阅读说明：本技术 沉井刃脚部位坚硬土层破碎及清渣装置及其施工方法 (The hard soil layer in caisson cutting edge position is broken and slag cleaning device and its construction method ) 是由 张鸿 杨秀礼 张永涛 翟世鸿 陈鸣 程茂林 徐杰 刘修成 管政霖 方之遥 吴中正 于 2019-08-07 设计创作，主要内容包括：本发明公开了一种沉井刃脚部位坚硬土层破碎及清渣装置及其施工方法,其中装置包括：回转部；铰刀架,其固定在回转部的下方；铰刀架的底端可拆卸的连接有铰刀头；液压系统,其驱动回转部和铰刀架的运动；控制单元,其包括：天线,其设置在回转部的上方；多种传感器,其分别设置在铰刀架上；测深仪,其设置在铰刀架上；控制器,其与天线、传感器、测深仪和液压系统分别连接,控制器对由天线、传感器和测深仪获取的数据进行分析,并依据分析结果控制液压系统运行。其通过天线以及多种传感器对铰刀头实时工作位置的获取,使绞刀头的实时工作位置始终保证和自动化破岩施工程序中预设的坐标位置保持一致,从而精准地完成整个沉井刃脚处挖掘施工作业。(The invention discloses a kind of hard soil layer in caisson cutting edge position is broken and slag cleaning device and its construction method, wherein device includes: rotating part；Cutter ladder is fixed on the lower section of rotating part；The bottom end of cutter ladder is removably connected with reamer head；Hydraulic system drives the movement of rotating part and cutter ladder；Control unit comprising: the top of rotating part is arranged in antenna；Multiple sensors are separately positioned on cutter ladder；Sounding instrument is arranged on cutter ladder；Controller is separately connected with antenna, sensor, sounding instrument and hydraulic system, and controller analyzes the data obtained by antenna, sensor and sounding instrument, and according to analysis result control hydraulic system operation.It passes through the acquisition of antenna and multiple sensors to reamer head real-time working position, make the real-time working position of reamer head be always ensured that and automate preset coordinate position in broken rock operational procedure to be consistent, to accurately complete to excavate construction operation at entire caisson cutting edge.)

1. a kind of hard soil layer in caisson cutting edge position is crushed and slag cleaning device, wherein include:

Rotating part；

Cutter ladder is fixed on the lower section of the rotating part；

Hydraulic system is separately connected with the rotating part and cutter ladder, to drive the movement of the rotating part and cutter ladder；

Control unit comprising:

The top of the rotating part is arranged in antenna, to obtain the location information and deflection angle information of the cutter ladder；

Multiple sensors are separately positioned on the cutter ladder, to detect the information of the cutter ladder；

Sounding instrument is arranged on the cutter ladder, to detect the excavating depth and elevation information of the reamer head of the cutter ladder；

Controller distinguishes communication connection, the controller pair with the antenna, multiple sensors, sounding instrument and hydraulic system It is analyzed by the data that the antenna, multiple sensors and sounding instrument obtain, and controls the hydraulic pressure system according to analysis result The operation of system.

2. the hard soil layer in caisson cutting edge position as described in claim 1 is crushed and slag cleaning device, wherein the cutter ladder passes through Support arm is fixed on the lower section of the rotating part.

3. the hard soil layer in caisson cutting edge position as described in claim 1 is crushed and slag cleaning device, wherein the antenna includes fixed Position antenna and directional aerial；The positioning antenna and directional aerial are vertically arranged in the two sides on the top of the rotating part respectively； The positioning antenna is used to obtain the location information of the cutter ladder；The directional aerial is used to obtain the deflection of the cutter ladder Angle information.

4. the hard soil layer in caisson cutting edge position as claimed in claim 2 is crushed and slag cleaning device, wherein the multiple sensors It specifically includes:

The cutter ladder is arranged in close to one end of the rotating part, to detect the cutter ladder in cutter ladder angular transducer In tilt angle information vertically and horizontally；

Telescopic arm displacement sensor is arranged on the telescopic arm of the cutter ladder, to detect the telescopic arm along the arm axle that stretches To the straight-line displacement information in direction；

Arm angle sensor is supported, is arranged on the support arm, to detect the rotation of the support arm in the horizontal direction Angle information；And

Immersible pump flow sensor is arranged on the immersible pump of the cutter ladder, to detect the mud stream in the immersible pump Measure information.

5. the hard soil layer in caisson cutting edge position as described in claim 1 is crushed and slag cleaning device, wherein the bottom of the cutter ladder End is removably connected with reamer head.

