Vertical shaft tunneling robot and press-in type open caisson soil taking device

Abstract

The utility model relates to the field of open caisson construction equipment, in particular to a vertical shaft tunneling robot and a press-in type open caisson soil borrowing device.The vertical shaft tunneling robot comprises a rack and a vertical shaft tunneling mechanism, a vertical shaft tunneling front-back driving mechanism is arranged between the rack and the vertical shaft tunneling mechanism, and the vertical shaft tunneling front-back driving mechanism comprises a front-back driving cylinder; a vertical shaft tunneling mechanism is arranged on the machine frame, a slurry conveying mechanism is arranged on the vertical shaft tunneling mechanism, a sliding ring underwater protection mechanism is arranged between an excavation mounting seat and an excavation rotating seat, and a machine frame rotating mechanism and a rotating locking mechanism are arranged on the machine frame. The press-in type open caisson soil taking device comprises an open caisson, and an open caisson pressing-down driving mechanism is arranged on the outer side of the open caisson. The vertical shaft tunneling robot is arranged in the open caisson, the annular fixing base is connected with the inner wall of the open caisson in an up-and-down sliding mode through the guide wheels and the guide sliding ways, the open caisson downward-pressing driving mechanism comprises a center-penetrating hydraulic cylinder, a supporting frame, a steel strand and an uplift pile, and the vertical shaft tunneling robot is large in excavation range, high in flexibility, good in stability, high in working efficiency and low in cost.

Description

[0001] This application claims the priority of the Chinese patent application with the application number 2023109476648 and the title "Shaft Boring Robot and Open Caisson Earth Excavation Device" filed on July 31, 2023. Technical Field

[0002] The utility model relates to the field of open caisson construction equipment, and specifically refers to a shaft boring robot and a pressed open caisson earth excavation device. Background Art

[0003] At present, the traditional construction techniques for deep vertical shafts include the traditional open cut method and the traditional caisson construction. In the traditional caisson construction, the soil below the cutting edge is excavated, and the caisson sinks by its own weight. The measures for reducing the resistance of the caisson wall include making the side wall smooth, applying heavy oil, applying paraffin wax, applying clay slurry, etc. Traditional caissons are prone to problems such as sudden sinking of the structure, uneven sinking, inclination, and large ground settlement and deformation. In recent years, some new techniques and methods have emerged continuously to improve the traditional caisson technique, mainly including the press-in caisson method, the pneumatic caisson method, the VSM (submersible shaft tunneling machine), etc. However, the new techniques still have problems such as difficulty in controlling ground settlement, difficulty in controlling the attitude of the caisson, low degree of mechanization and automation, and low construction efficiency. After retrieval, Chinese Patent CN115928780A discloses an invention patent named an actively controlled prefabricated mechanized caisson system. This patent includes a propulsion suspension device, a pipeline reel device, a floating platform, an underwater excavation device, a prefabricated caisson main body, a grouting device, a control device, a mud-water device, and a visualization interface; several propulsion suspension devices are respectively arranged at intervals on the ground around the well body, and the prefabricated caisson main body is suspended or pressed down into the well body through several propulsion suspension devices; the floating platform floats on the water surface inside the prefabricated caisson main body, and a hollow structure is formed in the middle of the floating platform, so that the underwater excavation device is suspended below the floating platform and located at the bottom of the prefabricated caisson main body. The pipeline of the underwater excavation device passes upward through the hollow structure, penetrates the floating platform, and then leads out of the prefabricated caisson main body and winds around the pipeline reel device. The pipeline reel device is arranged on the ground beside the well body; both the grouting device and the mud-water device are arranged on the ground outside the well body. The grouting device grouts between the well wall and the outer wall of the prefabricated caisson main body, and the mud-water device is connected to the underwater excavation device; the control device is electrically connected to the propulsion suspension device, the pipeline reel device, the floating platform, the underwater excavation device, the prefabricated caisson main body, the grouting device, the mud-water device, and the visualization interface respectively. The underwater excavation device includes a fixed base, a turntable assembly, a robotic arm assembly, a swing driving member, a dredging pump, and a lifting driving member; the fixed base is fixedly installed at the top center of the cross beam of the prefabricated caisson main body, and the turntable assembly is rotatably installed on the fixed base; the lifting driving member is fixedly installed on the turntable assembly, and one end of the robotic arm assembly is rotatably connected to the driving end of the lifting driving member through a first pin shaft. The bottom of the robotic arm assembly is rotatably connected to the ear plate on the turntable assembly through a second pin shaft near the lifting driving member, so that the robotic arm assembly can rotate horizontally synchronously with the turntable assembly and rotate vertically relative to the turntable assembly around the second pin shaft through the lifting driving member; the dredging pump is swingably installed at the other end of the robotic arm assembly through the swing driving member, so that the dredging pump can rotate, lift, or swing around the fixed base to excavate the soil, and the dredging pump is connected to the mud-water device;The swing drive is electrically connected to the underwater excavation hydraulic controller. The deficiencies of the above patent are as follows: First, the structure of the above patent is complex and requires many devices. In addition, in the above patent, the underwater excavation device is fixed at the top center of the cross beam of the caisson main body, which makes the underwater excavation device can only excavate near the center of the caisson main body. For caissons with a large diameter, it may not be able to excavate to the edge part of the caisson, resulting in a limited excavation range. Second, the underwater excavation device in the above patent adjusts the up and down position of the underwater excavation device through a lifter, which has a high usage cost. Moreover, when the underwater excavation device moves downward, it is impossible to maintain the stability of the underwater excavation device, and it is not convenient to adjust. Third, the caisson in the above patent requires several propulsion suspension devices to drive it to sink simultaneously. The propulsion suspension device has a complex structure, many components, troublesome operation, time-consuming and laborious, and increases the usage cost of shaft tunneling. Summary of the Invention

[0004] The purpose of the present utility model is to solve the deficiencies of the prior art and provide a shaft tunneling robot and a pressed caisson soil extraction device with novel structure, large excavation range, high flexibility, good stability, high working efficiency and low cost.

[0005] To achieve the above purpose, the technical solution adopted by the present utility model is:

[0006] A shaft tunneling robot, comprising a frame and a shaft tunneling mechanism, characterized in that: a shaft tunneling front and rear drive mechanism is provided between the frame and the shaft tunneling mechanism, the shaft tunneling front and rear drive mechanism includes a front and rear drive cylinder, the shaft tunneling mechanism is slidably connected to the frame front and rear, a front and rear drive cylinder is provided on the frame, one end of the front and rear drive cylinder is connected to the frame, and the other end is connected to the shaft tunneling mechanism, so as to drive the shaft tunneling mechanism to move back and forth through the front and rear drive cylinder, thereby broadening the excavation range.

[0007] The shaft tunneling mechanism of the present utility model includes an excavation mounting seat, an excavation rotating seat, an excavation rotation drive cylinder, an excavation arm, a swing drive cylinder, a cutter head, and a cutter drive cylinder. The excavation mounting seat is provided below the frame, the excavation mounting seat is slidably connected to the frame, the excavation mounting seat is driven to move back and forth by the front and rear drive cylinder, an excavation rotating seat is provided below the excavation mounting seat, an excavation rotation drive cylinder is fixedly provided on the excavation mounting seat, the excavation rotating seat is driven to rotate by the excavation rotation drive cylinder, an excavation arm is provided on the excavation rotating seat, a swing drive cylinder is provided between the excavation arm and the excavation rotating seat, one end of the excavation arm is hinged to the excavation rotating seat, and the other end is provided with a cutter head. One end of the swing drive cylinder is hinged to the excavation rotating seat, and the other end is hinged to the excavation arm. The cutter head is driven by the cutter drive cylinder, and the cutter drive cylinder is fixed on the excavation arm, so that the cutter head can not only move back and forth, but also rotate 360° for operation, broadening the excavation range.

