CN115928780A - Active control type assembled mechanical open caisson system - Google Patents

Abstract

The invention discloses an active control type assembled mechanical open caisson system, which comprises a propelling suspension device (1), a pipeline reel device (2), a floating platform (3), an underwater excavating device (4), an assembled open caisson main body (5), a grouting device (6), a control device (7), a muddy water device (8) and a visual interface (9); the invention can solve the problems of difficult ground settlement control, difficult open caisson attitude control, low degree of mechanization and automation and lower construction efficiency in the prior art.

Description

Active control type assembled mechanical open caisson system

Technical Field

The invention relates to open caisson construction equipment, in particular to an active control type assembly type mechanical open caisson system.

Background

The traditional process of the construction of the deep vertical shaft comprises a traditional open cut method and traditional open caisson construction, the traditional open caisson construction realizes sinking by the dead weight of a structure through excavating soil mass below a cutting edge, and well wall drag reduction measures comprise side wall machining smoothness, heavy oil coating, paraffin coating, clay slurry coating and the like. The traditional open caisson is easy to have the problems of sudden sinking, uneven sinking, inclination, larger ground sedimentation deformation and the like. In recent years, new processes and new methods are continuously developed to improve the traditional open caisson process, and mainly comprise construction processes such as a press-in open caisson method, an air pressure caisson method, a VSM (sinking type vertical shaft heading machine) and the like.

The construction of the forced open caisson method is mainly carried out by controlling the excavation amount of the soil body of the blade foot and matching with auxiliary sinking measures to carry out forced sinking, and the structure adopts segmental casting and multiple sinking and can be divided into drainage excavation and non-drainage excavation modes. Resistance reduction and deviation correction are realized by adopting a sand filling method, a water jetting method, a slurry sleeve method, an air curtain method and the like, active control press-in type sinking is realized by adopting measures such as a penetrating jack, a counterforce pile and the like, and peripheral settlement deformation can be reduced by ensuring soil retention in a pit.

The pneumatic caisson method is that a bottom plate is built in advance at the lower part of the caisson, a reinforced concrete structure working chamber with high air tightness is formed at the lower part of the caisson, compressed air with the pressure equal to the underground water pressure at the cutting edge is injected into the working chamber, the working chamber is used for taking and discharging soil in a waterless environment, the caisson body sinks to a specified depth under the action of self-weight and upper load, and then bottom sealing construction is carried out.

VSM (sinking shaft boring machine) adopts prefabricated pipe joints with internal structures, mechanical cutting is carried out through a telescopic milling arm, and soil residues are discharged to the ground through a soil liquid transferring device. The ground is provided with a mud-water separation device, and the hoisting and sinking of the control pipe joints are carried out through a ground power device. During tunneling and sinking, the milling and digging head underwater cuts soil at the bottom of the vertical shaft, after the soil below the cutting edge is hollowed, the well body is in a suspension state, the soil below the cutting edge is stabilized by the mud protective wall, and then the steel wire rope is loosened through the sinking device to finish sinking of the well body.

The open caisson construction mode in the prior art has the following problems:

1. in the prior art, the sedimentation caused by water and soil loss can be avoided to a certain extent by adopting non-drainage sedimentation, but the sedimentation caused by grouting filling of a duct piece and a soil body gap cannot be avoided under the uncontrolled conditions of duct piece sudden sedimentation and the like in the sedimentation process; or settlement caused by the excavation face overexcavation (excavation diameter is larger than the diameter of the blade foot) that causes the peripheral soil body to be excavated away.

2. Because the resistance distribution at different positions of the bottom of the well and different depths of the well wall is different, the open caisson technology in the prior art is difficult to control the horizontal degree of the top surface and the ground which sink at each time, so that the whole inclination of the open caisson is easily caused, the attitude control of the open caisson is difficult, and the construction quality and efficiency of the open caisson are influenced.

3. The prior art has low mechanization and automation degree and low overall construction efficiency.

Therefore, it is necessary to provide an active control type assembled mechanized open caisson system to solve the problems of difficult ground settlement control, difficult open caisson attitude control, low mechanization and automation degree and low construction efficiency in the prior art.

Disclosure of Invention

The invention aims to provide an active control type assembly type mechanical open caisson system, which can solve the problems of difficult ground settlement control, difficult open caisson attitude control, low mechanization and automation degree and low construction efficiency in the prior art.

The invention is realized by the following steps:

an active control type assembly type mechanized open caisson system comprises a propelling suspension device, a pipeline reel device, a floating platform, an underwater excavating device, an assembly type open caisson main body, a grouting device, a control device, a mud-water device and a visual interface; the assembled open caisson main body is suspended or pressed into the well body through the plurality of propelling suspension devices; the floating platform floats on the water surface in the assembled open caisson main body, a hollow structure is formed in the middle of the floating platform, so that the underwater excavating device is suspended below the floating platform and is positioned at the bottom of the assembled open caisson main body, a pipeline of the underwater excavating device upwards penetrates through the floating platform through the hollow structure, is led out of the assembled open caisson main body and then is wound by the pipeline reel device, and the pipeline reel device is arranged on the ground beside the well body; the grouting device and the muddy water device are both arranged on the ground outside the well body, the grouting device performs grouting between the well wall and the outer wall of the assembled open caisson main body, and the muddy water device is connected with the underwater excavating device; the control device is respectively and electrically connected with the propelling and suspending device, the pipeline reel device, the floating platform, the underwater excavating device, the assembled open caisson main body, the grouting device, the muddy water device and the visual interface.

The control device comprises a power distribution cabinet, a central control room, a grouting mud water controller, a pressure-raising swing hydraulic controller, an underwater excavation hydraulic controller and a reel hydraulic controller, wherein the central control room is electrically connected with the power distribution cabinet; the central control room is respectively connected with the grouting mud water controller, the lifting and pressing swing hydraulic controller, the underwater excavation hydraulic controller and the reel hydraulic controller; the grouting mud water controller is electrically connected with the grouting device and the mud water device, the pressure-raising swing hydraulic controller is electrically connected with the propelling suspension device, the underwater excavation hydraulic controller is electrically connected with the underwater excavation device, the reel hydraulic controller is electrically connected with the pipeline reel device, and the visual interface is installed on the central control room.

