Vertical shaft tunneling robot and 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 an open caisson soil borrowing device.The vertical shaft tunneling robot comprises a rack and a vertical shaft tunneling mechanism, and a vertical shaft tunneling front-back driving mechanism is arranged between the rack and the vertical shaft tunneling mechanism; the vertical shaft tunneling mechanism comprises a digging mounting seat, rollers, a digging rotating seat, a digging rotating driving cylinder, a digging arm, a swing driving cylinder, a reamer head and a reamer driving cylinder, a rack rotating mechanism is arranged on the rack, the open caisson soil taking device comprises an open caisson, the vertical shaft tunneling robot is arranged on the open caisson, and an open caisson supporting beam is arranged at the lower end of the open caisson. Adjusting supporting legs are arranged at the lower end of the annular fixing base at intervals, the annular fixing base is connected with the inner wall of the open caisson in an up-down sliding mode, the adjusting supporting legs are driven by supporting leg driving cylinders, the lower end faces of the adjusting supporting legs abut against the open caisson supporting beams, and a control connecting mechanism is arranged above the annular fixing base.

Description

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

[0002] The utility model relates to the field of caisson construction equipment, and specifically refers to a shaft boring robot and a 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 beneath 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. The traditional caisson is 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 to improve the traditional caisson technique, mainly including the pressed-in caisson method, the pneumatic caisson method, the VSM (submerged 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 assembled mechanized caisson system. This patent includes a propulsion suspension device, a pipeline reel device, a floating platform, an underwater excavation device, an assembled 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 shaft body, and the assembled caisson main body is suspended or pressed down into the shaft body through several propulsion suspension devices; the floating platform floats on the water surface inside the assembled 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 assembled 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 assembled caisson main body and winds around the pipeline reel device, and the pipeline reel device is arranged on the ground beside the shaft body; the grouting device and the mud-water device are both arranged on the ground outside the shaft body, the grouting device grouts between the caisson wall and the outer wall of the assembled 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 assembled 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 drive, a dredging pump, and a lifting drive; the fixed base is fixedly installed at the top center of the cross beam of the assembled caisson main body, and the turntable assembly is rotatably installed on the fixed base; the lifting drive is fixedly installed on the turntable assembly, one end of the robotic arm assembly is rotatably connected to the drive end of the lifting drive through a first pin shaft, and 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 drive, 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 drive; the dredging pump is swingably installed at the other end of the robotic arm assembly through the swing drive, 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 a caisson 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, with high usage costs. Moreover, when the underwater excavation device moves downward, it cannot maintain the stability of the underwater excavation device, and it is not convenient to adjust. Third, the caisson in the above patent requires several lifting drive parts to drive simultaneously to achieve sinking, with high usage costs, troublesome operation, time-consuming and laborious, increasing 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 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 slideway and a front and rear drive cylinder, the slideway is fixedly provided on the frame, the shaft tunneling mechanism is slidably connected to the frame front and rear, the frame is provided with a front and rear drive cylinder, 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] 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, so as to protect the cables on the shaft tunneling mechanism through the drag chain.

[0008] The shaft tunneling mechanism of the present utility model includes an excavation mounting seat, rollers, an excavation rotating seat, an excavation rotation driving cylinder, an excavation arm, a swing driving cylinder, a reamer head, and a reamer driving cylinder. An excavation mounting seat is provided below the frame. Rollers are fixedly provided on the excavation mounting seat. The excavation mounting seat is slidably connected to the frame through the rollers and a slideway. The excavation mounting seat is driven to move back and forth by a front and rear driving cylinder. An excavation rotating seat is provided below the excavation mounting seat. An excavation rotation driving cylinder is fixedly provided on the excavation mounting seat. The excavation rotating seat is driven to rotate by the excavation rotation driving cylinder. An excavation arm is provided on the excavation rotating seat. A swing driving 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 reamer head. One end of the swing driving cylinder is hinged to the excavation rotating seat, and the other end is hinged to the excavation arm. The reamer head is driven by a reamer driving cylinder. The reamer driving cylinder is fixed on the excavation arm, so that the reamer head can not only move back and forth, but also rotate 360° for operation, broadening the excavation range.