[0008] The shaft tunneling mechanism of the present utility model is provided with a mud transportation mechanism. The mud transportation mechanism includes a mud suction pipeline, a mud discharge pipeline, and a mud transportation driving component. The mud suction pipeline is fixedly connected to the excavation arm. One end of the mud suction pipeline faces the cutter head, and the other end is connected to the mud transportation driving component. The mud discharge pipeline is connected to the mud transportation driving component to transport the slag and mud excavated by the cutter head out of the well through the mud transportation mechanism.

[0009] The mud transportation driving component of the present utility model is a slurry pump. The slurry pump is fixed on the excavation mounting seat. The suction port of the slurry pump is fixedly connected to the mud suction pipeline, and the discharge port of the slurry pump is fixedly connected to the mud discharge pipeline to provide the power for transporting the mud and slag through the slurry pump.

[0010] The mud transportation driving component of the present utility model is a containing chamber and a gas source. The containing chamber is fixed on the excavation mounting seat. The containing chamber is connected to the gas source through an air pipe. One end of the containing chamber is connected to the mud suction pipeline, and the other end is connected to the mud discharge pipeline to provide the power for transporting the mud through the gas source.

[0011] A slip ring underwater protection mechanism is provided between the excavation mounting seat and the excavation rotating seat of the present utility model. The slip ring underwater protection mechanism is used to protect the slip ring for safe use underwater.

[0012] The slip ring underwater protection mechanism of the present utility model includes a slip ring chamber body, a slip ring chamber upper cover, a rotating support seat, a slewing bearing, and an electro-hydraulic slip ring. The slip ring chamber body is provided on the excavation mounting seat. The slip ring chamber upper cover is fixedly provided at the upper end of the slip ring chamber body. The rotating support seat is provided below the slip ring chamber body. The slip ring chamber body is fixedly connected to the excavation mounting seat. The lower end of the slip ring chamber body is hermetically and rotatably connected to the rotating support seat through the slewing bearing. The rotating support seat is fixedly connected to the excavation rotating seat. The slewing bearing is driven by an excavation rotation driving cylinder. An isolation space is formed between the slip ring chamber upper cover, the slip ring chamber body, and the rotating support seat. The isolation space is filled with hydraulic oil. An electro-hydraulic slip ring is provided in the isolation space. The slip ring chamber upper cover is fixedly provided with an upper hydraulic joint and an upper electrical watertight joint. The rotating support seat is fixedly provided with a lower hydraulic joint and a lower electrical watertight joint. The upper part of the electro-hydraulic slip ring is connected to the slip ring chamber body, and the lower part is connected to the rotating support seat. One end of the electro-hydraulic slip ring is connected to the upper hydraulic joint through a pipeline, and the other end is connected to the lower hydraulic joint through a pipeline. One end of the lead wire of the electro-hydraulic slip ring is connected to the upper electrical watertight joint, and the other end of the lead wire is connected to the lower electrical watertight joint to protect the electro-hydraulic slip ring through the isolation space, avoid the electro-hydraulic slip ring from being affected by water vapor and salt spray, and at the same time facilitate the transmission of electrical and hydraulic signals through the electro-hydraulic slip ring.

[0013] The utility model provides a mud pipeline between the mud suction pipeline and the mud transport driving component. The mud pipeline is placed in the slip ring cabin body. The upper end of the mud pipeline passes through the slip ring cabin body and is connected to the mud transport driving component. The lower end extends out of the rotating support seat and is connected to the mud suction pipeline in a rotary seal. The upper end of the mud pipeline is sealed and fixedly connected to the upper cover of the slip ring cabin. The lower end of the mud pipeline is sealed and rotatably connected to the rotating support seat. The electro-hydraulic slip ring is sleeved on the mud pipeline. The upper part of the electro-hydraulic slip ring is fixedly connected to the slip ring cabin body via the upper seat of the electro-hydraulic slip ring. The lower part of the electro-hydraulic slip ring is fixedly connected to the rotating support seat via the lower seat of the electro-hydraulic slip ring. By setting the mud pipeline, the mud pipeline is set through the isolation space. The diameter of the mud pipeline can be set larger, thereby improving the mud transportation volume and transportation efficiency.

[0014] The utility model discloses a fiber optic slip ring connection protection mechanism on the mud pipeline, which includes an optical fiber, an optical fiber slip ring, an upper optical fiber interface, an upper optical fiber junction box, a lower optical fiber junction box, and an optical fiber slip ring protective shell.

[0015] The mud pipeline is provided with an optical fiber and an optical fiber slip ring, the side wall of the mud pipeline is provided with an upper through hole of the optical fiber protective shell, the mud suction pipeline is provided with a lower through hole of the optical fiber protective shell, the optical fiber includes a first optical fiber and a second optical fiber, the first optical fiber is placed in the first optical fiber protective shell, the second optical fiber is placed in the second optical fiber protective shell, the lower end of the first optical fiber is connected to the upper end of the second optical fiber through the optical fiber slip ring, the upper end of the first optical fiber passes through the upper through hole of the optical fiber protective shell and enters the isolation space provided with an upper optical fiber junction box, the first optical fiber is connected to the upper optical fiber interface through the upper optical fiber junction box, the upper optical fiber interface is fixed on the upper cover of the slip ring cabin, the lower end of the second optical fiber slip ring The end passes through the lower hole of the optical fiber protective shell and is connected to the lower optical fiber interface through the lower optical fiber junction box. An optical fiber slip ring protective shell is arranged on the outside of the optical fiber slip ring. The upper end of the first optical fiber protective shell passes through the upper hole of the optical fiber protective shell and is fixedly connected to the upper optical fiber junction box. The lower end is rotatably sealed and connected to the optical fiber slip ring protective shell. The first optical fiber protective shell is sealed and fixedly connected to the mud pipeline. The lower end of the optical fiber slip ring protective shell is sealed and fixedly connected to the second optical fiber protective shell. The second optical fiber protective shell passes through the lower hole of the optical fiber protective shell and is fixedly connected to the lower optical fiber junction box. The second optical fiber protective shell is sealed and fixedly connected to the mud suction pipeline to protect the optical fiber slip ring through the mud pipeline to prevent the optical fiber slip ring from being affected by water and oil.

[0016] On the frame of the utility model, a frame control cabin and a frame hydraulic cabin are fixedly arranged. The hydraulic system in the frame hydraulic cabin is connected to the control system in the frame control cabin. On the excavation rotating seat, a manipulator control cabin and a manipulator hydraulic cabin are fixedly arranged. The hydraulic system in the manipulator hydraulic cabin is connected to the control system in the manipulator control cabin. The upper electrical watertight joint and the upper optical fiber interface are respectively connected to the frame control cabin. The upper hydraulic joint is connected to the frame hydraulic cabin. The lower electrical watertight joint and the lower optical fiber interface are connected to the manipulator control cabin. The lower hydraulic joint is connected to the manipulator hydraulic cabin, so as to control the movement of the components on the manipulator through the frame control cabin.

[0017] On the upper cover of the slip ring cabin of the utility model, a hydraulic oil filling port and an exhaust port are fixedly arranged. On the rotating support seat, an oil drain port is fixedly arranged. The hydraulic oil filling port is connected to the hydraulic compensator fixed on the excavation mounting seat. The hydraulic compensator is connected to the manipulator hydraulic cabin, which is convenient for replenishing hydraulic oil to the isolation space as needed. The oil drain port is convenient for the operator to manually drain oil according to the demand. The exhaust port is used for exhausting air when adding hydraulic oil.

