Longitudinal chained thin-wall underground diaphragm wall slot milling machine capable of walking and synchronously milling slots

Abstract

The invention relates to the technical field of underground diaphragm wall construction equipment, in particular to a longitudinally-arranged chain type thin-wall underground diaphragm wall slot milling machine which comprises a crawler-type lower chassis, an upper chassis capable of horizontally rotating, a pure electric power system, a hinged mast, a propelling base / sliding frame, a tower lifting oil cylinder, a longitudinally-arranged chain type cutting system and a pair of pressurizing oil cylinders. The cutting system fixing frame is installed on the mast in a sliding mode, and the driving motor, the driving gear and the driven gear form a vertical closed cutting ring. The pressurizing oil cylinder provides lifting and downward pressing force for the fixing frame. The whole vehicle controller cooperates with crawler walking, rotation, chain cutting, a thrust oil cylinder and a pressurization oil cylinder, two modes of groove milling while walking or static thrust groove milling are achieved, and the machine is suitable for construction of thin-wall underground continuous walls in urban narrow spaces and environment-friendly sensitive areas.

Description

Technical Field

[0001] This invention relates to the field of underground continuous wall construction equipment technology, and in particular to a longitudinally mounted chain-type underground continuous wall milling equipment, specifically a longitudinally mounted chain-type thin-walled underground continuous wall milling machine that can move and mill grooves synchronously. Background Technology

[0002] As a crucial component of deep foundation pit support and underground structures, the construction quality and efficiency of diaphragm walls directly impact the safety and economy of the entire underground project. Traditional diaphragm wall construction equipment, such as hydraulic grabs, twin-wheel trenching machines, and TRD (Tracking Method) equipment, while widely used in deep foundation pit, subway, and tunnel projects, still faces several challenges in practical application: 1. The equipment is bulky and difficult to relocate: Traditional TRD equipment has a complex overall structure and large size, requiring large trailers for transportation. It also has high requirements for the road width and load-bearing capacity of the construction site, making it difficult to adapt to the construction needs of small urban sites or areas with limited space.

[0003] 2. Construction efficiency is limited, and the operation method is singular: Most traditional equipment adopts a construction method of "segmented excavation and segmented wall construction". The milling and equipment movement are independent of each other, which cannot achieve continuous operation, resulting in low construction efficiency and long construction period.

[0004] 3. Significant environmental impact: Traditional equipment generates a lot of noise and vibration during construction and requires a large number of auxiliary equipment (such as air compressors and mud stations), which has a significant impact on the surrounding environment and is not conducive to construction in sensitive urban areas.

[0005] 4. Complex structure and high maintenance costs: Traditional equipment has a complex structure, numerous parts, and high requirements for inter-system coordination, resulting in a high failure rate, high maintenance costs, and high technical requirements for operators.

[0006] 5. Not suitable for thin-walled diaphragm wall construction: As urban underground space development continues to deepen, the thickness requirements for diaphragm walls are becoming increasingly thinner. Due to structural limitations, traditional equipment cannot accurately excavate thin-walled sections, making it difficult to guarantee construction quality.

[0007] In recent years, with the continuous growth in demand for urban underground space development, the market demand for miniaturized, efficient, and environmentally friendly diaphragm wall construction equipment has become increasingly urgent. Therefore, there is an urgent need for a new type of diaphragm wall milling equipment that is compact in structure, flexible in operation, efficient in construction, and highly adaptable to meet the needs of complex working conditions such as confined urban spaces, thin-walled trench sections, and environmentally friendly construction. Summary of the Invention

[0008] The purpose of this invention is to provide a longitudinally mounted chain-type thin-walled continuous underground wall milling machine that can move and mill simultaneously, in order to solve the problems of existing equipment such as large size, difficulty in relocation, separation of movement and milling, low precision of thin-walled trench sections, and poor environmental performance.

[0009] To achieve the above objectives, the present invention is implemented as follows: A longitudinally mounted chain-type thin-walled continuous underground wall milling machine, comprising: Tracked undercarriage; The upper chassis can rotate horizontally relative to the lower chassis; Pure electric powertrain system; A mast hinged to the upper chassis; The propulsion base / carriage is driven by a propulsion cylinder and can move back and forth on the upper chassis guide rail; The tower-raising cylinder is hinged between the propulsion base and the mast and is used to drive the mast to be erected or lowered. A longitudinal chain cutting system includes a chainsaw body, a drive motor, a drive gear, a driven gear, and a fixed frame. The fixed frame is slidably mounted on the mast and carries the drive motor and the drive gear. A pair of pressurized hydraulic cylinders, with the cylinder body hinged to the mast and the piston rod hinged to the fixed frame, are used to drive the fixed frame to move up and down along the mast and provide downforce to the chainsaw body; The vehicle controller is used to coordinate the control of track movement, upper chassis rotation, chain cutting, propulsion cylinder and pressurization cylinder, to achieve two modes: milling grooves while moving or milling grooves while stationary.

