Mechanical equipment for advancing and operating underground dense rock soil

Abstract

The utility model provides mechanical equipment for advancing and operating underground dense rock soil, which comprises a plurality of mutually hinged steel links which are connected through telescopic devices. The telescopic device is arranged at the joint part of the steel link and is annularly arranged along the section; the telescopic device is used for distributing the corresponding telescopic amount according to the advancing requirement; the cutting roller is arranged on the periphery of the front-end steel ring; and the compression rings are respectively arranged on the front-end steel ring and the rear-end steel ring. According to the mechanical equipment, the earthworms move forwards in a self-propelled mode in the mode that the earthworms wriggle in a soil body through mutual telescopic bionic simulation, large excavation on the ground and a large underground channel are not needed, the earthworms can reach the designated position in dense rock soil in a minimally invasive mode according to a preset route in a high-precision, flexible and convenient mode, the advancing efficiency of the equipment is improved, and the working efficiency of the equipment is improved. And the technical difficulty and cost of underground investigation, detection, operation and the like can be greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of underground space tunneling, in particular to a mechanical device that can travel and operate in dense rock and soil. Background Technique

[0002] With the development of mechanical automation technology, humans can already carry out unmanned operations with the help of various automation devices, such as unmanned aerial vehicles and robots widely used in the air, underwater, and on the ground. However, the underground environmental medium has become extremely complex due to the existence of dense rock and soil, and there are many difficulties in using similar flexible and mobile automation devices for unmanned operations in the underground environment. At present, most of the technologies for utilizing underground space rely on direct excavation methods, which have many shortcomings in terms of operation sites, the number of personnel, and environmental impacts. Therefore, it is necessary to study a green, environmentally friendly, and economical underground space construction and exploration technology.

[0003] For example, in geological and mineral exploration, traditional exploration mostly uses straight drilling by taking holes on the ground surface. When the hole layout conditions are difficult or curve exploration is required, the means are limited; in the field of underground engineering and tunneling construction, mechanical equipment such as pipe jacking and shield tunneling are widely used in tunnel construction, but they cannot effectively meet the needs of special application scenarios such as the construction of special-shaped underground structures and local treatment; in underground transportation, there is a lack of effective technical means in dense rock and soil, and it is impossible to accurately and conveniently transport the required equipment or devices to the designated position in a minimally invasive manner. All existing technical means need to borrow a certain site during implementation and use a large "ground operation" to obtain access to the underground, but it is very difficult to implement in areas with limited conditions. Summary of the Invention

[0004] The purpose of the utility model is to provide a mechanical device for traveling and operating in dense underground rock and soil, which can reduce the cost, safety risks, and environmental impacts of tunneling operations, improve the operation quality and efficiency, and enhance the application value and scope of automation equipment in the field of underground space.

[0005] The utility model provides a mechanical device for traveling and operating in dense underground rock and soil, and the mechanical device includes:

[0006] A plurality of mutually articulated steel links, including a front-end steel link, a middle steel link, and a rear-end steel link, and the steel links are connected by a telescopic device;

[0007] The telescopic device is arranged at the joint part of the steel link and is arranged annularly along the cross-section, and the telescopic device is used to distribute corresponding telescopic amounts according to the traveling requirements;

[0008] A cutting drum, which is arranged on the outer periphery of the front steel link, includes a drum, cutting teeth and a drum drive system. The cutting teeth are evenly distributed on the drum, and the drum drive system is connected to the drum;

[0009] Pressure rings, which are respectively arranged on the front steel link and the rear steel link, include a support shoe plate and a support rod. The support shoe plate is connected to the support rod, and the support rod is connected to the propulsion cylinder of the mechanical equipment.

[0010] As a further improvement of the present invention, the mechanical equipment is a hollow cavity type annular mechanical equipment.

[0011] As a further improvement of the present invention, the cross-sectional form of the steel link is circular, elliptical, polygonal or quasi-rectangular.

[0012] As a further improvement of the present invention, the mechanical equipment can be configured as an open-type mechanical equipment or a closed-type mechanical equipment according to the operation requirements.