[0018] The mud discharge pipeline of the utility model includes a first mud discharge pipeline and a second mud discharge pipeline. The first mud discharge pipeline is fixedly connected to the frame. One end of the second mud discharge pipeline extends into the first mud discharge pipeline and is hermetically and slidably connected to the first mud discharge pipeline. The other end is fixedly connected to the excavation mounting seat of the shaft tunneling mechanism. The second mud discharge pipeline is arranged in parallel with the front and rear drive cylinders, so as to improve the efficiency of pipeline mud slag transportation through the first mud discharge pipeline and the second mud discharge pipeline, and at the same time guide the front and rear movement of the shaft tunneling mechanism through the second mud discharge pipeline.

[0019] On the outer wall of the second mud discharge pipeline of the utility model, a sealing sliding seat is arranged. One end of the sealing sliding seat is hermetically and fixedly connected to the first mud discharge pipeline, and the other end is sleeved on the second mud discharge pipeline. A sliding sealing ring is arranged on the inner wall of the sealing sliding seat. The second mud discharge pipeline is hermetically and slidably connected to the sealing sliding seat through the sliding sealing ring, so as to ensure the smooth sliding of the second mud discharge pipeline by setting the sealing sliding seat.

[0020] On both sides of the sliding sealing ring of the utility model, anti-pollution rings are respectively arranged. Anti-pollution ring grooves and sealing ring grooves are arranged on the inner wall of the sealing sliding seat. The anti-pollution rings are installed in the anti-pollution ring grooves, so as to protect the sliding sealing ring through the anti-pollution rings and ensure that the sliding sealing ring cannot be damaged by the sediment moving in different directions of the second mud discharge pipeline.

[0021] A sludge discharge hydraulic butterfly valve is installed on the first sludge discharge pipeline of the present utility model. An anti-flushing pipeline is provided on one side of the first sludge discharge pipeline. The anti-flushing pipeline is connected to the first sludge discharge pipeline through a pipeline joint. An anti-flushing hydraulic butterfly valve is provided on the anti-flushing pipeline. When discharging sludge, the sludge discharge pipeline hydraulic butterfly valve is opened and the anti-flushing hydraulic butterfly valve is closed. When the pipeline needs to be flushed, the sludge discharge pipeline hydraulic butterfly valve is closed and the anti-flushing hydraulic butterfly valve is opened.

[0022] A pressure sensor is installed on the second sludge discharge pipeline of the present utility model to sense the pressure inside the second sludge discharge pipeline through the pressure sensor.

[0023] A drag chain is provided on the frame of the present utility model. One end of the drag chain is fixedly connected to the frame, and the other end is connected to the shaft tunneling mechanism to protect the cables on the shaft tunneling mechanism through the drag chain.

[0024] A track is fixedly provided on the frame of the present utility model. Rollers are installed on the cylinder bases of the front and rear drive cylinders. The cylinder bases of the front and rear drive cylinders are in rolling connection with the track through the rollers. The telescopic rods of the front and rear drive cylinders are hinged to the frame, and the cylinder bases of the front and rear drive cylinders are hinged to the excavation mounting seat to guide the forward and backward movement of the excavation mounting seat through the rollers and the track.

[0025] A frame rotation mechanism is provided on the frame of the present utility model. The frame rotation mechanism includes an annular fixed seat, a track wheel, and a track wheel drive motor. An annular fixed seat is provided outside the frame. An annular slide rail is provided on the annular fixed seat. A track wheel is installed on the frame. The track wheel is driven by the track wheel drive motor. The frame is rotationally connected to the annular fixed seat through the track wheel and the annular slide rail. The track wheel drive motor drives the track wheel to slide along the annular slide rail to drive the frame to rotate, and then drives the shaft tunneling mechanism to rotate.

[0026] A rotation locking mechanism is provided on the frame of the present utility model. The rotation locking mechanism includes a locking claw and a locking drive cylinder. Locking claws are provided on both sides of the annular slide rail. The locking claws are driven by the locking drive cylinder to open and close. The locking drive cylinder is connected to the frame. The locking claws clamp the annular slide rail to limit and fixedly connect the frame and the annular fixed seat. When the frame stops, the locking claws clamp the annular slide rail to fix the position of the frame.

[0027] A press-in type open caisson soil extraction device, comprising an open caisson, wherein a driving mechanism for pressing down the open caisson is arranged outside the open caisson, and it is characterized in that: a shaft tunneling robot as described above is arranged inside the open caisson; a guiding slideway is fixedly arranged on the inner wall of the open caisson; a supporting beam of the open caisson is arranged at the lower end of the open caisson; guide wheels are installed on the outer wall of the annular fixing seat; adjusting legs are arranged at intervals at the lower end of the annular fixing seat; the annular fixing seat is connected with the inner wall of the open caisson through the guide wheels and the guiding slideway for up-and-down sliding connection; the adjusting legs are driven by leg driving cylinders, and the leg driving cylinders are fixedly connected with the annular fixing seat; the lower end surfaces of the adjusting legs are abutted against the supporting beam of the open caisson; the outer ends of the supporting beam of the open caisson are fixedly connected with the lower end of the open caisson, so as to facilitate the robot to fall along the inner wall of the open caisson for excavation, and the balance of the annular fixing seat is adjusted by driving the adjusting legs at different positions to extend through the leg driving cylinders.

[0028] The driving mechanism for pressing down the open caisson of the present utility model comprises a core-through hydraulic cylinder, a support frame, steel strands and anti-pulling piles. The core-through hydraulic cylinders are circumferentially distributed outside the open caisson. The core-through hydraulic cylinders are fixedly connected with the open caisson through the support frame. One end of the steel strand is a free end, and the other end passes through the core-through hydraulic cylinder and is fixedly connected with the anti-pulling pile. The steel strand is driven or locked by the core-through hydraulic cylinder, so as to apply a downward pushing force to the open caisson by pushing and pulling the steel strand through the core-through hydraulic cylinder, and enable the open caisson to sink under the action of this pushing force and its own gravity.

[0029] A leg fixing pin is arranged on the supporting beam of the open caisson of the present utility model. The lower end of the leg fixing pin is fixedly connected with the supporting beam of the open caisson, and the upper end is conical. A fixing pin through hole is arranged at the lower end of the adjusting leg. The adjusting leg is inserted into the fixing pin through hole through the leg fixing pin and is limited and fixed with the supporting beam of the open caisson, so as to limit and fix the shaft tunneling robot in the open caisson through the leg fixing pin and the fixing pin through hole.

[0030] A supporting and hoisting mechanism is arranged above the annular fixing seat of the present utility model. The supporting and hoisting mechanism comprises an upper platform, connecting cables and hoisting steel wires.

[0031] An upper platform is arranged above the annular fixing seat. Both ends of the upper platform are placed on the upper end faces of the open caisson. Hoisting holes, connecting cables and hoisting steel wires are arranged on the upper platform. One end of the connecting cable extends downward and is connected with the rack control cabin, and the other end passes through the upper platform to form an external connection end. One end of the hoisting steel wire is fixedly connected with the annular fixing seat, and the other end is fixedly connected with the upper platform, so as to hoist and support the annular fixing seat through the supporting and hoisting mechanism.

[0032] Due to the adoption of the above structure, the present utility model has the advantages of novel structure, large excavation range, high flexibility, good stability, high working efficiency and low cost. Description of the Drawings

[0033] Figure 1It is a schematic structural diagram of the shaft tunneling robot of the present utility model from one angle.

[0034] Figure 2 It is a schematic structural diagram of the shaft tunneling robot of the present utility model from another angle.

[0035] Figure 3 It is the present utility model Figure 1 of sectional view.

[0036] Figure 4 The present utility model Figure 1 of top view.