[0009] A slag conveying mechanism is provided on the shaft tunneling mechanism of the present utility model. The slag conveying mechanism includes a slag suction pipe, a slag discharge pipe, and a slag conveying driving component. A slag suction pipe is provided on the excavation arm. The slag suction pipe is fixedly connected to the excavation arm. One end of the slag suction pipe faces the reamer head, and the other end is connected to the slag conveying driving component. The slag discharge pipe is connected to the slag conveying driving component. The slag conveying driving component is arranged on the excavation arm.

[0010] The slag conveying driving component of the present utility model can be a slurry pump. The slurry pump is fixed on the excavation arm. The suction port of the slurry pump is fixedly connected to the slag suction pipe, and the discharge port of the slurry pump is fixedly connected to the slag discharge pipe.

[0011] The slag conveying driving component of the present utility model can also be a containing chamber and a gas source. A containing chamber is fixed on the excavation arm. The containing chamber is connected to the gas source through an air pipe. One end of the containing chamber is connected to the slag suction pipe, and the other end is connected to the slag discharge pipe.

[0012] A frame rotating mechanism is provided on the frame of the present utility model. The frame rotating mechanism includes an annular fixed seat, track wheels, a track wheel driving motor, and a tightening driving cylinder. An annular fixed seat is provided outside the frame. An annular slide rail is provided on the annular fixed seat. Track wheels are installed at the lower end of the frame. The track wheels are driven by the track wheel driving motor. The frame is rotatably connected to the annular fixed seat through the track wheels and the annular slide rail. Tightening driving cylinders are respectively provided at both ends of the frame. The cylinder seat of the tightening driving cylinder is fixedly connected to the frame, and the telescopic rod of the tightening driving cylinder abuts against the annular fixed seat to fixedly connect the frame and the annular fixed seat, so that the frame can rotate or be fixed relative to the annular fixed seat.

[0013] A caisson soil extraction device, comprising a caisson, characterized in that: the above-mentioned shaft tunneling robot is provided on the caisson, a guiding slideway is fixedly arranged on the inner wall of the caisson, a caisson support beam is arranged at the lower end of the caisson, a guiding wheel is installed on the outer wall of the annular fixed seat, adjusting legs are arranged at intervals at the lower end of the annular fixed seat, the annular fixed seat is connected with the inner wall of the caisson through the guiding wheel and the guiding slideway for up and down sliding connection, the adjusting legs are driven by a leg driving cylinder, the leg driving cylinder is fixedly connected with the annular fixed seat, and the lower end surface of the adjusting leg abuts against the caisson support beam. The outer end of the caisson support beam is fixedly connected with the lower end of the caisson to facilitate the robot to descend along the inner wall of the caisson for excavation. By driving the adjusting legs at different positions to extend through the leg driving cylinder, the balance of the annular fixed seat is adjusted.

[0014] A hoisting hole is provided on the annular fixed seat of the present utility model to facilitate hoisting the robot.

[0015] A control connection mechanism is provided above the annular fixed seat of the present utility model. The control connection mechanism includes a support fixed cross beam, a cable winch, a slag discharge guiding wheel, a guiding pulley, and a slip ring. A support fixed cross beam is provided above the annular fixed seat. Both ends of the support fixed cross beam are placed on the upper end face of the caisson. A cable winch and a slag discharge guiding wheel are fixedly arranged on the support fixed cross beam. A pipeline through hole is provided in the middle of the support fixed cross beam. Guiding pulleys are respectively installed on the inner wall of the pipeline through hole and on the support fixed cross beam on both sides of the upper end of the pipeline through hole. A frame control system is fixedly arranged on the frame. A slip ring is fixedly arranged in the middle of the frame. A pipe through hole is provided in the middle of the slip ring. One end of the lead wire of the slip ring is connected with the cable on the cable winch, and the other end of the lead wire of the slip ring is connected with the frame control system. The slag discharge pipe passes through the pipe through hole in the middle of the slip ring, passes through the pipeline through hole, bypasses the guiding pulley, and extends to the outside of the caisson through the guiding of the slag discharge guiding wheel, so as to facilitate controlling the robot through the frame control system and knowing the depth of the annular fixed seat descending at all times.

[0016] A hoisting hole is fixedly arranged on the support fixed cross beam of the present utility model to facilitate hoisting the support fixed cross beam.

[0017] 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

[0018] Figure 1 It is a schematic structural diagram of the shaft tunneling robot of the present utility model.

[0019] Figure 2 It is the present utility model Figure 1 The front view.

