Multifunctional integrated unit

Abstract

The invention discloses a multifunctional all-in-one unit which comprises a rack, a tunneling part, a vertical arch part, an arch spraying part and a rock drilling part. A slag discharging channel is formed in the lower portion or at least one side of the rack. The tunneling part is arranged at the front end of the rack and used for tunneling excavation. The arching part is arranged on at least one side of the rack in a sliding mode and used for being matched with the arching part to conduct arching operation, the arching part and the rock drilling part are arranged on the rack in a sliding mode, the arching part is used for guniting operation and being matched with the arching part to conduct arching operation, and the rock drilling part is used for drilling operation; according to the scheme, the integrated trolley is integrated with multiple functions of excavation, erection, bolt anchoring, guniting, pumping and the like, a slagging-off machine and a slag car are arranged for deslagging, full-process construction of the tunnel face is completed, parallel processes or seamless connection of the processes is achieved, the traditional technological method that all the processes are independent and not parallel and work in a multi-machine cooperation mode is changed, the construction progress is greatly accelerated, and the construction efficiency is improved. And more values are created for customers.

Description

Technical Field

[0001] The present invention relates to the field of tunnel engineering equipment, and particularly to a multi-functional integrated unit. Background Art

[0002] During tunnel construction, for construction processes such as the excavation of the heading face, the operation of driving bolts, the transportation and installation of arch frames, shotcreting, and pumping, currently, they are mainly achieved through the coordinated cooperation of different machines. For each operation process, proprietary operation equipment is purchased for operation. For example, the heading face is excavated by tunneling excavation or blasting method, and then a loader is used for mucking operation. The loader transports the arch frame to the heading face and then an arch frame trolley is used for arch erection operation. A rock drilling jumbo or an arch anchor jumbo is used for drilling and driving bolt operations, and a wet shotcreting machine is used for shotcreting operation, etc.

[0003] Currently, this multi-machine joint operation is still within the construction framework of the previous construction method. The mechanical equipment is only a replacement for labor, and there is no qualitative change in efficiency and economy. After the equipment completes its own construction process, it needs to retreat and empty the tunnel so that the equipment for the next process can enter. Each operation process is relatively independent. When a certain process is being carried out, other equipment is in a standby state, and the overall construction efficiency cannot be improved. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-functional integrated unit aiming at the above deficiencies, which integrates multiple functions such as excavation, arch erection, bolt, and shotcreting, and solves the problems in the prior art that when multi-machine cooperative operations are carried out, each process is carried out independently, parallel operations cannot be carried out, the tunnel needs to be emptied when the equipment is transferred, space needs to be provided for the equipment to enter, and the overall construction efficiency of tunnel construction cannot be improved, etc.

[0005] The present invention is realized through the following solutions: A multi-functional integrated unit includes a gantry, a tunneling part, an arch erection part, an arch shotcreting part, and a rock drilling part: A mucking channel is arranged below or at least on one side of the gantry; The tunneling part is arranged at the front end of the gantry and is used for tunnel tunneling excavation; The arch erection part is slidably arranged at least on one side of the gantry and is used to cooperate with the arch shotcreting part for arch erection operation: The arch shotcreting part and the rock drilling part are respectively slidably arranged on the gantry. Among them, the arch shotcreting part is used for shotcreting operation and for cooperating with the arch erection part for arch erection operation, and the rock drilling part is used for drilling operation.

[0006] Based on the structure of the above multi-functional integrated unit, the arch erection part is also integrated with a drilling mechanism to form a drill-arch part, and the drilling mechanism is used to achieve drilling operation.

[0007] Based on the structure of the above-mentioned multi-functional integrated unit, when the tunneling section, the arch drilling section, the arch spraying section, and the rock drilling section perform their respective construction operations, parallel construction can be carried out among them.

[0008] Based on the structure of the above-mentioned multi-functional integrated unit, the structural forms that can carry out parallel construction among them include one or more of the following: The arch spraying section is used for spraying operation when the tunneling section is tunneling and excavating. The tunneling section is used for spraying operation when the arch drilling section cooperates with the arch spraying section to erect the arch. The rock drilling section is used for drilling operation when the arch drilling section cooperates with the arch spraying section to erect the arch. The arch drilling section or the rock drilling section is used for drilling operation when the tunneling section is tunneling and excavating. Mucking operation is carried out in the mucking channel, and the mucking operation is synchronized with one or more construction operations of the tunneling section (1), the arch drilling section (2), the arch spraying section (3), and the rock drilling section (5).

[0009] Based on the structure of the above-mentioned multi-functional integrated unit, the tunneling section includes a tunneling mechanism and a driving member. The driving member includes a second translation mechanism and a first translation mechanism. The tunneling mechanism is hinged to the second translation mechanism, and the second translation mechanism is used to drive the tunneling mechanism to move left and right; the first translation mechanism includes a sliding beam slidably arranged in the gantry, and a propulsion mechanism for driving the sliding beam to slide is arranged in the gantry, and the second translation mechanism is arranged on the sliding beam.

[0010] Based on the structure of the above-mentioned multi-functional integrated unit, a first swinging mechanism is arranged between the second translation mechanism and the tunneling mechanism. The first swinging mechanism is used to drive the tunneling mechanism to swing up and down. The tunneling mechanism includes a second swinging mechanism hinged to the second translation mechanism, and the second swinging mechanism is hinged with a tunneling arm. The second swinging mechanism is used to drive the tunneling arm to swing left and right.

[0011] Based on the structure of the above-mentioned multi-functional integrated unit, the tunneling section includes at least two tunneling mechanisms arranged on the gantry. The tunneling mechanism is connected with a horizontal swinging mechanism, and the horizontal swinging mechanism is connected with a vertical swinging mechanism; wherein, the vertical swinging mechanism is used to drive the tunneling mechanism to swing up and down, and the horizontal swinging mechanism is used to drive the vertical swinging mechanism and the tunneling mechanism as a whole to swing left and right; a slewing mechanism is further included, and the slewing mechanism is connected between the horizontal swinging mechanism and the vertical swinging mechanism. The slewing mechanism is used to drive the vertical swinging mechanism and the tunneling mechanism as a whole to rotate by a corresponding angle around the axis of the slewing mechanism itself.

