CN206873478U - A kind of underground shaft robot - Google Patents
A kind of underground shaft robot Download PDFInfo
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- CN206873478U CN206873478U CN201720434165.9U CN201720434165U CN206873478U CN 206873478 U CN206873478 U CN 206873478U CN 201720434165 U CN201720434165 U CN 201720434165U CN 206873478 U CN206873478 U CN 206873478U
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- underground shaft
- digging arm
- shaft robot
- underground
- cabin
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Abstract
The utility model discloses a kind of underground shaft robot, for excavating the earthwork in underground shaft, the underground shaft robot includes a cabin, and some horizontal struts are outward extended with the outside wall surface of the cabin, to be supported on the guide and limit part of the underground shaft inner surface；The bottom of the cabin is provided with attitude regulation mechanism；It is hinged in the attitude regulation mechanism and is provided with a digging arm.The utility model has the advantages that（1）Underground shaft robot uses hydraulic power, can operation under water；（2）Disturbance to periphery soil layer is smaller, can be worked in the narrow and small environment in city, not influence the sedimentation on surrounding building and ground；（3）Underground shaft robot can automatic mining, digging efficiency is high, and its digging arm can carry out the free adjustment control of brachium, luffing angle and the anglec of rotation, excavates scope and adaptability is wider.
Description
Technical field
It the utility model is related to Open caisson construction technology field, and in particular to a kind of underground shaft robot.
Background technology
Open caisson is the works of pit shaft shape, and it is to be cut the earth in well, is sunk after overcoming borehole wall frictional resistance by self gravitation
To designed elevation, then by concrete sealing bottom and wellhole is clogged, become the basis of Bridge Pier or other structures thing.
Need to continue to excavate the earthwork inside vertical shaft during open caisson construction, to promote the pit shaft of open caisson to settle downwards.Due to open caisson
Diameter generally only have several meters, therefore can not be in the large-scale excavating equipment of open caisson On-premise.In the prior art mostly using length
The earthwork inside equipment crawl open caisson is grabbed in arm excavator or punching, but above-mentioned excavation mode needs that open caisson inside is carried out to continue drop
Water, this can cause the earth's surface on open caisson periphery to settle, and have a strong impact on the security performance of open caisson neighboring buildings；In addition above-mentioned excavation
Means, which also exist, excavates the problem of efficiency is low, noise is excessive.
The content of the invention
The purpose of this utility model is according in place of above-mentioned the deficiencies in the prior art, there is provided a kind of underground shaft robot,
The underground shaft robot is reduced work progress and periphery soil layer is disturbed using water proof structure and the excavation mode of automation
It is dynamic to effectively improve earth excavation efficiency simultaneously.
The utility model purpose is realized and completed by following technical scheme：
A kind of underground shaft robot, for excavating the earthwork in underground shaft, the underground shaft robot includes one
Cabin, some horizontal struts is outward extended with the outside wall surface of the cabin, for being supported on the underground shaft inner surface
On guide and limit part；The bottom of the cabin is provided with attitude regulation mechanism；It is hinged in the attitude regulation mechanism and is provided with one
Digging arm.
The digging arm is an extension type digging arm, and its leading section has the hobboing cutter for being used for cutting soil.
The attitude regulation mechanism includes the revolution adjusting part and angle of pitch adjusting part set from top to bottom.
The angle of pitch adjusting part is made up of pedestal and hydraulic jack, and the tail end of the digging arm is articulated with the base
On seat, the telescopic end of the hydraulic jack is articulated with the arm of the digging arm, to pass through the flexible tune of the hydraulic jack
Save the luffing angle of the digging arm.
The front end of the digging arm is provided with mud draw-out device；The mud draw-out device connects muddy water point by pipeline
From device.
The front end of the digging arm is provided with hobboing cutter flusher.
The utility model has the advantages that（1）Underground shaft robot uses hydraulic power, can operation under water；（2）It is right
The disturbance of periphery soil layer is smaller, can be worked in the narrow and small environment in city, not influence the sedimentation on surrounding building and ground；（3）Ground
Lower vertical shaft robot can automatic mining, digging efficiency is high, and its digging arm can carry out brachium, luffing angle and the anglec of rotation
Free adjustment control, excavates scope and adaptability is wider.
Brief description of the drawings
Fig. 1 is the side view of underground shaft robot of the present utility model in use；
Fig. 2 is the top view of underground shaft robot of the present utility model in use.