[0010] Furthermore, the pressurized hydraulic cylinder is connected to the VCU via a proportional valve, which allows for real-time adjustment of the downward pressure during lifting to match the cutting resistance of different formations.

[0011] In the aforementioned longitudinally mounted chain-type thin-walled continuous underground wall milling machine, the fixed frame slides along the mast guide rail under the drive of the pressurized hydraulic cylinder, so that the chainsaw body continuously rises and falls during the cutting process, completing the full-depth wall construction in one go.

[0012] Furthermore, the propulsion base / slide is propelled independently by the propulsion cylinder when the track stops, achieving small-amplitude milling feed; when the track moves, it is propelled synchronously with the track speed, achieving continuous milling.

[0013] Furthermore, the tower-lifting cylinder drives the mast to rotate within a range of 0-90°, enabling the entire machine to quickly switch between transport and operation modes.

[0014] Furthermore, the upper chassis achieves 360° continuous rotation through a horizontal slewing bearing, enabling the milling machine to complete the cutting of adjacent groove sections without moving the tracks.

[0015] Furthermore, the pure electric power system is the sole energy source for the entire machine, driving the tracks to move, rotate, cut the chain, propel, lift, and pressurize, achieving zero-emission and low-noise operation.

[0016] Furthermore, the longitudinal chain cutting system forms a vertical closed cutting ring through the drive gear and driven gear. The chain linear speed is linked with the propulsion speed or the track walking speed to achieve continuous cutting. The chainsaw body includes a plate frame, a driven wheel, and a driven wheel frame. The plate frame is composed of multiple box sections spliced ​​together. Adjacent sections are connected by high-strength bolts and coaxial quick-connect joints. It has internal cable, air supply, and slurry supply pipelines, which remain unobstructed after splicing. The driven wheel frame has an air outlet / liquid outlet at its center, which is connected to an external air compressor or mud pump through the internal pipeline of the frame for airlift slag removal or high-pressure flushing at the bottom of the tank, forming an integrated "cutting-guiding-flushing" blade rack. The "plate frame" after length splicing is inserted into the fixed frame. The front end is connected to the drive motor of the "power head" through a tensioning cylinder, and the rear end is connected to the driven wheel through the wheel frame.

[0017] The aforementioned longitudinally mounted chain-type thin-walled continuous underground wall milling machine has guide keys and guide plates at the front and rear of the chainsaw body, which slide in cooperation with the inner wall of the completed trench section to form a three-point guiding structure to maintain the verticality of the trench section; the guide key has an embedded displacement sensor, which together with the onboard IMU forms a verticality detection unit. When the verticality deviation is detected to exceed the set threshold, the VCU automatically adjusts the differential speed of the propulsion cylinder to achieve closed-loop correction.

[0018] Furthermore, the entire machine adopts a modular design, allowing the mast to be lowered and the propulsion base to be locked during transportation, enabling it to be loaded onto a vehicle and moved to another site as a whole; before operation, it can be erected, aligned, and prepared for cutting, enabling rapid construction in confined urban spaces.

[0019] The present invention also proposes a method for milling grooves while moving or milling grooves while stationary using the above-mentioned milling machine, comprising: S1. The vehicle control unit (VCU) selects its operating mode based on the construction site conditions: S2, Walking and Milling Mode: The VCU synchronously adjusts the track walking speed, chain linear speed and propulsion base / slide propulsion speed, so that the longitudinal chain cutting system of the tracked undercarriage can complete the trench excavation during continuous walking, and achieve one-time wall construction. S3, Static Propulsion Milling Mode: The VCU stops the track movement and drives the propulsion base / carriage forward only through the propulsion cylinder. At the same time, it controls the pressurization cylinder to apply downward pressure to the fixed frame, so that the longitudinal chain cutting system can complete a small-amplitude milling feed in a static state. In both modes, the VCU adjusts the horizontal rotation angle of the upper chassis, the chain cutting speed, and the downward pressure of the pressurized hydraulic cylinder in real time to adapt to different geological conditions and trench trajectory requirements.

