fixed on the segment support. The excavator is then used to move the assembly machine and the tunnel segments to the assembly position.

[0019] The horizontal, vertical, and longitudinal swing mechanisms are controlled to precisely adjust the position and orientation of the segments until the quick-connect fittings of the upper and lower segments are aligned. The vertical swing mechanism is controlled to drive the segment support to move the segments upward so as to connect the upper and lower segments using the quick-connect fittings.

[0020] The beneficial effects of this application are:

[0021] The prefabricated shaft segment assembly machine provided in this application embodiment is used to assemble shaft segments during shaft construction. After the segments are placed on the segment support, a horizontal oscillation mechanism drives the segments to move back and forth and sway left and right; a longitudinal oscillation mechanism drives the segments to move left and right and sway back and forth; and a vertical oscillation mechanism drives the segments to move up and down and sway horizontally. This allows for precise adjustment of the segment's position and orientation, improving positioning accuracy and assembly efficiency. Compared to manual assembly, this application can quickly complete the precise positioning and insertion connection of segments, reducing the assembly time for a single segment to 5 minutes, and controlling the positioning error within ±2mm. This makes the self-locking quick-connect socket connection suitable for large-scale application in shaft engineering. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a perspective view of the prefabricated vertical shaft segment assembly machine provided in the embodiments of this application;

[0024] Figure 2 This is a front view of the prefabricated vertical shaft segment assembly machine provided in the embodiments of this application;

[0025] Figure 3 This is a top view of the prefabricated vertical shaft segment assembly machine provided in the embodiments of this application;

[0026] Figure 4 This is a diagram showing the state of the prefabricated vertical shaft segments during assembly;

[0027] Figure 5 This is a schematic diagram of the structure where the tunnel segments are placed on the assembly machine.

[0028] Figure label:

[0029] 1- Lateral swing mechanism;

[0030] 11-Excavator connecting seat; 111-Connecting seat base plate; 112-Connecting seat ear plate; 1121-Pin connecting hole; 113-Connecting cavity; 12-Transverse slewing seat; 13-Transverse slewing cylinder; 14-First rotary drive;

[0031] 2-Longitudinal oscillating mechanism;

[0032] 21-Fixed base; 22-Longitudinal sliding base; 23-Longitudinal sliding cylinder; 24-Column; 25-Second swing cylinder; 26-Second rotating shaft;

[0033] 3-Vertical oscillation mechanism;

[0034] 31-Third rotary drive; 32-Crossbeam; 33-Vertical shift cylinder; 34-Spherical hinge; 35-Support plate;

[0035] 4-Segment support;

[0036] 41-Support part; 411-Support bottom surface; 412-Support side surface; 413-Positioning post;

[0037] 100-Assembly machine;

[0038] 200 - Excavator;

[0039] 300-segment. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0041] In the description of this application, the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in actual application, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] See Figure 1 , Figure 2 , Figure 3 This application provides a prefabricated vertical shaft segment assembly machine, including a horizontal swing mechanism 1, a vertical swing mechanism 2, a vertical swing mechanism 3, and a segment support 4 connected in sequence. The horizontal swing mechanism 1 drives the vertical swing mechanism 2 to move along a first axis and swing around the first axis. The vertical swing mechanism 2 drives the vertical swing mechanism 3 to move along a second axis and swing around the second axis. The vertical swing mechanism 3 drives the segment support 4 to move along a third axis and swing around the third axis. The first axis is perpendicular to the second axis, and the second axis is perpendicular to the third axis.

[0044] See Figure 4 Based on the static posture of the segment 300 after assembly within the shaft, the following directions are defined: The thickness direction of the segment 300—radially along the shaft—is defined as the front-to-back direction, with the side pointing towards the shaft wall being the front and the side pointing towards the center of the shaft being the back; the width direction of the segment 300—circumferentially along the shaft—is defined as the left-to-right direction, with counterclockwise rotation towards the inner arc surface of the segment 300 being the left and clockwise rotation being the right; the height direction of the segment 300—axially along the shaft—is defined as the up-down direction, with the top being the top and the bottom being the bottom. For example, the first axis extends in the front-to-back direction, the second axis extends in the left-to-right direction, and the third axis extends in the up-down direction.

[0045] The prefabricated shaft segment assembly machine provided in this application embodiment is used in conjunction with the excavator 200 to achieve automated assembly of shaft segments during shaft construction.

