CN114029291B - Shield tunneling machine pipeline cleaning robot, shield tunneling machine and shield tunneling machine pipeline cleaning method - Google Patents
Shield tunneling machine pipeline cleaning robot, shield tunneling machine and shield tunneling machine pipeline cleaning method Download PDFInfo
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- CN114029291B CN114029291B CN202111306444.4A CN202111306444A CN114029291B CN 114029291 B CN114029291 B CN 114029291B CN 202111306444 A CN202111306444 A CN 202111306444A CN 114029291 B CN114029291 B CN 114029291B
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- cleaning robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 70
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005641 tunneling Effects 0.000 title claims description 11
- 239000002002 slurry Substances 0.000 claims abstract description 70
- 238000007789 sealing Methods 0.000 claims abstract description 35
- 230000000903 blocking effect Effects 0.000 claims abstract description 13
- 239000000126 substance Substances 0.000 claims abstract description 13
- 238000002347 injection Methods 0.000 claims description 19
- 239000007924 injection Substances 0.000 claims description 19
- 238000004804 winding Methods 0.000 claims description 18
- 238000007599 discharging Methods 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000003116 impacting effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 12
- 239000000463 material Substances 0.000 abstract description 8
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 239000002893 slag Substances 0.000 description 9
- 239000007788 liquid Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000011001 backwashing Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011440 grout Substances 0.000 description 1
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- 238000011165 process development Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/032—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces by the mechanical action of a moving fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a shield machine pipeline cleaning robot and a shield machine, which comprise a supporting main body, a crushing assembly and a sealing head, wherein the rear end of the crushing assembly is arranged at the front end of the supporting main body, the front end of the crushing assembly axially penetrates through the sealing head, the side surface of the periphery of the sealing head is matched with and attached to the shape of the inner wall of a main slurry discharge pipe, a plurality of groups of tightening devices are arranged on the periphery of the supporting main body, the tightening devices can radially open and tighten the inner wall of the main slurry discharge pipe, and the crushing assembly can extend forwards to impact blocking substances in the main slurry discharge pipe. The efficiency of the removal of blocking material in the main slurry discharge pipe is improved to avoid the cleaning work that wastes time and energy such as detecting, tear the pipe open, cut and mend the pipeline, improved the security performance and the efficiency of construction of shield structure machine pipeline cleaning operation greatly. The invention also discloses a shield machine pipeline cleaning method applying the shield machine pipeline cleaning robot.
Description
Technical Field
The invention relates to the field of shield equipment, in particular to a shield machine pipeline cleaning robot and a shield machine. In addition, the invention also relates to a shield machine pipeline cleaning method.
Background
In recent years, due to the outstanding advantages of the shield method and the rapid development and maturity of the shield construction technology, the shield method is widely applied to tunnel engineering with urbanization process development and rapid increase of traffic demand, and the slurry balance shield machine is made to become a preferred construction device in various large tunnel engineering, particularly river-crossing and sea-crossing tunnel engineering construction needing better tunnel quality control, construction safety performance guarantee and the like due to the advantages of safe and reliable construction operation, high settlement control precision, green and environment-friendly formed tunnels and the like.
However, although the construction of the slurry balance shield machine has outstanding advantages, the particle size of the slag must be strictly controlled depending on the characteristics of slag discharged by a pipeline pump, so a quarrying box is arranged on a slurry discharge pipeline at the front part of a slurry discharge pump of the shield machine; or a stone crusher and a grating can be arranged in front of the main slurry discharge pipe orifice of the shield tunneling machine in the intermittent control mode, so that most of slag blocks can be smoothly discharged out of the tunnel. However, when the tunnel is tunneled in a pebble layer, the main slurry discharge pipe at the front section of the quarrying box in the direct control mode cannot limit the particle size of the slag block or the long-strip-shaped slag block grating in the indirect control mode is difficult to completely block, so that the main slurry discharge pipe at the front section of the quarrying box is blocked by the slag block, and the back washing is difficult to remove, which often causes the problems that the cleaning work such as detecting, pipe dismantling, even cutting and repairing the pipeline is time-consuming and labor-consuming, the shield efficiency is affected, and the construction risk is increased.
