A well wall built-in adaptive soil taking equipment and method for open caisson construction
By using an adaptive soil sampling device built into the well wall, which utilizes soil sensing components and a robotic arm to control the cutter head movement, the problem of traditional equipment being unable to sample soil has been solved. This enables automated and continuous soil sampling in both hard and soft sandy soil layers, improving construction efficiency and equipment lifespan.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI FOUNDATION ENGINEERING GROUP CO LTD
- Filing Date
- 2026-04-27
- Publication Date
- 2026-06-12
Smart Images
Figure CN122190326A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of construction equipment technology, and in particular to a well wall-mounted adaptive soil sampling device and method for caisson construction. Background Technology
[0002] In deep underground space development, caisson construction often requires traversing complex soil conditions containing both soft and hard sand layers. For example, the underground soil layers in coastal areas contain ferruginous sand, a type of hard sand with high density, high water content, and a certain degree of cementation. Traditional caisson suction equipment is only suitable for soft sand layers, and its soil extraction efficiency in hard sand layers containing ferruginous sand is extremely low, sometimes even failing to penetrate the hard sand layers. Ordinary grab buckets are also unable to break up hard sand layers containing ferruginous sand, leading to the stagnation of soil extraction operations. Summary of the Invention
[0003] The purpose of this invention is to provide a well-wall-integrated adaptive soil extraction device and method for caisson construction, in order to solve the problem that traditional auger suction equipment is only suitable for soft sandy soil layers and cannot extract soil from hard sandy soil layers.
[0004] To address the aforementioned technical problems, this invention provides a well-wall-embedded adaptive soil sampling device for caisson construction, comprising:
[0005] The robotic arms consist of multiple sets, arranged in a ring around the lower end of the well wall of the caisson pipe that has been sunk into the soil layer;
[0006] A compound cutterhead is set at the end of each set of robotic arms. The compound cutterhead includes a disc body, a conical drill bit set vertically downward at the center of the disc body for breaking soil in hard sandy soil layers, multiple sets of soil-tightening cutters set around the conical drill bit below the disc body for soil-tightening construction, and multiple mud suction ports set around the conical drill bit on the disc body and located around the soil-tightening cutters.
[0007] The mud conveying system includes a mud pump and a connected mud pipe, wherein the mud pipe passes through the well wall of the caisson and the arrangement of the robotic arm and is connected to the mud suction port of the double cutterhead;
[0008] The soil sensing component includes a triaxial force sensor mounted on the robotic arm, disc, or conical drill bit for detecting mechanical signals of the compound cutterhead contacting the soil layer; a vibration sensor mounted on the conical drill bit for detecting vibration signals when the conical drill bit penetrates the soil layer; and a torque sensor and a speed sensor mounted on the soil cutting tool for detecting torque and speed signals when the soil cutting tool penetrates the soil layer, respectively.
[0009] The control box, connected to the robotic arm, conical drill bit, soil cutting tool, mud pump, triaxial force sensor, vibration sensor, torque sensor, and speed sensor, is used to determine whether the soil layer is a hard sandy soil layer based on the force, vibration, and torque signals detected by the soil sensing component. When it is determined to be a non-hard sandy soil layer, the control arm moves the double cutterhead and controls the high-speed rotation of the soil cutting tool to perform soil cutting and slag removal. Simultaneously, the control system discharges the mud formed by the soil cutting and water in the well pipe under the rotation and stirring of the soil cutting tool to the outside of the well pipe, thus achieving soil extraction in the non-hard sandy soil layer. When it is determined to be a hard sandy soil layer, the control arm moves the double cutterhead and controls the rotation of the conical drill bit to perform soil breaking. Simultaneously, the control system controls the low-speed rotation of the soil cutting tool to perform soil cutting and slag removal. Finally, the control system discharges the mud formed by the soil cutting and water in the well pipe under the rotation and stirring of the soil cutting tool to the outside of the well pipe, thus achieving soil extraction in the hard sandy soil layer.