The pipeline reel device comprises a reel base, a multi-pipeline reel, a muddy water pipe reel, a lifting large arm, a large arm oil cylinder, a pipeline cable guide disc and a reel driving piece; the reel base is fixedly arranged on the ground beside the well body, one end of the large lifting arm is rotatably connected to the reel base, the other end of the large lifting arm extends to the upper part of the well body, and the large arm oil cylinder is telescopically connected between the large lifting arm and the reel base; the pipeline cable guide disc is arranged at the other end of the lifting large arm, the multi-pipeline reel and the muddy water pipe reel are respectively rotatably installed on the reel base through the reel driving piece, and multiple pipelines of the underwater excavating device are respectively wound through the pipeline cable guide disc, the multi-pipeline reel and the muddy water pipe reel; the large arm oil cylinder and the reel driving piece are respectively and electrically connected with the reel hydraulic controller.

And a pipeline drag chain is arranged between the pipeline cable guide disc and the multi-pipeline reel disc, is of a hollow structure, and enables the pipeline wound on the multi-pipeline reel disc to penetrate through the pipeline drag chain.

The grouting device comprises a grouting pipe and a grouting pump; a grouting groove is formed between the assembled open caisson main body and the well wall, one end of each of a plurality of grouting pipes penetrates through the assembled open caisson main body and is communicated with the grouting groove, and the other end of each of the plurality of grouting pipes is connected with a plurality of grouting pumps arranged on the ground; a grouting flowmeter is arranged on the grouting pipe; and the grouting pump and the grouting flowmeter are electrically connected with the grouting mud controller.

The mud-water device comprises a mud discharge pipeline, a slurry pump, a mud conveying pipeline, a mud mixing pool and a mud conveying pool; the mud mixing pool and the mud conveying pool are respectively arranged on the ground beside the well body, and the mud mixing pool is communicated with the mud conveying pool through the purification treatment pool; one end of a mud discharge pipeline is connected with the output end of a dredging pump of the underwater excavating device, and the other end of the mud discharge pipeline penetrates through the hollow structure of the floating platform, is led out of the assembled open caisson main body, bypasses the pipeline coiling device and is communicated with the mud mixing tank; one end of the mud conveying pipeline is communicated with the mud conveying pool, and the other end of the mud conveying pipeline is led into the assembled open caisson main body after being wound by the pipeline reeling device; the slurry pump is arranged on the slurry feeding pipeline and is electrically connected with the slurry injection mud controller.

And a liquid level meter is arranged on the inner wall of the assembled open caisson main body and is electrically connected with the grouting mud controller.

And the mud discharge pipeline and the mud conveying pipeline are respectively provided with a flowmeter and a pressure sensor, and the flowmeter and the pressure sensor are electrically connected with the mud grouting controller.

The visual interfaces comprise an underwater excavation three-dimensional virtual interface, a pressure boosting propulsion interface and a grouting, stratum disturbance and alarm interface.

Compared with the prior art, the invention has the following beneficial effects:

1. the assembled open caisson is provided with the propelling suspension device and the underwater excavating device, and can be connected with the assembled open caisson main body in different modes through the lifting output end and the pressing output end, so that different sinking modes of the assembled open caisson main body in different use stages are realized under the control of the lifting swing hydraulic controller, the sinking amount and the open caisson posture of the duct piece are better controlled, the problems of uneven sudden sinking and sinking of the duct piece in the prior art are avoided, and the ground sinking is effectively controlled.

2. The pipeline reeling device, the grouting device and the muddy water device are arranged, the grouting device is used for grouting and filling a gap between the assembled open caisson main body and the well wall, so that the friction resistance when the pipe piece sinks is reduced, soil bodies excavated by the underwater excavating device are discharged through the muddy water device, and muddy water is injected to balance the water level in the assembled open caisson main body, so that the sinking process of the assembled open caisson main body is effectively controlled, and the sinking amount and the open caisson posture of the pipe piece can be further controlled.

3. The control device can respectively control the propelling suspension device, the pipeline reel device, the floating platform, the underwater excavating device, the assembled open caisson main body, the grouting device and the mud-water device, can better control ground settlement and control the assembled open caisson main body to sink uniformly, and simultaneously displays state information of open caisson construction, stratum disturbance and the like in real time in the open caisson construction process through the visual interface, so that the mechanization degree and the automation degree of the open caisson construction are improved, and the construction efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of an actively controlled fabricated mechanized open caisson system of the present invention;

FIG. 2 is a schematic diagram of the propulsion suspension device in the active control type assembled mechanized open caisson system;

FIG. 3 is a schematic structural diagram of a road reeling device in an active control type assembled mechanized open caisson system;

FIG. 4 is a schematic structural diagram of a floating platform in the active control type fabricated mechanized open caisson system;

FIG. 5 is a schematic view showing the construction of an underwater excavating device in an actively-controlled fabricated mechanized open caisson system;

FIG. 6 is a cross-sectional view of a turret assembly in an actively controlled assembled mechanized open caisson system of the present invention;

fig. 7 is a cross-sectional view of a robot arm assembly in the active control type fabricated mechanized open caisson system of the present invention;

FIG. 8 is a schematic structural diagram of a grouting device in an active control fabricated mechanized open caisson system;

fig. 9 is a front view of a control device in the active control type fabricated mechanized open caisson system;

fig. 10 is a sectional view of a muddy water apparatus in the active control type fabricated motorized caisson system according to the present invention.

In the figure, 1 is a propelling suspension device, 101 is a propelling suspension support, 102 is a lifting and pressing driving device, 103 is a lifting and connecting seat, 104 is a pressing and jacking block, 105 is a segment lifting ring, 106 is a swinging base, 107 is a swinging driving device, 2 is a reel device, 201 is a reel base, 202 is a multi-pipeline reel, 203 is a mud pipe reel, 204 is a lifting big arm, 205 is a big arm oil cylinder, 206 is a pipeline cable guiding disc, 207 is a reel driving device, 208 is a pipeline drag chain, 3 is a floating platform, 301 is a platform frame, 302 is a buoy, 303 is a walkway plate, 304 is a guardrail, 305 is a supporting frame, 306 is a lifter, 307 is a roller, 308 is a circular track, 309 is a first hollow part, 4 is a underwater excavating device, 401 is a fixed base, is a swinging driving device, 404 is a dredging pump, 405 is a lifting driving device, 406 is a first pin shaft, 407 is a second pin shaft, 408 is an ear plate, 403 is a 409 is a gear ring, 410 is a driving gear, 411 is a hydraulic driving device, 412 is a speed reducer, 413 is a rotary supporting bearing, 414 rotary table, 415 movable arm, 416 two-section arm, 417 telescopic driving piece, 418 joint arm, 419 joint driving piece, 420 first joint connecting rod, 421 third pin shaft, 422 fourth pin shaft, 423 fifth pin shaft, 424 sixth pin shaft, 425 seventh pin shaft, 426 second joint connecting rod, 5 assembled sinking well main body, 501 cross beam, 502 edge foot ring, 503 well body pipe section, 6 grouting device, 601 mud sealing sleeve, 602 grouting pipe, 603 grouting pump, 604 mud flow meter, 7 control device, 701 central control room, 702 power distribution cabinet, 703 grouting mud controller, 704 lifting swing hydraulic controller, 705 underwater excavation hydraulic controller, 706 reel hydraulic controller, 8 mud device, 801 mud discharge pipeline, 802 mud pump, 803 mud feeding pipeline, 804 mud mixing pool, 805 mud feeding pool, 806 liquid level meter, 807 flow meter, 808 pressure sensor and 9 visual interface.