6. the hard soil layer in caisson cutting edge position as described in claim 1 is crushed and slag cleaning device, wherein set on the controller It is equipped with display screen, the detection data of antenna, multiple sensors and sounding instrument described in the display screen display, and the display The operation and control interface for being connected to the controller is provided on screen.

7. the hard soil layer in caisson cutting edge position as described in claim 1 is crushed and slag cleaning device, wherein further include inner support Frame is flexibly connected with the rotating part, and the inner support frame is laterally erected in open caisson compartment, so as to be set to the revolution Cutter ladder below portion positions in the open caisson.

8. a kind of as the hard soil layer in caisson cutting edge position of any of claims 1-7 is broken and the construction of slag cleaning device Method, wherein the following steps are included:

S1, the geological conditions according to construction site choose corresponding reamer head and are mounted on cutter ladder；

S2, rotating part is connect with inner support frame, inner support frame is fixed on the construction location of open caisson compartment；

S3, input job request on operation and control interface, controller according to by antenna and the data information of multiple sensors acquisition with And the D coordinates value of target point is excavated in the dimension information setting of cutter ladder；

S4, controller are cut according to the difference of the obtained D coordinates value and the D coordinates value of the current location of reamer head of S3 Cut thickness and mature setting；And according to setting result control hydraulic system operation, until reamer head reaches the excavation mesh of setting Punctuate；

S5, sounding instrument is installed on reamer head, and the measurement of the height and depth of excavation regions is judged to make according to sounding instrument Whether industry is qualified；It is then to terminate operation；It is no, then excavation regions are excavated again.

9. the hard soil layer in caisson cutting edge position as claimed in claim 8 is crushed and the construction method of slag cleaning device, wherein S4 In, in mining process, the position of the controller real-time detection reamer head and reception multiple sensors are sent the reamer head Data information, and according to received data information calculate reamer head real time position, then with the position of the reamer head of detection It compares, the position of the last reamer head according to real-time detection is controlled with the difference of the real time position for the reamer head being calculated The operation of hydraulic system.

Technical field

The present invention relates to caisson sinking construction technical field more particularly to a kind of hard soil layer in caisson cutting edge position it is broken and Slag cleaning device and its construction method.

Background technique

A kind of structure of the open caisson as underground space structures or High-Rise Building Deep Foundation or deep foundation pit supporting construction, there is it Unique engineer application condition and range.Open caisson cuts native sinking by blade foot, if open caisson does not set blade foot, open caisson is impossible to down It is heavy.When caisson sinking construction, blade foot is exactly kind of an edge of a knife, the open caisson Gravitative Loads incision soil on blade foot and top.When blade foot is hard When lithosphere, when blade foot and open caisson self weight can not cut soil, need by mechanical equipment or manually in the inside of open caisson and in blade foot Native sinking is taken below.

Well sinking method is mainly drainage sink and non-drainage subsidence method, and wherein non-drainage subsidence method is divided into flushing again Method bores suction method, grab bucket method.Douche is to be broken ground with giant, then with suction dredge spoil disposal, can rush and dig necromancer under blade foot and partition wall Body, but underwater control is not easy, it is inefficient.Boring suction method is to carry out pressure cutting to the underwater soil body with diving drill machine, then use high pressure Spoil disposal after hydraulic giant starches broken soil body mashed into paste, is soft soil layer sinking engineering method.Automatic backhoe grab bucket method is to use backhoe in water Digging machine, which directly shovels, digs the soil body below blade foot, then with the soil body caught away under shoveling, applicable soft soil foundation.Grab bucket method is can with grab bucket Grab and dig the open caisson lower center position soil body, but the soil body below caisson cutting edge and partition wall can not be handled, can only by blade foot and every The soil body voluntarily avalanche under open caisson Gravitative Loads under wall is difficult to reach effect there are security risk and to compared with hard stratum, and sinks Depth is unable to accurately control.

Summary of the invention

It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.

It is a still further object of the present invention to provide a kind of hard soil layer in caisson cutting edge position is broken and slag cleaning device, pass through day The acquisition of line and multiple sensors to reamer head real-time working position, make the real-time working position of reamer head be always ensured that and from Preset coordinate position is consistent in dynamicization broken rock operational procedure, to accurately complete to excavate construction at entire caisson cutting edge Operation.