[0020] The longitudinally chain-type thin-walled continuous underground wall milling machine and its usage method proposed in this invention have the following advantages compared with existing TRD equipment and methods: 1. Dual-mode integration: Through the dual drive path of "track walking + propulsion base / slide", the two processes of "milling groove while walking" and "milling groove while stationary propulsion" are integrated in the same set of hardware. It can adapt to various scenarios such as long straight sections, corner sections, and local grooving without disassembling or replacing any parts, significantly shortening the equipment rotation and turning time.

[0021] 2. Pure Electric Zero Emission: The diesel engine is replaced by a pure electric topology of "battery-motor-hydraulic pump", with the noise of the whole machine ≤72 dB(A) and zero exhaust emissions, meeting the environmental protection regulations for urban nighttime construction; at the same time, after eliminating the large diesel engine and matching fuel tank, the height of the whole machine is reduced by about 600 mm, making transportation and entry and exit more flexible.

[0022] 3. Horizontal rotation + carriage propulsion: The upper chassis with 360° continuous rotation and superimposed propulsion base allows the tracked walking mechanism of the lower chassis to complete the cutting of adjacent grooves or fan-shaped grooves without frequent movement, reducing site occupation by about 30%, which is especially suitable for areas where the building boundary line is close or where the road is narrow.

[0023] 4. Adjustable downforce in real time: Opposite pressure cylinders are installed between the mast and the fixed frame. The VCU adjusts the downforce (0-140 kN) in real time through a proportional valve. The pressure is automatically reduced in soft soil layers and automatically increased in hard plastic clay and gravel layers, improving cutting efficiency by ≥20% and reducing the risk of motor overload.

[0024] 5. Longitudinal micro-cutting chain: Utilizing a closed-loop chain of "drive gear + driven gear," coupled with small-diameter alloy teeth and low linear velocity, it achieves a single-tooth cutting depth ≤ 5 cm. 3 Micro-cutting significantly reduces vibration and noise, and extends tool life by approximately 15%.

[0025] 6. Three-point guidance + IMU closed loop: Guide keys / plates are set at the front and rear of the chainsaw body to form three-point contact with the groove wall; the built-in IMU and displacement sensor have a sampling frequency of 100 Hz. When the verticality deviation is >1 / 500, the VCU completes the differential correction of the propulsion cylinder within 1 s, and the groove width error is controlled within ±10 mm, which meets the high precision requirements of 250-400 mm thin-walled grooves.

[0026] 7. Modular rapid relocation: The tower lifting cylinder can rotate 0-90° and the base can be mechanically locked, allowing the transportation posture to be switched to the working posture within 30 minutes; the whole machine is ≤9.5 m in length, ≤2.5 m in height, and ≤18 t in total weight, and can be transported as a whole by ordinary flatbed truck, saving about 50% of the lifting and dismantling costs compared with traditional TRD.

[0027] 8. Fully Electronic Cam Synchronization: The VCU incorporates track travel / propulsion displacement, chain linear speed, rotation angle, and hydraulic cylinder pressure into the electronic cam curve using a virtual spindle method. Speed ​​synchronization error is ≤2%, eliminating traditional "segmented" cold joints, and reducing wall permeability coefficient to ≤1×10⁻⁶. -7 cm / s.

[0028] 9. Energy recovery and environmentally friendly hydraulics: The load-sensitive pump and proportional valve pressure closed loop reduce the system throttling loss by about 15%; 46# biodegradable hydraulic oil is used, which degrades naturally after leakage, meets the EU Ecolabel, and reduces the risk of underground environmental pollution.

[0029] 10. Intelligent Operation and Maintenance: The VCU records real-time data such as current, chain tension, tilt angle, and slewing angle throughout the entire lifecycle. It supports 4G / 5G remote download, enabling predictive maintenance and reducing unplanned downtime by approximately 30%.

[0030] In summary, the systematic solution of "miniaturized pure electric chassis + horizontal rotation + carriage propulsion + longitudinal chain cutting + dual-mode control" constructed by this invention breaks through the four major bottlenecks of traditional TRD equipment: "large size, separation of walking and milling, non-adjustable downpressure, and complex site transfer". At the same time, it achieves synergistic improvements in thin-wall precision, environmental protection indicators, site adaptability, construction efficiency, and maintenance convenience, providing an efficient, green, and precise complete solution for the construction of thin-walled underground continuous walls in confined urban spaces, environmentally sensitive areas, and other applications. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 1 .

[0032] Figure 2 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 2 .

[0033] Figure 3 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 3 .

[0034] Figure 4 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 4 .

[0035] Figure 5 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 5 .

[0036] Figure 6 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 6 .

[0037] Figure 7 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 7 .