[0020] Figure 3 It is a schematic structural diagram of the caisson soil extraction device of the present utility model.

[0021] Figure 4 is the three-dimensional view of the caisson removed from the present utility model Figure 3 Remove the three-dimensional view of the caisson

[0022] Figure 5 is the present utility model Figure 4 sectional view

[0023] Figure 6 is the enlarged schematic view of the caisson of the present utility model

[0024] Figure 7 is the present utility model Figure 5 schematic view of the upper part enlarged and rotated 90 degrees

[0025] Figure 8 is the present utility model Figure 5 schematic view of the lower part enlarged and rotated 90 degrees

[0026] Reference numerals: frame 1, shaft tunneling mechanism 2, front and rear driving mechanism 3 for shaft tunneling, slideway 4, front and rear driving cylinders 5, drag chain 6, excavation mounting base 7, rollers 8, excavation rotating base 9, excavation rotation driving cylinder 10, excavation arm 11, swing driving cylinder 12, reamer head 13, reamer driving cylinder 14, slurry pump 15, frame rotation mechanism 16, annular fixed seat 17, track wheels 18, jacking driving cylinder 19, annular slide rail 20, caisson 21, shaft tunneling robot 22, guiding slideway 23, caisson supporting beam 24, guiding wheels 25, adjusting legs 26, leg driving cylinders 27, lifting holes 28, control connection mechanism 29, supporting and fixing cross beam 30, cable winch 31, slag discharge guiding wheels 32, guiding pulleys 33, slip rings 34, slag discharge pipes 35, pipeline perforations 36 Detailed implementation manners

[0027] The following further describes in detail the specific implementation manners of the present utility model with reference to the accompanying drawings

[0028] A shaft tunneling robot 22 includes a frame 1 and a shaft tunneling mechanism 2. It 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 a slideway 4 and front and rear driving cylinders 5. The slideway 4 is fixedly provided on the frame 1. The shaft tunneling mechanism 2 is slidably connected to the frame 1 in the front and rear directions. The 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 expanding the excavation range

[0029] On the frame 1 of the present 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 facilitate protecting the cables on the shaft tunneling mechanism through the drag chain.

[0030] The shaft tunneling mechanism 2 of the present utility model includes an excavation mounting base 7, rollers 8, an excavation rotating base 9, an excavation rotation driving cylinder 10, an excavation arm 11, a swing driving cylinder 12, a reamer head 13, a reamer driving cylinder 14, a slag suction pipe and a slurry pump 15. Below the frame 1, there is an excavation mounting base 7. Fixedly provided on the excavation mounting base 7 are rollers 8. The excavation mounting base 7 is slidably connected to the frame 1 through the rollers 8 and a slideway 4. The excavation mounting base 7 is driven to move back and forth by a front and rear driving cylinder 5. Below the excavation mounting base 7, there is an excavation rotating base 9. Fixedly provided on the excavation mounting base 7 is an excavation rotation driving cylinder 10. The excavation rotating base 9 is driven to rotate by the excavation rotation driving cylinder 10. On the excavation rotating base 9, there is an excavation arm 11. Between the excavation arm 11 and the excavation rotating base 9, there is a swing driving cylinder 12. One end of the excavation arm 11 is hinged to the excavation rotating base 9, and the other end is equipped with a reamer head 13. On the excavation arm 11, there is a slag suction pipe. One end of the swing driving cylinder 12 is hinged to the excavation rotating base 9, and the other end is hinged to the excavation arm 11. The reamer head 13 is driven by a reamer driving cylinder 14. The reamer driving cylinder 14 is fixed on the excavation arm 11. The slag suction pipe is fixedly connected to the excavation arm 11. One end of the slag suction pipe faces the reamer head 13, and the other end is connected to the slurry pump 15. The slurry pump 15 is fixed on the excavation arm 11, so as to facilitate that the reamer head can not only move back and forth, but also rotate 360° for operation, broadening the excavation range.

[0031] On the frame 1 of the present utility model, a frame rotation mechanism 16 is provided. The frame rotation mechanism 16 includes an annular fixed seat 17, track wheels 18, a track wheel driving motor, and a tightening driving cylinder 19. Outside the frame 1, there is an annular fixed seat 17. On the annular fixed seat 17, there is an annular slide rail 20. At the lower end of the frame 1, track wheels 18 are installed. The track wheels 18 are driven by a track wheel driving motor. The frame 1 is rotatably connected to the annular fixed seat 17 through the track wheels 18 and the annular slide rail 20. At both ends of the frame 1, there are respectively tightening driving cylinders 19. The cylinder seat of the tightening driving cylinder 19 is fixedly connected to the frame 1, and the telescopic rod of the tightening driving cylinder 19 abuts against the annular fixed seat 17, fixedly connecting the frame 1 and the annular fixed seat 17, so as to facilitate that the frame can rotate or be fixed relative to the annular fixed seat.