[0012] Based on the structure of the above-mentioned multi-functional integrated unit, the drilling arch part includes a telescopic arm, and a pitching adjustment seat is connected to the movable end of the telescopic arm; a swinging arm, one end of the swinging arm is hinged to the pitching adjustment seat; a gripper mounting part, which is hinged to the swinging arm, and a second driving member for driving the gripper mounting part to rotate within the second base plane is arranged on the swinging arm; a gripper assembly, which is arranged on the gripper mounting part for clamping the arch frame; a rock drilling mechanism, and the rock drilling mechanism is rotatably arranged at the movable end of the telescopic arm.

[0013] Based on the structure of the above-mentioned multi-functional integrated unit, the shotcreting arch part includes a connecting boom, one end of the connecting boom is arranged on the gantry; a gripper mechanism, and the gripper mechanism is arranged at the end of the connecting boom away from the gantry; and a shotcreting mechanism, and the shotcreting mechanism is arranged at the end of the connecting boom away from the gantry through a first slewing mechanism to switch between a retracted position and a working position.

[0014] Based on the structure of the above-mentioned multi-functional integrated unit, the shotcreting arch part includes a connecting boom, one end of the connecting boom is connected to the vehicle body, and the other end is connected to a second driving mechanism; a gripper mechanism, and the gripper mechanism is connected to the fixed part of the second driving mechanism; a shotcreting mechanism, and the shotcreting mechanism is connected to the power part of the second driving mechanism to enable the shotcreting mechanism to rotate around the central axis of the connecting boom; wherein, both the gripper mechanism and the shotcreting mechanism have telescopic shafts.

[0015] Based on the structure of the above-mentioned multi-functional integrated unit, the gripper mechanism includes: a gripper component; a first connecting arm, one end of the first connecting arm is connected to the second driving mechanism, and the other end is connected to the gripper component through a third driving mechanism; the third driving mechanism includes: a second slewing device, the fixed part of the second slewing device is connected to the first connecting arm, and the power part of the second slewing device is connected to the gripper component to drive the gripper component to rotate around the axis of the first connecting arm.

[0016] Based on the structure of the above-mentioned multi-functional integrated unit, the third driving mechanism further includes: a third slewing device, the axis of the third slewing device is perpendicular to the axis of the first connecting arm, the fixed part of the third slewing device is connected to the power part of the second slewing device, and the power part of the third slewing device is connected to the gripper component to drive the gripper component to rotate around an axis perpendicular to the axis of the third slewing device.

[0017] Based on the structure of the above-mentioned multi-functional integrated unit, the third driving mechanism further includes: a third slewing device, the axis of the third slewing device is perpendicular to the axis of the first connecting arm, the fixed part of the third slewing device is connected to the power part of the second slewing device, and the power part of the third slewing device is connected to the gripper component to drive the gripper component to rotate around an axis perpendicular to the axis of the third slewing device.

[0018] Based on the structure of the above-mentioned multi-functional integrated unit, the driving mechanism three further includes: a carrier one, which is connected to the power part of the rotary device two; a carrier two, which is connected to the fixed part of the rotary device three; a telescopic device three, with both ends of the telescopic device three hinged to the carrier one and the carrier two respectively to drive the gripper component to rotate along the straight line where the hinge of the carrier one and the carrier two is located; the carrier one has a proximal end and a distal end relative to the connecting arm one, the proximal end and the distal end are located on opposite sides of the connecting arm one, the proximal end of the carrier one is hinged to the carrier two, and the distal end of the carrier one is hinged to the telescopic device three; the connecting boom is connected to the vehicle body through the driving mechanism one to enable the connecting boom to swing and / or pitch.

[0019] Based on the structure of the above-mentioned multi-functional integrated unit, it further includes a transfer and lifting structure and a transfer carriage; the transfer and lifting structure includes a rear gripper arm provided at the rear end of the arch spraying part, and the transfer carriage is used to transfer the arch frame placed on it to the grasping range of the arch spraying part so that the arch spraying part can grasp the arch frame to the vertical arch area.

[0020] Based on the structure of the above-mentioned multi-functional integrated unit, a guiding member for facilitating the dragging of the side arch is provided on the side of the bench, the guiding member extends from the rear end of the bench to the front end of the bench, and an extension structure that can extend to the vertical arch area is further provided at the front end of the bench.

[0021] Based on the structure of the above-mentioned multi-functional integrated unit, a guiding member and a driving device for facilitating the dragging of the side arch are provided on the side of the bench, the guiding member extends from the rear end of the bench to the front end of the bench, and an extension member that can extend to the vertical arch area is further provided at the front end of the guiding member, and the driving device is used to drive the extension member to move back and forth.

[0022] Based on the structure of the above-mentioned multi-functional integrated unit, a slag discharging mechanism is provided in the slag discharging channel, and the slag discharging mechanism includes an auxiliary digging arm and a feeding system provided at the front end of the bench; when the transport vehicle moves to the end of the feeding system, the auxiliary digging arm pushes the slag produced by tunneling to the front end position of the feeding system, and the feeding system automatically transports the slag into the transport vehicle and moves out of the tunnel through the transport vehicle.

[0023] Based on the structure of the above-mentioned multi-functional integrated unit, the feeding system discharges the slag from the bottom of the bench; or discharges the slag from at least one side of the bench; or first discharges the slag from the bottom of the bench and then passes through the bench and discharges the slag from at least one side of the bench.

[0024] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are: 1. This solution is an integrated trolley that combines multiple functions such as excavation, erection of supports, installation of anchor bolts, and shotcreting. It can cooperate with mucking loaders or muck trucks to remove muck, complete all processes of the tunnel face construction, achieve parallel or seamless connection of processes, change the traditional construction methods where each process is independent and not parallel and multiple machines cooperate, greatly improve the construction progress, and create more value for customers.