[0038] Figure 8 This is a schematic diagram of the milling machine structure shown in the present invention. Figure 8 . Detailed Implementation

[0039] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following is combined with... Figures 1 to 8 The following is a detailed description of the specific implementation methods, structures, features, and effects of the present invention, as well as preferred embodiments. Example 1

[0040] This embodiment uses a 120-m long, 300mm thick, and 18-m deep thin-walled water-stop curtain on the north side of an urban subway station as a background to illustrate the complete operation process of the trenching machine described in this invention. The site is approximately 14 m wide, with one side adjacent to an operating subway tunnel and the other side adjacent to municipal pipelines. The allowable equipment footprint width is ≤2 m, and the nighttime noise limit is 75 dB(A). Traditional TRDs are excluded due to their large turning radius and high diesel noise.

[0041] The specific implementation process is as follows: ① Overall equipment transportation: The mast is laid down horizontally, the propulsion base is moved forward to the mechanical locking position, the overall size of the machine is 9.5×1.8×2.5 m, and the weight is 18 t. It can be transported to the destination in one trip by ordinary flatbed truck; ② 30 min rapid erection: release the transport lock pin → extend the second stage of the tower lifting cylinder → erect the mast from 0-90° → unlock the slewing bearing → VCU self-check completed; ③ Pure electric mode positioning: Powered by battery pack, motor-hydraulic pump starts, tracks do not move, upper chassis rotates 180° to make the mast face the tunnel side, occupying only 1.8 m in width; ④ Milling grooves while walking: VCU set groove thickness to 300 mm, chain linear speed to 0.8 m / s, track walking speed to 1.5 m / min, and propulsion base to move forward synchronously to 1.5 m / min. The pressure of the hydraulic cylinder is 60 kN. A wall of 120 m is formed in one go, and it is completed continuously for 6 hours without cold joints. ⑤ Local trenching: When encountering a 6 m section of pipeline encirclement, the tracks stop, and only the propulsion cylinder advances at a small speed of 0.3 m / min. The pressurization cylinder increases the pressure to 100 kN to cut the hard plastic clay interlayer. The verticality deviation is ≤1 / 500. ⑥ Slewing and Luffing: After a single section is completed, the track remains stationary, the upper chassis rotates 30°, and adjacent groove sections overlap by 200 mm. Continuous cutting forms a 360° closed curtain. The total construction period is 2 days, which is 40% shorter than the traditional solution.

[0042] The whole-process noise is 72 dB(A), with zero tail gas emissions, the groove width error is ±8 mm, and the permeability coefficient is 9×10 -8 cm / s, meeting the design and environmental protection requirements.

[0043] The longitudinal chain thin-walled diaphragm wall milling machine capable of walking synchronously for grooving used in the above embodiments is specifically as follows: 1 Overall layout of the whole machine Refer to Figure 1 、 Figure 6 、 Figure 8 The milling machine adopts a tower layout of "lower-upper double chassis + mast carriage". The crawler lower chassis (5) is of welded box girder structure, with integrated traveling reducer and brake inside. The outer width of the crawler is ≤350 mm, the grounding length is ≥2 m, and the ground contact pressure is ≤0.08 MPa, which can directly straddle and walk above the completed groove section. A large-diameter slewing bearing (the model can be analogous to 011.45.1250) is arranged at the center of the top surface of the lower chassis, allowing the upper chassis (6-6) to continuously rotate 360°, and the rotation speed is steplessly adjustable from 0 to 3 r / min, driven by a permanent magnet synchronous motor-planetary reducer. The rated torque of the motor is 3,800 N·m, the transmission ratio of the reducer is 1:120, and a normally closed brake is set at the output end, which locks when power is off, ensuring self-locking of the posture during cutting.

[0044] The upper chassis adopts a "day" - shaped frame, the main beam is a Q690 high-strength steel bent box girder, with a sunken part in the middle to form a battery - hydraulic pump station installation area, and 80 - mm - thick adapter flanges are arranged around, which are bolt - connected to the inner ring of the slewing bearing. A combined counterweight box (9-10) is arranged at the tail of the chassis, and concrete blocks can be stacked inside, and the total counterweight is adjustable from 4 to 6 t, which is used to balance the overturning moment after the mast is erected. A cantilever section bent 25° forward is arranged at the front end, which is used to shorten the stroke of the propulsion cylinder and increase the ground clearance at the front end, avoiding interference with the mud pipeline at the groove opening.