To achieve the above object with some other purposes, the present invention adopts the following technical scheme:

A kind of hard soil layer in caisson cutting edge position is broken and slag cleaning device, comprising:

Rotating part；

Cutter ladder is fixed on the lower section of the rotating part；

Hydraulic system is separately connected with the rotating part and cutter ladder, to drive the fortune of the rotating part and cutter ladder It is dynamic；

Control unit comprising:

The top of the rotating part is arranged in antenna, to obtain the location information and deflection angle letter of the cutter ladder Breath；

Multiple sensors are separately positioned on the cutter ladder, to detect the information of the cutter ladder；

Sounding instrument is arranged on the cutter ladder, to detect the excavating depth and height of the reamer head of the cutter ladder Information；

Controller distinguishes communication connection, the control with the antenna, multiple sensors, sounding instrument and hydraulic system Device analyzes the data obtained by the antenna, multiple sensors and sounding instrument, and controls the liquid according to analysis result The operation of pressure system.

Preferably, the hard soil layer in caisson cutting edge position is broken and slag cleaning device in, the cutter ladder passes through branch Brace is fixed on the lower section of the rotating part.

Preferably, the hard soil layer in caisson cutting edge position is broken and slag cleaning device in, the antenna includes positioning Antenna and directional aerial；The positioning antenna and directional aerial are vertically arranged in the two sides on the top of the rotating part respectively；Institute State the location information that positioning antenna is used to obtain the cutter ladder；The directional aerial is used to obtain the deflection angle of the cutter ladder Spend information.

Preferably, the hard soil layer in caisson cutting edge position is broken and slag cleaning device in, the multiple sensors tool Body includes:

The cutter ladder is arranged in close to one end of the rotating part, to detect the hinge in cutter ladder angular transducer Knife rest is in tilt angle information vertically and horizontally；

Telescopic arm displacement sensor is arranged on the telescopic arm of the cutter ladder, to detect the telescopic arm along flexible The straight-line displacement information of arm axial direction；

Arm angle sensor is supported, is arranged on the support arm, to detect the support arm in the horizontal direction Rotation angle information；And

Immersible pump flow sensor is arranged on the immersible pump of the cutter ladder, to detect the mud in the immersible pump Starch flow information.

Preferably, the hard soil layer in caisson cutting edge position is broken and slag cleaning device in, the bottom end of the cutter ladder Removably it is connected with reamer head.

Preferably, the hard soil layer in caisson cutting edge position is broken and slag cleaning device in, be arranged on the controller There are display screen, the detection data of antenna, multiple sensors and sounding instrument described in the display screen display, and the display screen On be provided with the operation and control interface for being connected to the controller.

Preferably, the hard soil layer in caisson cutting edge position is broken and slag cleaning device in, further include inner support frame, It is flexibly connected with the rotating part, the inner support frame is laterally erected in open caisson compartment, so as to be set under the rotating part The cutter ladder of side positions in the open caisson.

A kind of hard soil layer in caisson cutting edge position is broken and the construction method of slag cleaning device, comprising the following steps:

S1, the geological conditions according to construction site choose corresponding reamer head and are mounted on cutter ladder；

S2, rotating part is connect with inner support frame, inner support frame is fixed on the construction location of open caisson compartment；

S3, job request is inputted on operation and control interface, controller is believed according to the data by antenna and multiple sensors acquisition The D coordinates value of target point is excavated in the setting of the dimension information of breath and cutter ladder；

The difference of the D coordinates value of the current location of D coordinates value and reamer head that S4, controller are obtained according to S3 into Row thickness of cutting and mature setting；And according to setting result control hydraulic system operation, until reamer head reaches the digging of setting Dig target point；

S5, sounding instrument is installed on reamer head, and the measurement of the height and depth of excavation regions is sentenced according to sounding instrument Whether disconnected operation is qualified；It is then to terminate operation；It is no, then excavation regions are excavated again.

Preferably, the hard soil layer in caisson cutting edge position is broken and the construction method of slag cleaning device in, in S4, institute Reamer head is stated in mining process, the position of the controller real-time detection reamer head and the data for receiving multiple sensors transmission Information, and the real time position of reamer head is calculated according to received data information, it is then carried out with the position of the reamer head of detection pair Than the position of the last reamer head according to real-time detection and the difference control hydraulic pressure system of the real time position for the reamer head being calculated The operation of system.

The present invention is include at least the following beneficial effects:

The hard soil layer in caisson cutting edge position of the invention is broken and slag cleaning device in, controller and antenna and multiple sensors Communication connection, such as controller can be configured in the control room in construction ground, controller is by collecting a variety of spatial attitudes The data of sensor establish the positional relationship transfer function model of catalase unit, calculate analysis reamer frame and support arm, sink The default operating position of angular position relative and reamer head between well inner wall, blade foot, by comparing reamer head real-time working position The difference with operating position preset in monitoring system is set, position compensation is carried out；By detecting the flow of immersible pump, spoil disposal is calculated Amount, it is flexible that realization accurately controls the adjustment each oil cylinder of hydraulic system, thus make the real-time working position of reamer head be always ensured that and Preset coordinate position is consistent in automation broken rock operational procedure, is applied to accurately complete to excavate at entire caisson cutting edge Work industry.