[0025] 2. The trolley in this solution can integrate functions such as tunneling excavation, installation of arch supports, construction of anchor bolts, and wet shotcreting. By using different components to replace equipment frequently during different construction operations, the purpose of saving the transfer time of equipment entering and leaving the tunnel is achieved. At the same time, by multiple parallel operations such as shotcreting during excavation, muck removal during excavation, and loading arch supports during anchor bolt construction, the single operation cycle time is further shortened, the construction efficiency is improved, and potential safety hazards are reduced.

[0026] 3. In the existing technology, in order to facilitate the passage of vehicles (such as muck trucks and anchor bolt transport vehicles) under the trolley, the trolley is generally made very large, so the distance between the trolley and the tunnel wall is very close. This solution uses a combined structure such as a drilling arch arm, an arch spraying arm, and an arch support transfer system, makes reasonable settings in spatial layout, and reasonably adjusts the process steps, enabling each component to work organically and efficiently, while effectively avoiding interference between components. Each component can flexibly perform construction operations at its working position, greatly improving the construction efficiency and construction safety performance.

[0027] 4. This solution integrates tunneling (including muck removal) and support (erection of supports, installation of anchor bolts, shotcreting) into one, eliminating the need for multiple devices to work alternately. At the same time, it adopts the operation mode of shotcreting while excavating and muck removal while excavating, realizing fast excavation and support and parallel operation, and improving the construction efficiency.

[0028] 5. In this solution, a tunneling mechanism is directly integrated on the trolley, and the driving part can drive the tunneling mechanism to perform operations such as swinging up and down and moving left and right, so that the tunneling mechanism has the function of multi-degree-of-freedom movement. While the trolley remains stationary, it can also ensure the movement range of the tunneling mechanism during excavation operations. Therefore, it can replace the tunneling machine for operation, reducing the cost of the entire unit and improving the construction efficiency.

[0029] 6. During the construction process, the gripper assembly clamps the arch support to be constructed, the telescopic arm is driven to extend, so that the arch support extends to the tunnel face. The swing arm is driven by the first driving component to rotate within the first base plane, and the gripper mounting part is driven by the second driving part to rotate within the second base plane, enabling the gripper assembly to rotate within the first and second base planes perpendicular to each other, thereby achieving the purpose of adjusting the angle of the arch support and effectively increasing the adjustment range during arch erection. The multi-functional robotic arm of this application can not only be applied to trolley-type equipment, but also to general wheeled arch support trolleys.

[0030] 7. This solution enables the connecting boom to move flexibly in the construction space, with a larger working range and wider adaptability. The first slewing mechanism can quickly switch between the arch erection and shotcreting operation modes without equipment relocation, saving time costs and improving construction efficiency. At the same time, since the gripper mechanism and the shotcreting mechanism share a connecting boom, the overall structure is smaller and lighter, which is conducive to improving space utilization. In addition, multiple power sources are used to achieve multi-angle precise adjustment of the gripper mechanism and the shotcreting mechanism, thus effectively improving construction quality.

[0031] 8. Another solution in this plan enables the robotic arm to move flexibly in a limited space, with a larger working range and wider adaptability. By adjusting the angle and height of the connecting boom, the working angles and heights of the gripper mechanism and the shotcreting mechanism can be adjusted, so as to construct more precisely and improve construction quality. This solution can flexibly and quickly switch the use of the gripper mechanism and the shotcreting mechanism without the equipment relocation process, shortening the operation time, saving time costs, and effectively improving construction efficiency.

[0032] 9. During the construction of a tunnel, the length of the tunnel will gradually be greater than its width. When transporting the front and rear arch frames, the arch frames need to be transported from the rear side of the gantry through the entire gantry to the front side. If a single robotic arm is used to grab the arch frame, place it on the storage rack, and then the robotic arm rotates 360° to grab the arch frame for transportation, during the rotation of the robotic arm, there will be a state where the robotic arm is parallel to the width of the tunnel. If the length of the robotic arm is large, it cannot rotate smoothly. If the length of the robotic arm is small, the structural strength of the robotic arm itself may not be sufficient to grab a relatively heavy arch frame, which is highly dangerous and not convenient for placing the arch frame in the front far from the gantry, restricting the construction range. By setting the front gripper arm and the rear gripper arm, it is possible to grab, store, and then re-grab the arch frame with the front gripper arm without rotating the front gripper arm or the rear gripper arm by 360°. While ensuring the completion of the arch frame transportation operation, the size of the front gripper arm can be designed to be long enough to meet the requirements of construction safety and construction range. The rotation functions of the rear gripper arm and the front gripper arm themselves are only used for fine-tuning the placement angle of the arch frame and are not directly used for the transportation of the arch frame. Description of the Drawings

[0033] Figure 1 It is a three-dimensional structure example diagram of the whole machine; Figure 2 It is a structural schematic diagram of the tunneling part; Figure 3 It is a schematic diagram of the internal structure of the gantry; Figure 4 It is a structural schematic diagram of another view of the tunneling part; Figure 5 It is a combined structural schematic diagram of the tunneling mechanism and the first swing mechanism; Figure 6 Schematic diagram of the overall structure of the drilling arch part; Figure 7 Schematic diagram of a partial structure of the drilling arch part; Figure 8 Schematic diagram of the gripper assembly and the first drive assembly; Figure 9 Schematic diagram of the installation structure of the hanging basket; Figure 10 Schematic diagram of the installation structure of the rock drilling mechanism; Figure 11 Assembly schematic diagram of one of the arch spraying parts; Figure 12 Schematic diagram of the arch spraying part in one direction; Figure 13 Schematic diagram of the arch spraying part in another direction; Figure 14 Schematic diagram of the gripper adjustment mechanism in the arch spraying part.