[0045] 2 Pure - electric power system The diesel engine of the whole machine is cancelled, and an "electric - hydrostatic topology ( Figure 2 ) of "power battery → motor → hydraulic pump" is adopted. The battery pack is placed at the tail of the upper chassis, with a rated capacity of 80 kWh, and the battery cells are LFP square hard shells, and the cycle life is ≥4000 times; there are four - point elastic shock absorbers between the battery box and the upper chassis, and the natural frequency of the shock absorber seat is ≤25 Hz, avoiding fatigue of the battery cells caused by crawler vibration. IP69K waterproof breathable valves and hydrogen concentration sensors are arranged on the side wall of the box to ensure safety in the underground humid environment.

[0046] The motor-hydraulic pump unit adopts a "one-to-four" configuration: a 90 kW permanent magnet synchronous motor (rated speed 1500 r / min) simultaneously drives four load-sensitive axial piston pumps (independent pump sources for travel, rotation, cutting, and auxiliary circuits) via a gear coupling. The pump displacement is 28 mL / r, and the rated pressure is 35 MPa. The motor controller is integrated into the upper chassis electrical compartment and interacts with the vehicle control unit (VCU) via a CAN-FD bus with a response time of 5 ms. The motor housing is equipped with a water-cooling jacket, and the coolant is circulated uniformly through the heat sink at the bottom of the battery pack. In winter, the residual heat of the motor can be used to keep the battery warm, and in summer, forced cooling is achieved through an external 24 V electric fan, ensuring all-weather operation from -20 ℃ to +50 ℃.

[0047] 3. Mast and Tower Raising Mechanism The mast (9-6) is a 650×450 mm rectangular welded structure. The main chord is made of 16 Mn steel pipe, and 45×45 mm square guide rails are milled into the inner sides of the four walls. The surface is high-frequency quenched to a hardness of ≥50 HRC, which is used for guiding the sliding of the fixed frame. The base of the mast is hinged to the propulsion base / slide (6-4) by a 60 mm diameter pin. The hinge point is 1200 mm from the center of the track, ensuring that the center of gravity is within 200 mm in front of the rotation center during transportation, thus improving the stability of the whole machine.

[0048] The tower lifting cylinder (6-5) is a double-acting two-stage sleeve cylinder. The first stage stroke is 1200 mm, the second stage is 800 mm, and the total stroke is 2000 mm. The cylinder diameter... The rated pressure is 25 MPa. The cylinder lugs are pinned to the propulsion base, and the piston rod lugs are pinned to the mast's middle lug plate. The distance between the two lug plates is 1800 mm, forming an initial installation angle of 30°. The mast can be smoothly rotated from 0 to 90° using a two-stage extension of the hydraulic cylinder, with the entire process taking ≤3 minutes. A balance valve is installed in the rodless chamber of the hydraulic cylinder to prevent the mast from falling suddenly in the event of a pipeline rupture; a pressure reducing valve is installed in the rod chamber to limit the tower lifting pressure to ≤20 MPa to avoid structural overload.

[0049] 4. Propulsion base / carriage and propulsion cylinder The propulsion base (6-4) is a one-piece welded box girder with 45# steel quenched guide rails on both sides, which cooperate with four self-lubricating sliding bearings (copper-based with inlaid graphite) at the front end of the upper chassis, with a friction coefficient ≤0.08. A mud guide funnel and cutting fluid nozzle are provided at the front end of the base to reduce mud erosion of the propulsion mechanism. A 600×600 mm weight-reduction hole is opened in the middle of the base to reduce the moment of inertia.

[0050] The propulsion cylinder (6-1) employs two cylinders connected in parallel for synchronous control. Each cylinder has a thrust of 80 kN, a stroke of 800 mm, a cylinder diameter of φ100 mm, and a rod diameter of φ70 mm. It incorporates a built-in magnetostrictive displacement sensor (accuracy ±0.5 mm) to provide real-time displacement feedback to the VCU. The rodless chambers of the two cylinders are connected in series with a synchronous valve, ensuring a flow deviation of ≤3% and guaranteeing synchronized propulsion on both sides, preventing jamming of the fixed frame. The propulsion speed is infinitely adjustable from 0-6 m / min and is coupled with the track travel speed via the VCU to achieve closed-loop synchronization of "travel-cutting".

[0051] 5. Longitudinal chain cutting system 5.1 Fixing frame and pressure cylinder The mounting frame is constructed from 20 mm steel plates welded into a "U" shape. Four 30×30 mm self-lubricating sliders are installed at the corners, with a clearance of 0.1-0.2 mm between the slider and the mast guide rail. It allows for free sliding and resists lateral forces ≥30 kN. Two ear plates extend from the front end of the mounting frame to suspend the drive motor. The ear plates are spaced 400 mm apart to ensure the motor axis coincides with the chain center, reducing off-center loads.