[0013] As a further improvement of the present invention, the closed-type mechanical equipment is configured to be sealed by a combined sealing method of an annular elastic body and a bladder at the hinged part of the steel link; the combined sealing of the elastic body and the bladder is arranged around the entire cross-section, and its expansion value is dynamically adjusted according to the geological conditions of the surrounding strata and the attitude of the mechanical equipment.

[0014] As a further improvement of the present invention, it is characterized in that: the open-type mechanical equipment is configured as a steel structure frame, and the housing of the steel structure frame is removed.

[0015] As a further improvement of the present invention, the number of the telescopic devices is not less than 4, and the telescopic devices are hydraulic or screw.

[0016] As a further improvement of the present invention, the mechanical equipment is used to realize the steering operation in the underground dense rock and soil through the elongation and shortening of the telescopic devices at the joint positions of the steel links; the mechanical equipment is used to move forward in a self-propelled manner by mutually telescoping and bionically simulating the way of an earthworm wriggling in the soil body.

[0017] As a further improvement of the present invention, the mechanical equipment integrates a robotic arm or a working device, and can replace the types of external equipment according to the operation requirements.

[0018] The present invention provides a mechanical equipment for traveling and operating in underground dense rock and soil. Compared with the prior art, it has the following beneficial effects:

[0019] (1) The mechanical equipment provided by the present utility model travels self-propelled by means of mutual telescopic bionic simulation of the wriggling of earthworms in the soil mass, without the need for large-scale ground excavation and large underground channels, and reaches the designated position with high precision, flexibility and convenience along the predetermined route in dense rock and soil in a "minimally invasive" manner, improving the efficiency of equipment travel and greatly reducing the technical difficulties and costs of underground exploration, detection, operation, etc.

[0020] (2) The mechanical equipment provided by the present utility model can perform operations such as transportation, exploration, visual detection, etc. according to different types of equipment integrated devices. At the same time, the equipment can also be loaded with a robotic arm to carry out operations such as underground facility maintenance, repair, and fault handling, and can also perform geotechnical engineering treatments such as obstacle handling and geotechnical improvement by replacing the type of robotic arm loaded.

[0021] (3) The mechanical equipment provided by the present utility model has low requirements for the supporting site for equipment operation, and the operation site is reduced by 2 / 3 compared with traditional pipe jacking, shield tunneling, etc.; at the same time, the manufacturing cost of the equipment is low, and the complexity of the whole equipment is greatly reduced compared with the underground engineering tunneling equipment of pipe jacking and shield tunneling; in addition, the equipment can be configured as an open type or a closed type and can adapt to various complex geological conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present utility model, the accompanying drawings to be used will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other accompanying drawings based on these drawings without creative efforts.

[0023] FIG. 1 is a schematic structural diagram of the steel link provided by the present utility model.

[0024] FIG. 2 is a schematic diagram of different types of cross-sections of the steel link provided by the present utility model.

[0025] FIG. 3 is a schematic diagram of the overall structure of the mechanical equipment provided by the present utility model.

[0026] FIG. 4 is a schematic diagram of the mechanical equipment of the present utility model operating in a straight state in the formation.

[0027] FIG. 5 is a schematic diagram of the mechanical equipment of the present utility model operating in a curved state in the formation.

[0028] FIG. 6 is a schematic structural diagram of the compression ring of the mechanical equipment of the present utility model.

[0029] FIG. 7 is a schematic structural diagram of the cutting drum of the mechanical equipment of the present utility model.