[0010] Furthermore, the well wall-mounted adaptive soil sampling device for caisson construction provided by the present invention further includes an anti-clogging grid disposed on the disc body surrounding the mud suction port.
[0011] Furthermore, the well wall-mounted adaptive soil sampling device for caisson construction provided by the present invention further includes a rotation speed sensor disposed on the conical drill bit.
[0012] Furthermore, in the well wall-mounted adaptive soil sampling device for caisson construction provided by the present invention, the end of the conical drill bit is lower than the end of the soil-scraping tool.
[0013] Furthermore, in the well wall-mounted adaptive soil sampling device for caisson construction provided by the present invention, a set of soil-scraping tools corresponds to at least one mud-suction port, and the mud-suction port is arranged close to the soil-scraping tools.
[0014] Furthermore, the present invention provides a well-wall-integrated adaptive soil sampling device for caisson construction, wherein the control box is located on the ground at the caisson pipe.
[0015] Furthermore, the well wall-mounted adaptive soil sampling device for caisson construction provided by the present invention also includes a mud recovery box disposed on the ground at the caisson pipe, which is in communication with the mud.
[0016] Furthermore, the well wall-mounted adaptive soil sampling device for caisson construction provided by the present invention has an inwardly inclined cutting edge at the lower end of the caisson pipe.
[0017] To address the aforementioned technical problems, this invention also provides a well-wall-embedded adaptive soil sampling method for caisson construction, employing the aforementioned well-wall-embedded adaptive soil sampling equipment for caisson construction, comprising:
[0018] The well casing is sunk into the soil.
[0019] The control box controls the robotic arm to move the double cutterhead to the target soil extraction point and make contact with the soil layer at the bottom of the caisson pipe;
[0020] The soil sensing component uses a triaxial force sensor to detect the mechanical signal of the compound cutterhead contacting the soil layer in real time, a vibration sensor to detect the vibration signal of the conical drill bit penetrating the soil layer in real time, and a torque sensor to detect the torque signal of the soil cutting tool penetrating the soil layer in real time. The force value, vibration value, and torque value are fed back to the control box in real time.
[0021] The control box compares the real-time received force, torque, and vibration values with their respective set thresholds. When the force, torque, and vibration values are all less than the set thresholds, the soil layer is determined to be a non-hard sandy soil layer. When the force, torque, and vibration values are all greater than the set thresholds, the soil layer is determined to be a hard sandy soil layer.
[0022] When the soil layer is determined to be non-hard sandy soil, the control box controls the robotic arm to move the double cutter head and controls the soil cutting tool to rotate at high speed to cut the soil layer into slag. It also controls the mud conveying system to discharge the slag and water in the well pipe into the mud formed by the rotation and stirring of the soil cutting tool, thus realizing the soil extraction construction of non-hard sandy soil layer.
[0023] When the soil layer is determined to be hard sand, the control box controls the robotic arm to move the double cutterhead and controls the conical drill bit to rotate to break the soil layer. At the same time, it controls the soil cutting tool to rotate at low speed to break the soil layer into slag. It also controls the mud conveying system to discharge the slag and water in the well pipe into the mud formed by the rotation and stirring of the soil cutting tool, thus realizing the soil extraction construction in the hard sand layer.