Embodiment
Feature of the present utility model and other correlated characteristics are made further specifically by embodiment below in conjunction with accompanying drawing
It is bright, in order to the understanding of technical staff of the same trade：
Such as Fig. 1-2, mark 1-15 is respectively in figure：Underground shaft 1, vertical shaft robot 2, cabin 3, horizontal strut 4, guiding
Locating part 5, attitude regulation mechanism 6, digging arm 7, hobboing cutter 8, revolution adjusting part 9, angle of pitch adjusting part 10, pedestal 11, liquid
Compressing cylinder 12, elevator thermomechanical components 13, pipelined frame 14, reinforced concrete foundation 15.
Embodiment：As shown in Figure 1, 2, the present embodiment is specifically related to a kind of underground shaft robot, is erected for excavating underground
The earthwork in well 1, the underground shaft robot 2 of the present embodiment includes a cabin 3, if being outward extended with the outside wall surface of cabin 3
Dry root horizontal strut 4, the end of horizontal strut 4 are used for the guide and limit part 5 for being supported on the inner surface of underground shaft 1, are oriented to limit
Position part 5 is used to provide stable upward support force to each horizontal strut 4；The bottom of cabin 3 is provided with attitude regulation mechanism 6；Appearance
It is hinged on state governor motion 6 and is provided with a digging arm 7；Front end is connected with the hobboing cutter 8 for cutting the bottom soil of underground shaft 1.
Attitude regulation mechanism 6 includes the revolution adjusting part 9 inside cabin 3 and is connected to revolution adjusting part 9
The angle of pitch adjusting part 10 of bottom, digging arm 7 are hinged on the bottom of angle of pitch adjusting part 10；Turning round adjusting part 9 can be with
Drive angle of pitch adjusting part 10 and the synchronous revolving of digging arm 7, in the present embodiment, the revolution range of revolution adjusting part 9 is
Positive and negative 180 °, so as to prevent the cable winds in cabin 3.In angle of pitch adjusting part 10 by pedestal 11 and hydraulic jack
12 compositions, the tail end of digging arm 7 are articulated with pedestal 11；The telescopic end of hydraulic jack 12 is articulated with the arm of digging arm 7, its
The other end is hinged on the pedestal 11；By the luffing angle for the flexible i.e. adjustable digging arm 7 for adjusting hydraulic jack 12.
As shown in Figure 1, 2, digging arm 7 is an extension type digging arm, and it is internally provided with the retractor device of hydraulic-driven,
By the retractor device, the brachium of digging arm 7 can be adjusted.In the present embodiment, adjusting part 9 is turned round, inside digging arm 7
The hobboing cutter 8 of retractor device and digging arm 7 uses hydraulic jack or hydraulic motor as power, so as to be suitable for making under water
Industry, avoid causing to touch the failures such as electric leakage using power components.
In the present embodiment, underground shaft robot 2 need not extract the underground water in underground shaft 1 in mining process,
The underground shaft robot 1 being hydraulically operated can carry out digging operation under water；Control room outside vertical shaft 1 located underground can
Manually to be controlled underground shaft robot 1, semiautomatic control or automatic Programming control；Display in control room
Equipment can show the various data and monitored picture of excavating equipment.
In the present embodiment, the front end of digging arm 7 is also equipped with mud draw-out device and hobboing cutter flusher；In vertical shaft
During robot 2 excavates the earthwork of the bottom of underground shaft 1, the mud of the bottom of underground shaft 1 is extracted using mud draw-out device
Starch and be delivered to ground, mud-water separation processing is carried out to mud, isolated water is emitted into underground shaft 1 after processing
Portion；Hobboing cutter flusher is used to spray High-Pressure Water to hobboing cutter 8, and High-Pressure Water can clean to hobboing cutter 8.
As shown in Figure 1, 2, the underground shaft robot 2 of the present embodiment also includes elevator thermomechanical components 13 and pipelined frame
14, in the present embodiment, the number three of elevator thermomechanical components 13, the reinforcing bar that elevator thermomechanical components 13 are arranged on outside underground shaft 1 mixes
The surface of solidifying earth foundation 15；Lifting eye on the horizontal strut 4 of the wirerope connection vertical shaft robot 2 of elevator thermomechanical components 13；Elevator
Thermomechanical components 13 are used to drive vertical shaft robot 2 vertically to move；Pipelined frame 14 is similarly installed at outside underground shaft 1
Reinforced concrete foundation 15 surface, pipelined frame 14, which is used to support, is connected to various pipelines in cabin 3.
As shown in Figure 1, 2, in the present embodiment, the guide and limit part 5 of the inner surface of underground shaft 1 has top buckle and bottom
Portion's buckle, coordinate elevator thermomechanical components 13 horizontal strut 4 of vertical shaft robot 2 can be fixed on into the top buckle or the bottom
Portion's buckle, and then adjust the height of the vertical shaft robot 2 and excavate scope.