Detailed Description

The invention is further described with reference to the following figures and specific examples.

Referring to fig. 1 and 8 to 10, an active control type assembly type mechanized open caisson system comprises a propelling suspension device 1, a pipeline reel device 2, a floating platform 3, an underwater excavating device 4, an assembly type open caisson main body 5, a grouting device 6, a control device 7, a muddy water device 8 and a visual interface 9; the plurality of propulsion hanging devices 1 are respectively arranged on the ground around the well body at intervals, and the assembled open caisson main body 5 is hung or pressed down into the well body through the plurality of propulsion hanging devices 1; the floating platform 3 floats on the water surface in the assembled open caisson main body 5, a hollow structure is formed in the middle of the floating platform 3, so that the underwater excavating device 4 is suspended below the floating platform 3 and is positioned at the bottom of the assembled open caisson main body 5, a pipeline of the underwater excavating device 4 upwards penetrates through the floating platform 3 through the hollow structure, is led out of the assembled open caisson main body 5 and then is wound through the pipeline reel device 2, and the pipeline reel device 2 is arranged on the ground beside the well body; the grouting device 6 and the muddy water device 8 are both arranged on the ground outside the well body, the grouting device 6 performs grouting between the wall of the well and the outer wall of the assembled open caisson main body 5, and the muddy water device 8 is connected with the underwater excavating device 4; the control device 7 is respectively and electrically connected with the propelling suspension device 1, the pipeline reel device 2, the floating platform 3, the underwater excavating device 4, the assembled open caisson main body 5, the grouting device 6, the muddy water device 8 and the visual interface 9.

Referring to fig. 9, the control device 7 includes a power distribution cabinet 702, and a central control room 701, a grouting mud controller 703, a lifting-pressing swing hydraulic controller 704, an underwater excavation hydraulic controller 705 and a reel hydraulic controller 706 electrically connected to the power distribution cabinet 702; the central control room 701 is respectively connected with a grouting mud water controller 703, a lifting and pressing swing hydraulic controller 704, an underwater excavation hydraulic controller 705 and a reel hydraulic controller 706; the grouting mud water controller 703 is electrically connected with the grouting device 6 and the mud water device 8, the pressure-raising swing hydraulic controller 704 is electrically connected with the propulsion suspension device 1, the underwater excavation hydraulic controller 705 is electrically connected with the underwater excavation device 4, the reel hydraulic controller 706 is electrically connected with the pipeline reel device 2, and the visual interface 9 is installed on the central control room 701.

The power distribution cabinet 702 is used for supplying power to the central control room 701, and the central control room 701 is used for supplying power, acquiring signals and controlling instructions to the grouting mud controller 703, the pressure raising swing hydraulic controller 704, the underwater excavation hydraulic controller 705 and the reel hydraulic controller 706. And a plurality of DI, DO and AI modules are added in a remote control module in the grouting mud water controller 703, a pressure raising swing hydraulic controller 704, an underwater excavation hydraulic controller 705 and a reel hydraulic controller 706 to control the starting and stopping of each driving part and the acquisition of signals of each sensor, and data interaction is carried out with the central control room 701 through communication.

Referring to fig. 2, each set of the propelling suspension device 1 includes a propelling suspension support 101, a lifting and pressing driving member 102, a lifting and pressing connection seat 103, and a lower pressing top block 104; the propulsion suspension support 101 is arranged on the ground around the assembled open caisson main body 5, the pressure-raising driving piece 102 is arranged on the propulsion suspension support 101, and the pressure-raising driving piece 102 is electrically connected with the pressure-raising swinging hydraulic controller 704; the driving end of the lifting and pressing driving piece 102 is connected with one end of a lifting and pressing connecting seat 103, the middle part of the other end of the lifting and pressing connecting seat 103 forms a lifting and pressing output end, a segment lifting and pressing ring 105 is installed at the top of the assembly type open caisson main body 5, and an ear hinge plate is formed at the top of the segment lifting and pressing ring 105, so that the lifting and pressing output end is movably connected to the segment lifting and pressing ring 105 through a pin shaft and the ear hinge plate; one end of a pair of downward pressing top blocks 104 is respectively arranged at two sides of the other end of the pulling and connecting seat 103 to form downward pressing output ends, and the other ends of the pair of downward pressing top blocks 104 can be respectively pressed on the top surfaces of the segment pulling and connecting rings 105.

In the initial stage of open caisson construction, namely the stage that the integral dead weight of the assembled open caisson main body 5 and the underwater excavating device 4 is greater than the working condition of resistance, the sinking can be realized by utilizing the dead weight. During construction at this stage, a pulling force is provided by the lifting and pressing driving piece 102, so as to balance the self weight of the whole open caisson.

And 16 groups of anchor rods are circumferentially arranged at the top of the well body pipe joint 503, and the segment lifting ring 105 is fixedly connected with the top of the well body pipe joint 503 through 16 anchor rod mounting holes and 16 groups of anchor rods. A pair of first ear hinge plates of the lifting connecting base 103 is in through connection with a second ear hinge plate of the segment lifting ring 105 through a ring pressing pin shaft to form a lifting output end, so that the assembled open caisson main body 5 can be hung through the segment lifting ring 105 conveniently.