[0046] Before the assembly operation, the bucket of the excavator 200 is removed, and the assembly machine is connected to the boom and bucket hydraulic cylinder of the excavator 200 through the lateral swing mechanism 1 to form a stable operating arm system. Then, the segment 300 to be assembled is hoisted into the well and temporarily fixed on the segment support 4. The excavator 200 is started, and the entire assembly machine, together with the segment 300, is moved in the well to the preset assembly position. The multi-degree-of-freedom movement of the excavator 200 is used to achieve the initial positioning of the overall position of the assembly machine.

[0047] After initial positioning, the transverse swing mechanism 1 drives the segment support 4 to move back and forth along the first axis and swing left and right around the first axis to fine-tune the front-back position and left-right swing angle of the segment 300; the longitudinal swing mechanism 2 drives the segment support 4 to move left and right along the second axis and swing back and forth around the second axis to fine-tune the left-right position and front-back swing angle of the segment 300; the vertical swing mechanism 3 drives the segment support 4 to move up and down along the third axis and rotate around the third axis in the horizontal plane to fine-tune the up and down position of the segment 300 and the rotation angle in the horizontal plane; through the coordinated action of the above multiple mechanisms, the spatial degrees of freedom of the segment 300 can be precisely adjusted until the quick-connect joints of the upper and lower segments are precisely aligned in three-dimensional space.

[0048] Once the quick-connect joints of the upper and lower segments are precisely aligned, the segment support 4 is driven by the vertical swing mechanism 3 to move the segment 300 upward along the third axis, so that the quick-connect joints between the upper and lower segments can be inserted, achieving a fast and reliable mechanical connection, thereby completing the assembly process of a single segment 300.

[0049] Compared to manual assembly, this application achieves automatic adjustment of the six degrees of freedom in the space of the segment 300 by working in collaboration between the excavator 200 and the assembly machine 100. In shaft engineering, the assembly time of a single segment 300 can be shortened to 5 minutes, and the positioning error can be controlled within ±2mm. This solves the problems of poor assembly accuracy and low assembly efficiency of shaft segments caused by manual assembly, making the socket self-locking quick-connect connection suitable for large-scale application in shaft engineering.

[0050] In some embodiments, see Figure 1 , Figure 2 , Figure 3 The lateral swing mechanism 1 includes an excavator connecting seat 11, a lateral seat 12, a lateral cylinder 13, and a first rotary drive 14. The lateral seat 12 is slidably connected to the excavator connecting seat 11, and the lateral cylinder 13 is connected between the two. The lateral cylinder 13 is used to drive the lateral seat 12 to move along the first axis. The fixed part of the first rotary drive 14 is connected to the lateral seat 12, and the rotating part of the first rotary drive 14 is connected to the vertical swing mechanism 3. The center line of the first rotary drive 14 forms the first axis, and the first rotary drive 14 is used to drive the vertical swing mechanism 3 to swing around the first axis.

[0051] Specifically, the excavator connecting seat 11 can be welded from steel plates and is used to connect with the boom and bucket hydraulic cylinders of the excavator 200. The lateral sliding seat 12 can also be welded from steel plates and is arranged below the excavator connecting seat 11. The two are connected by a sliding structure such as a slide rail slider or a slide rail groove, allowing the lateral sliding seat 12 to reciprocate relative to the excavator connecting seat 11 along the first axis. The lateral sliding cylinder 13 is a double-acting hydraulic cylinder and is arranged below the excavator connecting seat 11. The cylinder body of the lateral sliding cylinder 13 is hinged to the excavator connecting seat 11, and the piston rod of the lateral sliding cylinder 13 is hinged to the lateral sliding seat 12. Its hydraulic interface is used to connect to the spare hydraulic circuit of the excavator 200 via a quick-connect coupling to provide lateral driving force to drive the lateral sliding seat 12 to move and to lock the position of the lateral sliding seat 12 in real time. The lateral stroke is proportionally controlled by the excavator operator in the cab via a handle.