[0034] Figure 15 Schematic diagram of another arch spraying part; Figure 16 For Figure 15 Schematic diagram of the side view structure of the arch spraying part; Figure 17 For Figure 15 Schematic diagram of the gripper mechanism and the shotcreting mechanism in the arch spraying part; Figure 18 For Figure 15 Schematic diagram of different states of the arch spraying part; Figure 19 Schematic diagram of the three-dimensional structure of the arch frame transfer system; Figure 20 Schematic diagram of the three-dimensional structure of the transfer gripping structure; Figure 21 Schematic diagram of the three-dimensional structure of the middle transfer carriage; Figure 22 Schematic diagram of the three-dimensional structure of one of the side arch guiding mechanisms; Figure 23 For Figure 22 Enlarged structure schematic diagram at B in the middle; Figure 24 Schematic diagram of the three-dimensional structure of another side arch guiding mechanism; Figure 25 For Figure 24 Enlarged structure schematic diagram at C in the middle; Figure 26 Schematic diagram of the three-dimensional structure of another side arch guiding mechanism; Figure 27 For Figure 26 Top view structure schematic diagram of the combination of the guiding frame and the extension piece in the middle; Figure 28 is Figure 27 Schematic cross-sectional structure diagram of the combination of the middle guide frame and the extension part; Figure 29 is Figure 28 Schematic enlarged structure diagram at position D in; Figure 30 is Figure 29 Schematic enlarged structure diagram at position E in; Figure 31 Schematic structure diagram of the structure of the tunneling arm assembly on the bench in Embodiment 4; Figure 32 Schematic structure diagram of the structure of the tunneling arm in Embodiment 4; Figure 33 Schematic structure diagram of another view angle of the structure of the tunneling arm in Embodiment 4; Figure 34 Schematic structure diagram of the slag discharging mechanism; Markings in the figure: 1. Driving Section; 2. Arch Drilling Section; 3. Arch Spraying Section; 4. Arch Frame Transfer Section; 5. Rock Drilling Section; 1100. Bench; 1110. Tabletop; 1120. Support Frame; 1200. Driving Mechanism; 1210. Second Swing Mechanism; 1211. Connecting Frame; 1212. Swing Oil Cylinder; 1220. Driving Arm; 1221. First Frame; 1222. Second Frame; 1223. Breaker; 1300. First Translation Mechanism; 1310. Sliding Beam; 1320. Propulsion Mechanism; 1330. Slide Rail; 1400. Second Translation Mechanism; 1410. Transverse Shifting Base; 1420. Transverse Shifting Mechanism; 1500. First Swing Mechanism; 1510. First Oil Cylinder; 1520. Second Oil Cylinder; 1530. Third Oil Cylinder; 2001. Guide Rail; 2002. Sliding Trolley; 2021. Hydraulic Motor; 2022. Hydraulic Station; 2023. Rotary Table; 2231. Pitching Oil Cylinder; 2024. Deflection Oil Cylinder; 2003. Telescopic Arm; 2031. Fixed Arm; 2032. Movable Arm; 2321. Pitching Adjustment Base; 2033. Second Driving Source; 2004. Swing Arm; 2041. Second Driving Part; 2042. Fixed Block; 2005. Grab Mounting Part; 2051. Third Driving Source; 2006. Grab Assembly; 2061. Bearing Plate; 2621. Clamping Oil Cylinder; 2622. First Grab; 2623. Second Grab; 2007. Rock Drilling Mechanism; 2081. First Driving Source; 2082. Hinge Axis; 2083. First Connecting Rod; 2084. Second Connecting Rod; 2009. Suspension Basket; 2091. Ear Plate; 2092. Pin; 2101. First Rotary Base; 2102. First Rotary Reducer; 2103. Second Rotary Base; 2104. Second Rotary Reducer; 2105. Third Rotary Reducer; 3003. Connecting Boom; 3004. Grab Mechanism; 3005. Shotcreting Mechanism; 3006. Rotary Mechanism 1; 3007. First Track; 3008. First Moving Block; 3009. First Support 1; 3010. Power Source 1; 3011. Support 2; 3012. Power Source 2; 3013. Support 3; 3014. Power Source 3; 3015. Support 4; 3016. Power Source 4; 3017. Support 5; 3018. Power Source 5; 3019. Support 6; 3020. Power Source 6; 3021. Support 7; 3022. Power Source 7; 3023. Power Source 8; 3024. Telescopic Column; 3025. Support Base; 3026. Rotary Mechanism 2; 4003. Driving Mechanism 2; 4004. Rotary Device 1; 4005. Telescopic Device 1; 4006. Second Support 1; 4007. Telescopic Device 2; 4008. Connecting Part 1; 4009. Connecting Part 2; 4010. Grab Component; 4011. Connecting Arm 1; 4012. Shotcreting Component; 4013. Connecting Arm 2; 4014. Carrier 1; 4015. Rotary Device 2; 4016. Rotary Device 3; 4017. Carrier 24018. Telescopic device III; 4019. Rail; 4020. Moving block; 5002. Transfer and lifting structure; 5003. Transfer carriage; 5004. Grabbing arm; 5005. Grabbing arm guide; 5006. Storage rack; 5007. Storage rack guide; 5008. Sliding mechanism; 5010. Front grabbing arm; 5011. Telescopic arm; 5012. Dislocation arm; 5013. Guide rod; 5015. Clamping head; 6002. Guide; 6003. Expansion tube; 6004. Extension tube; 6005. Diagonal strut telescopic rod; 6006. Inner rod; 6007. Outer rod; 6008. Chamfer; 6009. Round hole; 6010. Pin; 6011. Front guide tube; 6012. Rear guide tube; 6013. Reinforcing rib; 6014. Connecting plate; 6015. Handle; 6016. Diagonal strut; 6017. Pin shaft; 7002. Guide; 7003. Extension piece; 7004. Driving device; 7005. Cylinder block; 7006. Piston rod; 7007. Sealing ring; 7008. First infusion tube; 7009. Second infusion tube; 7010. Elastic ring; 7011. Hinge seat; 7012. Rotating shaft; 7013. Expansion tube; 7014. Diagonal strut; 200. Horizontal swing mechanism; 210. First oil cylinder; 220. Horizontal rotating table; 230. Mounting support; 300. Vertical swing mechanism; 310. Boom; 320. Second oil cylinder; 330. Third oil cylinder; 340. Link assembly; 341. Hinge shaft; 342. First link; 343. Second link; 410. Breaker; 420. Drill rod; 500. Vertical slewing platform; 5000. Auxiliary digging arm; 6000. Feeding system; 7000. Transport vehicle; Detailed implementation mode

[0035] All features disclosed in this specification, or all steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any way.