The present invention is substantially the automatic broken rock device based on underwater 3D guidance system, and controller is by Beidou Navigation System and more Kind spatial attitude sensor technology combines, and control unit is by collecting the spatial attitude information of reamer frame and the reality of reamer head When positional value and target location value difference and immersible pump in mud speed rate, then by spool, current limliting proportioning valve realize to master The control of valve, main pump, main valve throttling, main pump volumetric speed control, realizes the accurate control to oil cylinder each in hydraulic system, reaches one The purpose of automation blade foot catalase construction is carried out in a construction station, wherein rotating part can also drive reamer frame each to both sides 190 ° of revolutions, to further be accurately finished catalase operation at entire caisson cutting edge.Underwater 3D bootstrap technique and automatic The integrated of broken rock unit makes knife rest accurate positioning, and the hard soil layer of quick cutting edge foot part makes open caisson sink according to plan, to week Surrounding environment influence is small, high-efficient, and broken dregs forms mud and collects in an orderly manner, reduces dust pollution, energy conservation and environmental protection.

Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this The research and practice of invention and be understood by the person skilled in the art.

Detailed description of the invention

Fig. 1 is that the hard soil layer in caisson cutting edge position provided by the invention is broken and the structure chart of scarfing cinder constructing device.

Specific embodiment

It elaborates with reference to the accompanying drawing to the present invention, to enable those of ordinary skill in the art refering to energy after this specification It is enough to implement accordingly.

As shown in Figure 1, a kind of hard soil layer in caisson cutting edge position is crushed and slag cleaning device, comprising:

Rotating part 100；

Cutter ladder 110 is fixed on the lower section of the rotating part 100；

Hydraulic system is separately connected with the rotating part 100 and cutter ladder 110, to drive the rotating part 100 and hinge The movement of knife rest 110；

Control unit comprising:

The top of the rotating part 100 is arranged in antenna, to obtain location information and the deflection of the cutter ladder 110 Angle information；

Multiple sensors are separately positioned on the cutter ladder 110, to detect the information of the cutter ladder 110；

Sounding instrument 127 is arranged on the cutter ladder 110, to detect the digging of the reamer head 114 of the cutter ladder 110 Dig depth and elevation information；

Controller distinguishes communication connection, the control with the antenna, multiple sensors, sounding instrument 127 and hydraulic system Device processed analyzes the data obtained by the antenna, multiple sensors and sounding instrument 127, and controls institute according to analysis result State the operation of hydraulic system.

In the above scheme, controller and antenna and multiple sensors communication connection, such as controller can be configured at and be applied In control room on the face of building site, controller establishes catalase unit by the data of a variety of spatial attitude sensors of collection Positional relationship transfer function model calculates analysis reamer frame and support arm, open caisson inner wall, the angular position relative between blade foot, With the default operating position of reamer head, pass through preset operating position in comparison reamer head real-time working position and monitoring system Difference carries out position compensation；By detecting the flow of immersible pump, sludge volume is calculated, it is each that realization accurately controls adjustment hydraulic system A oil cylinder is flexible, so that the real-time working position of reamer head be made to be always ensured that and automate preset coordinate in broken rock operational procedure Position is consistent, to accurately complete to excavate construction operation at entire caisson cutting edge.

The present invention is substantially the automatic broken rock device based on underwater 3D guidance system, and controller is by Beidou Navigation System and more Kind spatial attitude sensor technology combines, and control unit is by collecting the spatial attitude information of reamer frame and the reality of reamer head When positional value and target location value difference and immersible pump in mud speed rate, then by spool, current limliting proportioning valve realize to master The control of valve, main pump, main valve throttling, main pump volumetric speed control, realizes the accurate control to oil cylinder each in hydraulic system, reaches one The purpose of automation blade foot catalase construction is carried out in a construction station, wherein rotating part can also drive reamer frame each to both sides 190 ° of revolutions, to further be accurately finished catalase operation at entire caisson cutting edge.

In addition, the sludge discharge pipeline of extension type is additionally provided on the reamer frame, in order to the discharge of muddy water.

In one preferred embodiment, the cutter ladder 110 is fixed on the lower section of the rotating part 100 by support arm 111.

In one preferred embodiment, the antenna includes positioning antenna 121 and directional aerial 122；121 He of positioning antenna Directional aerial 122 is vertically arranged in the two sides on the top of the rotating part 100 respectively；The positioning antenna 121 is for obtaining institute State the location information of cutter ladder 110；The directional aerial 122 is used to obtain the deflection angle information of the cutter ladder 110.