[0052] A pair of pressurized hydraulic cylinders (6-8) are symmetrically arranged on the left and right sides of the fixed frame. The cylinder body lugs are pinned to the top crossbeam of the mast, and the piston rod lugs are pinned to the base plate of the fixed frame. The cylinder diameter is φ80 mm, the rod diameter is φ56 mm, the stroke is 3000 mm, the rated pressure is 28 MPa, and the maximum thrust of a single cylinder is 140 kN. The hydraulic cylinders have built-in imported proportional valves, and the VCU adjusts the pressure in real time according to the cutting torque-speed curve to achieve a "constant pressure-constant speed" dual closed loop: the pressure is set at 40 kN under soft soil layers, and automatically increased to 100 kN under hard plastic clay / pebble layers, ensuring cutting efficiency while avoiding motor overload.

[0053] 5.2 Drive and Chain Assembly The drive motor (3-3) is a low-speed, high-torque permanent magnet synchronous motor with a rated power of 55kW, a rated speed of 200 r / min, and a peak torque of 3200 N·m. The motor shaft is directly inserted into the hollow shaft of the drive gear (3-1) and connected by a double flat key and locking disc, eliminating the need for a reducer and reducing weight by 120 kg and length by 300 mm. The drive gear is made of 42CrMo, with a tooth surface hardness of 55-58HRC, a module of 20, 13 teeth, a pitch circle diameter of 260 mm, and is shot-peened at the tooth root, with a service life of ≥5000 h.

[0054] The driven gear (4-4) has the same parameters as the drive gear, and the center distance is adjustable. The chain is tensioned by tensioning cylinders (3-7) on both sides. The tension force is 20-30 kN, the cylinder stroke is 200 mm, and the built-in pressure sensor provides real-time feedback to the VCU. When the tension deviation is >5%, the pressure is automatically compensated to prevent tooth skipping.

[0055] The chain is made of high-strength alloy steel 35CrMoV, with a pitch of 80 mm, a chain plate thickness of 12 mm, a pin diameter of 20 mm, and a breaking load ≥1800 kN. A detachable cutting tooth (4-3) is installed every two links on the outer side of the chain. The tooth body is integrally hardened from 42CrMo, and the cutting edge is overlaid with WC-Co cemented carbide, achieving a hardness of 62-65 HRC. The tooth spacing is 160 mm, creating a "micro-cutting" rhythm, with a single tooth cutting depth ≤5 cm. 3 It effectively reduces vibration and noise.

[0056] 5.3 Guidance and Correction System The chainsaw body is equipped with a set of guide keys (1-6) and guide plates (1-9) at both the front and rear. The guide keys are 600 mm long and 60 mm wide, with a 3 mm stainless steel overlay on the surface to resist mud erosion. The guide plates are made of 20 mm steel plates, with a 1-2 mm gap between them and the inner wall of the completed groove section, forming a three-point guide that can resist lateral forces ≥15 kN. The guide keys internally encapsulate an MTI triaxial IMU and a 0.01 mm displacement sensor with a sampling frequency of 100 Hz to calculate the verticality of the groove section in real time. When the deviation is >1 / 500, the VCU performs closed-loop correction by adjusting the differential speed of the two side propulsion cylinders (±0.2 m / min), with a correction response time ≤1 s.

[0057] 5.4 Telescopic splicing plate frame structure (longitudinal chain cutting system) The longitudinal chain cutting system adopts a "split-type plate frame + fixed frame sliding" scheme to achieve large-stroke milling and rapid maintenance. ① Assembly Frame: The plate frame (1-10) is constructed from 2-3 sections of high-strength steel plate welded together. Annular sealing grooves are machined on the end faces of adjacent sections, with built-in O-rings. M24 high-strength bolts are evenly distributed around the mating surfaces, with a torque ≥600 N·m, ensuring that the bending stiffness of the assembled frame is ≥90% of the original section. Coaxial quick-connect female connectors are also installed on the splicing surfaces. After the bolts are tightened, the internal cable holes, gas pipes, and slurry pipes are automatically connected and sealed, ensuring unobstructed and leak-free operation of the pipelines and gas lines.

[0058] ② Sliding pair: The assembled plate frame is inserted into the T-shaped guide rails on both sides of the fixed frame (3-4). The guide rail surface is high-frequency quenched to a hardness of 50-55 HRC, and the gap is 0.1-0.2 mm. The top of the fixed frame is equipped with a dust cover to prevent mortar from entering.