[0036] Any feature disclosed in this specification (including any additional claims, abstract) can be replaced by other equivalent or similar-purpose alternative features unless specifically stated. That is, unless specifically stated, each feature is only an example of a series of equivalent or similar features.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a predetermined orientation, be constructed and operated in a predetermined orientation, and therefore should not be construed as a limitation of the present invention.

[0038] Furthermore, terms such as "first", "second", etc. are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features.

[0039] Embodiment 1 As Figures 1 to 30 shown, the present invention provides a technical solution: Specifically, the technical solution adopted in this embodiment is as follows: A multi-functional integrated machine set, which includes a bench 1100, a tunneling section 1, a drill arch section 2, an arch spraying section 3, and a rock drilling section 5: A slag discharge channel is provided below or at least one side of the bench 1100; The tunneling section 1 is arranged at the front end of the bench 1100 and is used for tunneling and excavation of the tunnel; The drill arch section 2 is slidably arranged at at least one side position of the bench 1100 and is used for drilling operations and cooperating with the arch spraying section 3 for arch erection operations: The arch spraying section 3 and the rock drilling section 5 are respectively slidably arranged on the bench 1100, wherein the arch spraying section 3 is used for spraying operations and cooperating with the drill arch section 2 for arch erection operations, and the rock drilling section 5 is used for drilling operations.

[0040] The arch frame is transported to the arch erection area, and the arch spraying section 3 is used to carry out arch erection operations on the arch frame within the specified area of the already excavated tunnel; The drill arch section 2 performs drilling operations on the arch frame after arch erection is completed, and the arch spraying section 3 performs spraying operations on the already anchored arch frame. Meanwhile, the tunneling section 1 performs tunneling operations on the heading face and / or the slag discharge mechanism performs slag discharge operations through the access channel; When carrying out arch erection operations or drilling operations, according to the remaining slag volume, the slag discharge mechanism performs slag discharge operations through the access channel.

[0041] It further includes an arch frame transfer section 4, and the arch frame transfer section 4 can transfer the arch frame from the bench 1100 to the arch erection area.

[0042] Based on the above structure, by integrating the tunneling section 1, the drill arch section 2, the arch spraying section 3, and the arch frame transfer section 4 on the bench 1100, multiple construction operations can be achieved by one machine set, and the various construction operations can be organically connected, avoiding the problems that each process is carried out independently, cannot be parallel, the tunnel needs to be emptied when the equipment is transferred, and the space is provided for the equipment to enter the site, and the overall construction efficiency of the tunnel construction cannot be improved. This solution can achieve parallel processes or seamless connection of processes, change the traditional construction methods of independent and non-parallel processes and multi-machine cooperation operations, greatly improve the construction progress, and create more value for customers.

[0043] When using traditional construction procedures, equipment needs to frequently enter and exit the site within a construction cycle, causing safety hazards during the transition, wasting a lot of time, and affecting construction efficiency. This solution also solves the problem of equipment needing to frequently enter and exit the tunnel. The gantry can integrate functions such as excavation, arch installation, anchor construction, and wet spraying. By using different components to replace frequently replaced equipment during different construction operations, the purpose of saving equipment time in and out of the tunnel can be achieved. At the same time, through multiple parallel operations such as spraying during excavation, slag removal during excavation, and arch loading during anchor construction, the single operation cycle time is further shortened, which improves construction efficiency and reduces safety hazards.

[0044] In this scheme, the anchoring operation can be locking foot anchoring, system anchoring and advance anchoring. After the arch frame is installed, it is necessary to carry out locking foot anchoring on the arch frame at the bottom of the upper construction surface, so as to achieve the fixed installation of the bottom of the arch frame. During the advancement of the arch frame installation in the tunnel, system anchors need to be driven at a specified distance along the depth direction of the tunnel. The system anchors are driven into the positions of both sides of the tunnel with a predetermined length of anchors, and the system anchors are welded to the arch frame as a whole, so as to increase the whole arch frame system and The fixing effect of the rock mass improves the safety of the arch system. Therefore, the system anchoring operation needs to be carried out according to the specified size. The advance anchoring operation is to drive the advance anchor in the oblique upward direction of the heading face. It is used to support the area before the heading face during the excavation of the heading face by the excavation mechanism to avoid large-scale collapse. Therefore, the advance anchoring operation needs to be carried out according to the overall advancement direction toward the heading face. When the end position of the previous advance anchor in the vertical direction is about to be reached, the next advance anchor needs to be driven in.

[0045] The specific operation steps of anchor bolting are: the anchor bolt construction mechanical arm first drills the hole, then fills in the anchoring agent, and then inserts the anchor bolt.

[0046] In this solution, a rock drilling arm can also be provided on the top of the platform. The rock drilling arm can slide along the length direction of the platform, and the rock drilling arm can be used to drill blast holes or anchor bolt installation holes on the wall surface in the tunnel.

[0047] In the arch spraying section of this solution, a shotcreting mechanism is provided; the shotcreting mechanism is connected to a pumping system, and the pumping system provides raw materials for the shotcreting mechanism. The cement tanker moves to the end of the gantry away from the heading face, and the cement tanker is connected to the pumping system. Generally speaking, the slurry supply is realized by pouring cement from the cement tanker into the feeding trough of the pumping system. The shotcreting mechanism performs shotcreting operations on the wall surface of the newly excavated tunnel. At this time, the cement tanker gives way to the vehicles for mucking operations; the mucking operations can be carried out by a loader moving to the heading face, transporting the muck generated by tunneling to a transport vehicle outside the coverage of the gantry for removal. The maximum height of the loader does not exceed the minimum height of the access passage inside the gantry.

[0048] In this solution, sliding components can be provided in both the drill arch section and the arch spraying section. Through the sliding components, the drill arch section and the arch spraying section can be driven to move along the length direction of the gantry, enabling them to perform corresponding construction operations better.