Therefore, how to provide a shield machine pipeline cleaning robot which overcomes the problems is a technical problem which needs to be solved by the technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide a shield machine pipeline cleaning robot and a shield machine, which improve the efficiency of removing blocking substances in a main slurry discharge pipe, avoid time-consuming and labor-consuming cleaning work such as detection, pipe disassembly, pipeline cutting and repairing and the like, and greatly improve the safety performance and the construction efficiency of shield machine pipeline cleaning work. The invention also aims to provide a shield machine pipeline cleaning method applying the robot.
In order to solve the technical problem, the invention provides a shield machine pipeline cleaning robot which comprises a supporting main body, a crushing assembly and a sealing head, wherein the rear end of the crushing assembly is mounted at the front end of the supporting main body, the front end of the crushing assembly axially penetrates through the sealing head, the peripheral side face of the sealing head is matched with and attached to the inner wall of a main slurry discharge pipe in shape, a plurality of groups of tightening devices are arranged on the periphery of the supporting main body, the tightening devices can radially open and tighten the inner wall of the main slurry discharge pipe, and the crushing assembly can forwardly extend to impact blocking substances in the main slurry discharge pipe.
Preferably, the crushing assembly comprises an axially extending crushing hammer, a rear mounting seat is sleeved at the rear end of the crushing hammer, a front mounting seat is sleeved at the front end of the crushing hammer, an opening used for extending the front end of the crushing hammer is formed in the front end of the front mounting seat, and the front end of the rear mounting seat is fixedly connected with the rear end of the front mounting seat.
Preferably, the front end face of the front mounting seat is provided with a plurality of axially extending mounting grooves, and cameras are mounted in the mounting grooves.
Preferably, the sealing head is sleeved on the front mounting seat, the front mounting seat axially penetrates through the sealing head, the support main body comprises a base frame extending axially, the base frame is hollow, the rear mounting seat is inserted into the front end of the base frame, and the sealing head is fixedly connected with the front end of the support main body.
Preferably, a pull ring is arranged at the rear end of the rear mounting seat, and the pull ring extends out of the rear end of the base frame.
Preferably, prop tight device including fixed mounting in two articulated seats of bed frame outer wall and flexible connection in the two-way hydro-cylinder of bed frame outer wall, two articulated seat axial is arranged, two-way hydro-cylinder axial extension is located two between the articulated seat, prop tight device still include two supports and two prop tight wheels, the middle part of support articulated with articulated seat is articulated, the outer end of support with prop tight wheel articulated, two the inner of support is articulated respectively two of two-way hydro-cylinder stretch out the end.
Preferably, the pedestal and the rear mounting seat are axially extending hexagonal sleeves, the sealing head and the front mounting seat are axially extending cylindrical sleeves, and the components are fixedly connected through bolts and comprise three groups of uniformly distributed tightening devices.
Preferably, the slurry pump further comprises a three-way reversing valve communicated with the main slurry discharge pipe and an originating pipe communicated with the three-way reversing valve, the rear end of the originating pipe is connected with a pipeline winding and unwinding device, a pipeline on the pipeline winding and unwinding device is connected with the rear end of the supporting main body, the supporting main body is placed in the originating pipe in an initial state, and a front air injection valve and a rear air injection valve are arranged at two ends of the originating pipe.
The invention provides a shield machine, which comprises a main slurry discharge pipe and a shield machine pipeline cleaning robot connected with the main slurry discharge pipe, wherein the shield machine pipeline cleaning robot is any one of the shield machine pipeline cleaning robots.
The invention provides a shield machine pipeline cleaning method, which comprises the following steps:
judging whether the main slurry discharging pump is blocked according to the pressure change in the main slurry discharging pipe, and stopping the main slurry discharging pump if the main slurry discharging pump is blocked;
the three-way reversing valve is used for reversing to enable the main slurry discharge pipe to be communicated with the starting pipe, the rear air injection valve is opened, the pipeline retracting device is used for paying off, and the supporting main body, the crushing assembly and the sealing head are sent to a blockage position along the main slurry discharge pipe;
the inner wall of the main slurry discharge pipe is propped by the working of the propping device, and the crushing assembly impacts blocking substances;
after cleaning, the pipeline winding and unwinding device winds up, the supporting main body, the crushing assembly and the sealing head are retracted to the starting pipe, and the three-way reversing valve reverses to enable the main slurry discharge pipe to be communicated with an equipment pipeline.