[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0025] The present invention provides a well-wall-integrated adaptive soil sampling device and method for caisson construction. This device uses a soil sensing component to determine whether the soil layer contacted by the double cutterhead inside the caisson is a hard sand layer or a soft sand layer, achieving automatic soil geology sensing. Based on the results of this automatic soil geology sensing, the device closes the conical drill bit, opens the soil-shoveling tool, and controls its high-speed rotation to perform soil-shoveling and slag-forming operations on the soft sand layer. The slag is then mixed with groundwater or injected water within the caisson through a mud conveying system. The mud formed by the high-speed rotation and stirring of the soil-absorbing tool is discharged outside the caisson pipe, enabling soil extraction in non-hard sandy soil layers. Drilling is performed in the hard sandy soil layer by opening a conical drill bit. The soil-absorbing tool is then opened and controlled to rotate at a low speed to shred the hard sandy soil blocks that have split or protruded during the drilling process. The mud-absorbing material, along with groundwater or injected water from the caisson pipe, mixed with the mud formed by the low-speed rotation of the soil-absorbing tool, is discharged outside the caisson pipe through a mud-extraction system, enabling soil extraction in hard sandy soil layers. In other words, this invention is applicable to soil extraction in both hard and non-hard sandy soil layers, achieving continuity in soil extraction operations during caisson construction in complex geological conditions. It avoids the problem that traditional mud-absorbing equipment is suitable for soft sandy soil layers but cannot extract soil from hard sandy soil layers, thus preventing construction stoppages and improving the efficiency of caisson construction.
[0026] The present invention provides a well-wall-integrated adaptive soil sampling device and method for caisson construction. When the conical drill bit is closed, the movement of the double cutterhead by the robotic arm enables the conical drill bit to statically cut soil layers, assisting in breaking soft sandy soil layers. This facilitates the use of the soil-scraping tool to scrape up or split soil clods after breaking the soil, improving the soil-scraping efficiency of soft sandy soil layers. When the conical drill bit is open, the rotation of the drill bit enhances its ability to penetrate hard sandy soil layers. Combined with the movement of the double cutterhead by the robotic arm, the conical drill bit enables dynamic soil cutting, facilitating the use of the soil-scraping tool to scrape up or split hard soil clods after dynamic cutting and breaking the soil, improving the soil-scraping efficiency of hard sandy soil layers.
[0027] The invention provides a well-wall-integrated adaptive soil extraction device and method for caisson construction. A conical drill bit is placed at the center of the disc body, and soil-shoveling tools are distributed around the conical drill bit. The hard soil blocks formed after the conical drill bit penetrates the hard sand layer can be quickly captured and crushed into slag by multiple sets of soil-shoveling tools around the conical drill bit. That is, the soil excavation operation inside the well wall is carried out by breaking the soil in the center and shredding the soil around the perimeter, which improves the soil excavation efficiency of hard sand layers inside the caisson pipe.
[0028] The invention provides a well-wall-integrated adaptive soil sampling device and method for caisson construction. By rotating a conical drill bit and coordinating the movement of a mechanical arm with a double cutterhead and the conical drill bit on it, hard, fragmented soil is formed. The soil-scraping tool performs soil-scraping operations on the fragmented soil. Compared to directly scraping soil from broken sandy soil layers, this method reduces wear on the soil-scraping tool, lowers the rotation speed of the soil-scraping tool, and reduces downtime maintenance costs for the soil-scraping tool.
[0029] The invention provides a well-wall-integrated adaptive soil sampling device and method for caisson construction. Through a soil sensing component, it can automatically determine the geological conditions of the soil layer inside the caisson pipe and automatically perform different soil sampling operations according to different soil layer geological conditions, thus realizing the automation of caisson soil sampling operations. Attached Figure Description
[0030] Figure 1 This is a schematic diagram of the elevation structure of a well-wall-integrated adaptive soil sampling device used for caisson construction and its usage status.
[0031] Figure 2 yes Figure 1 Enlarged view of the nodes of the end effector of the robotic arm and its connected compound cutterhead and soil sensing components;
[0032] Figure 3 This is a schematic diagram of the planar structure of a compound cutter head;
[0033] Figure 4 This is a block diagram of the mud conveying and discharge system;
[0034] Figure 5 This is a diagram showing the structural composition of the soil sensing components;
[0035] As shown in the figure:
[0036] 100. Well-wall-mounted adaptive soil sampling equipment;
[0037] 110. Robotic arm;
[0038] 120. Duplex cutterhead; 121. Disc body; 122. Conical drill bit; 123. Soil-cutting cutter; 124. Suction port; 125. Anti-clogging grid.