[0049] At the same time, both the drill arch section and the rock drilling section in this solution can perform drilling operations. Usually, the drilling operations are for drilling system anchor bolts, drilling locking foot anchor bolts, and drilling advanced anchor bolts. However, when encountering relatively hard rocks, the high-frequency breaker of the tunneling section cannot break them. At this time, it is necessary to use the drill arch section and / or the rock drilling section to drill blast holes. Since the drilling operations of the drill arch section and the rock drilling section are of the rotary-in type and their drilling components are relatively small, they can drill holes in relatively hard rocks, facilitating subsequent micro-explosion operations. After the rocks are blasted, the tunneling operations are carried out again.

[0050] As an example, the tunneling section can include a tunneling mechanism 1200 and a driving member, and the driving member is used to drive the tunneling mechanism 1200 to perform operating movements; among them, the operating movements include swinging up and down and moving left and right.

[0051] In this embodiment, by directly integrating the tunneling mechanism 1200 on the gantry 1100 and using the driving member to drive the tunneling mechanism 1200 to perform operating movements such as swinging up and down and moving left and right, the tunneling mechanism 1200 has the function of multi-degree-of-freedom movement. While the gantry 1100 remains stationary, the operating range of the tunneling mechanism 1200 can also be ensured. Therefore, it can replace the roadheader for operations, reducing the cost of the entire unit and improving the construction efficiency.

[0052] It should be noted that a corresponding number of robotic arms are provided on the top and both sides of the gantry 1100 to cooperate with operations such as arch erection, rock drilling, and bolt installation. The integration degree is high, meeting the requirements of multi-functional construction. When excavation needs to move forward or backward, the entire gantry 1100 with sprockets can move forward or backward, thereby driving the tunneling mechanism 1200 to move forward or backward, or the four telescopic legs of the gantry 1100 can be used to move forward or backward.

[0053] As an alternative embodiment, the driving member includes a second translation mechanism 1400. The tunneling mechanism 1200 is hinged to the second translation mechanism 1400. A first swing mechanism 1500 is provided between the second translation mechanism 1400 and the tunneling mechanism 1200. The first swing mechanism 1500 is used to drive the tunneling mechanism 1200 to swing up and down, and the second translation mechanism 1400 is used to drive the tunneling mechanism 1200 to move left and right.

[0054] In this embodiment, during the tunneling operation of the tunnel, the first swing mechanism 1500 can drive the tunneling mechanism 1200 to swing up and down, so as to realize the excavation in the vertical direction. The second translation mechanism 1400 can drive the tunneling mechanism 1200 to move left and right, so as to realize the excavation in the horizontal direction. Through the coordinated cooperation of the second translation mechanism 1400 and the first swing mechanism 1500, the individual actions or simultaneous actions of various operating movements of the tunneling mechanism 1200 can be realized, meeting the excavation requirements of complex actions.

[0055] As an alternative embodiment, the driving member further includes a first translation mechanism 1300 disposed in the gantry 1100. The first translation mechanism 1300 is used to drive the second translation mechanism 1400 and the tunneling mechanism 1200 to move forward and backward as a whole. The first translation mechanism 1300 includes a sliding beam 1310 slidably disposed in the gantry 1100. A propulsion mechanism 1320 for driving the sliding beam 1310 to slide is provided in the gantry 1100. The second translation mechanism 1400 is disposed on the sliding beam 1310.

[0056] In this embodiment, the first translation mechanism 1300 can drive the second translation mechanism 1400 and the tunneling mechanism 1200 to move forward and backward as a whole, so as to realize the broken excavation of the tunnel. When the broken excavation is not required, the tunneling mechanism 1200 can be retracted into the gantry 1100 to leave space for other mechanical components to work; when the tunneling mechanism 1200 needs to move forward or backward, the propulsion mechanism 1320 drives the sliding beam 1310 to move forward or backward in the gantry 1100, which can drive the second translation mechanism 1400 and the tunneling mechanism 1200 on the sliding beam 1310 to move forward or backward synchronously, realizing the automatic operation of feeding or retracting the tunneling mechanism 1200. Therefore, through the coordinated cooperation of the first translation mechanism 1300, the second translation mechanism 1400 and the first swing mechanism 1500, more complex action excavation requirements can be met, further improving the adaptation range.

[0057] It should be noted that the propulsion mechanism 1320 can adopt structural forms such as telescopic cylinders, sprocket drives or gear drives, as long as it can drive the sliding beam 1310 to move linearly, and there should be no restrictions here. The above-mentioned forward and backward movement directions are parallel to the tunneling direction of the tunnel, while the left and right movement is perpendicular to the forward and backward movement in the horizontal direction.

[0058] As an alternative embodiment, slide rails 1330 are provided on both inner sidewalls of the bench 1100, and the sliding beam 1310 is slidably disposed between the two slide rails 1330. The slide rails 1330 are used to guide the sliding of the sliding beam 1310, with low wear and stable operation.

[0059] As an alternative embodiment, the second translation mechanism 1400 includes a transverse movement base 1410 slidably disposed on the sliding beam 1310. The tunneling mechanism 1200 is hinged to the transverse movement base 1410, and a transverse movement mechanism 1420 is provided at the side end of the sliding beam 1310. The transverse movement mechanism 1420 is used to drive the transverse movement base 1410 to slide along the sliding beam 1310.

[0060] In this embodiment, when it is necessary to move the tunneling mechanism 1200 left and right to adjust the excavation width position, the transverse movement mechanism 1420 can be used to drive the transverse movement base 1410 to slide left or right on the sliding beam 1310, so that the tunneling mechanism 1200 on the transverse movement base 1410 moves synchronously, realizing automatic left and right movement operations.

[0061] It should be noted that the transverse movement base 1410 can be slidably connected to the side end of the sliding beam 1310 through a sliding component, or the transverse movement base 1410 can be a frame structure, so as to be slidably sleeved on the sliding beam 1310, not easily detached, and the structure is stable and reliable. Similarly, here the transverse movement mechanism 1420 can adopt structural forms such as telescopic oil cylinders, sprocket drives or gear drives.

[0062] As an alternative embodiment, the tunneling mechanism 1200 includes a second swing mechanism 1210 hinged to the second translation mechanism 1400. The second swing mechanism 1210 is hinged with a tunneling arm 1220, and the second swing mechanism 1210 is used to drive the tunneling arm 1220 to swing left and right.