The invention provides a shield machine pipeline cleaning robot and a shield machine, which comprise a supporting main body, a crushing assembly and a sealing head, wherein the rear end of the crushing assembly is installed at the front end of the supporting main body, the front end of the crushing assembly axially penetrates through the sealing head, the peripheral side surface of the sealing head is matched with and attached to the inner wall of a main slurry discharge pipe in shape, a plurality of groups of tightening devices are arranged on the periphery of the supporting main body, the tightening devices can radially open and tighten the inner wall of the main slurry discharge pipe, and the crushing assembly can extend forwards to impact blocking substances in the main slurry discharge pipe.
When the discovery owner arranges the intraductal jam of thick liquid, send the robot to the jam position, prop tight device and prop tight owner and arrange thick liquid intraductal wall, the fixed robot position, then broken subassembly work strikes and blocks up the material, through the intraductal jam material of the quick broken clearance of robot, the efficiency of abolishing of blocking up the intraductal jam material of owner row thick liquid has been promoted, thereby it detects to have avoidd, tear the pipe open, cut the clearance work that wastes time and energy such as benefit pipeline, the security performance and the efficiency of construction of shield structure machine pipeline clearance operation have been improved greatly.
The invention also provides a shield machine pipeline cleaning method applying the shield machine pipeline cleaning robot, and the shield machine pipeline cleaning robot has the technical effects, so the shield machine pipeline cleaning method also has the same technical effects, and detailed description is omitted.
Drawings
Fig. 1 is a schematic structural diagram of a shield machine pipeline cleaning robot according to an embodiment of the present invention;
FIG. 2 is an exploded view of one embodiment of a shield machine pipeline cleaning robot provided in the present invention;
FIG. 3 is an exploded view of a crushing module of one embodiment of a shield machine pipeline cleaning robot provided by the present invention;
FIG. 4 is a schematic rear end view of a support body in one embodiment of a shield machine pipeline cleaning robot provided in the present invention;
fig. 5 is a schematic structural diagram of a tightening device in an embodiment of the shield machine pipeline cleaning robot provided by the present invention;
FIG. 6 is a schematic diagram of an initial state of a shield machine pipeline cleaning robot according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a shield machine pipeline cleaning robot according to an embodiment of the present invention before crushing;
fig. 8 is a schematic diagram of a shield machine pipeline cleaning robot after crushing according to a specific embodiment of the present invention.
Wherein, 1, supporting the main body; 11. a base frame; 12. a main body flange; 13. closing plates; 2. a crushing assembly; 21. a breaking hammer; 22. a rear mounting seat; 23. a front mounting base; 24. a camera; 25. a fixing plate; 26. a pull ring; 3. a sealing head; 31. a plunger; 32. a plunger flange; 4. a tightening device; 41. a hinged seat; 42. a bidirectional oil cylinder; 43. a support; 44. a tensioning wheel; 5. a three-way reversing valve; 6. an originating tube; 61. a front air injection valve; 62. a rear air injection valve; 7. a pipeline deploying and retracting device; 8. and a main slurry discharge pipe.
Detailed Description
The core of the invention is to provide the shield machine pipeline cleaning robot and the shield machine, which improve the efficiency of breaking blocking substances in the main slurry discharge pipe, thereby avoiding the time-consuming and labor-consuming cleaning work of detecting, pipe dismantling, pipeline cutting and repairing and the like, and greatly improving the safety performance and the construction efficiency of the shield machine pipeline cleaning work. The other core of the invention is to provide a shield machine pipeline cleaning method applying the robot.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a shield machine pipeline cleaning robot according to an embodiment of the present invention; fig. 2 is an exploded schematic view of a shield machine pipeline cleaning robot according to an embodiment of the present invention.