[0059] ③ Lifting drive: A pair of pressurized hydraulic cylinders (6-8) have cylinder body clevises hinged to the middle crossbeam of the fixed frame, and piston rod clevises hinged to the bottom support of the mast; when the hydraulic cylinders extend and retract, the fixed frame, together with the plate frame, track cutter bar and power head, slides up and down relative to the mast, with a stroke of 0-12 m, realizing milling groove feed and drill lifting, and the lifting speed is steplessly adjustable from 0-10 m / min.

[0060] ④ Chain tension: The chain pitch is 80 mm and the length is fixed; the tensioning cylinder (3-7) is hinged to the power head housing, and the piston rod is hinged to the drive gear bearing seat. The extension and retraction of the cylinder can change the center distance between the drive gear and the driven wheel, thereby adjusting the chain tension force to 20-30 kN. The tension sensor provides real-time feedback, and automatically compensates for deviations >5% to prevent tooth skipping.

[0061] ⑤ Pipeline layout: Cables, gas pipes, and slurry pipes are all inserted into the rectangular channel inside the plate frame. Quick-connect connectors (2-7) are provided at the channel ports. When splicing, they are inserted together with step ①. There are no exposed cables on the outside to avoid tangling or damage.

[0062] ⑥ Air lift / hydraulic flushing interface: A φ25 mm air outlet / liquid outlet is provided at the center of the driven wheel frame (2-2). It is connected to an external air compressor or mud pump through the internal pipeline of the frame, which can carry out "air lift" slag removal or high pressure flushing at the bottom of the tank, improving the cutting efficiency by 15%.

[0063] ⑦ Integrated cutter bar: Cutting teeth (4-3) are installed on the outside of the chain track cutter bar every 2 chain sections; guide keys (1-6) are arranged on the same side of the fixed frame and mast, forming a three-in-one function of "cutting-guiding-flushing" with the air outlet of the driven wheel frame, realizing the one-time wall formation of thin-walled grooves, with verticality ≤1 / 500 and groove width error ±10 mm.

[0064] 6 Vehicle Control and Dual-Mode Algorithm The VCU employs a 32-bit dual-core MCU (180 MHz clock speed) and integrates CAN-FD, RS485, and Ethernet triple redundant communication. The software layer is divided into a "travel-cutting synchronization layer" and a "safety monitoring layer." Synchronization layer: Based on the track encoder or propulsion displacement, a virtual spindle signal is generated. The chain linear speed, hydraulic cylinder pressure, and rotation angle serve as the follower axes. The "walking-cutting" coupling is achieved using an electronic cam curve, with a speed synchronization error of ≤2%. Monitoring layer: Real-time acquisition of motor current, chain tension, tilt angle, and rotation angle. If any parameter exceeds the limit (e.g., current > 1.5 times the rated value), the pump discharge signal is immediately cut off and an audible and visual alarm is triggered. At the same time, a fault snapshot is recorded for easy traceability afterward.

[0065] 7 Modular transportation and rapid deployment Transportation status ( Figure 8 The tower-lifting cylinder retracts, the mast is laid horizontally at 0°, the propulsion base moves forward to its limit position and is locked with a mechanical locking pin. The overall length is ≤9.5 m, width is ≤1.8 m, height is ≤2.5 m, and weight is ≤18 t. It can be loaded onto ordinary flatbed trucks and is unobstructed on restricted urban roads.

[0066] Operation status transition: Upon arrival at the site, remove the transport lock pin → extend the tower lifting cylinder → raise the mast to 90° → release the slewing lock → VCU self-check → complete the erection, alignment, and cutting preparation within 30 minutes, significantly shortening the hoisting time of traditional equipment by 2-3 hours.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A longitudinally arranged chain-type thin-walled continuous underground wall milling machine, characterized in that: include: Tracked undercarriage; The upper chassis can rotate horizontally relative to the lower chassis; Pure electric powertrain system; A mast hinged to the upper chassis; The propulsion base / carriage is driven by a propulsion cylinder and can move back and forth on the upper chassis guide rail; The tower-raising cylinder is hinged between the propulsion base and the mast and is used to drive the mast to be erected or lowered. A longitudinal chain cutting system includes a chainsaw body, a drive motor, a drive gear, a driven gear, and a fixed frame. The fixed frame is slidably mounted on the mast and carries the drive motor and the drive gear. A pair of pressurized hydraulic cylinders, with the cylinder body hinged to the mast and the piston rod hinged to the fixed frame, are used to drive the fixed frame to move up and down along the mast and provide downforce to the chainsaw body; The vehicle controller is used to coordinate the control of track movement, upper chassis rotation, chain cutting, propulsion cylinder and pressurization cylinder, to achieve two modes: milling grooves while moving or milling grooves while stationary.