[0063] In this embodiment, the tunneling mechanism 1200 performs rock drilling and excavation operations through the tunneling arm 1220. At the same time, it also has a second swing mechanism 1210 that can drive the tunneling arm 1220 to swing left and right, so as to adapt to a certain width of the excavation range. There is no need to frequently operate the second translation mechanism 1400 to drive the tunneling arm 1220 to move left and right. Therefore, the second translation mechanism 1400 drives the tunneling arm 1220 to move greatly in the tunnel width direction, while the second swing mechanism 1210 drives the tunneling arm 1220 to move slightly in the tunnel width direction. Such reasonable and effective coordination can improve the construction efficiency.

[0064] As an alternative embodiment, the second swing mechanism 1210 includes a connecting frame 1211 hinged to the second translation mechanism 1400. The tunneling arm 1220 is arranged on the connecting frame 1211. Swing cylinders 1212 are hinged on both sides of the connecting frame 1211, and the other ends of the swing cylinders 1212 are hinged to the second translation mechanism 1400.

[0065] In this embodiment, when it is necessary to swing the tunneling arm 1220 left and right, one of the swing cylinders 1212 extends, and the other swing cylinder 1212 correspondingly shortens, thereby driving the connecting frame 1211 and the tunneling arm 1220 as a whole to rotate towards one side. When it is necessary to rotate towards the other side, the two swing cylinders 1212 are reversely telescoped, thereby realizing the swing control of the tunneling arm 1220 to switch the rock drilling position.

[0066] It should be noted that the connecting frame 1211 should be hinged to the side end of the transverse movement seat 1410, and the corresponding hinge structure should only support horizontal rotation.

[0067] As an alternative embodiment, the tunneling arm 1220 includes a first frame 1221 hinged to the connecting frame 1211. A second frame 1222 is hinged to the first frame 1221, and a breaker 1223 is hinged to the second frame 1222. The first swing mechanism 1500 is used to drive the first frame 1221, the second frame 1222 and the breaker 1223 to swing up and down. Among them, the breaker 1223 can be either an ordinary piston impact breaker 1223 or a high-frequency breaker 1223. Generally, as long as the rock formation is not too hard, the excavation efficiency of the high-frequency breaker 1223 is generally higher than that of the ordinary piston impact breaker 1223.

[0068] In this embodiment, the tunneling arm 1220 can perform multi-joint activities through the first frame 1221 and the second frame 1222. With the driving effect of the first swing mechanism 1500, the breaker 1223 can accurately perform rock drilling operations on the excavation position.

[0069] As an alternative embodiment, the first swing mechanism 1500 includes a first oil cylinder 1510 hinged between the connecting frame 1211 and the first frame 1221, a second oil cylinder 1520 hinged between the first frame 1221 and the second frame 1222, and a third oil cylinder 1530 hinged between the second frame 1222 and the breaker 1223.

[0070] In this embodiment, the first oil cylinder 1510 can control the first frame 1221 to swing up and down, the second oil cylinder 1520 can control the second frame 1222 to swing up and down, and the third oil cylinder 1530 can control the breaker 1223 to swing up and down, thereby performing hierarchical and step-by-step adjustment to realize the flexible movement of the entire tunneling arm 1220.

[0071] As an alternative embodiment, the gantry 1100 includes a tabletop 1110. Two support frames 1120 are provided at the bottom of the tabletop 1110, and the driving member is disposed between the two support frames 1120. An operation space is formed between the tabletop 1110 and the two support frames 1120, and this operation space can be used for other construction operations, thereby facilitating the synchronous progress of multiple tasks to improve work efficiency.

[0072] To facilitate the passage of vehicles (such as muck trucks and bolt transport trucks) under the gantry 1100, the gantry is generally made large. Therefore, the distance between the gantry 1100 and the tunnel wall is relatively close, which poses high requirements for the compactness and operational flexibility of the drilling arch arm and the arch spraying arm. To meet these requirements, the embodiments of the drilling arch arm and the arch spraying arm of the present invention are as follows.

[0073] As an example, the drilling arch part may include a guide rail 2001, a sliding trolley 2002, a telescopic arm 2003, a swing arm 2004, a gripper mounting part 2005, a gripper assembly 2006, and a rock drilling mechanism 2007. In this embodiment, the gripper assembly 2006 is used to grip the side arch frame.

[0074] The sliding trolley 2002 is slidably disposed on the guide rail 2001. A hydraulic motor 2021 is provided on the sliding trolley 2002. Rollers are provided at the bottom of the sliding trolley 2002, and the rollers are in rolling contact with the guide rail 2001. The hydraulic motor 2021 drives the rollers to rotate through a chain, thereby driving the sliding trolley 2002 to move on the guide rail 2001. A hydraulic station 2022 is also provided on the sliding trolley 2002 to provide hydraulic power for the entire drilling arch part.

[0075] Optionally, a rotating table 2023 is rotatably provided on the sliding trolley 2002, and the telescopic arm 2003 is hinged to the rotating table 2023. The telescopic arm 2003 can deflect up and down. A deflection oil cylinder 2024 is provided between the sliding trolley 2002 and the rotating table 2023. The piston rod 7006 of the deflection oil cylinder 2024 is hinged to the side wall of the rotating table 2023. When the piston rod 7006 of the deflection oil cylinder 2024 extends and retracts, it can drive the rotating table 2023 to rotate in the horizontal plane, and then drive the entire telescopic arm 2003 to deflect left and right.

[0076] The telescopic arm 2003 can be extended or retracted. The telescopic arm 2003 includes a fixed arm 2031 and a movable arm 2032. One end of the fixed arm 2031 is hinged to the rotary table 2023, and the movable arm 2032 is slidably disposed within the fixed arm 2031 along the length direction of the fixed arm 2031. A second driving source 2033 for driving the sliding of the movable arm 2032 is provided on the fixed arm 2031. The second driving source 2033 is a second oil cylinder 1520 provided on the fixed arm 2031, and the piston rod 7006 of the second oil cylinder 1520 is hinged to the movable arm 2032. In order to ensure the smooth movement of the movable arm 2032, two second oil cylinders 1520 are provided.