The lifting and pressing driving members 102 can adopt oil cylinders in the prior art, when the open caisson sinks, the oil pressure of the oil cylinders of the plurality of lifting and pressing driving members 102 is controlled by the lifting and pressing swing hydraulic controller 704 of the control device 7, so that the driving ends of the plurality of lifting and pressing driving members 102 slowly and synchronously extend out, and the sinking of the open caisson is realized. In the process, the whole open caisson is suspended under a plurality of lifting and pressing driving pieces 102 by using the pressing ring pin shafts.

And in the deeper construction stage of the open caisson, the self weight of the assembled open caisson main body 5 and the underwater excavating device 4 is smaller than the working condition stage of resistance, and at the moment, the self weight of the open caisson cannot realize sinking. At this moment, the first ear hinge plate of the pulling connecting seat 103 and the pressing ring pin shaft of the segment lifting ring 105 are not required to be connected through a pressing ring pin, the two sides of the pulling connecting seat 103 are respectively pressed on the top surface of the segment lifting ring 105 through the pressing top block 104 to form a pressing output end, and reliable pressing between the pressing top block 104 and the segment lifting ring 105 can be guaranteed under the action of resistance.

When the open caisson sinks, the lifting and pressing swing hydraulic controller 704 gives a certain amount of downward pressure to the plurality of groups of lifting and pressing driving parts 102, controls the speed and pressure of the plurality of groups of lifting and pressing driving parts 102, synchronously and slowly presses downward, and the downward pressure acts on the well body pipe joints 503 through the lifting and pulling connecting seats 103, the downward pressing ejector blocks 104 and the pipe piece lifting rings 105, so that the open caisson sinking construction is realized.

For a plurality of pressure-raising driving pieces 102, the pressure-raising swinging hydraulic controller 704 can independently control the pressure-raising swinging hydraulic controller through a plurality of paths of channels, so that synchronous action and independent action of the pressure-raising driving pieces 102 can be realized, the synchronous action of the pressure-raising driving pieces 102 can better control the overall sinking construction of the open caisson, and the independent action of the pressure-raising driving pieces 102 can more accurately adjust the attitude of the open caisson in the sinking process.

Referring to fig. 2, a swing assembly is disposed outside the propulsion suspension support 101, and includes a swing base 106 and a swing driving member 107; the bottom of the propulsion suspension support 101 is rotatably mounted on the ground through a first hinge seat 108, and a swing base 106 is fixedly mounted on the ground outside the propulsion suspension support 101; two ends of the swing driving member 107 are respectively hinged to the swing base 106 and the propulsion suspension support 101, and the swing driving member 107 is telescopically connected between the swing base 106 and the propulsion suspension support 101, so that the propulsion suspension support 101 can swing through the swing driving member 107; the swing driving member 107 is electrically connected to the lift-press swing hydraulic controller 704.

The swing driving part 107 can adopt a hydraulic oil cylinder, when the sinking construction of the assembly type open caisson main body 5 is completed and the pipe joints need to be installed, the assembly type open caisson main body 5 is fixed, the lifting and pressing swing hydraulic controller 704 controls the piston rod of the swing driving part 107 to be retracted, the propulsion suspension support 101 swings in the direction far away from the assembly type open caisson main body 5 under the pulling of the piston rod of the swing driving part 107, the construction space above the vertical shaft 4 is enlarged, the collision between the propulsion suspension support 101 during the hoisting and fixing of the pipe joints is avoided, and the outward swinging amplitude of the propulsion suspension support 101 can be determined according to the space required by the installation of the pipe joints. At this time, the oil pressure of the swing driving element 107 is maintained, and the swing base 106 and the swing driving element 107 provide reliable support for the propulsion suspension support 101, so as to prevent the propulsion suspension support 101 from falling.

After the well body pipe joint 503 is installed, the lifting and pressing swing hydraulic controller 704 controls the piston rod of the swing driving element 107 to extend out, so that the propulsion suspension support 101 swings to a vertical state in the direction of the assembled open caisson main body 5 under the pushing of the piston rod of the swing driving element 107, and the next open caisson sinking construction can be carried out. At this time, the oil pressure of the swing drive 107 is maintained to maintain the propulsion suspension mount 101 in a vertical state, thereby contributing to the attitude control for ensuring the sinking of the open caisson.

Referring to fig. 3, the pipeline reeling device 2 includes a reeling base 201, a multi-pipeline reeling disc 202, a muddy water pipe reeling disc 203, a lifting arm 204, an arm cylinder 205, a pipeline cable guiding disc 206 and a reeling driving member 207; the reel base 201 is fixedly installed on the ground beside the well body through foundation bolts, one end of the large lifting arm 204 is rotatably connected to the reel base 201 through a pin shaft, the other end of the large lifting arm 204 extends to the upper part of the well body, and the large arm oil cylinder 205 is telescopically connected between the large lifting arm 204 and the reel base 201; the pipeline cable guide disc 206 is arranged at the other end of the lifting large arm 204, the multi-pipeline reel 202 and the mud-water pipe reel 203 are respectively rotatably arranged on the reel base 201 through the reel driving piece 207, and multiple pipelines of the underwater excavating device 4 are respectively wound on the pipeline cable guide disc 206, the multi-pipeline reel 202 and the mud-water pipe reel 203; the boom cylinder 205 and the reel drive 207 are electrically connected to a reel hydraulic controller 706, respectively.

Reel base 201 passes through rag bolt fixed mounting subaerial, guarantees whole pipeline reel device 2 stable, and the reel quantity of multitube way reel 202 and muddy water pipe reel 203 can carry out the adaptability adjustment according to the pipeline quantity of excavating gear 4 under water, is convenient for arrange and wind the different pipelines of excavating gear 4 under water.

The hydraulic controller 706 of the control device 7 controls the oil pressure of the boom cylinder 205, and the oil pressure pushes the piston rod of the boom cylinder 205 to extend or retract, so that the boom cylinder 204 is driven to rotate up and down relative to the reel base 201 around the pin shaft. The lifting arm 204 is used to bear the weight of all the pipes on the multi-pipe reel 202 and the mud pipe reel 203, and the height and the distance can be adjusted by rotating.

The reel driving member 207 may be a hydraulic motor, and the hydraulic controller 706 controls the hydraulic motor to rotate, so as to drive the multi-pipeline reel 202 and the mud pipe reel 203 to rotate, thereby realizing the extended release and collection winding of the pipeline of the underwater excavation device 4.