[0039] 130. Mud conveying and discharge system; 131. Mud recovery box; 132. Mud pipe; 133. Mud pump;
[0040] 140. Control box;
[0041] 150. Soil sensing component; 151. Triaxial force sensor; 152. Vibration sensor; 153. Torque sensor; 154. Speed sensor.
[0042] 160. Caisson pipe; 161. Cutting foot. Detailed Implementation
[0043] The present invention will now be described in detail with reference to the accompanying drawings. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.
[0044] Please refer to Figures 1 to 5 This invention provides a well-wall-embedded adaptive soil sampling device 100 for caisson construction, comprising:
[0045] Multiple robotic arms 110 are arranged circumferentially on the lower end wall of the caisson pipe 160, which is embedded in the soil. Among them, robotic arms 110 are multi-degree-of-freedom robotic arms.
[0046] A compound cutterhead 120 is disposed at the end of each set of robotic arms 110. The compound cutterhead 120 includes a disc body 121, a conical drill bit (i.e., soil breaking tool) 122 disposed vertically downward at the center of the disc body 121 for soil breaking construction in hard sandy soil layers, multiple sets of soil shoveling tools 123 disposed around the conical drill bit 122 below the disc body 121 for soil shoveling construction, and multiple mud suction ports 124 disposed around the conical drill bit 122 on the disc body 121 and located around the soil shoveling tools 123.
[0047] The mud conveying and discharging system 130 includes a mud pump 133 and a connected mud pipe 132. The mud pipe 132 passes through the well wall of the caisson pipe 160 and the robotic arm 110, and is connected to the mud suction port 124 of the double cutterhead 120. The mud pump 133 can be installed on the ground or in a mud recovery tank 131 or mud recovery pond located on the ground, and the mud is discharged through a sewage pipe.
[0048] The soil sensing component 150 includes a triaxial force sensor 151 mounted on the robotic arm 110, the disc 121, or the conical drill bit 122 to detect the mechanical signal of the compound cutterhead 120 contacting the soil layer, a vibration sensor 152 mounted on the conical drill bit 122 to detect the vibration signal when the conical drill bit 122 penetrates into the soil layer, and a torque sensor 153 mounted on the soil cutting tool 123 to detect the torque signal when the soil cutting tool 123 penetrates into the soil layer. Figure 2 and Figure 3 The example shown illustrates a triaxial force sensor 151 and a vibration sensor 152 arranged concurrently on a tapered drill bit 122, but the arrangement is not limited to concurrent arrangement; they can also be staggered.
[0049] The control box 140, connected to the robotic arm 110, conical drill bit 122, soil-cutting cutter 123, mud pump 133, triaxial force sensor 151, vibration sensor 152, and torque sensor 153, is used to determine whether the soil layer is a hard sand layer based on the force, vibration, and torque signals detected by the soil sensing component 150. When it is determined to be a non-hard sand layer (i.e., a soft sand layer), the control box 140 moves the double cutterhead 120 and controls the high-speed rotation of the soil-cutting cutter 123 to perform soil-cutting and slag-forming construction on the soil layer, and controls the mud conveying system 130 to transport the slag and slag to the well casing 160. The water in the well is stirred by the rotating cutter head 123, forming slurry which is then discharged outside the well pipe 160, enabling soil extraction from non-hard sandy soil layers. When the well is determined to be hard sandy soil, the robotic arm 110 moves the double cutterhead 120 and the conical drill bit 122 rotates to break the soil layer. Simultaneously, the cutter head 123 rotates at low speed to break up the soil layer into slag, and the slurry conveying system 130 discharges the slag and the slurry formed by the rotating cutter head 123 into the well pipe 160, thus enabling soil extraction from hard sandy soil layers. Soft sandy soil layers are not limited to sandy soil layers; they can also be other soft soil layers without sand. The control box 140 can be installed on the ground at the well pipe 160. The control box 140 contains a controller for logic control.