[0037] Figure 5 It is an enlarged schematic diagram of the slip ring underwater protection mechanism in the present utility model.

[0038] Figure 6 It is an enlarged schematic diagram of the sludge discharge pipeline in the present utility model.

[0039] Figure 7 It is an enlarged view of the sealed sliding seat in the present utility model.

[0040] Figure 8 It is the present utility model Figure 6 of enlarged top view of the sludge discharge hydraulic butterfly valve and the backwashing hydraulic butterfly valve.

[0041] Figure 9 It is a schematic structural diagram of the press-in type open caisson soil extraction device in the present utility model.

[0042] Figure 10 It is a schematic structural diagram of the open caisson in the present utility model.

[0043] Figure 11 It is the present utility model Figure 1 of enlarged view of the track wheel part.

[0044] Reference numerals: frame 1, shaft tunneling mechanism 2, front and rear driving mechanism 3 for shaft tunneling, track 4, front and rear driving cylinders 5, drag chain 6, excavation mounting base 7, roller 8, excavation rotating base 9, excavation rotation driving cylinder 10, excavation arm 11, swing driving cylinder 12, cutter head 13, cutter driving cylinder 14, slurry pump 15, frame rotation mechanism 16, annular fixed seat 17, track wheel 18, annular slide rail 20, caisson 21, shaft tunneling robot 22, guiding slideway 23, caisson support beam 24, guiding wheel 25, adjusting leg 26, leg driving cylinder 27, slurry transportation mechanism 28, mud suction pipeline 29, mud discharge pipeline 30, slip ring underwater protection mechanism 31, slip ring cabin body 32, slip ring cabin upper cover 33, rotating support seat 34, slewing bearing 35, mud pipeline 36, optical fiber 37, optical fiber slip ring 38, electro-hydraulic slip ring 39, first optical fiber protective shell 40, second optical fiber protective shell 41, optical fiber upper junction box 42, optical fiber lower junction box 43, optical fiber slip ring protective shell 44, isolation space 45, hydraulic oil filling port 46, exhaust port 47, upper hydraulic joint 48, upper electrical watertight joint 49, upper optical fiber interface 50, oil drain port 51, lower hydraulic joint 52, lower electrical watertight joint 53, first optical fiber 54, second optical fiber 55, lower optical fiber interface 56, electro-hydraulic slip ring upper seat 57, electro-hydraulic slip ring lower seat 58, frame control cabin 59, manipulator control cabin 60, hydraulic compensator 61, first mud discharge pipeline 62, second mud discharge pipeline 63, sealing sliding seat 64, sliding sealing ring 65, anti-pollution ring 66, mud discharge hydraulic butterfly valve 67, backwashing pipeline 68, backwashing hydraulic butterfly valve 69, pressure sensor 70, rotation locking mechanism 71, locking claw 72, locking driving cylinder 73, leg fixing pin 74, fixing pin perforation 75, support and hoisting mechanism 76, upper platform 77, connecting cable 78, hoisting steel wire rope 79, caisson downward pressing driving mechanism 80, through-hole hydraulic cylinder 81, support frame 82, steel strand 83, anti-pulling pile 84. Detailed implementation manners

[0045] The following further describes in detail the specific implementation manners of the present utility model in conjunction with the drawings.

[0046] A shaft tunneling robot 22 includes a frame 1 and a shaft tunneling mechanism 2, and is characterized in that: a front and rear driving mechanism 3 for shaft tunneling is provided between the frame 1 and the shaft tunneling mechanism 2, the front and rear driving mechanism 3 for shaft tunneling includes front and rear driving cylinders 5, the shaft tunneling mechanism 2 is slidably connected to the frame 1 in the front and rear directions, front and rear driving cylinders 5 are provided on the frame 1, one end of each of the front and rear driving cylinders 5 is connected to the frame 1, and the other end is connected to the shaft tunneling mechanism 2, so as to facilitate driving the shaft tunneling mechanism to move back and forth through the front and rear driving cylinders, thereby broadening the excavation range.

[0047] On the frame 1 of the utility model, a drag chain 6 is provided. One end of the drag chain 6 is fixedly connected to the frame 1, and the other end is connected to the shaft tunneling mechanism 2, so as to protect the cables on the shaft tunneling mechanism through the drag chain.

[0048] The shaft tunneling mechanism 2 of the utility model includes an excavation mounting seat 7, an excavation rotating seat 9, an excavation rotation driving cylinder 10, an excavation arm 11, a swing driving cylinder 12, a reamer head 13, and a reamer driving cylinder 14. Below the frame 1, there is an excavation mounting seat 7. The excavation mounting seat 7 is slidably connected to the frame 1 and is driven to move back and forth by a front and rear driving cylinder 5. Below the excavation mounting seat 7, there is an excavation rotating seat 9. An excavation rotation driving cylinder 10 is fixedly provided on the excavation mounting seat 7, and the excavation rotating seat 9 is driven to rotate by the excavation rotation driving cylinder 10. An excavation arm 11 is provided on the excavation rotating seat 9. A swing driving cylinder 12 is provided between the excavation arm 11 and the excavation rotating seat 9. One end of the excavation arm 11 is hinged to the excavation rotating seat 9, and the other end is equipped with a reamer head 13. One end of the swing driving cylinder 12 is hinged to the excavation rotating seat 9, and the other end is hinged to the excavation arm 11. The reamer head 13 is driven by a reamer driving cylinder 14, and the reamer driving cylinder 14 is fixed on the excavation arm 11, so that the reamer head can not only move back and forth, but also rotate 360° for operation, broadening the excavation range.

[0049] On the frame 1 of the utility model, a track 4 is fixedly provided. A roller 8 is installed on the cylinder block of the front and rear driving cylinder 5. The cylinder block of the front and rear driving cylinder 5 is in rolling connection with the track 4 through the roller 8. The telescopic rod of the front and rear driving cylinder 5 is hinged to the frame 1, and the cylinder block of the front and rear driving cylinder 5 is hinged to the excavation mounting seat 7, so as to guide the back and forth movement of the excavation mounting seat through the roller and the track.

[0050] On the shaft tunneling mechanism 2 of the utility model, a slurry transportation mechanism 28 is provided. The slurry transportation mechanism 28 includes a mud suction pipeline 29, a mud discharge pipeline 30, and a slurry transportation driving component. The mud suction pipeline 29 is fixedly connected to the excavation arm 11. One end of the mud suction pipeline 29 faces the reamer head 13, and the other end is connected to the slurry transportation driving component. The mud discharge pipeline 30 is connected to the slurry transportation driving component, so as to transport the slag and slurry excavated by the reamer head out of the well through the slurry transportation mechanism.

[0051] The slurry transportation driving component of the utility model is a slurry pump 15. The slurry pump 15 is fixed on the excavation mounting seat 7. The suction port of the slurry pump 15 is fixedly connected to the mud suction pipeline 29, and the discharge port of the slurry pump 15 is fixedly connected to the mud discharge pipeline 30, so as to provide power for transporting the mud and slag through the slurry pump.

[0052] The mud transportation driving component of the utility model is a receiving chamber and a gas source. A receiving chamber is fixed on the excavation mounting base 7. The receiving chamber is connected to the gas source through an air pipe. One end of the receiving chamber is connected to the mud suction pipeline 29, and the other end is connected to the mud discharge pipeline 30, so as to provide the power for transporting mud through the gas source.