[0052] The first slewing drive 14, also known as a slewing reducer or turntable reducer, is a full-circumferential slewing reduction transmission mechanism integrating a drive power source, which can be directly purchased on the market. The first slewing drive 14 can include a gear-type slewing drive and a worm gear-type slewing drive. The first slewing drive 14 is located on the front side of the transverse support 12, and its fixed part is fixedly connected to the transverse support 12 via a flange bolt structure. Thus, the transverse support 12 bears the entire load of the first slewing drive 14 and drives its overall transverse movement. The centerline of the rotating part of the first slewing drive 14 forms the first axis. The vertical swing mechanism 3 is located on the front side of the first slewing drive 14 and is fixedly connected to the rotating part of the first slewing drive 14 via bolts. Therefore, the first slewing drive 14 can drive the vertical swing mechanism 3 to swing around the first axis. The swing angle is infinitely adjustable by the excavator operator in the cab via an electromagnetic proportional valve and remains in a self-locking state after adjustment.

[0053] The process of using the transverse swing mechanism 1 to fine-tune the front-back position and left-right swing angle of the tube segment 300 is as follows: by extending and retracting the transverse cylinder 13, the transverse seat 12 and all the components connected to it are driven to slide back and forth along the first axis, thereby driving the tube segment 300 to move in the front-back direction to fine-tune the front-back position of the tube segment 300; by rotating the rotating part of the first rotary drive 14 around the first axis, the vertical swing mechanism 3 and the tube segment 300 are driven to swing around the first axis to fine-tune the left-right swing angle of the tube segment 300.

[0054] Correspondingly, the transverse swing mechanism 1 can realize the translation of the segment 300 in the front-to-back direction and hydraulic self-locking throughout the process by controlling the extension and retraction of the transverse cylinder 13. It can also realize the left-to-right deflection of the segment 300 and self-locking by controlling the rotation of the first rotary drive 14. The entire mechanism can be directly suspended on the stick of the excavator 200 and can directly utilize the hydraulic power source of the excavator 200 itself without the need for an additional pump station.

[0055] In some embodiments, see Figure 1 The excavator connecting seat 11 includes a connecting seat base plate 111 and two connecting seat ear plates 112. The two connecting seat ear plates 112 are fixedly connected to the connecting seat base plate 111 and form a connecting cavity 113 between the two connecting seat ear plates 112. The connecting seat ear plates 112 are provided with two pin connecting holes 1121. The transverse moving seat 12 is slidably connected to the connecting seat base plate 111.

[0056] Specifically, the connecting seat base plate 111 is horizontally arranged, and two parallel connecting seat ear plates 112 are vertically welded to its upper surface. The distance between the two connecting seat ear plates 112 is slightly larger than the width of the end of the excavator 200 stick, forming a U-shaped connecting cavity 113 for simultaneous insertion of the stick and the end of the bucket hydraulic cylinder. Along the front-rear direction, two pin connecting holes 1121 on the front side are coaxially arranged for hinged connection with the piston rod of the bucket hydraulic cylinder via the front pin; two pin connecting holes 1121 on the rear side are coaxially arranged for hinged connection with the end of the stick via the rear pin. The transverse shift seat 12 is located below the connecting seat base plate 111 and is connected by a sliding structure such as a slide rail slider or slide rail groove. The cylinder body of the transverse shift cylinder 13 is hinged to the connecting seat base plate 111, and the piston rod of the transverse shift cylinder 13 is hinged to the transverse shift seat 12.

[0057] Correspondingly, the excavator connecting seat 11 has a simple structure. During on-site installation, the ends of the boom and bucket hydraulic cylinders are simultaneously inserted into the connecting cavity 113, aligned with the corresponding holes, and each is threaded with a pin and positioned axially using the locking pin. No additional bolts or hydraulic quick couplings are required, which not only ensures reliable connection but also facilitates installation and disassembly.

[0058] In some embodiments, see Figure 1 , Figure 2 , Figure 3 The longitudinal swing mechanism 2 includes a fixed base 21, a longitudinal base 22, a longitudinal cylinder 23, a column 24, and a second swing cylinder 25. The fixed base 21 is connected to the transverse swing mechanism 1. The longitudinal base 22 is slidably connected to the fixed base 21 and the longitudinal cylinder 23 is connected between the two. The longitudinal cylinder 23 is used to drive the longitudinal base 22 to move along the second axis. The lower end of the column 24 is hinged to the longitudinal base 22, and the hinge center line of the two forms the second axis. The upper end of the column 24 is hinged to the longitudinal base 22 through the second swing cylinder 25. The second swing cylinder 25 is used to drive the column 24 to swing around the second axis. The column 24 is connected to the vertical swing mechanism 3.