2. The longitudinally chain-type thin-walled continuous underground wall milling machine according to claim 1, characterized in that: The pressurized hydraulic cylinder is connected to the VCU via a proportional valve, which can adjust the downward pressure in real time during the lifting and lowering process to match the cutting resistance of different formations.

3. The longitudinally arranged chain-type thin-walled continuous underground wall milling machine according to claim 1 or 2, characterized in that: The fixed frame slides along the mast guide rail under the drive of the pressurized oil cylinder, so that the chainsaw body continuously rises and falls during the cutting process, completing the full-depth wall construction in one go.

4. The longitudinally arranged chain-type thin-walled continuous underground wall milling machine according to claim 1, characterized in that: The propulsion base / slide is propelled independently by the propulsion cylinder when the track stops, achieving small-amplitude milling feed; when the track moves, it is propelled synchronously with the track speed, achieving continuous milling.

5. The longitudinally arranged chain-type thin-walled continuous underground wall milling machine according to claim 1, characterized in that: The tower-lifting cylinder drives the mast to rotate within a range of 0-90°, enabling the entire machine to quickly switch between transport and operation modes.

6. The longitudinally chain-type thin-walled continuous underground wall milling machine according to claim 1, characterized in that: The upper chassis achieves 360° continuous rotation through a horizontal slewing bearing, enabling the milling machine to complete the cutting of adjacent groove sections without moving the tracks.

7. The longitudinally arranged chain-type thin-walled continuous underground wall milling machine according to claim 1, characterized in that: The pure electric power system is the energy source for the whole machine, driving the track to walk, rotate, cut the chain, propel, lift and pressurize, achieving zero-emission and low-noise operation.

8. The longitudinally chain-type thin-walled continuous underground wall milling machine according to claim 1, characterized in that: The longitudinal chain cutting system forms a vertical closed cutting ring through the drive gear and driven gear. The chain linear speed is linked with the propulsion speed or the track walking speed to achieve continuous cutting. The chainsaw body includes a plate frame, driven wheels, and driven wheel frames. The plate frame is composed of multiple box sections spliced ​​together. Adjacent sections are connected by high-strength bolts and coaxial quick-connect joints. It contains cables, air supply, and slurry supply pipelines, which remain unobstructed after splicing. The driven wheel frame has an air outlet / liquid outlet at its center, which is connected to an external air compressor or mud pump through the internal pipeline of the frame for airlift slag removal or high-pressure flushing at the bottom of the tank, forming an integrated "cutting-guiding-flushing" blade rack. The "plate frame" after being spliced ​​in length is inserted into a fixed frame. The front end is connected to the drive motor of the "power head" through a tensioning cylinder, and the rear end is connected to the driven wheel through a wheel frame.

9. The longitudinally arranged chain-type thin-walled continuous underground wall milling machine according to claim 1 or 8, characterized in that: The chainsaw body is equipped with guide keys and guide plates at the front and rear, which slide in conjunction with the inner wall of the completed groove section to form a three-point guide structure to maintain the verticality of the groove section; the guide key is embedded with a displacement sensor, which together with the airborne IMU forms a verticality detection unit. When the verticality deviation is detected to exceed the set threshold, the VCU automatically adjusts the differential speed of the propulsion cylinder to achieve closed-loop correction.

10. The longitudinally chain-type thin-walled continuous underground wall milling machine according to claim 9, characterized in that: The machine adopts a modular design, and the mast can be lowered and the propulsion base locked during transportation, allowing for overall loading and relocation. Before operation, it can be erected, aligned, and prepared for cutting, enabling rapid construction in confined urban spaces.

11. A method for milling grooves while moving or while stationary propulsion using a milling machine according to any one of claims 1 to 10, characterized in that, include: S1. The vehicle control unit (VCU) selects its operating mode based on the construction site conditions: S2, Walking and Milling Mode: The VCU synchronously adjusts the track walking speed, chain linear speed and propulsion base / slide propulsion speed, so that the longitudinal chain cutting system of the tracked undercarriage can complete the trench excavation during continuous walking, and achieve one-time wall construction. S3, Static Propulsion Milling Mode: The VCU stops the track movement and drives the propulsion base / carriage forward only through the propulsion cylinder. At the same time, it controls the pressurization cylinder to apply downward pressure to the fixed frame, so that the longitudinal chain cutting system can complete a small-amplitude milling feed in a static state. In both modes, the VCU adjusts the horizontal rotation angle of the upper chassis, the chain cutting speed, and the downward pressure of the pressurized hydraulic cylinder in real time to adapt to different geological conditions and trench trajectory requirements.

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