Referring to fig. 3, a pipeline drag chain 208 is disposed between the pipeline cable guide reel 206 and the multi-pipeline reel 202, and the pipeline drag chain 208 is a hollow structure such that the pipeline wound on the multi-pipeline reel 202 penetrates through the pipeline drag chain 208.

The lead is arranged in the hose pipeline, and the pipeline drag chain 208 can protect the hose pipeline and prevent the lead from being excessively dragged to break. The pipeline cable guide disc 206 is of a circular structure and is used for stably guiding the muddy water pipeline and the pipeline drag chain 208 and preventing the pipeline from surface damage caused by unevenness when being folded and unfolded.

Referring to fig. 4, the floating platform 3 includes a platform frame 301, buoys 302, a walkway plate 303, a guardrail 304, a support frame 305, a lifter 306, and a circular track 308; the platform frame 301 is in a cylindrical frame structure, a first hollow part 309 is formed in the middle of the platform frame 301, and the buoy 302 is embedded in the platform frame 301, so that the platform frame 301 can float in the assembled caisson main body 5 through the buoy 302; the supporting frame 305 is installed at the top center of the platform frame 301, the pair of lifters 306 is rotatably installed on the supporting frame 305 through the annular rail 308 via the rollers 307, and the output ends of the pair of lifters 306 are respectively connected to the underwater digging device 4 through the steel wire rope, so that the pair of lifters 306 can synchronously rotate along the annular rail 308 along with the underwater digging device 4; walkway plates 303 are laid on the top surface of platform frame 301 and located around support frame 305, guard rails 304 are vertically arranged at the top edge of platform frame 301, and an operation platform is formed among walkway plates 303, guard rails 304 and support frame 305.

The platform frame 301 can overcome the gravity of the platform frame 301 and the gravity of the underwater excavating device 4 through the positive buoyancy obtained by the floating pontoon 302 in the water and float on the water surface in the assembled caisson body 5, preferably, the floating pontoon 302 is composed of a plurality of unit floating pontoons, the platform frame 301 is composed of a plurality of fan-shaped frames which are connected, a unit floating pontoon is correspondingly arranged in each fan-shaped frame, and the unit floating pontoons are arranged in the fan-shaped frames of the platform frame 301, so that the stability and the buoyancy uniformity of the whole operation platform are ensured.

The walkway plate 303 is laid on the platform frame 301 and used for providing a deck type operation platform for the installation of the grouting device 6 and the muddy water device 8, the maintenance of the underwater excavating device 4 and other well operations, so that the inconvenience of lifting the equipment to the ground for maintenance is reduced, and the construction efficiency is improved. Meanwhile, peripheral protection is provided through the guardrail 404, and construction safety of constructors on the operating platform is guaranteed.

When the underwater excavating device 4 normally works, the output ends of the pair of lifters 306 are connected with the hanger of the underwater excavating device 4 through the steel wire rope, when the underwater excavating device 4 moves to a next working area, the steel wire rope on the output ends of the pair of lifters 306 is lowered to move downwards along with the underwater excavating device 4, and the normal work of the underwater excavating device 4 is not influenced. When the underwater excavation apparatus 4 stops moving downward, the wire ropes on the output ends of the pair of lifters 306 are kept in a tightened state.

The pair of lifters 306 may be a winch, and when the underwater excavation apparatus 4 is rotated in a downhole direction, the pair of lifters 306 are rotated by a corresponding angle along the circular track 308 of the support frame 305 through the roller 307 under the tension of the steel cable in a tightened state, so that the pair of lifters 306 are kept to rotate synchronously, and the steel cable is prevented from being twisted to damage the hydraulic lines of the lifters 306.

When the underwater excavating device 4 needs to be overhauled and maintained, the output ends of the pair of lifters 306 retract the lowered steel wire rope, the underwater excavating device 4 is lifted to the first hollow portion 309 from the bottom of the well along with the lifting frame, the lifting frame is fixed, the underwater excavating device 4 is prevented from rotating or falling, and constructors on the operating platform can carry out operations such as overhauling and maintenance on the underwater excavating device 4.

Referring to fig. 8 and 10, the fabricated caisson body 5 includes a cross beam 501, a cutting edge ring 502 and a well body tube segment 503; the cross beam 501 is coaxially arranged in the blade foot ring 502, the well body pipe joints 503 are assembled on the blade foot ring 502, and a plurality of well body pipe joints 503 are sequentially assembled from bottom to top; the underwater excavation device 4 is installed at the top center of the cross beam 501.

The cross beam 501 and the blade foot ring 502 can be cast and molded synchronously, the well body pipe joint 503 can be prefabricated and molded in a factory, and assembly construction is carried out along with the sinking of the assembly type open caisson main body 5 in a construction site.

Referring to fig. 5 to 7, the underwater excavation apparatus 4 includes a fixed base 401, a turntable assembly, a robot arm assembly, a swing drive 403, a dredge pump 404 and a lifting drive 405; the fixed base 401 is fixedly arranged at the center of the top of a cross beam 501 of the assembly type open caisson body 5, and the rotary table assembly can be rotatably arranged on the fixed base 401; the lifting driving part 405 is fixedly arranged on the turntable assembly, one end of the mechanical arm assembly is rotatably connected with the driving end of the lifting driving part 405 through a first pin shaft 406, the position, close to the lifting driving part 405, of the bottom of the mechanical arm assembly is rotatably connected with an ear plate 408 on the turntable assembly through a second pin shaft 407, and the mechanical arm assembly can synchronously and horizontally rotate along with the turntable assembly and vertically rotate relative to the turntable assembly around the second pin shaft 407 through the lifting driving part 405; the dredging pump 404 is arranged at the other end of the mechanical arm component in a swinging way through a swinging driving piece 403, so that the dredging pump 404 can rotate, lift or swing around the fixed base 401 and excavate soil, and the dredging pump 404 is connected with the muddy water device 8; swing drive 403 is electrically connected to underwater excavation hydraulic controller 705.

The dredging pump 404 mainly functions to excavate soil and discharge excavated dregs to a mud mixing tank 804 on the ground through a built-in mud pump via a mud discharge pipe 801 of the mud-water device 8, and is treated by a mud-water purification tank, so that the dredging pump can work at the deepest depth of 100m under water. The dredge pump 404 is composed of a reamer head, a mud pump, and a housing. The reamer head and the mud pump are respectively driven by independent hydraulic motors and can work independently. The reamer head has a bidirectional rotation function, is in unidirectional rotation during normal work, and can rotate reversely during getting rid of difficulties. The mud pump rotates in one direction, and can only discharge in the forward direction and can not suck in the reverse direction.