[0053] The utility model provides a slip ring underwater protection mechanism 31 between the excavation mounting seat 7 and the excavation rotating seat 9, and the slip ring underwater protection mechanism 31 includes a slip ring cabin body 32, a slip ring cabin upper cover 33, a rotating support seat 34, a slewing bearing 35, a mud pipeline 36, an optical fiber 37, an optical fiber slip ring 38, an electro-hydraulic slip ring 39, a first optical fiber protective shell 40, a second optical fiber protective shell 41, an optical fiber upper junction box 42, an optical fiber lower junction box 43, and an optical fiber slip ring protective shell 44. The excavation mounting seat 7 is provided with a slip ring cabin body 32, the upper end of the slip ring cabin body 32 is provided with a slip ring cabin upper cover 33, the lower end of the slip ring cabin body 32 is provided with a rotating support seat 34, the slip ring cabin body 32 is fixedly connected to the excavation mounting seat 7, and the upper end of the slip ring cabin body 32 is connected to the slip ring cabin body 32. The upper cover 33 of the annular cabin is fixedly connected, and the lower end is sealed and rotatably connected to the rotating support seat 34 through a slewing bearing 35. The rotating support seat 34 is fixedly connected to the excavation rotating seat 9. The slewing bearing 35 is driven by the excavation rotating drive cylinder 10. A mud pipeline 36 is provided between the mud suction pipeline 29 and the mud transportation driving component. The mud pipeline 36 is placed in the slip ring cabin body 32. The upper end of the mud pipeline 36 passes through the slip ring cabin body 32 and is connected to the mud transportation driving component, and the lower end extends out of the rotating support seat 34 and is rotatably and sealedly connected to the mud suction pipeline 29. The upper end of the mud pipeline 36 is sealed and fixedly connected to the upper cover 33 of the slip ring cabin, and the lower end of the mud pipeline 36 is sealed and rotatably connected to the rotating support seat 34. An optical fiber 37 is passed through the mud pipeline 36. and an optical fiber slip ring 38, an upper perforation of the optical fiber protective shell is arranged on the side wall of the mud pipeline 36, and a lower perforation of the optical fiber protective shell is arranged on the mud suction pipeline 29, an isolation space 45 is formed between the upper cover 33 of the slip ring cabin, the cabin body 32 of the slip ring cabin, the outer wall of the mud pipeline 36 and the rotating support seat 34, and the isolation space 45 is filled with hydraulic oil, and an electro-hydraulic slip ring 39 is arranged in the isolation space 45, and the upper cover 33 of the slip ring cabin is fixedly provided with a hydraulic oil filling port 46, an exhaust port 47, an upper hydraulic joint 48, an upper electrical watertight joint 49, and an upper optical fiber interface 50, and an oil drain port 51, a lower hydraulic joint 52, and a lower electrical watertight joint 53 are fixedly provided on the rotating support seat 34, and the optical fiber 37 includes a first optical fiber 54 and a second optical fiber 55, and the first optical fiber 54 includes ... The optical fiber 54 is placed in the first optical fiber protective shell 40, and the second optical fiber 55 is placed in the second optical fiber protective shell 41. The lower end of the first optical fiber 54 is connected to the upper end of the second optical fiber 55 through the optical fiber slip ring 38. The upper end of the first optical fiber 54 passes through the upper hole of the optical fiber protective shell and enters the isolation space 45, which is provided with an optical fiber upper junction box 42. The first optical fiber 54 is connected to the upper optical fiber interface 50 through the upper optical fiber junction box 42. The lower end of the second optical fiber slip ring 38 passes through the lower hole of the optical fiber protective shell and is connected to the lower optical fiber interface 56 through the lower optical fiber junction box 43. An optical fiber slip ring protective shell 44 is provided on the outside of the optical fiber slip ring 38. The upper end of the first optical fiber protective shell 40 passes through the upper hole of the optical fiber protective shell and is fixedly connected to the upper optical fiber junction box 42, and the lower end is rotatably sealed and connected to the optical fiber slip ring protective shell 44.The first optical fiber housing 40 is fixedly and sealingly connected to the mud pipeline 36. The lower end of the fiber optic slip ring housing 44 is fixedly and sealingly connected to the second optical fiber housing 41. The second optical fiber housing 41 passes through the lower perforation of the optical fiber housing and is fixedly connected to the lower optical fiber junction box 43. The second optical fiber housing 41 is fixedly and sealingly connected to the mud suction pipeline 29. The electro-hydraulic slip ring 39 is sleeved on the mud pipeline 36. The upper part of the electro-hydraulic slip ring 39 is fixedly connected to the slip ring cabin body 32 through the upper seat 57 of the electro-hydraulic slip ring. The lower part of the electro-hydraulic slip ring 39 is fixedly connected to the rotary support seat 34 through the lower seat 58 of the electro-hydraulic slip ring. One end of the electro-hydraulic slip ring 39 is connected to the upper hydraulic joint 48 through a pipeline, and the other end is connected to the lower hydraulic joint 52 through a pipeline. One lead of the electro-hydraulic slip ring 39 is connected to the upper electrical watertight joint 49, and the other lead is connected to the lower electrical watertight joint 53. A frame control cabin 59 and a frame hydraulic cabin are fixedly arranged on the frame. The hydraulic system in the frame hydraulic cabin is connected to the control system in the frame control cabin 59. A manipulator control cabin 60 and a manipulator hydraulic cabin are fixedly arranged on the excavation rotary seat 9. The hydraulic system in the manipulator hydraulic cabin is connected to the control system in the manipulator control cabin 60. The upper electrical watertight joint 49 and the upper optical fiber interface 50 are respectively connected to the frame control cabin 59. The upper hydraulic joint 48 is connected to the frame hydraulic cabin. The lower electrical watertight joint 53 and the lower optical fiber interface 56 are connected to the manipulator control cabin 60. The lower hydraulic joint 52 is connected to the manipulator hydraulic cabin.

[0054] The hydraulic oil filling port 46 is connected to the hydraulic compensator 61 fixed on the excavation mounting seat 7 to protect the electro-hydraulic slip ring through an isolation space, and to protect the optical fiber and the fiber optic slip ring through the isolation space and the mud pipeline.

[0055] The mud discharge pipeline 30 of the present utility model includes a first mud discharge pipeline 62 and a second mud discharge pipeline 63. The first mud discharge pipeline 62 is fixedly connected to the frame 1. One end of the second mud discharge pipeline 63 extends into the first mud discharge pipeline 62 and is fixedly and sealingly connected to the first mud discharge pipeline 62 in a sliding manner. The other end is fixedly connected to the excavation mounting seat 7 of the shaft tunneling mechanism 2. The second mud discharge pipeline 63 is arranged in parallel with the front and rear drive cylinders 5 to improve the efficiency of the pipeline for transporting mud and slag through the first mud discharge pipeline and the second mud discharge pipeline, and at the same time guide the forward and backward movement of the shaft tunneling mechanism through the second mud discharge pipeline.

[0056] The outer wall of the second mud discharge pipeline 63 of the present utility model is provided with a sealing sliding seat 64. One end of the sealing sliding seat 64 is fixedly and sealingly connected to the first mud discharge pipeline 62, and the other end is sleeved on the second mud discharge pipeline 63. The inner wall of the sealing sliding seat 64 is provided with a sliding sealing ring 65. The second mud discharge pipeline 63 is sealingly and slidably connected to the sealing sliding seat 64 through the sliding sealing ring 65 to ensure smooth sliding of the second mud discharge pipeline by providing the sealing sliding seat 64.

[0057] On both sides of the sliding sealing ring 65 of the present utility model, anti-fouling rings 66 are respectively provided. An anti-fouling ring groove and a sealing ring groove are provided on the inner wall of the sealing sliding seat 64. The anti-fouling ring 66 is installed in the anti-fouling ring groove to protect the sliding sealing ring through the anti-fouling ring, ensuring that the sediment moving in different directions in the second sludge discharge pipeline cannot damage the sliding sealing ring.