[0050] This invention also provides a method for self-adaptive soil sampling with an embedded well wall for caisson construction, using the aforementioned self-adaptive soil sampling device 100 with an embedded well wall for caisson construction, comprising:
[0051] The 160mm caisson pipe was sunk into the complex geological soil layer.
[0052] The control box 140 controls the robotic arm 110 to move the double cutterhead 120 to the target soil extraction point and make contact with the soil layer at the bottom of the caisson pipe 160.
[0053] The soil sensing component 150 uses a triaxial force sensor 151 to detect the mechanical signals of the compound cutterhead 120 contacting the soil layer in real time, a vibration sensor 152 to detect the vibration signals of the conical drill bit 122 penetrating the soil layer in real time, and a torque sensor 153 to detect the torque signals of the soil-cutting cutter 123 penetrating the soil layer in real time. It then feeds back the force, vibration, and torque values to the control box 140 in real time. The compound cutterhead 120 generates passive mechanical, vibration, and torque signals upon contact with the soil layer. These signals are independent of whether the conical drill bit 122 and the soil-cutting cutter 123 are in the open state.
[0054] The control box 140 compares the real-time received force, torque, and vibration values with their respective set thresholds. If the force, torque, and vibration values are all below their set thresholds, the soil layer is determined to be a non-hard sand layer (i.e., soft sand). If the force, torque, and vibration values are all above their set thresholds, the soil layer is determined to be a hard sand layer. When the conical drill bit 122 drills into a hard sand layer, the resistance is high, resulting in a large vibration amplitude. Conversely, when the conical drill bit 122 drills into a non-hard sand layer, the resistance is low, resulting in a small vibration amplitude.
[0055] When the soil layer is determined to be non-hard sand (i.e. soft sand), the control box 140 controls the robotic arm 110 to move the double cutterhead 120 and controls the soil cutting tool 123 to rotate at high speed to cut the soil into slag. The control box 140 controls the mud conveying system 130 to discharge the slag and water in the well pipe 160 into the well pipe 160 under the rotation and stirring of the soil cutting tool 123, thereby realizing the soil extraction construction in the non-hard sand layer.
[0056] When the soil layer is determined to be hard sand, the control box 140 controls the robotic arm 110 to move the double cutterhead 120 and controls the conical drill bit 122 to rotate to break the soil layer. At the same time, it controls the soil cutting tool 123 to rotate at low speed to cut the soil layer into slag. It also controls the mud conveying system 130 to discharge the slag and water in the well pipe 160 into the well pipe 160 under the rotation and stirring of the soil cutting tool 123, thus realizing the soil extraction construction in the hard sand layer.
[0057] As the soil removal work at a certain elevation is completed, the caisson pipe 160 is gradually lowered for construction, and the soil removal work is repeated until the design depth is reached.
[0058] Please refer to this carefully. Figures 1 to 3The well-wall-embedded adaptive soil sampling device 100 and method for caisson construction provided in this embodiment of the invention determine whether the soil layer contacted by the compound cutterhead 120 inside the caisson pipe 160 is a hard sand layer or a soft sand layer through the soil sensing component 150, thereby achieving automatic sensing of soil geology in complex geological conditions. Based on the results of the automatic soil geology sensing, for soft sand layers, the conical drill bit 122 is closed, the soil-shoveling cutter 123 is opened, and the high-speed rotation of the soil-shoveling cutter 123 is controlled to perform soil-shoveling and slag-forming construction on the soft sand layer. The slag is then transported and discharged through the mud conveying system 130, mixing it with groundwater in the caisson pipe 160 or... The slurry formed by the high-speed rotation and agitation of the injected water by the soil-removing cutter 123 is discharged outside the caisson pipe 160, enabling soil extraction in soft sandy soil layers. For hard sandy soil layers, the conical drill bit 122 is opened to drill and break through the sandy soil layer. The soil-removing cutter 123 is opened and controlled to rotate at a low speed to remove the broken or raised hard sandy soil blocks into slag. The slag and the slurry formed by the low-speed rotation and agitation of the injected water by the soil-removing cutter 123 are discharged outside the caisson pipe 160 through the slurry conveying system 130, enabling soil extraction in hard sandy soil layers. In other words, this invention is applicable to soil extraction in both hard and soft sandy soil layers, achieving continuity in soil extraction operations during caisson construction in complex geological soil layers. It avoids the problem that traditional mud suction equipment is suitable for soft sandy soil layers but cannot extract soil from hard sandy soil layers, thus preventing construction stoppages and improving the efficiency of caisson construction.