[0059] Specifically, the fixed seat 21 is a vertically arranged rectangular plate, its length direction parallel to the second axis, arranged in front of the first rotary drive 14, and fixedly connected to the rotating part of the first rotary drive 14 by bolts. The longitudinal transfer seat 22 is located in front of the fixed seat 21, and the two are connected by a sliding structure such as a slide rail slider or a slide rail groove, so that the longitudinal transfer seat 22 can slide back and forth relative to the fixed seat 21 along the second axis. The longitudinal transfer cylinder 23 is a double-acting hydraulic cylinder, arranged in front of the fixed seat 21; the cylinder body of the longitudinal transfer cylinder 23 is hinged to the fixed seat 21, and the piston rod of the longitudinal transfer cylinder 23 is hinged to the longitudinal transfer seat 22. Its hydraulic port is used to connect to the spare hydraulic circuit of the excavator 200 through a quick-change coupling to provide longitudinal driving force to drive the longitudinal transfer seat 22 to move and lock the position of the longitudinal transfer seat 22 in real time. The longitudinal stroke is proportionally controlled by the excavator operator in the cab through a handle.

[0060] The column 24 is vertically positioned, and its lower end is hinged to the lower end of the longitudinal sliding seat 22 via a second rotating shaft 26. The centerline of the second rotating shaft 26 forms a second axis, allowing the column 24 to rotate around the second rotating shaft 26. The second swing cylinder 25 is a double-acting hydraulic cylinder located on the front side of the longitudinal sliding seat 22. The cylinder body of the second swing cylinder 25 is hinged to the upper end of the column 24, and the piston rod of the second swing cylinder 25 is hinged to the upper end of the longitudinal sliding seat 22. Its hydraulic port is used to connect to the spare hydraulic circuit of the excavator 200 via a quick-connect coupling to provide a forward and backward swinging force to drive the column 24 to swing the vertical sliding swing mechanism 3 back and forth around the second axis and lock the position of the column 24 in real time. The forward and backward swinging angle is controlled proportionally by the excavator operator in the cab via a handle.

[0061] The process of using the longitudinal swing mechanism 2 to fine-tune the left and right position and the front and back swing angle of the tube segment 300 is as follows: by extending and retracting the longitudinal cylinder 23, the longitudinal seat 22 and all the components connected to it are driven to slide back and forth along the second axis, thereby driving the tube segment 300 to move in the left and right direction to fine-tune the left and right position of the tube segment 300; by extending and retracting the second swing cylinder 25, the column 24 and all the components connected to it are driven to swing around the second axis to fine-tune the front and back swing angle of the tube segment 300, which is also called the front and back pitch angle.

[0062] Correspondingly, the longitudinal oscillating mechanism 2 can realize the horizontal translation of the segment 300 and full hydraulic self-locking by controlling the extension and retraction of the longitudinal cylinder 23, and can realize the forward and backward oscillation of the segment 300 and self-locking by controlling the extension and retraction of the second oscillating cylinder 25; the whole mechanism can directly utilize the hydraulic power source of the excavator 200 itself, without the need for an additional pump station.

[0063] In some embodiments, see Figure 1 , Figure 2 , Figure 3 The vertical swing mechanism 3 includes a third rotary drive 31, a crossbeam 32, and a vertical cylinder 33. The center line of the third rotary drive 31 forms a third axis. The third rotary drive 31 is coaxially arranged with the column 24 and slidably connected. The fixed part of the third rotary drive 31 is connected to the crossbeam 32, and the rotating part of the third rotary drive 31 is connected to the segment support 4. The vertical cylinder 33 is located below the crossbeam 32 and is used to drive the crossbeam 32 to move along the third axis. The third rotary drive 31 is used to drive the segment support 4 to swing around the third axis.