[0058] A sludge discharge hydraulic butterfly valve 67 is installed on the first sludge discharge pipeline 62 of the present utility model. An anti-flushing pipeline 68 is provided on one side of the first sludge discharge pipeline 62. The anti-flushing pipeline 68 is connected to the first sludge discharge pipeline 62 through a pipeline joint. An anti-flushing hydraulic butterfly valve 69 is provided on the anti-flushing pipeline 68, which is beneficial for opening the sludge discharge pipeline hydraulic butterfly valve and closing the anti-flushing hydraulic butterfly valve during sludge discharge work. When the pipeline needs to be flushed, the sludge discharge pipeline hydraulic butterfly valve is closed and the anti-flushing hydraulic butterfly valve is opened.

[0059] A pressure sensor 70 is installed on the second sludge discharge pipeline 63 of the present utility model to sense the pressure in the second sludge discharge pipeline through the pressure sensor.

[0060] A frame rotating mechanism 16 is provided on the frame 1 of the present utility model. The frame rotating mechanism 16 includes an annular fixed seat 17, a track wheel 18, and a track wheel driving motor. An annular fixed seat 17 is provided outside the frame 1. An annular sliding rail 20 is provided on the annular fixed seat 17. A track wheel 18 is installed on the frame 1. The track wheel 18 is driven by the track wheel driving motor. The frame 1 is rotationally connected to the annular fixed seat 17 through the track wheel 18 and the annular sliding rail 20, which is beneficial for driving the track wheel to slide along the annular sliding rail through the track wheel driving motor, driving the frame to rotate, and further driving the shaft tunneling mechanism to rotate.

[0061] A rotation locking mechanism 71 is provided on the frame 1 of the present utility model. The rotation locking mechanism 71 includes a locking claw 72 and a locking driving cylinder 73. Locking claws 72 are provided on both sides of the annular sliding rail 20. The locking claws 72 are driven to open and close by the locking driving cylinder 73. The locking driving cylinder 73 is connected to the frame 1. The locking claws 72 clamp the annular sliding rail 20 to limit and fixedly connect the frame 1 and the annular fixed seat 17, so that when the frame stops, the locking claws clamp the annular sliding rail to fix the position of the frame.

[0062] A press-in type caisson soil extraction device, including a caisson 21, and a caisson downward driving mechanism 80 is arranged on the outer side of the caisson 21. It is characterized in that: a shaft tunneling robot 22 as described above is arranged in the caisson 21, a guiding slideway 23 is fixedly arranged on the inner wall of the caisson 21, a caisson supporting beam 24 is arranged at the lower end of the caisson 21, a guiding wheel 25 is installed on the outer wall of the annular fixing seat 17, adjusting legs 26 are arranged at intervals at the lower end of the annular fixing seat 17, the annular fixing seat 17 is slidably connected with the inner wall of the caisson 21 up and down through the guiding wheel 25 and the guiding slideway 23, the adjusting legs 26 are driven by a leg driving cylinder 27, the leg driving cylinder 27 is fixedly connected with the annular fixing seat 17, and the lower end surface of the adjusting leg 26 abuts against the caisson supporting beam 24. The outer end of the caisson supporting beam 24 is fixedly connected with the lower end of the caisson 21, so as to facilitate the robot to fall along the inner wall of the caisson for excavation, and the adjusting legs at different positions are driven by the leg driving cylinder to extend to adjust the balance of the annular fixing seat.

[0063] In the caisson 21 of the present utility model, a caisson downward driving mechanism 80 is arranged, and the caisson downward driving mechanism 80 includes a core-through hydraulic cylinder 81, a support frame 82, a steel strand 83, and an uplift pile 84.

[0064] The core-through hydraulic cylinders 81 are circumferentially distributed on the outer side of the caisson 21, the core-through hydraulic cylinders 81 are fixedly connected with the caisson 21 through the support frame 82, one end of the steel strand 83 is a free end, and the other end passes through the core-through hydraulic cylinder 81 and is fixedly connected with the uplift pile 84. The steel strand 83 is driven or locked by the core-through hydraulic cylinder 81, so as to pull the steel strand through the core-through hydraulic cylinder to apply a downward jacking force to the caisson, so that the caisson sinks under the action of this jacking force and its own gravity.

[0065] A leg fixing pin 74 is arranged on the caisson supporting beam 24 of the present utility model. The lower end of the leg fixing pin 74 is fixedly connected with the caisson supporting beam 24, and the upper end is conical. A fixing pin through hole 75 is arranged at the lower end of the adjusting leg 26. The adjusting leg 26 is limited and fixed with the caisson supporting beam 24 by inserting the leg fixing pin 74 into the fixing pin through hole 75, so as to limit and fix the shaft tunneling robot in the caisson through the leg fixing pin and the fixing pin through hole.

[0066] A support and hoisting mechanism 76 is arranged above the annular fixing seat 17 of the present utility model. The support and hoisting mechanism 76 includes an upper layer platform 77, a connecting cable 78, and a hoisting steel wire rope 79.

[0067] An upper platform 77 is provided above the annular fixing seat 17, and both ends of the upper platform 77 are placed on the upper end surface of the caisson 21. The upper platform 77 is provided with a hoisting hole, a connecting cable 78 and a hoisting wire rope 79. One end of the connecting cable 78 extends downward to connect with the rack control cabin 59, and the other end passes through the upper platform 77 to form an external connection end. One end of the hoisting wire rope 79 is fixedly connected to the annular fixing seat 17, and the other end is fixedly connected to the upper platform 77, so as to hoist and support the annular fixing seat through the supporting hoisting mechanism.

[0068] The mud discharge pipeline 30 of the utility model extends upward, passes through the upper platform 77 and extends out, and is placed outside the upper platform to form a mud discharge end.

[0069] As attached Figures 1 - 10 , an off-hole control system can be set on the upper platform 77 or a place far away from the caisson, the off-hole control system, the control system in the frame control cabin 59, and the control system in the mechanical arm control cabin 60, such as a PLC control system, the front and rear drive cylinders 5, the excavation rotation drive cylinder 10, the slurry pump 15, the leg drive cylinder 27, the mud discharge hydraulic butterfly valve 67 and the backwash hydraulic butterfly valve 69, the pressure sensor 70, the locking drive cylinder 73, and the through-core hydraulic cylinder 81 are all connected to the control system in the frame control cabin 59, the swing drive cylinder 12 and the reamer drive cylinder 14 are all connected to the control system in the mechanical arm control cabin 60, one end of the connecting cable 78 is connected to the control system in the frame control cabin 59, and the other end passes through the upper platform 77 to connect to the off-hole control system, and a camera can be set on the annular fixing seat 17 and the excavation arm 11 , lighting, sonar, are connected to the well control system through the rack control system, which is convenient for operators to control the shaft excavation robot in real time outside the well. Each driving cylinder can be a hydraulic cylinder. The slag conveying driving component can be a slurry pump 15 or a containing chamber and an air source. The air source can be a compressor. Through the continuous delivery of air, the mud suction pipeline absorbs the mud after the auger head 13 digs the well, enters the containing chamber, and then discharges it through the mud discharge pipeline 30. The two slag conveying driving components can be selected and set according to needs. This embodiment takes the slag conveying driving component as a slurry pump 15 as an example for explanation, as shown in the attached Figure 9 and attached Figure 10, before use, after selecting a location, dig a pit, lower the open caisson 21, and install the support frame 82, steel strand 83, and uplift pile 84 on the outer wall of the immersed 21. In this embodiment, 8 support frames 82 are arranged at intervals on the outer wall of the open caisson 21. A through-hole hydraulic cylinder 81 is installed on the support frame 82 and connected to the uplift pile 84 through the steel strand 83. The uplift pile 84 is on the ground outside the open caisson 21. The steel strand 83 is driven to move upward and locked by the through-hole hydraulic cylinder 81, shortening the distance between the support frame 82 and the uplift pile 84, applying a downward pressure to the open caisson 21 to make the open caisson sink. The out-of-well control system can timely understand the sinking amount of each direction of the open caisson 21 through the stroke of each through-hole hydraulic cylinder 81, and control and adjust the sinking amount of each direction of the open caisson 21 by controlling the stroke of the through-hole hydraulic cylinder 81, so as to ensure the verticality and stability of the open caisson 21 itself. After the adjustment is completed, the upper platform and the shaft tunneling robot are hoisted into the entrance of the open caisson 21 through the hoisting hole on the upper platform 77. Guide wheels 25 are installed on the outer wall of the annular fixing seat 17, and the guide wheels 25 slide down along the guide slideway 23 on the inner wall of the open caisson 21 until the adjusting leg 26 contacts the caisson support beam 24. The leg fixing pin 74 on the caisson support beam 24 is inserted into the fixing pin through-hole 75 at the lower end of the adjusting leg 26 to limit the shaft tunneling robot 22 in the open caisson 21. The shaft tunneling robot 22 can drive the adjusting leg 26 to extend or retract through the leg driving cylinder 27 to adjust the height between the shaft tunneling robot 22 and the bottom of the open caisson 21. The caisson support beam 24 is a cross beam, so four excavation holes are formed between the caisson support beam 24 and the bottom of the pit, which is convenient for the robot to excavate.