The invention provides a shield machine pipeline cleaning robot which comprises a supporting main body 1, a crushing assembly 2 and a sealing head 3, wherein the rear end of the crushing assembly 2 is installed at the front end of the supporting main body 1, the front end of the crushing assembly 2 axially penetrates through the sealing head 3, namely the sealing head 3, the crushing assembly 2 and the supporting main body 1 are sequentially arranged from front to back along the axial direction, the front end of the crushing assembly 2 can extend out from the front end of the sealing head 3, the peripheral side surface of the sealing head 3 is matched with and attached to the shape of the inner wall of a main slurry discharge pipe 8, meanwhile, the sealing head can freely move along the direction of the main slurry discharge pipe 8, the robot is guided to move in the pipe, a plurality of groups of tightening devices 4 are arranged on the periphery of the supporting main body 1, the tightening devices 4 are separated from the inner wall of the main slurry discharge pipe 8 when contracting, the robot can freely move in the pipe, the plurality of tightening devices 4 can radially expand and tighten the inner wall of the main slurry discharge pipe 8, the robot is fixed in position under the action of friction force, and the crushing assembly 2 can not move in the pipe to impact and block substances in the main slurry discharge pipe 8.
When blockking up in discovery owner arranges thick liquid pipe 8, send the robot to the jam position, prop tight device 4 and prop tight owner and arrange thick liquid pipe 8 inner wall, the fixed robot position, then 2 work impacts of broken subassembly block up the material, through the intraductal jam material of the quick broken clearance of robot, the efficiency of abolishing to blocking up the material in the thick liquid pipe 8 of main row has been promoted, thereby avoided detecting, tear the pipe open, cut the clearance work that wastes time and energy such as mending the pipeline, the security performance and the efficiency of construction of shield structure machine pipeline clearance operation have been improved greatly.
Referring to fig. 2 to 5, fig. 3 is an exploded schematic view of a crushing assembly of a shield machine pipeline cleaning robot according to an embodiment of the present invention; FIG. 4 is a schematic rear end view of a support body in one embodiment of a shield machine pipeline cleaning robot provided by the present invention; fig. 5 is a schematic structural diagram of a tightening device in a specific embodiment of a shield machine pipeline cleaning robot provided by the present invention.
Specifically, broken subassembly 2 includes quartering hammer 21, back mount pad 22 and preceding mount pad 23, and wherein quartering hammer 21 axial extension, back mount pad 22 suit are in quartering hammer 21 rear end, and preceding mount pad 23 suit is in quartering hammer 21 front end, and preceding mount pad 23 front end is provided with the opening simultaneously for the flexible hammer business turn over of quartering hammer 21 front end, and 23 rear ends of mount pad before back mount pad 22 front end fixed connection. Further, a mounting flange is arranged at the edge of the front end face of the rear mounting seat 22, the rear end face of the front mounting seat 23 is connected through axially extending bolts, namely the sum of the lengths of the rear mounting seat 22 and the front mounting seat 23 is larger than that of the breaking hammer 21, the rear mounting seat 22 and the breaking hammer 21 can be connected through radially extending bolts, and stable connection of all parts is achieved through the rear mounting seat 22 and the front mounting seat 23.
The preceding terminal surface of preceding mount pad 23 is provided with a plurality of axially extended mounting grooves, installs camera 24 in the mounting groove to connect the spacing step of mounting groove through the fixed plate 25 of card at camera 24 head. Specifically, three cameras 24 that set up evenly to arrange also can be according to operating condition needs, the quantity of adjustment camera 24, or change or add the washing shower nozzle, sets up the wire casing that the pipeline passed on mounting flange simultaneously.
In the shield machine pipeline cleaning robot provided by the embodiment of the invention, in order to realize stable connection, the sealing head 3 comprises a plunger 31 and a plunger flange 32 arranged at the inner edge of the front end face of the plunger 31, the plunger 31 is sleeved on the front mounting seat 23, the front mounting seat 23 axially penetrates through the plunger 31, the front end face of the plunger 31 is flat with the front end face of the front mounting seat 23, and sealing rings are arranged at various positions of the plunger 31 to ensure that the contact surface is strictly sealed. Support main part 1 includes axial extension's bed frame 11, the inside cavity of bed frame 11, and the terminal surface outward flange department is provided with main body flange 12 before 11 bed frames, and back mount pad 22 inserts 11 front ends of bed frame, and plunger 31 rear end face and the laminating of main body flange 12 and the bolted connection through axial extension, the length of plunger 31 and bed frame 11 promptly and the length that is greater than crushing unit 2 still can be through radially extending bolted connection bed frame 11 and back mount pad 22.