[0064] Specifically, the third rotary drive 31 can include a gear rotary drive and a worm gear rotary drive, which can be purchased directly from the market. The third rotary drive 31 is mounted on the column 24 and is coaxially arranged with the column 24. The fixing part of the third rotary drive 31 is slidably connected to the column 24 through a sliding bearing, so that the third rotary drive 31 can slide up and down along the column 24. Limiting parts are provided at the upper and lower ends of the column 24 to limit the third rotary drive 31 and prevent it from separating from the column 24 when sliding up and down. The crossbeam 32 is arranged parallel to the second axis and is fixedly connected to the fixing part of the third rotary drive 31 by bolts or other fasteners. The vertical shift cylinder 33 is a double-acting hydraulic cylinder. The cylinder body of the vertical shift cylinder 33 is fixedly connected to the crossbeam 32. The piston rod of the vertical shift cylinder 33 extends downward to the bottom of the crossbeam 32. Its hydraulic interface is used to connect to the spare hydraulic circuit of the excavator 200 via a quick-connect coupling to provide vertical shift driving force to drive the crossbeam 32 to rise and fall, and to lock the position of the crossbeam 32 in real time. The lifting stroke is proportionally controlled by the excavator operator in the cab via a handle. The center line of the rotating part of the third slewing drive 31 forms the third axis. The segment support 4 is located on the front side of the third slewing drive 31 and is fixedly connected to the rotating part of the third slewing drive 31 by bolts and other fasteners. Thus, the third slewing drive 31 can drive the segment support 4 to swing around the third axis. The swing angle is infinitely adjustable by the excavator operator in the cab via an electromagnetic proportional valve, and remains in a self-locking state after adjustment.

[0065] The process of using the vertical swing mechanism 3 to fine-tune the vertical position of the segment 300 and its rotation angle in the horizontal plane is as follows: the lower end of the piston rod of the vertical cylinder 33 abuts against the bottom of the well. By extending and retracting the vertical cylinder 33, the crossbeam 32, together with all the components connected to it, is driven to slide back and forth along the third axis, thereby driving the segment 300 to move in the vertical direction to fine-tune the vertical position of the segment 300; by rotating the rotating part of the third rotary drive 31 around the third axis, the segment support 4 and the segment 300 are driven to swing around the third axis to fine-tune the rotation angle of the segment 300 in the horizontal plane.

[0066] Correspondingly, the vertical swing mechanism 3 can realize the vertical lifting and lowering of the segment 300 in the vertical direction and the full hydraulic self-locking by controlling the extension and retraction of the vertical cylinder 33. By controlling the rotation of the third rotary drive 31, the segment 300 can be deflected in the horizontal plane and self-locked. The whole mechanism directly utilizes the hydraulic power source of the excavator 200 itself, without the need for an additional pump station.

[0067] In some embodiments, see Figure 1 , Figure 2 The upper end of the vertical moving cylinder 33 is connected to the crossbeam 32, and the lower end of the vertical moving cylinder 33 is connected to the support plate 35 through the ball hinge 34.

[0068] Correspondingly, by connecting the lower end of the vertical moving cylinder 33 to the support plate 35 via a ball hinge 34, when the vertical moving cylinder 33 extends and the support plate 35 contacts the bottom of the well, the ball hinge 34 allows the support plate 35 to swing freely within a range of ±10° to adapt to uneven or inclined well bottoms, increase the contact area between the support plate 35 and the bottom of the well, and improve the reliability of the support.

[0069] In some embodiments, see Figure 1 , Figure 2 , Figure 3 The vertical shift cylinder 33 includes two cylinders, which are arranged symmetrically about the center line of the third rotary drive 31.

[0070] Correspondingly, by setting two vertical moving cylinders 33, the driving force for the vertical movement of the driving tube segment 300 can be increased; by symmetrically arranging the two vertical moving cylinders 33 with the center line of the third rotary drive 31, the resultant force of the vertical reaction force when the two vertical moving cylinders 33 extend and retract synchronously is always located on the rotation center line of the third rotary drive 31, eliminating the overturning moment and improving reliability.

[0071] In some embodiments, see Figure 1 , Figure 2 , Figure 3 The segment support 4 is provided with a support part 41 on the side away from the vertical swing mechanism 3. The support part 41 includes a support bottom surface 411 perpendicular to the third axis and a support side surface 412 parallel to the third axis.

[0072] Specifically, the segment support 4 can be welded from steel plates, and its front side is provided with a support part 41 consisting of a support bottom surface 411 and a support side surface 412; the support bottom surface 411 is a horizontally set plane, and the support side surface 412 is a vertically set arc surface, and its curvature is consistent with the curvature of the inner surface of the segment 300.

[0073] Correspondingly, when the segment 300 is placed on the support part 41 of the segment bracket 4, the bottom surface of the segment 300 can be in contact with the bottom surface 411 of the support, and the inner surface of the segment 300 can be in contact with the side surface 412 of the support. This increases the contact area between the segment bracket 4 and the segment 300, improves the stability of the segment 300 placed on the segment bracket 4, and reduces the probability of damaging the surface of the segment 300.

[0074] In some embodiments, see Figure 1 , Figure 2 , Figure 3 Positioning posts 413 are provided on the bottom surface 411 of the support.