[0059] Please refer to this carefully. Figures 1 to 2 The well-wall-integrated adaptive soil sampling device 100 and method for caisson construction provided in this embodiment of the invention, when the conical drill bit 122 is closed, coordinates with the movement of the compound cutterhead 120 by the robotic arm 110, enabling the conical drill bit 122 to statically cut soil layers, assisting in breaking soft sand layers, and facilitating the soil-scraping tool 123 to perform soil-scraping construction on the upturned or split soil blocks after breaking the soil, thereby improving the soil-scraping efficiency of soft sand layers; when the conical drill bit 122 is open, the rotation of the drill bit improves the ability to break hard sand layers, and coordinates with the movement of the compound cutterhead 120 by the robotic arm 110, enabling the conical drill bit 122 to dynamically cut soil layers, facilitating the soil-scraping tool 123 to perform soil-scraping construction on the upturned or split hard soil blocks after dynamic cutting, thereby improving the soil-scraping efficiency of hard sand layers.
[0060] Please refer to this carefully. Figure 3The well wall-mounted adaptive soil extraction device 100 and method for caisson construction provided in this embodiment of the invention have a conical drill bit 122 set at the center of the disc body 121 and soil-shoveling cutters 123 distributed around the conical drill bit 122. The hard soil blocks formed after the conical drill bit 122 penetrates the hard sand layer can be quickly captured and crushed into slag by the multiple sets of soil-shoveling cutters 123 around the conical drill bit 122. That is, the soil excavation operation inside the well wall is carried out by breaking the soil in the center and shredding the soil around the periphery, which improves the soil excavation efficiency of the hard sand layer inside the caisson pipe 160.
[0061] Please refer to this carefully. Figure 2 The well wall-mounted adaptive soil sampling device 100 and method for caisson construction provided in this embodiment of the invention, through the rotation of the conical drill bit 122 and the movement of the mechanical arm 110 on the compound cutterhead 120 and the conical drill bit 122 thereon, forms hard, fragmented soil. The soil-scraping cutter 123 performs soil-scraping construction on the fragmented soil. Compared with the soil-scraping cutter 123 directly scraping the broken sand layer, this reduces the wear on the soil-scraping cutter 123, lowers the rotation speed of the soil-scraping cutter 123, and reduces the downtime maintenance cost of the soil-scraping cutter 123.
[0062] The well wall-mounted adaptive soil sampling device 100 and method for caisson construction provided in this invention can automatically determine the geological conditions of the soil layer inside the caisson pipe 160 through the soil sensing component 150, and automatically perform different soil sampling operations according to different soil layer geological conditions, thereby realizing the automation of caisson soil sampling operations.
[0063] Please refer to Figure 2 To avoid large soil particles clogging the suction port 124 and suction pipe 132 during sludge extraction, the well-wall-integrated adaptive soil extraction device 100 and method for caisson construction provided in this embodiment of the invention further includes an anti-clogging grid 125 disposed on the disc body 121 surrounding the suction port 124. Therefore, when sludge is extracted via the mud conveying system 130, large sand and soil particles are blocked by the anti-clogging grid 125, preventing them from entering the suction port 124 and suction pipe 132, thus avoiding the clogging problem.