[0032] A caisson soil extraction device, including a caisson 21, is characterized in that: the above-mentioned shaft tunneling robot 22 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 support legs 26 are arranged at intervals at the lower end of the annular fixing seat 17, the annular fixing seat 17 is connected with the inner wall of the caisson 21 through the guiding wheel 25 and the guiding slideway 23 for up and down sliding connection, the adjusting support legs 26 are driven by a support leg driving cylinder 27, the support leg driving cylinder 27 is fixedly connected with the annular fixing seat 17, the lower end surface of the adjusting support legs 26 abuts against the caisson supporting beam 24, and 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 support legs at different positions are driven by the support leg driving cylinder to extend, so as to adjust the balance of the annular fixing seat.

[0033] A hoisting hole 28 is arranged on the annular fixing seat 17 of the utility model to facilitate hoisting the robot.

[0034] A control connection mechanism 29 is arranged above the annular fixing seat 17 of the utility model. The control connection mechanism 29 includes a support and fixing cross beam 30, a cable winch 31, a slag discharge guiding wheel 32, a guiding pulley 33, a slip ring 34, and a slag discharge pipe 35. A support and fixing cross beam 30 is arranged above the annular fixing seat 17, both ends of the support and fixing cross beam 30 are placed on the upper end face of the caisson 21, a cable winch 31 and a slag discharge guiding wheel 32 are fixedly arranged on the support and fixing cross beam 30, a pipeline perforation 36 is arranged in the middle of the support and fixing cross beam 30, guiding pulleys 33 are respectively installed on the inner wall of the pipeline perforation 36 and on the support and fixing cross beam 30 on both sides of the upper end of the pipeline perforation 36, a frame control system is fixedly arranged on the frame 1, a slip ring 34 is fixedly arranged in the middle of the frame 1, a pipe perforation is arranged in the middle of the slip ring 34, the lead wire at one end of the slip ring 34 is connected with the cable on the cable winch 31, the lead wire at the other end of the slip ring 34 is connected with the frame control system, the discharge port of the slurry pump 15 is fixedly provided with a slag discharge pipe 35, the slag discharge pipe 35 passes through the pipe perforation in the middle of the slip ring 34, passes through the pipeline perforation 36, bypasses the guiding pulley 33, and extends to the outside of the caisson 21 through the guiding of the slag discharge guiding wheel 32, so as to facilitate controlling the robot through the frame control system and knowing the depth of the annular fixing seat descending at any time.

[0035] Hoisting holes are fixedly arranged on the support and fixing cross beam 30 of the utility model to facilitate hoisting the support and fixing cross beam.

[0036] As attached Figure 1-6In the utility model, a hydraulic system can be arranged on the frame 1, and the hydraulic system is connected to the frame control system. The front and rear drive cylinders 5, the excavation rotation drive cylinder 10, the swing drive cylinder 12, the reamer drive cylinder 14, the slurry pump 15 or the air source, the tightening drive cylinder 19, and the leg drive cylinder 27 are all connected to the frame control system and controlled by the frame control system. One end of the cable winch 31 is connected to the frame control system, and the other end is connected to the control system of the operating platform on the road surface by bypassing the winch shaft of the cable winch 31. The control system of the operating platform and the frame control system can both adopt a PLC control system. The operator can operate the entire caisson soil taking device at the upper end of the caisson. The annular fixed seat 17 or the excavation arm 11 can be provided with a camera and a lighting lamp, which are all connected to the frame control system for conveniently understanding the underground situation at any time. Each drive cylinder can adopt a hydraulic cylinder. The slag conveying drive component can be a slurry pump 15 or a accommodating chamber and an air source. The air source can be a compressor. By continuously conveying air Gas is used to make the slag suction pipe absorb the mud after the auger head 13 digs the well, enter the containing chamber, and then discharge it through the slag discharge pipe 35. Two kinds of 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 to illustrate. When in use, first dig a pit where a well needs to be dug. The preceding steps are the same as those in the prior art and are not repeated. Then put the caisson 21 in, the lower end of the caisson 21 abuts against the bottom of the pit, the outer wall of the caisson 21 abuts against the inner wall of the pit and is fixed. The lower end of the caisson 21 is provided with a caisson support beam 24, which is a cross beam, so that four excavation holes are formed between the caisson support beam 24 and the bottom of the pit, which is convenient for the robot to dig, as shown in the attached Figure 3 As shown,