Referring to fig. 5 to 7, the turntable assembly includes a gear ring 409, a driving gear 410, a hydraulic driving member 411, a speed reducer 412, a slewing bearing 413 and a turntable 414; the rotary table 414 is rotatably connected with the outer ring of the rotary support bearing 413 through a flange, the inner ring of the rotary support bearing 413 is installed on the fixed base 401 through a flange, the hydraulic driving part 411 is connected with the speed reducer 412 through a flange, the hydraulic driving part 411 is electrically connected with the underwater excavation hydraulic controller 705, the speed reducer 412 is installed on a motor seat through a flange, the motor seat is welded on the rotary table 414, the driving gear 410 is fixedly installed on the output shaft of the speed reducer 412 through a pressing plate, the driving gear 410 is meshed and connected with the inner ring of the gear ring 409, and the gear ring 409 is fixedly connected on the inner ring of the rotary support bearing 413.

Referring to fig. 5 to 7, the robot arm assembly includes a movable arm 415, a two-section arm 416, a telescopic driving member 417, a joint arm 418, a joint driving member 419, a first joint link 420, and a second joint link 426; one end of the movable arm 415 is rotatably connected with the driving end of the lifting driving piece 405 through a first pin shaft 406, and the middle part of the bottom of the movable arm 415 is rotatably connected with an ear plate 408 on the rotary table assembly through a second pin shaft 407; one end of a two-section arm 416 is inserted into the movable arm 415, a telescopic driving piece 417 is fixedly installed on the outer wall of the movable arm 415, and the other end of the two-section arm 416 extends to the outside of the other end of the movable arm 415 and is fixedly connected with a driving piece end of the telescopic driving piece 417; one end of the joint arm 418 is rotatably connected with the other end of the second joint arm 416 through a third pin 421, the joint driving piece 419 is rotatably mounted on the top of the inner wall of the second joint arm 416 through a fourth pin 422, and the driving end of the joint driving piece 419 extends to the outside of the other end of the second joint arm 416 and is rotatably connected with one end of a first joint connecting rod 420 and one end of a second joint connecting rod 426 through a fifth pin 423; the other end of the first joint connecting rod 420 is rotatably connected with the other end of the second joint arm 416 through a sixth pin shaft 424, and the other end of the second joint connecting rod 426 is rotatably connected with the middle part of the joint arm 418 through a seventh pin shaft 425; the dredging pump 404 is arranged at the other end of the joint arm 418 in a swinging way through a swinging driving piece 403; the telescopic drive 417 and the joint drive 419 are electrically connected to the underwater excavation hydraulic controller 705.

The fixed base 401 can be fixedly installed at the top center of the cross beam 501 in a pre-buried type screwing mode and the like, an underwater excavation hydraulic controller 705 of the control device 7 controls the hydraulic driving piece 411 to start, an output shaft of the hydraulic driving piece 411 drives the driving gear 410 to synchronously rotate after being decelerated by the reducer 412, and the driving gear 410 is meshed with the transmission gear ring 409, so that the rotary table 414 synchronously rotates on the fixed base 401 along with the gear ring 409, the horizontal steering function of the dredging pump 404 is further realized, and the direction of the dredging pump 404 for tunneling the soil body is adjusted.

The underwater excavation hydraulic controller 705 controls the driving end of the lifting driving member 405 to extend or retract, so that the lifting driving member drives the mechanical arm assembly to rotate up and down around the second pin shaft 407, and the up-and-down rotation adjusting function of the dredging pump 404 is realized.

The underwater excavation hydraulic controller 705 controls the driving end of the telescopic driving piece 417 to extend or retract, so that the driving end drives the two-section arm 416 to extend out of the movable arm 415 or retract into the movable arm 415, thereby realizing the extension and shortening functions of the mechanical arm assembly, and being capable of extending 1650mm to the maximum extent, so as to meet the requirement that the dredging pump 404 tunnels soil bodies at different positions and depths.

The underwater excavation hydraulic controller 705 controls the driving end of the joint driving member 419 to extend or retract, so that the driving end drives the joint arm 418, the first joint link 420 and the second joint link 426 to rotate relative to the other end of the second joint arm 416, the dredging pump 404 rotates in a direction away from the fixed base 401 or close to the fixed base 401, and the requirement that the dredging pump 404 tunnels soil bodies at different positions is further met.

The underwater excavation hydraulic controller 705 controls the driving end of the swing driving member 403 to extend out or retract, so that the driving member drives the dredging pump 404 to swing left and right transversely, thereby meeting the requirement that the dredging pump 404 tunnels soil bodies in different directions.

The dredging pump 404 can realize the actions of steering, up-and-down swinging, left-and-right swinging and telescopic movement through the matching of the lifting driving piece 405, the hydraulic driving piece 411, the telescopic driving piece 417, the joint driving piece 419 and the swing driving piece 403, is used for excavating the soil mass at the bottom of the well in different areas, can meet the open caisson construction with the inner diameter ranging from 8 m to 10m, the height ranging from 1.5 m to 2m of the cross beam 502 and the water pressure ranging from 0 kg to 10 kg, and is favorable for the accurate and safe control of soil mass excavation.

Under the control of the underwater excavation hydraulic controller 705, functions such as one-key automatic excavation, partition automatic excavation, rocker manual excavation and the like can be further developed, and a security domain set is set by acquiring a sensor data set, so that a mechanical arm component of the underwater excavation device 4 can avoid obstacles such as the cross beam 501 and the like.

Referring to fig. 8, the grouting device 6 includes a slurry sealing sleeve 601, a grouting pipe 602 and a grouting pump 603; a grouting groove is formed between the assembled open caisson main body 5 and the well wall, and the slurry sealing sleeve 601 is circumferentially arranged around the assembled open caisson main body 5 and seals the top of the grouting groove; a plurality of grouting holes are formed on the edge foot ring 502 of the assembled open caisson main body 5, so that one ends of a plurality of grouting pipes 602 penetrate through the assembled open caisson main body 5 through the plurality of grouting holes and are communicated with the grouting grooves respectively, and the other ends of the plurality of grouting pipes 602 are connected with a plurality of grouting pumps 603 arranged on the ground respectively; a grouting flow meter 604 is arranged on the grouting pipe 602; the grouting pump 603 and the grouting flow meter 604 are electrically connected to the grouting slurry controller 703.

