A multifunctional tunnel construction manipulator group and its construction method

Abstract

A multifunctional tunnel construction manipulator group comprises a rock filling manipulator (1) and two grabbing manipulators (2) simultaneously installed on a mechanical platform in parallel, wherein the rock filling manipulator is installed between the two grabbing manipulators, the rock filling manipulator comprises an installing base, an arm, a wrist and a rock drilling machine which are connected in sequence, a hanging basket is hung and connected to the rock drilling machine, the arm comprises a basic arm and an extensible arm, one end of the basic arm is connected with the installing base through a first rotary seat, the basic arm is hinged to the first rotary seat, the other end of the basic arm is hinged to the fixed end of eh extensible arm, and the extensible end of the extensible arm is hinged to the wrist. The wrist comprises a pitching seat (31) hinged to the extensible end of the extensible arm and a swing seat (33) connected with the pitching seat through a second rotary seat (32), the swing seat is hinged to the second rotary seat, the grabbing manipulators are same as the rock filling manipulator in structure, and only the rock filling manipulator is replaced by a lagging jack (24).

Description

Technical field [0001] The invention relates to the field of tunnel construction, in particular to a multifunctional tunnel construction manipulator group and a construction method thereof. Background technique [0002] In the construction of hydropower tunnels, subway projects, railway tunnels, highway tunnels, underground powerhouses, and military underground projects, it is necessary to spray concrete. If the surrounding rock is unstable, steel arches (grid arches), anchor rods, and steel mesh need to be erected in advance. In traditional construction, more than 10 workers operate different machines and tools on a simple platform to complete these constructions. There are many people, labor intensity, low efficiency and unsafe. In recent years, some construction equipment uses manipulators to replace manual operations, but because the manipulator has a single function, it cannot effectively solve the aforementioned construction problems and has no promotion value. Summary of...

AI Technical Summary

Problems solved by technology

In traditional construction, more than 10 workers operate different machines and tools on a simple platform to complete these constructions. There are many people, high labor intensity, low efficiency and unsafe

In recent years, some construction equipment uses manipulators to replace manual operations, but because the manipulator has a single function, it cannot effectively solve the aforementioned construction problems, and has no promotion value

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