As shown in Figure 1, 2, the earthwork for underground shaft bottom being excavated using the vertical shaft robot of the present embodiment includes following step
Suddenly：
（1）In the guide and limit part 5 that the inner surface installation of underground shaft 1 matches with vertical shaft robot 2；In the present embodiment
In, the number of guide and limit part 5 is four, and four guide and limit parts 5 are located at identical height, and are distributed in underground at equal intervals and erect
The inner surface of well 1；Vertical shaft robot 2 is lifted to underground shaft 1 after the installation of guide and limit part 5, and by vertical shaft machine
The horizontal strut 4 of people 2 is set up to corresponding guide and limit part 5.
（2）In digging process is carried out by vertical shaft robot 2, digging arm 7 is adjusted by angle of pitch adjusting part 10
Angle of inclination, and the length of telescopic adjustment digging arm 7, so that the hobboing cutter 8 of the front end of digging arm 7 is located at required excavating radius and depth
On degree；Digging arm 7 is driven to carry out the revolution excavation soil body by turning round adjusting part 9；The front end of digging arm 7 is also equipped with mud and taken out
Take device；During underground shaft robot 1 excavates the earthwork of underground shaft bottom, extract ground using mud draw-out device
The mud of the lower bottom of vertical shaft 1 is simultaneously delivered to ground, carries out mud-water separation processing to mud, discharges isolated water after processing
To underground shaft.
The advantageous effects of the present embodiment are：（1）Underground shaft robot uses hydraulic power, can make under water
Industry；（2）Disturbance to periphery soil layer is smaller, can be worked in the narrow and small environment in city, does not influence the heavy of surrounding building and ground
Drop；（3）Underground shaft robot can automatic mining, digging efficiency is high, and its digging arm can carry out brachium, luffing angle and rotation
The free adjustment control of gyration, excavates scope and adaptability is wider.
Claims (6)
1. a kind of underground shaft robot, for excavating the earthwork in underground shaft, the underground shaft robot includes a machine
Cabin, some horizontal struts is outward extended with the outside wall surface of the cabin, for being supported in leading for the underground shaft inner surface
To on locating part；The horizontal strut has lifting eye；The guide and limit part has top buckle and bottom buckle；The machine
The bottom in cabin is provided with attitude regulation mechanism；It is hinged in the attitude regulation mechanism and is provided with a digging arm.
2. a kind of underground shaft robot according to claim 1, it is characterised in that the digging arm is an extension type
Digging arm, its leading section have the hobboing cutter for being used for cutting soil.
3. a kind of underground shaft robot according to claim 1, it is characterised in that the attitude regulation mechanism is included certainly
The revolution adjusting part and angle of pitch adjusting part of upper and lower setting.
4. a kind of underground shaft robot according to claim 3, it is characterised in that the angle of pitch adjusting part is by base
Seat and hydraulic jack composition, the tail end of the digging arm are articulated with the pedestal, and the telescopic end of the hydraulic jack is hinged
With the arm of the digging arm, to pass through the luffing angle of digging arm described in the telescopic adjustment of the hydraulic jack.
5. a kind of underground shaft robot according to claim 1, it is characterised in that the front end of the digging arm is provided with
Mud draw-out device；The mud draw-out device connects device for separating mud and water by pipeline.
6. a kind of underground shaft robot according to claim 1, it is characterised in that the front end of the digging arm is provided with
Hobboing cutter flusher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434165.9U CN206873478U (en) | 2017-04-24 | 2017-04-24 | A kind of underground shaft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434165.9U CN206873478U (en) | 2017-04-24 | 2017-04-24 | A kind of underground shaft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206873478U true CN206873478U (en) | 2018-01-12 |
Family
ID=61343147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720434165.9U Active CN206873478U (en) | 2017-04-24 | 2017-04-24 | A kind of underground shaft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206873478U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
| CN109553024A (en) * | 2018-12-06 | 2019-04-02 | 中信重工机械股份有限公司 | A kind of single roller multiple spot lift for the method swing type shaft excavation machine that sinks |
-
2017
- 2017-04-24 CN CN201720434165.9U patent/CN206873478U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109553024A (en) * | 2018-12-06 | 2019-04-02 | 中信重工机械股份有限公司 | A kind of single roller multiple spot lift for the method swing type shaft excavation machine that sinks |
| CN109553024B (en) * | 2018-12-06 | 2024-08-13 | 中信重工机械股份有限公司 | Single-roller multi-point lifting device for sinking swing type vertical shaft heading machine |
| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
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