[0070] The operation steps are as follows:

[0071] Step 1: Place the annular fixing seat 17 into the open caisson 21 through a crane or other lifting equipment, make the guide wheel 25 of the annular fixing seat 17 slidably connected to the guide slideway 23, make the lower end of the adjusting leg 26 abut against the upper end surface of the caisson support beam 24, insert the leg fixing pin 74 into the fixing pin through-hole 75 at the lower end of the adjusting leg 26 to fix the position of the shaft tunneling robot 22 in the open caisson 21, and place the upper platform 77 on the upper end of the open caisson 21 through a crane or other lifting equipment. The mud discharge pipeline 30 passes through the upper platform 77 and extends out to be connected to the slag discharge box for convenient slag discharge;

[0072] Step 2: The operator controls the entire pressed open caisson soil extraction device through the out-of-well control system.

[0073] Before and after starting the driving cylinder 5, drive the reamer head 13 to move back and forth. Move it above an excavation hole of the caisson support beam 24. The excavation arm 11 is a telescopic robotic arm that can be telescoped. Correspondingly, the mud suction pipeline 29 can be set as a telescopic pipeline to facilitate telescoping with the excavation arm 11. Start the excavation arm 11 to make the reamer head 13 contact the bottom of the pit. Start the reamer drive cylinder 14 and the slurry pump 15 to start excavating and taking soil. The reamer head 13 can rotate 360° driven by the excavation rotation drive cylinder 10. At the same time, the swing drive cylinder 12 can change the excavation angle of the reamer head 13. When an excavation hole is completed, that is, when the reamer head 13 can no longer contact the soil at the bottom of the pit, start the front and rear drive cylinder 5 to adjust the front and rear position of the reamer head 13, or release the locking drive cylinder 73 to make the locking drive cylinder 73 drive the locking claw 72 to open, release the clamping of the annular slide rail 20. The track wheel drive motor of the frame rotation mechanism 16 drives the track wheel 18 to rotate, thereby driving the frame 1 to rotate, and then driving the reamer head 13 to rotate. Adjust the reamer head 13 to another excavation hole and perform excavation and soil taking as above. After excavation, dig the next excavation hole until the four excavation holes formed by the caisson support beam 24 are dug out. The soil at the lower end of the caisson 21 collapses into the excavation holes, and the caisson 21 moves downward under its own gravity. At the same time, start the through-hole hydraulic cylinder 81 to make the caisson 21 move downward smoothly under its own gravity and the action of the through-hole hydraulic cylinder 81. The annular fixed seat 17 moves downward along the guiding slideway 23 on the inner wall of the caisson 21 through the guide wheel 25, and the adjusting legs move downward accordingly. At the same time, start the leg drive cylinders 27 of the four adjusting legs 26 at the lower end of the annular fixed seat 17. The four adjusting legs 16 are circumferentially distributed below the annular fixed seat 17. Adjust the length of each adjusting leg 27 to keep the annular fixed seat 17 in a horizontal state. Then continue to start excavating the four excavation holes on the caisson 21 as above until the excavation and soil taking operation of the caisson is completed;

[0074] Step 3: Use a crane or a lifting device to remove the upper platform 77 and the annular fixed seat 17 from the caisson 21.

[0075] The structure of the utility model is ingenious and easy to operate. Compared with the prior art, the first point is that by setting the soil-taking front-and-back moving mechanism 3, the shaft tunneling robot 22 can move back and forth, improving the working efficiency of shaft tunneling. At the same time, it can dig a large-diameter caisson, reducing the cost of shaft construction. The second point is that the utility model is provided with adjusting legs 26, and the length of the adjusting legs 26 is adjusted to maintain the stability of the whole robot operation, indirectly improving the shaft tunneling operation efficiency. Thirdly, the utility model is also provided with a frame rotating mechanism 16, enabling the whole frame 1 to rotate, improving the flexibility of the robot operation. At the same time, the frame 1 and the annular fixed seat 17 are limited and fixed by the rotation locking mechanism 71, which can avoid the shaking of the robot during operation, improving the stability and sustainability of the operation. In addition, the excavation arm 11 can also rotate through the excavation rotation drive cylinder 10, broadening the operation range of the robot and enabling faster and better excavation. The fourth point is that in the utility model, the caisson 21 can sink through gravity fall and the caisson downward pressure driving mechanism 80. By monitoring the stroke of the through-hole hydraulic cylinders 81 in all directions on the outside of the caisson 21, the deviation of the sinking amount in all directions of the caisson is corrected, controlling the verticality of the well body and ensuring the stability of the well body descent. The stretching or locking of the steel strand by the through-hole hydraulic cylinder adopts the prior art. The through-hole hydraulic cylinder includes three driving cylinders connected up, middle and down. The upper and lower hydraulic cylinders are used to clamp or loosen the steel strand, and the middle hydraulic cylinder is used to stretch the steel strand. The fifth point is that in the utility model, the mud discharge pipeline 30 includes a first mud discharge pipeline 62 and a second mud discharge pipeline 63, and the first mud discharge pipeline 62 and the second mud discharge pipeline 63 are slidably connected. This not only broadens the mud discharge channel, but also guides the front-and-back movement of the frame 1 through the second mud discharge pipeline 63. In addition, the utility model is provided with a mud discharge hydraulic butterfly valve 67 on the first mud discharge pipeline 62, an anti-flushing pipeline 68 is arranged on one side of the first mud discharge pipeline 62, and an anti-flushing hydraulic butterfly valve 69 is installed on the anti-flushing pipeline 68. A pressure sensor 70 is installed on the second mud discharge pipeline 63, and the pipeline pressure is monitored in real time through the pressure sensor 70 to ensure that the system works under good pressure conditions, improving the working efficiency of the equipment. When the pipeline pressure is abnormal, clean water with a pressure of 1 Mpa can be used to clean the underwater pipeline, reducing the water outlet maintenance of the equipment pipeline and improving the anti-silting ability of the pipeline.The backwashing operation can be achieved by controlling the opening and closing of the sludge discharge hydraulic butterfly valve 67 and the backwashing hydraulic butterfly valve 69. The operation is simple, and the mud conveying capacity of the pipeline is improved. Specifically: During the sludge discharge operation: the sludge discharge hydraulic butterfly valve 67 is opened, and the backwashing hydraulic butterfly valve 69 is closed. The mud-water mixture passes through the second sludge discharge pipeline 63, the first sludge discharge pipeline 62, the sludge discharge hydraulic butterfly valve 67, and then is discharged into the slag discharge tank through the pipeline connected to the slag discharge tank; During the backwashing operation: when the pipeline pressure feedback by the pressure sensor 70 in the pipeline is abnormal or backwashing operation of the pipeline is required, the sludge discharge hydraulic butterfly valve 67 is closed, and the backwashing hydraulic butterfly valve 69 is opened. External clean water passes through the backwashing pipeline 68, the backwashing hydraulic butterfly valve 69, the first sludge discharge pipeline 62, and the second sludge discharge pipeline 63 to perform reverse pipeline cleaning; Sixthly, the present utility model also provides a slip ring underwater protection mechanism 31 and an optical fiber slip ring connection protection mechanism to protect the electro-hydraulic slip ring and the optical fiber slip ring. The electro-hydraulic slip ring 39 is arranged in the isolation space 45 to avoid the influence of water vapor and salt mist. The optical fiber communication transmission signal is stable and has strong anti-interference ability. However, the optical fiber slip ring is also not suitable for the environment with water vapor and oil. The optical fiber slip ring 38 of the present utility model is arranged in the mud pipeline 36 through the optical fiber slip ring protective shell 44, which improves the compressive capacity of the optical fiber slip ring. Moreover, on the premise of ensuring the communication quality, the inner diameter of the mud pipeline 36 of the present utility model can be set larger to achieve the mud transportation of large pipelines.