[0037] The operation steps are as follows:

[0038] The first step: Place the annular fixing seat 17 into the caisson 21 by means of a crane or other lifting equipment, make the guide wheel 25 of the annular fixing seat 17 slidably connected with the guide slideway 23, adjust the lower end of the support leg 26 to abut against the upper end surface of the caisson support beam 24, fix the position of the shaft excavation robot 22 in the caisson 21, and place the supporting fixed beam 30 on the upper end of the caisson 21 by means of a crane or other lifting equipment. Guardrails can be set on both sides of the supporting fixed beam 30 to prevent the cable or the slag discharge pipe 35 from slipping out of the supporting fixed beam 30. The slag discharge pipe 35 extends to the outside of the caisson 22 and is connected to the slag discharge box to facilitate slag discharge;

[0039] Step 2: The operator controls the entire caisson soil extraction device through the operation platform. The control system can start the front and rear drive cylinders 5 to 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. 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 extracting 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 excavated, 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 cylinders 5 to adjust the front and rear position of the reamer head 13, or start the tightening drive cylinder 19 so that the telescopic rod of the tightening drive cylinder 19 does not contact the annular fixed seat 17. Start the track wheel drive motor to drive the track wheel 18 to drive the frame 1 to rotate, and then drive the reamer head 13 to rotate to adjust the reamer head 13 to another excavation hole, and perform excavation and soil extraction as above. After excavation, excavate 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 hole, and the caisson 21 moves downward under its own gravity. The support fixed crossbeam 30 moves downward accordingly. The annular fixed seat 17 moves downward along the guide slideway 23 on the inner wall of the caisson 21 through the guide wheel 25. The adjusting legs move downward accordingly. Start the cable winch 31 to adapt to the downward movement of the annular fixed seat 17. 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, and then continue to start excavating the four excavation holes on the caisson 21 as above;

[0040] Step 3: When the upper end of the caisson 21 is about to be lower than the ground level, start the cable winch 31 to lengthen the cable, lift the support fixed crossbeam 30 upward through a crane or a lifting device, and then install a section of the caisson 21 at the upper end of the caisson 21. The installation method is the same as the prior art. After installation, place the support fixed crossbeam 30 on the newly installed upper end of the caisson;

[0041] Step 4: Repeat Step 2 and Step 3 until the caisson excavation and soil extraction operation is completed;

[0042] Step 5: Just remove the support fixed crossbeam 30 and the annular fixed seat 17 from the caisson 21 through a crane or a lifting device.

[0043] The structure of the utility model is ingenious and the operation is convenient. Compared with the prior art, first, by setting the soil-taking front and rear 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 large-diameter caissons, reducing the cost of shaft construction. Second, 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. Third, 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, by tightening the driving cylinder 19 to tighten the annular fixing seat 17, the shaking of the robot during operation can be avoided, improving the stability and sustainability of the operation. In addition, the excavating arm 11 can also rotate through the excavating rotation driving cylinder 10, broadening the operation range of the robot and enabling faster and better excavation. Fourth, in the utility model, the caisson 21 can fall by gravity without using a hoisting device to lift the caisson, and the caisson can sink under its own gravity, greatly improving the efficiency of shaft tunneling and reducing the cost of shaft tunneling.