[0075] Specifically, there are two positioning posts 413, and the positions of the two positioning posts 413 correspond one-to-one with the self-locking quick-connect holes at the bottom of the tube segment 300. The positioning post 413 includes a cylindrical positioning section and a frustum-shaped guide section connected sequentially from bottom to top.

[0076] Correspondingly, when the segment 300 is placed on the support 41, the guide section of the positioning post 413 first enters the socket for automatic alignment, and then the positioning section of the positioning post 413 fits tightly with the socket to achieve rapid and accurate initial positioning, preventing the segment 300 from moving relative to the segment support 4. This structure also eliminates the need for additional temporary fixing structures, making operation simpler.

[0077] See Figure 4 , Figure 5 This application provides a method for assembling prefabricated vertical shaft segments, including the following steps:

[0078] S1. Connect the assembly machine 100 to the in-well excavator 200. The assembly machine 100 is a special assembly machine for prefabricated vertical shaft segments.

[0079] For ease of representation, Figure 4 The dimensions of the shaft and excavator 200 in the text have been exaggerated. For example, the bucket of excavator 200 is first removed, and the assembly machine 100 is connected to the boom and bucket hydraulic cylinder of excavator 200 through the lateral swing mechanism 1 to form a stable operating arm system.

[0080] S2. Hoist the segment 300 into the well and place it on the segment support 4 for temporary fixation. Control the excavator 200 to drive the assembly machine 100 and the segment 300 to the assembly position.

[0081] For example, a crawler crane or truck crane is used to vertically lift a single segment 300 into the well, and the segment 300 is placed on the support part 41 of the segment bracket 4. A positioning pin 413 is inserted into the insertion hole at the bottom of the segment 300 to temporarily fix it. See also Figure 4 Start the excavator 200 and drive the entire assembly machine 100 together with the segment 300 to move to the preset assembly position in the well. Use the multi-degree-of-freedom movement of the excavator 200 to achieve the initial positioning of the overall position of the assembly machine 100.

[0082] S3. Control the horizontal swing mechanism 1, the vertical swing mechanism 2 and the vertical swing mechanism 3 to precisely adjust the position and attitude of the tube segment 300 until the quick-connect joints of the upper and lower tube segments 300 are aligned; control the vertical swing mechanism 3 to drive the tube segment support 4 to move the tube segment 300 upward so as to connect the upper and lower tube segments 300 using the quick-connect joints.

[0083] For example, see Figure 5The segment support 4 is driven to move back and forth along the first axis and swing left and right around the first axis by the horizontal swing mechanism 1, so as to fine-tune the front-back position and left-right swing angle of the segment 300; the segment support 4 is driven to move left and right along the second axis and swing back and forth around the second axis by the vertical swing mechanism 2, so as to fine-tune the left-right position and front-back swing angle of the segment 300; the segment support 4 is driven to move up and down along the third axis and swing around the third axis in the horizontal plane by the vertical swing mechanism 3, so as to fine-tune the up and down position of the segment 300 and the rotation angle in the horizontal plane. Through the coordinated action of the above multiple mechanisms, the spatial degrees of freedom of the segment 300 can be precisely adjusted until the quick-connect joints of the upper and lower segments are precisely aligned in three-dimensional space. After the quick-connect joints of the upper and lower segments are precisely aligned, the segment support 4 is driven by the vertical swing mechanism 3 to move the segment 300 upward along the third axis, so that the quick-connect joints between the upper and lower segments are inserted, realizing a fast and reliable mechanical connection, thereby completing the assembly process of a single segment 300.

[0084] The prefabricated shaft segment assembly method provided in this application utilizes the cooperation of the assembly machine 100 and the excavator 200 to achieve automated assembly of shaft segments during shaft construction. Compared with manual assembly, this application can quickly complete the precise positioning and insertion connection of the segment 300, shortening the assembly time of a single segment 300 to 5 minutes, and controlling the positioning error within ±2mm. This makes the socket self-locking quick-connect connection suitable for large-scale application in shaft engineering.