In one preferred embodiment, the multiple sensors are specifically included:

The cutter ladder 110 is arranged in close to one end of the rotating part 100, with inspection in cutter ladder angular transducer 123 The cutter ladder 110 is surveyed in tilt angle information vertically and horizontally；

Telescopic arm displacement sensor 124 is arranged on the telescopic arm 112 of the cutter ladder 110, described flexible to detect Straight-line displacement information of the arm 112 along 112 axial direction of telescopic arm；

Arm angle sensor 125 is supported, is arranged on the support arm 111, to detect the support arm 111 in level Rotation angle information on direction；And

Immersible pump flow sensor 126 is arranged on the immersible pump 113 of the cutter ladder 110, to detect the diving Mud flow rate information in pump 113.

In the above scheme, by the setting of above-mentioned multiple sensors, controller is allowed to collect a variety of spatial attitudes The data of sensor accurately calculate the difference of preset operating position in comparison reamer head real-time working position and monitoring system Value, and it is flexible to accurately control the adjustment each oil cylinder of hydraulic system, thus make the real-time working position of reamer head be always ensured that and from Preset coordinate position is consistent in dynamicization broken rock operational procedure, accurately completes to excavate construction work at entire caisson cutting edge Industry.

In one preferred embodiment, the bottom end of the cutter ladder 110 is removably connected with reamer head 114.

In the above scheme, reamer head and cutter ladder removably connect, and make it possible to achieve by replacing different type Twisting sucker head and teeth to adapt to the construction soil property of different hardness, generalization degree and applicability are high.

In one preferred embodiment, it is provided with display screen on the controller, it is antenna described in the display screen display, a variety of The detection data of sensor and sounding instrument 127, and the operation and control interface for being connected to the controller is provided on the display screen.

In the above scheme, by installing sensor in equipment, display screen is set on the controller, and by reamer position On a display screen with cutting parameter real-time display, make the key messages such as angle and depth of practical operation in work progress visual Change, in work progress, it is only necessary to input required depth and angle, can realize the guidance to construction elevation and depth, make blade foot Locate digging operation more simple and effective.

Further include inner support frame 115 in one preferred embodiment, is flexibly connected with the rotating part 100, the inner support Frame 115 is laterally erected in open caisson compartment, so as to be set to the cutter ladder 110 of 100 lower section of rotating part in the open caisson Positioning.

In the above scheme, rotating part is fixed on inner support frame, inner support frame is then fixed on one and is sunk At construction location in well compartment, reamer frame can be positioned by inner support frame in open caisson inner wall, to start a station Digging operation.In addition, inner support frame is set as telescopic structure, inner support frame is reduced and crosses shear connector, then is stretched Exhibition is supported on the wall body of open caisson bottom, then takes native construction, flexible by inner support frame can be realized equipment quickly in open caisson Interior positioning is fixed, and is completed at the same time in open caisson storehouse and is cut rock stratum and cleaning dregs work, does not have to lifting device repeatedly.It constructs to Jing Cang Finish, inner support frame shorten, using gantry crane and gantry crane rail by device raising, be transferred to next Jing Cang, lowering device It can continue to construct, it is convenient to operate, and installing and dismounting is quick.

A kind of hard soil layer in caisson cutting edge position is broken and the construction method of slag cleaning device, comprising the following steps:

S1, the geological conditions according to construction site choose corresponding reamer head and are mounted on cutter ladder；

S2, rotating part is connect with inner support frame, inner support frame is fixed on the construction location of open caisson compartment；

S3, job request is inputted on operation and control interface, controller is believed according to the data by antenna and multiple sensors acquisition The D coordinates value of target point is excavated in the setting of the dimension information of breath and cutter ladder；

The difference of the D coordinates value of the current location of D coordinates value and reamer head that S4, controller are obtained according to S3 into Row thickness of cutting and mature setting；And according to setting result control hydraulic system operation, until reamer head reaches the digging of setting Dig target point；

S5, sounding instrument is installed on reamer head, and the measurement of the height and depth of excavation regions is sentenced according to sounding instrument Whether disconnected operation is qualified；It is then to terminate operation；It is no, then excavation regions are excavated again.

In one preferred embodiment, in S4, the reamer head in mining process, the controller real-time detection reamer head Position and the data information for receiving multiple sensors transmission, and the real time position according to received data information calculating reamer head, Then the position with the reamer head of detection compares, the position of the last reamer head according to real-time detection and the hinge being calculated The operation of the difference control hydraulic system of the real time position of cutter head.