[0030] Reference numerals: 1 - steel link, 2 - cross-sectional form of the device, 3 - sealing measure, 4 - expansion device, 5 - cutting drum, 6 - robotic arm or working device, 7 - compression ring, 8 - pipeline interface Detailed implementation mode

[0031] The following further describes the present utility model in conjunction with embodiments. The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0032] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0033] Referring to FIGS. 1-7, a first aspect of the present utility model provides a mechanical device for traveling and operating in underground dense rock and soil. The mechanical device includes:

[0034] A plurality of mutually articulated steel links, including a front steel link, a middle steel link, and a rear steel link, which are connected by an expansion device;

[0035] An expansion device, which is arranged at the joint part of the steel links and is arranged in a circular shape along the cross-section. The expansion device is used to distribute corresponding expansion amounts according to traveling requirements;

[0036] A cutting drum, which is arranged on the outer periphery of the front steel link and includes a drum, cutting teeth, and a drum drive system. The cutting teeth are evenly distributed on the drum, and the drum drive system is connected to the drum;

[0037] Compression rings, which are respectively arranged on the front steel link and the rear steel link and include support shoe plates and support rods. The support shoe plates are connected to the support rods, and the support rods are connected to the propulsion cylinders of the mechanical device.

[0038] As a further improvement of the present utility model, the mechanical device is a hollow cavity type annular mechanical device.

[0039] As a further improvement of the present utility model, the cross-sectional form of the steel link is circular, elliptical, polygonal, or quasi-rectangular.

[0040] As a further improvement of the present utility model, the mechanical device can be configured as an open-type mechanical device or a closed-type mechanical device according to operation requirements.

[0041] As a further improvement of the present utility model, the enclosed mechanical equipment is configured to be sealed at the hinged part of the steel link by means of combined sealing of an annular elastic element and a bladder; the combined sealing of the elastic element and the bladder is arranged in a full circle around the cross-section, and its expansion value is dynamically adjusted according to the geological conditions of the surrounding strata and the attitude of the mechanical equipment.

[0042] As a further improvement of the present utility model, it is characterized in that: the open mechanical equipment is configured as a steel structure frame, and the housing of the steel structure frame is removed.

[0043] As a further improvement of the present utility model, the number of the telescopic devices is not less than 4, and the telescopic devices are hydraulic or screw.

[0044] As a further improvement of the present utility model, the mechanical equipment is used to realize the steering operation in the dense underground rock and soil through the extension and shortening of the telescopic devices at the joint positions of the steel links; the mechanical equipment is used to travel self-propelled by mutually telescoping and bionically simulating the way of an earthworm wriggling in the soil mass.

[0045] As a further improvement of the present utility model, the mechanical equipment integrates a robotic arm or a working device, and the type of the external equipment can be replaced according to the working requirements.

[0046] The second aspect of the present utility model provides a traveling method for the above-mentioned mechanical equipment. The traveling includes straight traveling and curved traveling. When the mechanical equipment travels straight, the following method steps are executed:

[0047] S11: The compression ring at the rear end of the mechanical equipment expands and compresses the soil mass, so that the soil mass generates a binding force on the rear end of the mechanical equipment;

[0048] S12: The telescopic device extends forward by using the rear-end binding force, so that the cutting drum of the mechanical equipment cuts into the soil mass;

[0049] S13: The cutting drum moves in a plane, and its drum covers the entire cross-section to be excavated by moving;

[0050] S14: After the telescopic device reaches the designed length, the compression ring at the front end expands, so that the soil mass generates a binding force on the front end of the mechanical equipment;

[0051] S15: The compression ring at the rear end retracts, and by using the front-end binding force, the telescopic device contracts to drag the rear end of the mechanical equipment forward;

[0052] S16: Repeat steps S11 - S15 to make the mechanical equipment reach the predetermined position;

[0053] S17: The robotic arm of the mechanical equipment extends to perform the established operation; when the mechanical equipment travels in a curve, the following method steps are executed:

[0054] S21: When the mechanical equipment corrects deviation or turns, the compression ring at the rear end expands and squeezes the soil mass, so that the soil mass generates a binding force on the rear end of the mechanical equipment;

[0055] S22: Calculate the elongation and shortening values required for the telescopic device according to the curvature of the travel route, and the telescopic device elongates or shortens according to the values, so that the mechanical equipment bends and advances synchronously;

[0056] S23: The telescopic device extends forward by using the rear-end binding force, so that the cutting drum of the mechanical equipment cuts into the soil mass;

[0057] S24: The cutting drum moves in a plane, and by moving, its drum covers the entire cross-section to be excavated, and cuts the soil mass by rolling;

[0058] S25: When the telescopic device reaches the predetermined value, the compression ring at the front end expands, so that the soil mass generates a binding force on the front end of the mechanical equipment;

[0059] S26: The compression ring at the rear end retracts, and by using the front-end binding force, the telescopic device contracts to drag the rear end of the mechanical equipment forward;

[0060] S27: Repeat steps S21 - S26 to enable the mechanical equipment to complete the curve travel.