[0085] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A prefabricated vertical shaft segment assembly machine, characterized in that, The system includes a transverse swing mechanism (1), a longitudinal swing mechanism (2), a vertical swing mechanism (3), and a segment support (4) connected in sequence. The transverse swing mechanism (1) drives the longitudinal swing mechanism (2) to move along a first axis and swing around the first axis. The longitudinal swing mechanism (2) drives the vertical swing mechanism (3) to move along a second axis and swing around the second axis. The vertical swing mechanism (3) drives the segment support (4) to move along a third axis and swing around the third axis. The first axis is perpendicular to the second axis, and the second axis is perpendicular to the third axis. The lateral swing mechanism (1) includes an excavator connecting seat (11), a lateral seat (12), a lateral cylinder (13), and a first rotary drive (14). The lateral seat (12) is slidably connected to the excavator connecting seat (11) and the lateral cylinder (13) is connected between them. The lateral cylinder (13) is used to drive the lateral seat (12) to move along the first axis. The fixed part of the first rotary drive (14) is connected to the lateral seat (12), and the rotating part of the first rotary drive (14) is connected to the vertical swing mechanism (3). The center line of the first rotary drive (14) forms the first axis. The first rotary drive (14) is used to drive the vertical swing mechanism (3) to swing around the first axis. The longitudinal swing mechanism (2) includes a fixed seat (21), a longitudinal seat (22), a longitudinal cylinder (23), a column (24), and a second swing cylinder (25). The fixed seat (21) is connected to the transverse swing mechanism (1). The longitudinal seat (22) is slidably connected to the fixed seat (21) and the longitudinal cylinder (23) is connected between them. The longitudinal cylinder (23) is used to drive the longitudinal seat (22) to move along the second axis. The lower end of the column (24) is hinged to the longitudinal seat (22), and the hinge center line of the two forms the second axis. The upper end of the column (24) is hinged to the longitudinal seat (22) through the second swing cylinder (25). The second swing cylinder (25) is used to drive the column (24) to swing around the second axis. The column (24) is connected to the vertical swing mechanism (3). The vertical swing mechanism (3) includes a third rotary drive (31), a crossbeam (32) and a vertical cylinder (33). The center line of the third rotary drive (31) forms the third axis. The third rotary drive (31) is coaxially arranged with the column (24) and slidably connected. The fixed part of the third rotary drive (31) is connected to the crossbeam (32). The rotating part of the third rotary drive (31) is connected to the segment support (4). The vertical cylinder (33) is located below the crossbeam (32) and is used to drive the crossbeam (32) to move along the third axis. The third rotary drive (31) is used to drive the segment support (4) to swing around the third axis. The upper end of the vertical moving cylinder (33) is connected to the crossbeam (32), and the lower end of the vertical moving cylinder (33) is connected to the support plate (35) through a ball hinge (34).

2. The prefabricated vertical shaft segment assembly machine according to claim 1, characterized in that, The excavator connecting seat (11) includes a connecting seat base plate (111) and two connecting seat ear plates (112). The two connecting seat ear plates (112) are fixedly connected to the connecting seat base plate (111) and form a connecting cavity (113) between the two connecting seat ear plates (112). The connecting seat ear plates (112) are provided with two pin connecting holes (1121). The transverse seat (12) is slidably connected to the connecting seat base plate (111).

3. The prefabricated vertical shaft segment assembly machine according to claim 1, characterized in that, The vertical moving cylinder (33) comprises two cylinders, which are arranged symmetrically about the centerline of the third rotary drive (31).

4. The prefabricated vertical shaft segment assembly machine according to claim 1, characterized in that, The segment support (4) has a support part (41) on the side away from the vertical swing mechanism (3). The support part (41) includes a support bottom surface (411) perpendicular to the third axis and a support side surface (412) parallel to the third axis.

5. The prefabricated vertical shaft segment assembly machine according to claim 4, characterized in that, The support bottom surface (411) is provided with positioning posts (413).

6. A method for assembling prefabricated vertical shaft segments, characterized in that, include: The assembly machine (100) is connected to the in-well excavator (200), wherein the assembly machine (100) is a prefabricated vertical shaft segment assembly machine as described in any one of claims 1 to 5; The segment (300) is hoisted into the well and placed on the segment support (4) for temporary fixation. The excavator (200) is controlled to drive the assembly machine (100) and the segment (300) to the assembly position. The horizontal swing mechanism (1), the vertical swing mechanism (2) and the vertical swing mechanism (3) are controlled to precisely adjust the position and posture of the tube segment (300) until the quick-connect joints of the upper and lower tube segments (300) are aligned; the vertical swing mechanism (3) is controlled to drive the tube segment support (4) to move the tube segment (300) upward so as to connect the upper and lower tube segments (300) using the quick-connect joints.

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