[0064] Please refer to Figures 2 to 3 To monitor the rotational speed of the soil-shoveling cutter 123, the well-wall-embedded adaptive soil sampling device 100 and method for caisson construction provided in this embodiment of the invention further includes a rotational speed sensor 154 mounted on the soil-shoveling cutter 123 in the double cutterhead 120. The rotational speed sensors 154 in the figures can be arranged in staggered positions when they overlap. To monitor the rotational speed of the conical drill bit 122, a rotational speed sensor mounted on the conical drill bit 122 may also be included.
[0065] Please refer to Figure 2 In order to achieve the purpose of first penetrating the sand and then shoveling the soil, the well wall-mounted adaptive soil sampling device 100 for caisson construction provided in this embodiment of the invention has the end of the conical drill bit 122 lower than the end of the soil shoveling tool 123.
[0066] Please refer to Figure 3 To improve the mud suction effect, the well wall-mounted adaptive soil sampling device 100 and method for caisson construction provided in this embodiment of the invention, wherein a set of soil-scraping cutters 123 corresponds to at least one mud suction port 124, and the mud suction port 124 is arranged close to the soil-scraping cutter 123. The figure illustrates a scenario with a conical drill bit 122, four soil-scraping cutters 123, four mud suction ports 124, and an anti-blocking grid 125 thereon.
[0067] Please refer to Figure 1 To facilitate the sinking of the caisson pipe 160 during construction, this embodiment of the invention provides a well-wall-integrated adaptive soil sampling device 100 for caisson construction. The lower end of the caisson pipe 160 has an inwardly inclined cutting edge 161. The cutting edge 161 cuts the soil to achieve rapid sinking of the caisson pipe 160.
[0068] The well-wall-integrated adaptive soil extraction device 100 for caisson construction provided in this embodiment of the invention avoids the problems of traditional auger suction equipment being unable to extract soil from hard sandy soil layers, as well as the problems of difficulty in switching the cutterhead to a grab bucket when the entire caisson equipment is lifted upwards, and the problems of difficulty in breaking soil in hard sandy soil layers containing iron plate sand when switching grab buckets; it also avoids the problem of difficulty in directly deploying a drilling rig to the bottom of the caisson pipe 160 for soil breaking at the wellhead, that is, a drill rig deployed alone cannot achieve the purpose of breaking soil in the hard sandy soil layer at the bottom of the caisson pipe 160 due to the lack of reaction force support.
[0069] This invention is not limited to the specific embodiments described above. Obviously, the embodiments described above are only a part of the embodiments of this invention, not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of this invention are within the scope of protection of this invention. Those skilled in the art can make other modifications and variations to this invention. Therefore, if these modifications and variations of this invention fall within the scope of the claims of this invention, then this invention also intends to include these modifications and variations.