The grouting pump 603 injects antifriction mud into the grouting groove between the assembled caisson main body 5 and the well wall through the grouting pipe 602, so as to reduce the side wall frictional resistance when the caisson sinks, and play a role in filling gaps and supporting soil mass. The grouting pump 603 can also inject replacement mud into the grouting groove between the assembled caisson main body 5 and the wall of the borehole through the grouting pipe 602 after the caisson construction is finished, for replacing antifriction mud, and recovering the side wall friction resistance of the assembled caisson main body 5.

The grouting pump 603 may be controlled by a grouting mud controller 703 of the control device 7, and grouting means may include manual grouting and automatic grouting, such as top manual grouting, middle automatic grouting, and bottom automatic grouting. The grouting process can be performed in axially and circumferentially divided sections, grouting in the same section is performed synchronously from different directions by a plurality of grouting pipes 602, and grouting is provided to the plurality of grouting pipes 602 in the same section by one grouting pump 603. A flow meter may be provided on the grouting pipe 602 for feeding back the accumulated grouting amount and the grouting amount at each annular well body pipe section 503 during automatic grouting, thereby more accurately controlling the grouting process.

Referring to fig. 10, the mud-water device 8 includes a mud discharging pipe 801, a slurry pump 802, a mud feeding pipe 803, a mud stirring tank 804 and a mud feeding tank 805; the mud mixing pool 804 and the mud conveying pool 805 are respectively arranged on the ground beside the well body, and the mud mixing pool 804 is communicated with the mud conveying pool 805 through a purification treatment pool (not shown in the figure); one end of a sludge discharge pipeline 801 is connected with the output end of the dredging pump 404, and the other end of the sludge discharge pipeline 801 penetrates through the hollow structure of the floating platform 3, is led out of the assembled open caisson main body 5, and is communicated with the sludge mixing tank 804 after passing through the pipeline reel device 2; one end of the mud conveying pipeline 803 is communicated with the mud conveying pool 805, and the other end of the mud conveying pipeline 803 is led into the assembled open caisson main body 5 after being wound by the pipeline reel device 2; the slurry pump 802 is arranged on the slurry feeding pipeline 803, and the slurry pump 802 is electrically connected with the slurry injection controller 703.

The mud discharge pipe 801 is used for discharging bottom mud water pumped by the dredging pump 404 into the mud mixing tank 804, the mud water is sent into the mud sending tank 805 after being subjected to purification treatment such as sedimentation and the like in the mud mixing tank 804, so that the treated mud water can be re-injected into a well body through the mud sending pipe 803 by the slurry pump 802 to keep the liquid level in the well body balanced. The slurry pump 802 is controlled by a slurry injection controller 703 of the control device 7. The dredge pump 404 may be a hydraulically driven pump, and the slurry pump 802 may be a motor driven pump.

Referring to fig. 10, a liquid level meter 806 is disposed on the inner wall of the assembled caisson main body 5, and the liquid level meter 806 is electrically connected to the grouted mud controller 703.

The liquid level meter 806 is used for detecting the liquid level height in the well body, and feeds back the liquid level height to the grouting mud water controller 703 of the control device 7, so as to control the start-stop operation of the slurry pump 802, thereby ensuring that the liquid level height in the well meets the construction requirements.

Referring to fig. 10, a flow meter 807 and a pressure sensor 808 are arranged on the sludge discharge pipeline 801 and the sludge delivery pipeline 803, and the flow meter 807 and the pressure sensor 808 are electrically connected with the mud-grouting controller 703.

The flow meter 807 is used for detecting the flow rate of the discharged sludge and the flow rate of the fed sludge, and the pressure sensor 808 is used for detecting the internal pressure of the sludge discharge pipeline 801 and the sludge feed pipeline 803, and feeding back the flow information and the pressure information to the slurry injection sludge controller 703 of the control device 7, so that the closed-loop control of the sludge discharge and feeding processes is facilitated.

Hydraulic ball valves or manual valves can be arranged on the sludge discharge pipeline 801 and the sludge conveying pipeline 803, so that the sludge discharge and sludge conveying processes can be controlled conveniently. The sludge discharge pipeline 801 can adopt a hard pipe, and the sludge conveying pipeline 803 can adopt a soft pipe.

The visual interface 9 comprises an underwater excavation three-dimensional virtual interface, a pressure boosting propulsion interface and a grouting, stratum disturbance and alarm interface.

Three-dimensional virtual presentation of underwater excavation of the robot is realized through three interfaces of the visual interface 9, and the functions of early warning, alarming and the like of safety risks in site construction are given by matching with site operators to quickly read key construction parameters.

The underwater excavation three-dimensional virtual interface is developed based on a digital twinning concept, the three-dimensional virtual excavation of the underwater excavation device 4 is combined with the two-dimensional plane track of the dredging pump 404, and a robot collision detection algorithm is integrated, so that an operator can read the bottom hole inclination and deviation degree of the assembled open caisson body 5 and then formulate an excavation scheme of the underwater excavation device 4. And (3) actively giving real operation feedback by combining the distribution condition of the well bottom soil body excavation amount and collision alarm prompt information of the underwater excavation device 4 calculated by a collision detection algorithm, and displaying the real operation feedback on an underwater excavation three-dimensional virtual interface.

The lifting and pressing propulsion interface integrates three contents of parameters of the assembled open caisson main body 5, pressing parameters and pressing force vectors of the lifting and pressing driving piece 102, construction progress information and the like, so that the propulsion suspension device is strongly associated with the sinking action response of the assembled open caisson main body 5.

The grouting system and the stratum disturbance response are combined through the grouting interface, the stratum disturbance interface and the alarm interface, so that the control of the grouting device 6 can be reasonably judged by an operator, and the grouting amount and the grouting progress can be effectively controlled. The whole system alarm function of open caisson construction is located at the right lower side of the interface, and is divided into two plates of equipment and construction, and the two plates are used for listing alarm information and setting alarm levels, so that operators can conveniently check, evaluate and respond.

The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and scope of the present invention should be construed as being included in the present invention.