[0044] Due to the adoption of the above structure, the 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) comprises a front and rear drive cylinder (5). The shaft excavation mechanism (2) is slidably connected to the frame (1) in a front-rear manner. One end of the front and rear drive cylinder (5) is connected to the frame (1) and the other end is connected to the shaft excavation mechanism (2). The shaft excavation mechanism (2) comprises an excavation mounting seat (7), an excavation rotating seat (9), an excavation rotating drive cylinder (10), an excavation arm (11), a swing drive cylinder (12), a reamer head (13), and a reamer drive cylinder (14). An excavation mounting seat (7) is provided below the frame (1). The excavation mounting seat (7) is slidably connected to the frame (1). The excavation mounting seat (7) is driven by the front and rear drive cylinders. (5) driven to move forward and backward, an excavation rotating seat (9) is provided below the excavation mounting seat (7), an excavation rotating drive cylinder (10) is fixedly provided on the excavation mounting seat (7), the excavation rotating seat (9) is driven to rotate by the excavation rotating drive cylinder (10), an excavation arm (11) is provided on the excavation rotating seat (9), a swing drive 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 a reamer head (13) is installed at the other end, one end of the swing drive 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 drive cylinder (14), and the reamer drive cylinder (14) is fixed to the excavation arm (11).

2. A shaft boring robot according to claim 1, characterized in that: The shaft excavation mechanism (2) is provided with a slag conveying mechanism, the slag conveying mechanism comprising a slag suction pipe, a slag discharge pipe (35) and a slag conveying drive component, the slag suction pipe is fixedly connected to the excavation arm (11), one end of the slag suction pipe faces the reamer head (13), and the other end is connected to the slag conveying drive component, the slag discharge pipe (35) is connected to the slag conveying drive component, and the slag conveying drive component is arranged on the excavation arm (11).

3. A shaft boring robot according to claim 2, characterized in that: The slag conveying driving component is a slag pump (15), the slag pump (15) is fixed on the excavation arm (11), the suction port of the slag pump (15) is fixedly connected to the slag suction pipe, and the discharge port of the slag pump (15) is fixedly connected to the slag discharge pipe (35).

4. A shaft boring robot according to claim 2, characterized in that: The slag conveying driving component comprises a accommodating chamber and an air source. The excavating arm (11) is fixed with an accommodating chamber, the accommodating chamber is connected to the air source via an air pipe, one end of the accommodating chamber is connected to the slag suction pipe, and the other end is connected to the slag discharge pipe (35).

5. A shaft boring robot according to claim 1, 2, 3 or 4, 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), a track wheel driving motor, and a tightening driving cylinder (19). 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 at the lower end of the frame (1), the track wheel (18) is driven by the track wheel driving motor, the frame (1) is rotatably connected to the annular fixing seat (17) via the track wheel (18) and the annular slide rail (20), and tightening driving cylinders (19) are respectively provided at both ends of the frame (1), a cylinder seat of the tightening driving cylinder (19) is fixedly connected to the frame (1), and a telescopic rod of the tightening driving cylinder (19) abuts against the annular fixing seat (17), thereby fixing the frame (1) to the annular fixing seat (17).

6. A shaft boring robot according to claim 1, 2, 3 or 4, characterized in that: The frame (1) is provided with a drag chain (6), one end of the drag chain (6) is fixedly connected to the frame (1), and the other end is connected to the shaft excavation mechanism (2).

7. A caisson soil extraction device, comprising a caisson (21), characterized in that: The caisson (21) is provided with a shaft excavation robot (22) as claimed in claim 5. The inner wall of the caisson (21) is fixedly provided with a guide slideway (23). The lower end of the caisson (21) is provided with a caisson support beam (24). The outer wall of the annular fixing seat (17) is provided with a guide wheel (25). The lower end of the annular fixing seat (17) is provided with an adjustment leg (26) at intervals. The annular fixing seat (17) is connected to the inner wall of the caisson (21) by sliding up and down via the guide wheel (25) and the guide slideway (23). The adjustment leg (26) is 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).

8. The soil-taking device for caisson according to claim 7, characterized in that: A control connection mechanism (29) is provided above the annular fixing seat (17), and the control connection mechanism (29) comprises a supporting and fixing beam (30), a cable winch (31), and a slip ring (34). A supporting and fixing beam (30) is provided above the annular fixing seat (17), and both ends of the supporting and fixing beam (30) are placed on the upper end surface of the caisson (21). The cable winch (31) is fixedly provided on the supporting and fixing beam (30). A frame control system is fixedly provided on the frame (1). A slip ring (34) is fixedly provided in the middle of the frame (1). A lead wire at one end of the slip ring (34) is connected to a cable on the cable winch (31), and a lead wire at the other end of the slip ring (34) is connected to the frame control system.

9. The caisson soil taking device according to claim 8, characterized in that: The annular fixing seat (17) is provided with a lifting hole (28), and the supporting fixing cross beam (30) is fixedly provided with a lifting hole.

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