Specifically, the base frame 11 and the rear mounting seat 22 are axially extending hexagonal cylindrical sleeves, the plunger 31 and the front mounting seat 23 are axially extending cylindrical sleeves, the rear end of the breaking hammer 21 is a hexagonal prism, the front end of the breaking hammer is a cylinder, all the components are sequentially sleeved, meanwhile, the hexagonal prism structure can also realize circumferential positioning, and the shapes and the connection modes of all the components can be adjusted according to conditions, which is within the protection scope of the invention.
Furthermore, a pull ring 26 is arranged at the rear end of the rear mounting seat 22, a sealing plate 13 is arranged at the rear end of the frame 11, a through hole is formed in the middle of the sealing plate 13, the pull ring 26 extends out of the through hole, the pull ring 26 is used for connecting a cable, and the through hole can be used for the inlet and outlet of a pipeline.
In the shield tunneling machine pipeline cleaning robot provided by the embodiment of the invention, the tightening device 4 comprises two hinged seats 41 fixedly mounted on the outer wall of the pedestal 11 and a bidirectional oil cylinder 42 flexibly connected to the outer wall of the pedestal 11, the two hinged seats 41 are axially arranged, the bidirectional oil cylinder 42 axially extends and is positioned between the two hinged seats 41, the tightening device 4 further comprises two brackets 43 and two tightening wheels 44, the tightening wheels 44 are designed by adopting high-wear-resistance and anti-skid materials, the middle part of each bracket 43 is hinged to the hinged seat 41, the outer end of each bracket 43 is hinged to the tightening wheels 44, and the inner ends of the two brackets 43 are respectively hinged to two extending ends of the bidirectional oil cylinder 42. Through the bending structure of the support 43, when tensioning is needed, two ends of the bidirectional oil cylinder 42 extend out to push the two supports 43, the supports 43 swing to enable the two tightening wheels 44 to radially extend out to abut against the main slurry discharge pipe 8, and during retraction, two ends of the bidirectional oil cylinder 42 retract to pull the two supports 43 and swing the supports 43 to enable the two tightening wheels 44 to radially retract to be separated from the main slurry discharge pipe 8. Because the bidirectional oil cylinder 42 is flexibly connected with the base frame 11, the spatial position of the bidirectional oil cylinder 42 can be finely adjusted, and the guide obstacle crossing of the front and rear tensioning wheels 44 can be realized by utilizing the fine adjustment of the bidirectional oil cylinder 42, so that the passing performance of the device is enhanced.
Specifically, three groups of tightening devices 4 which are uniformly distributed can be arranged, wherein the groups are separated by 120 degrees, all the parts are connected by bolts or in a threaded connection or a clamping connection, or the specific structure of the tightening devices 4 is adjusted according to the situation, and how to adopt a lifting structure is within the protection scope of the invention.
Referring to fig. 6 to 8, fig. 6 is a schematic view illustrating an initial state of a shield machine pipeline cleaning robot according to an embodiment of the present invention; FIG. 7 is a schematic diagram of a shield machine pipeline cleaning robot according to an embodiment of the present invention before crushing; fig. 8 is a schematic diagram of a shield machine pipeline cleaning robot after crushing according to a specific embodiment of the present invention.
On the basis of the shield machine pipeline cleaning robot provided by each specific embodiment, in order to realize the transmission of the movable parts of the robot, the robot further comprises a three-way reversing valve 5, a starting pipe 6 and a pipeline winding and unwinding device 7, wherein the three-way reversing valve 5 is respectively communicated with a main grout discharge pipe 8, the starting pipe 6 and an equipment pipeline, the rear end of the starting pipe 6 is connected with the pipeline winding and unwinding device 7, a pipeline on the pipeline winding and unwinding device 7 is connected with the rear end of the support main body 1, the pipeline winding and unwinding device 7 can be a motor-driven winding mechanism, the support main body 1 is placed in the starting pipe 6 in an initial state, and a front air injection valve 61 and a rear air injection valve 62 are arranged at two ends of the starting pipe 6.