Claims
1. A well-wall-integrated adaptive soil sampling device for caisson construction, characterized in that, include: The robotic arms consist of multiple sets, arranged in a ring around the lower end of the well wall of the caisson pipe that has been sunk into the soil layer; A compound cutterhead is set at the end of each set of robotic arms. The compound cutterhead includes a disc body, a conical drill bit set vertically downward at the center of the disc body for breaking soil in hard sandy soil layers, multiple sets of soil-tightening cutters set around the conical drill bit below the disc body for soil-tightening construction, and multiple mud suction ports set around the conical drill bit on the disc body and located around the soil-tightening cutters. The mud conveying system includes a mud pump and a connected mud pipe, wherein the mud pipe passes through the well wall of the caisson and the arrangement of the robotic arm and is connected to the mud suction port of the double cutterhead; The soil sensing component includes a triaxial force sensor mounted on the robotic arm, disc, or conical drill bit for detecting mechanical signals of the compound cutterhead contacting the soil layer; a vibration sensor mounted on the conical drill bit for detecting vibration signals when the conical drill bit penetrates the soil layer; and a torque sensor mounted on the soil cutting tool for detecting torque signals when the soil cutting tool penetrates the soil layer. The control box, connected to the robotic arm, conical drill bit, soil cutting tool, mud pump, triaxial force sensor, and vibration sensor, is used to determine whether the soil layer is a hard sandy soil layer based on the force, vibration, and torque signals detected by the soil sensing component. When it is determined to be a non-hard sandy soil layer, the control arm moves the double cutterhead and controls the high-speed rotation of the soil cutting tool to perform soil cutting and slag removal. Simultaneously, the control system discharges the slurry formed by the soil cutting and water in the well pipe under the rotation and stirring of the soil cutting tool to the outside of the well pipe, thus achieving soil extraction in the non-hard sandy soil layer. When it is determined to be a hard sandy soil layer, the control arm moves the double cutterhead and controls the rotation of the conical drill bit to perform soil breaking. Simultaneously, the control system controls the low-speed rotation of the soil cutting tool to perform soil cutting and slag removal. Finally, the control system discharges the slurry formed by the soil cutting and water in the well pipe under the rotation and stirring of the soil cutting tool to the outside of the well pipe, thus achieving soil extraction in the hard sandy soil layer.
2. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, The compound cutterhead also includes an anti-clogging grid set on the disc body and surrounding the suction port.
3. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, The compound cutterhead also includes a speed sensor on the soil cutting tool.
4. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, The end of the conical drill bit is lower than the end of the soil-cutting tool.
5. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, Each set of soil-scraping cutters corresponds to at least one suction port, and the suction port is arranged close to the soil-scraping cutter.
6. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, The control box is located on the ground at the caisson pipe.
7. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, It also includes a mud recovery tank located on the ground at the caisson pipe, which is in communication with the mud.
8. The well-wall-embedded adaptive soil sampling device for caisson construction according to claim 1, characterized in that, The lower end of the caisson pipe has an inwardly inclined cutting edge.
9. A method for adaptive soil sampling with an embedded well wall for caisson construction, characterized in that, The well-wall-embedded adaptive soil sampling device for caisson construction according to any one of claims 1-8 comprises: The well casing is sunk into the soil. The control box controls the robotic arm to move the double cutterhead to the target soil extraction point and make contact with the soil layer at the bottom of the caisson pipe; The soil sensing component uses a triaxial force sensor to detect the mechanical signal of the compound cutterhead contacting the soil layer in real time, a vibration sensor to detect the vibration signal of the conical drill bit penetrating the soil layer in real time, and a torque sensor to detect the torque signal of the soil cutting tool penetrating the soil layer in real time, and feeds the force value, vibration value and torque value back to the control box in real time. The control box compares the real-time received force, torque, and vibration values with their respective set thresholds. When the force, torque, and vibration values are all less than the set thresholds, the soil layer is determined to be a non-hard sandy soil layer. When the force, torque, and vibration values are all greater than the set thresholds, the soil layer is determined to be a hard sandy soil layer. When the soil layer is determined to be non-hard sandy soil, the control box controls the robotic arm to move the double cutter head and controls the soil cutting tool to rotate at high speed to cut the soil layer into slag. It also controls the mud conveying system to discharge the slag and water in the well pipe into the mud formed by the rotation and stirring of the soil cutting tool, thus realizing the soil extraction construction of non-hard sandy soil layer. When the soil layer is determined to be hard sand, the control box controls the robotic arm to move the double cutterhead and controls the conical drill bit to rotate to break the soil layer. At the same time, it controls the soil cutting tool to rotate at low speed to break the soil layer into slag. It also controls the mud conveying system to discharge the slag and water in the well pipe into the mud formed by the rotation and stirring of the soil cutting tool, thus realizing the soil extraction construction in the hard sand layer.