[0061] The present utility model provides a mechanical equipment for traveling and operating in underground dense rock and soil. Compared with the prior art, it has the following beneficial effects:

[0062] (1) The mechanical equipment provided by the present utility model travels self-propelled by mutually telescoping and bionically simulating the way of an earthworm wriggling in the soil mass, without large-scale ground excavation and large underground channels, and reaches the designated position with high precision, flexibility and convenience according to the predetermined route in the dense rock and soil in a'minimally invasive' way, improving the efficiency of equipment travel and greatly reducing the technical difficulty and cost of underground exploration, detection, operation, etc.

[0063] (2) The mechanical equipment provided by the present utility model can perform operations such as transportation, exploration, visual detection, etc. according to different types of equipment integration devices. At the same time, the equipment can also be loaded with a robotic arm to carry out operations such as underground facility maintenance, repair, and fault handling, and can also perform geotechnical engineering treatments such as obstacle handling and soil improvement by replacing the type of the loaded robotic arm.

[0064] (3)The mechanical equipment provided by the present utility model has low requirements for the supporting site for equipment operation. Compared with traditional pipe jacking, shield tunneling, etc., the operation site is reduced by 2 / 3. At the same time, the manufacturing cost of the equipment is low, and the complexity of the whole equipment is greatly reduced compared with the pipe jacking and shield tunneling underground engineering tunneling equipment. In addition, the equipment can be configured as an open type or a closed type, and can adapt to various complex geological conditions.

[0065] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A mechanical device for underground compaction and operation, characterized in that: The mechanical equipment comprises: a plurality of mutually hinged steel links, including a front steel link, a middle steel link and a rear steel link, wherein the steel links are connected by telescopic devices; A telescopic device is provided at the joint of the steel link and arranged in a ring shape along the cross section, and is used to allocate a corresponding telescopic amount according to the travel demand; A cutting drum, which is arranged at the periphery of the front steel link, comprises a drum, cutting teeth and a drum driving system, wherein the cutting teeth are evenly distributed on the drum, and the drum driving system is connected to the drum; The compression ring is respectively arranged on the front end steel link and the rear end steel link, and comprises a support shoe plate and a support rod. The support shoe plate is connected to the support rod, and the support rod is connected to the propulsion cylinder of the mechanical equipment.

2. The mechanical device according to claim 1, characterized in that: The mechanical device is a hollow cavity type annular mechanical device.

3. The mechanical device according to claim 2, characterized in that: The cross-section of the steel link is circular, elliptical, polygonal or rectangular.

4. The mechanical device according to claim 3, characterized in that: The mechanical equipment can be configured as an open type mechanical equipment or a closed type mechanical equipment according to the operation requirements.

5. The mechanical device according to claim 4, characterized in that: The enclosed mechanical equipment is configured to be sealed at the hinged parts of the steel links by means of a combined sealing method of annular elasticity and a bladder bag; the combined sealing of elasticity and a bladder bag is arranged in a whole circle around the cross section, and its expansion value is dynamically adjusted according to the geological conditions of the surrounding strata and the posture of the mechanical equipment.

6. The mechanical device according to claim 4, characterized in that: The open type mechanical device is configured as a steel structural frame with a housing removed.

7. The mechanical device according to any one of claims 1 to 6, characterized in that: The number of the telescopic devices is no less than 4, and the telescopic devices are hydraulic or screw.

8. The mechanical device according to any one of claims 1 to 6, characterized in that: The mechanical equipment is integrated with a robot arm or an operating device, and the type of external equipment can be replaced according to operating requirements.

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