The specific cleaning mode is as follows:
in an initial state, the three-way reversing valve 5 keeps the opening direction unchanged, the main slurry discharge pipe 8 is communicated with an equipment pipeline, the main slurry discharge pump keeps a working state, the shield machine enters a back washing mode to carry out non-differential washing on the whole section of main slurry discharge at the front part of the quarrying box, and the monitoring value P and the preset value P of a pressure gauge at the main slurry discharge pump are observed 0 The relation between the two is that when the preset back washing time is reached, if the observation result keeps that P is less than or equal to P 0 And if the fluctuation is not obvious, the blockage substances (slag blocks) are cleared, the pipeline is smooth, at the moment, the corresponding valve group is closed, the slurry discharge pump works normally, and the shield machine discharges and transports the slag slurry normally. If the observed results keep P > P 0 And the fluctuation is obvious, the blocking substance is possibly not cleaned, and at the moment, the robot is cleaned.
The main slurry discharging pump stops working, the three-way reversing valve 5 reverses to enable the main slurry discharging pipe 8 to be communicated with the starting pipe 6, the cleaning robot is arranged in the starting pipe 6, the front air injection valve 61 is firstly opened, partial compressed air is injected into the front part of the starting pipe 6 to prevent slurry in a slurry pipeline from flowing backwards into the starting pipe 6, and then the front air injection valve 61 is closed.
After the air injection valve 62 and the pipeline winding and unwinding device 7 are opened, the air injection pressure value and the rotating speed of the pipeline winding and unwinding device 7 are preset, so that the robot is propelled forwards at a constant speed.
The detection condition in the main slurry discharge pipe 8 is fed back in real time through the camera 24 arranged at the front part of the robot, when the position of a blocking substance is detected, the pipeline winding and unwinding device 7 stops paying off, the two-way oil cylinder 42 extends towards two ends in two directions, the inner wall of the main slurry discharge pipe 8 is firmly supported by the supporting wheel 44, the air injection pressure value is reduced, and the preparation work for blocking substance crushing is completed.
The breaking hammer 21 is started to work, the sum of the friction force between the tensioning wheel 44 and the pipe wall, the friction force between the plunger 31 and the pipe wall and the total thrust of air injection to the robot is not smaller than the reaction force required by the working of the breaking hammer 21, and meanwhile, the air injection pressure value, the extension amount of the bidirectional oil cylinder 42 and the paying-off amount of the pipeline winding and unwinding device 7 are adjusted in time according to the information detected and fed back by the camera 24 until the blockage is completely broken.
And then the bidirectional oil cylinder 42 retracts, the air injection pressure value and the rotating speed of the pipeline winding and unwinding device 7 are adjusted to be preset, the robot is propelled forwards at a constant speed, the pipeline is further detected, the steps are repeated when a blockage is found, and the next step is continued if no blockage exists.
After all the blockages are broken, the rear air injection valve 62 is closed, the air pressure release valve on the originating pipe 6 is opened, the bidirectional oil cylinder 42 is completely retracted, the pipeline winding and unwinding device 7 is reversely started, the robot is dragged to rapidly recover the blockages into the originating pipe 6, and the air pressure release valve is closed.
And the three-way reversing valve 5 is reversed to enable the main slurry discharge pipe 8 to be communicated with the quarrying box, the slurry discharge pump and the other slurry discharge pipes, the corresponding valve group is opened, the slurry discharge pump works, and the shield machine normally tunnels, discharges and transports slag slurry.
In addition to the above-mentioned shield machine pipeline cleaning robot, a specific embodiment of the present invention further provides a shield machine including the above-mentioned shield machine pipeline cleaning robot, and the structure of other parts of the shield machine refers to the prior art, which is not described herein again.
The shield machine pipeline cleaning robot, the shield machine and the shield machine pipeline cleaning method provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, it is possible to make various improvements and modifications to the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. The shield machine pipeline cleaning robot is characterized by comprising a supporting main body (1), a crushing assembly (2) and a sealing head (3), wherein the rear end of the crushing assembly (2) is installed at the front end of the supporting main body (1), the front end of the crushing assembly (2) axially penetrates through the sealing head (3), the peripheral side face of the sealing head (3) is matched with and attached to the shape of the inner wall of a main slurry discharge pipe (8), a plurality of groups of tightening devices (4) are arranged on the periphery of the supporting main body (1), the plurality of groups of tightening devices (4) can radially open and tighten the inner wall of the main slurry discharge pipe (8), and the crushing assembly (2) can forwards extend out to impact blocking substances in the main slurry discharge pipe (8);
the support device is characterized by further comprising a three-way reversing valve (5) communicated with the main slurry discharge pipe (8) and an originating pipe (6) communicated with the three-way reversing valve (5), wherein the rear end of the originating pipe (6) is connected with a pipeline winding and unwinding device (7), a pipeline on the pipeline winding and unwinding device (7) is connected with the rear end of the support main body (1), the support main body (1) is placed in the originating pipe (6) in an initial state, and a front air injection valve (61) and a rear air injection valve (62) are arranged at two ends of the originating pipe (6).