[0076] Due to the adoption of the above structure, the present utility model has the advantages of novel structure, large excavation range, high flexibility, good stability, high working efficiency, and low cost.

Claims

1. A shaft excavation robot (22), comprising a frame (1) and a shaft excavation mechanism (2), characterized in that: A shaft excavation front and rear drive mechanism (3) is provided between the frame (1) and the shaft excavation mechanism (2), the shaft excavation front and rear drive mechanism (3) comprising a front and rear drive cylinder (5), the shaft excavation mechanism (2) being slidably connected to the frame (1) in a front-rear manner, the frame (1) being provided with a front and rear drive cylinder (5), one end of the front and rear drive cylinder (5) being connected to the frame (1), and the other end being connected to the shaft excavation mechanism (2), the shaft excavation mechanism (2) being provided with a mud transport mechanism (28), the mud transport mechanism (28) comprising a mud suction pipeline (29), a mud discharge pipeline (30) and a mud transport drive component, the mud suction pipeline (29) being fixedly connected to the excavation arm (11) of the shaft excavation mechanism (2), one end of the mud suction pipeline (29) being directed toward the auger head (13) of the shaft excavation mechanism (2), and the other end being connected to the mud transport drive component, and the mud discharge pipeline (30) being connected to the mud transport drive component.

2. A shaft boring robot according to claim 1, characterized in that: The shaft excavation mechanism (2) is provided with a slip ring underwater protection mechanism (31), and the slip ring underwater protection mechanism (31) is used to protect the slip ring for safe use underwater.

3. A shaft boring robot according to claim 2, characterized in that: The mud discharge pipeline (30) comprises a first mud discharge pipeline (62) and a second mud discharge pipeline (63); the first mud discharge pipeline (62) is fixedly connected to the frame (1); one end of the second mud discharge pipeline (63) extends into the first mud discharge pipeline (62) and is sealed and slidably connected to the first mud discharge pipeline (62); and the other end is connected to the shaft excavation mechanism (2).

4. A shaft boring robot according to any one of claims 1 to 3, characterized in that: The frame (1) is provided with a frame rotation mechanism (16), the frame rotation mechanism (16) comprising an annular fixing seat (17), a track wheel (18), and a track wheel driving motor; an annular fixing seat (17) is provided on the outer side of the frame (1); an annular slide rail (20) is provided on the annular fixing seat (17); a track wheel (18) is installed on the frame (1); the track wheel (18) is driven by the track wheel driving motor; the frame (1) is rotationally connected to the annular fixing seat (17) via the track wheel (18) and the annular slide rail (20).

5. A shaft boring robot according to any one of claims 1 to 3, characterized in that: An excavation mounting seat (7) is provided below the frame (1), the excavation mounting seat (7) is slidably connected to the frame (1), a track (4) is fixedly provided on the frame (1), a roller (8) is installed on the cylinder seat of the front and rear drive cylinders (5), the cylinder seat of the front and rear drive cylinders (5) is rollingly connected to the track (4) via the roller (8), the telescopic rod of the front and rear drive cylinders (5) is hinged to the frame (1), and the cylinder seat of the front and rear drive cylinders (5) is hinged to the excavation mounting seat (7).

6. A press-in caisson soil-taking device, comprising a caisson (21), wherein a caisson downward pressure driving mechanism (80) is provided on the outside of the caisson (21), characterized in that: The caisson (21) is provided with a shaft excavation robot (22) as claimed in claim 4. A guide slideway (23) is fixedly provided on the inner wall of the caisson (21). A caisson support beam (24) is provided at the lower end of the caisson (21). A guide wheel (25) is installed on the outer wall of the annular fixing seat (17). Adjustment legs (26) are spaced apart at the lower end of the annular fixing seat (17). The annular fixing seat (17) is slidably connected to the inner wall of the caisson (21) via the guide wheel (25) and the guide slideway (23). The adjustment legs (26) are driven by a leg driving cylinder (27). The leg driving cylinder (27) is fixedly connected to the annular fixing seat (17). The lower end surface of the adjustment leg (26) abuts against the caisson support beam (24). The outer end of the caisson support beam (24) is fixedly connected to the lower end of the caisson (21).

7. A press-in caisson soil taking device according to claim 6, characterized in that: The caisson pressing down driving mechanism (80) comprises a through-core hydraulic cylinder (81), a support frame (82), a steel strand (83), and an anti-pulling pile (84). The through-core hydraulic cylinder (81) is distributed on the outer circumference of the caisson (21). The through-core hydraulic cylinder (81) is fixedly connected to the caisson (21) via the support frame (82). One end of the steel strand (83) is a free end, and the other end passes through the through-core hydraulic cylinder (81) and is fixedly connected to the anti-pulling pile (84). The steel strand (83) is driven or locked by the through-core hydraulic cylinder (81).

8. The press-in type caisson soil taking device according to claim 6, characterized in that: A leg fixing pin (74) is provided on the caisson support beam (24); the lower end of the leg fixing pin (74) is fixedly connected to the caisson support beam (24); the upper end is conical; a fixing pin through hole (75) is provided at the lower end of the adjustment leg (26); the adjustment leg (26) is inserted into the fixing pin through hole (75) through the leg fixing pin (74) and fixed to the caisson support beam (24) in a limited position.

9. The press-in type caisson soil taking device according to claim 6, characterized in that: A supporting hoisting mechanism (76) is provided above the annular fixing seat (17), and the supporting hoisting mechanism (76) comprises an upper platform (77), a connecting cable (78), and a hoisting wire rope (79). An upper platform (77) is provided above the annular fixing seat (17), and both ends of the upper platform (77) are placed on the upper end surface of the caisson (21). The upper platform (77) is provided with a hoisting hole, a connecting cable (78), and a hoisting wire rope (79). One end of the connecting cable (78) extends downward to be connected to the rack control cabin (59) on the rack (1), and the other end passes through the upper platform (77) to form an external connection end. One end of the hoisting wire rope (79) is fixedly connected to the annular fixing seat (17), and the other end is fixedly connected to the upper platform (77).

Images