Claims (9)

1. An active control type assembled mechanized open caisson system is characterized in that: the device comprises a propelling suspension device (1), a pipeline reel device (2), a floating platform (3), an underwater excavating device (4), an assembled open caisson main body (5), a grouting device (6), a control device (7), a muddy water device (8) and a visual interface (9); the plurality of propulsion suspension devices (1) are respectively arranged on the ground around the well body at intervals, and the assembled open caisson main body (5) is suspended or pressed into the well body through the plurality of propulsion suspension devices (1); the floating platform (3) floats on the water surface in the assembled open caisson main body (5), a hollow structure is formed in the middle of the floating platform (3), so that the underwater excavating device (4) is suspended below the floating platform (3) and is positioned at the bottom of the assembled open caisson main body (5), a pipeline of the underwater excavating device (4) upwards penetrates through the floating platform (3) through the hollow structure, is led out of the assembled open caisson main body (5) and then is wound by the pipeline reel device (2), and the pipeline reel device (2) is arranged on the ground beside the caisson body; the grouting device (6) and the muddy water device (8) are arranged on the ground outside the well body, the grouting device (6) performs grouting between the well wall and the outer wall of the assembled open caisson main body (5), and the muddy water device (8) is connected with the underwater excavating device (4); the control device (7) is electrically connected with the propelling suspension device (1), the pipeline reel device (2), the floating platform (3), the underwater excavating device (4), the assembled open caisson main body (5), the grouting device (6), the muddy water device (8) and the visual interface (9) respectively.

2. The actively-controlled fabricated mechanized open caisson system of claim 1, wherein: the control device (7) comprises a power distribution cabinet (702), a central control room (701), a grouting mud water controller (703), a pressure lifting swing hydraulic controller (704), an underwater excavation hydraulic controller (705) and a reel hydraulic controller (706), wherein the central control room (701), the grouting mud water controller, the pressure lifting swing hydraulic controller and the reel hydraulic controller are electrically connected with the power distribution cabinet (702); the central control room (701) is respectively connected with a grouting mud water controller (703), a lifting and pressing swing hydraulic controller (704), an underwater excavation hydraulic controller (705) and a reel hydraulic controller (706); the grouting mud water controller (703) is electrically connected with the grouting device (6) and the mud water device (8), the pressure-raising swing hydraulic controller (704) is electrically connected with the propulsion suspension device (1), the underwater excavation hydraulic controller (705) is electrically connected with the underwater excavation device (4), the reel hydraulic controller (706) is electrically connected with the pipeline reel device (2), and the visual interface (9) is installed on the central control room (701).

3. The actively-controlled fabricated mechanized open caisson system of claim 2, wherein: the pipeline reeling device (2) comprises a reeling base (201), a multi-pipeline reeling disc (202), a muddy water pipe reeling disc (203), a lifting large arm (204), a large arm oil cylinder (205), a pipeline cable guiding disc (206) and a reeling driving piece (207); the reel base (201) is fixedly arranged on the ground beside the well body, one end of the lifting large arm (204) is rotatably connected to the reel base (201), the other end of the lifting large arm (204) extends to the upper part of the well body, and the large arm oil cylinder (205) is telescopically connected between the lifting large arm (204) and the reel base (201); the pipeline cable guide disc (206) is arranged at the other end of the lifting large arm (204), the multi-pipeline disc (202) and the muddy water pipe disc (203) are respectively rotatably installed on the disc base (201) through the disc driving part (207), and multiple pipelines of the underwater excavating device (4) are respectively wound through the pipeline cable guide disc (206), the multi-pipeline disc (202) and the muddy water pipe disc (203); the large arm oil cylinder (205) and the reel driving piece (207) are respectively and electrically connected with a reel hydraulic controller (706).

4. The actively-controlled fabricated mechanized open caisson system of claim 3, wherein: a pipeline drag chain (208) is arranged between the pipeline cable guide disc (206) and the multi-pipeline reel (202), the pipeline drag chain (208) is of a hollow structure, and pipelines wound on the multi-pipeline reel (202) penetrate through the pipeline drag chain (208).

5. The actively-controlled fabricated mechanized open caisson system of claim 2, wherein: the grouting device (6) comprises a grouting pipe (602) and a grouting pump (603); a grouting groove is formed between the assembled open caisson main body (5) and the well wall, one end of each of a plurality of grouting pipes (602) respectively penetrates through the assembled open caisson main body (5) and is communicated with the grouting groove, and the other end of each of the plurality of grouting pipes (602) is respectively connected with a plurality of grouting pumps (603) arranged on the ground; a grouting flow meter (604) is arranged on the grouting pipe (602); the grouting pump (603) and the grouting flow meter (604) are electrically connected with the grouting mud controller (703).

6. The actively-controlled fabricated mechanized open caisson system of claim 2, wherein: the mud-water device (8) comprises a mud discharge pipeline (801), a slurry pump (802), a mud conveying pipeline (803), a mud mixing pool (804) and a mud conveying pool (805); the mud mixing pool (804) and the mud conveying pool (805) are respectively arranged on the ground beside the well body, and the mud mixing pool (804) is communicated with the mud conveying pool (805) through the purification treatment pool; one end of a sludge discharge pipeline (801) is connected with the output end of a dredging pump (404) of the underwater excavating device (4), and the other end of the sludge discharge pipeline (801) penetrates through the hollow structure of the floating platform (3), is led out of the assembled open caisson main body (5), and is communicated with the sludge mixing pool (804) after bypassing the pipeline reel device (2); one end of the mud conveying pipeline (803) is communicated with the mud conveying pool (805), and the other end of the mud conveying pipeline (803) is led into the assembled open caisson main body (5) after being wound by the pipeline reel device (2); the slurry pump (802) is arranged on the slurry feeding pipeline (803), and the slurry pump (802) is electrically connected with the grouting slurry controller (703).

7. The actively-controlled fabricated mechanized open caisson system of claim 6, wherein: the inner wall of the assembled open caisson main body (5) is provided with a liquid level meter (806), and the liquid level meter (806) is electrically connected with the grouting mud water controller (703).

8. The actively-controlled fabricated mechanized open caisson system of claim 6, wherein: and a flow meter (807) and a pressure sensor (808) are arranged on the sludge discharge pipeline (801) and the sludge conveying pipeline (803), and the flow meter (807) and the pressure sensor (808) are electrically connected with the grouting sludge controller (703).

9. The active control fabricated mechanized open caisson system of claim 1 or 2, wherein: the visual interface (9) comprises an underwater excavation three-dimensional virtual interface, a pressure boosting propulsion interface and a grouting, stratum disturbance and alarm interface.

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