2. The shield tunneling machine pipeline cleaning robot according to claim 1, wherein the crushing assembly (2) comprises an axially extending crushing hammer (21), a rear mounting seat (22) is sleeved on the rear end of the crushing hammer (21), a front mounting seat (23) is sleeved on the front end of the crushing hammer (21), an opening for the front end of the crushing hammer (21) to extend out is arranged at the front end of the front mounting seat (23), and the front end of the rear mounting seat (22) is fixedly connected with the rear end of the front mounting seat (23).
3. The shield machine pipeline cleaning robot as claimed in claim 2, wherein the front end face of the front mounting seat (23) is provided with a plurality of axially extending mounting grooves, and cameras (24) are mounted in the mounting grooves.
4. The shield tunneling machine pipeline cleaning robot according to claim 3, wherein the sealing head (3) is sleeved on the front mounting seat (23), the front mounting seat (23) axially penetrates through the sealing head (3), the support body (1) comprises an axially extending pedestal (11), the pedestal (11) is hollow inside, the rear mounting seat (22) is inserted into the front end of the pedestal (11), and the sealing head (3) is fixedly connected with the front end of the support body (1).
5. The shield machine pipeline cleaning robot according to claim 4, characterized in that a pull ring (26) is provided at the rear end of the rear mounting seat (22), and the pull ring (26) extends from the rear end of the base frame (11).
6. The shield tunneling machine pipeline cleaning robot according to claim 5, wherein the stretching device (4) comprises two hinged seats (41) fixedly mounted on the outer wall of the base frame (11) and two-way oil cylinders (42) flexibly connected to the outer wall of the base frame (11), the two hinged seats (41) are axially arranged, the two-way oil cylinders (42) axially extend and are located between the two hinged seats (41), the stretching device (4) further comprises two supports (43) and two stretching wheels (44), the middle portions of the supports (43) are hinged to the hinged seats (41), the outer ends of the supports (43) are hinged to the stretching wheels (44), and the inner ends of the two supports (43) are hinged to the two extending ends of the two-way oil cylinders (42) respectively.
7. The shield machine pipeline cleaning robot according to claim 6, characterized in that the pedestal (11) and the rear mounting seat (22) are axially extending hexagonal sleeves, the sealing head (3) and the front mounting seat (23) are axially extending cylindrical sleeves, and the components are fixedly connected by bolts and comprise three groups of the tightening devices (4) which are uniformly distributed.
8. A shield machine is characterized by comprising a main slurry discharge pipe (8) and a shield machine pipeline cleaning robot connected with the main slurry discharge pipe (8), wherein the shield machine pipeline cleaning robot is specifically the shield machine pipeline cleaning robot as claimed in any one of claims 1 to 7.
9. A shield machine pipeline cleaning method is characterized by comprising the following steps:
judging whether the main slurry discharging pump is blocked according to the pressure change in the main slurry discharging pipe (8), and stopping the main slurry discharging pump if the main slurry discharging pump is blocked;
the three-way reversing valve (5) is reversed to enable the main slurry discharge pipe (8) to be communicated with the starting pipe (6), the rear air injection valve (62) is opened, the pipeline winding and unwinding device (7) is released, and the supporting main body (1), the crushing assembly (2) and the sealing head (3) are sent to a blockage position along the main slurry discharge pipe (8);
the stretching device (4) is used for stretching the inner wall of the main slurry discharge pipe (8) in a working mode, and the crushing assembly (2) is used for impacting blocked substances in a working mode;
after cleaning, the pipeline winding and unwinding device (7) winds up, the supporting main body (1), the crushing assembly (2) and the sealing head (3) are retracted to the starting pipe (6), the three-way reversing valve (5) reverses, and the main slurry discharge pipe (8) is communicated with an equipment pipeline.
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