[0077] A pitching oil cylinder 2231 is provided between the rotary table 2023 and the telescopic arm 2003. Specifically, the piston rod 7006 of the pitching oil cylinder 2231 is hinged to the bottom wall of the fixed arm 2031, and the pitching oil cylinder 2231 can drive the fixed arm 2031 to pitch up or down.

[0078] A pitching adjustment seat 2321 is connected to the movable end of the telescopic arm 2003. Specifically, the pitching adjustment seat 2321 is disposed at one end of the movable arm 2032 away from the fixed arm 2031. The pitching adjustment seat 2321 is provided with a rod-shaped structure and is coaxial with the telescopic rod. A swing arm 2004 is hinged to one end of the pitching adjustment seat 2321 away from the telescopic rod.

[0079] Optionally, the drilling arch part further includes a first driving assembly. The first driving assembly is connected to the swing arm 2004 and is used to drive the swing arm 2004 to rotate within the first base plane. In this embodiment, the first base plane is a horizontal plane. The first driving assembly includes a first driving source 2081, a hinge shaft 2082, a first connecting rod 2083, and a second connecting rod 2084. One end of the first connecting rod 2083 is hinged to the swing arm 2004, and the other end is hinged to the second connecting rod 2084 through the hinge shaft 2082. The hinge shaft 2082 is vertically disposed and perpendicular to the telescopic rod. One end of the second connecting rod 2084 away from the first connecting rod 2083 is hinged to the swing arm 2004. The first driving source 2081 is used to drive the hinge shaft 2082 to deflect. In the embodiment of the present application, the first driving source 2081 is a first oil cylinder 1510, and the piston rod 7006 of the first oil cylinder 1510 is hinged to the hinge shaft 2082. In other embodiments, the first driving source 2081 can also be a first air cylinder. The first driving source 2081 drives the hinge shaft 2082 to move, and the hinge shaft 2082 drives the first connecting rod 2083 and the second connecting rod 2084 to deflect, thereby achieving the purpose of driving the swing arm 2004 to rotate.

[0080] One end of the swing arm 2004 away from the telescopic rod is hinged with a gripper mounting part 2005. A second driving member 2041 for driving the gripper mounting part 2005 to rotate within the second base plane is arranged on the swing arm 2004. The first base plane and the second base plane are perpendicular to each other, that is, the second base plane is a vertical plane. The second driving member 2041 is a second hydraulic cylinder hinged on the swing arm 2004, and the piston rod 7006 of the second hydraulic cylinder is hinged with the gripper mounting part 2005.

[0081] Optionally, a gripper assembly 2006 is arranged on the gripper mounting part 2005 for clamping the arch frame. The gripper assembly 2006 includes a receiving plate 2061 and a gripper. One end of the receiving plate 2061 is hinged to the gripper mounting part 2005, and the gripper is arranged on the receiving plate 2061 for clamping the arch frame. A third driving source 2051 is arranged between the gripper mounting part 2005 and the receiving plate 2061. The third driving source 2051 is used to drive the receiving plate 2061 to deflect, and the rotation plane of the receiving plate 2061 is perpendicular to the rotation plane of the gripper mounting part 2005. The third driving source 2051 is a third oil cylinder 1530 hinged on the gripper mounting part 2005, and the piston rod 7006 of the third oil cylinder 1530 is hinged to the bottom wall of the receiving plate 2061.

[0082] Wherein, the gripper includes a clamping oil cylinder 2621, a first gripper 2622 and a second gripper 2623. The first gripper 2622 is fixedly arranged on one side of the receiving plate 2061, the second gripper 2623 is hinged on the other side of the receiving plate 2061, the clamping oil cylinder 2621 is arranged on the receiving plate 2061, one end of the clamping oil cylinder 2621 is hinged to one end of the first gripper 2622, and the piston rod 7006 of the clamping oil cylinder 2621 is hinged to one end of the second gripper 2623. The clamping oil cylinder 2621 can drive the second gripper 2623 to open or clamp.

[0083] Optionally, the drilling arch part further includes a hanging basket 2009, and the hanging basket 2009 is arranged on the swing arm 2004. The hanging basket 2009 is detachably arranged on the side of the swing arm 2004 away from the gripper assembly 2006 through a pin 2092. Specifically, fixing blocks 2042 are fixedly arranged on the side wall of the swing arm 2004, two fixing blocks 2042 are arranged at intervals, ear plates 2091 are fixedly arranged on the side wall of the hanging basket 2009, slots for inserting the ear plates 2091 are formed in the fixing blocks 2042, through holes are formed in the fixing blocks 2042 and the ear plates 2091, the ear plates 2091 are inserted into the slots, the pin 2092 is inserted into the through holes, and the pin 2092 penetrates through the fixing blocks 2042 and the ear plates 2091 to realize the installation and fixation of the hanging basket 2009. The hanging basket 2009 is arranged on the side of the swing arm 2004 away from the gripper assembly 2006 to prevent interference of the gripper assembly 2006 during the installation or maintenance of the hanging basket 2009, and it is convenient for loading, unloading and maintenance.

[0084] Among them, the rock drilling mechanism 2007 is rotatably arranged at one end of the movable arm 2032 away from the fixed arm 2031. The rock drilling mechanism 2007 can perform rock drilling operations and cooperate with the gripper assembly 2006, enabling the drill arch part to perform rock drilling operations and arch erection operations, thereby improving the tunnel construction efficiency. The specific structure of the rock drilling mechanism 2007 is prior art and will not be elaborated here.

[0085] Optionally, a first rotating seat 2101 is arranged at one end of the movable arm 2032 away from the fixed arm 2031. The first rotating seat 2101 has a cavity for the movable arm 2032 to pass through, and the size of the cavity is larger than that of the movable arm 2032 to prevent interference of the movable arm 2032 during the rotation of the first rotating seat 2101. A first slewing reducer 2102 is connected between the first rotating seat 2101 and the movable arm 2032. The rock drilling mechanism 2007 is installed on the first rotating seat 2101 through a mounting mechanism, and the first slewing reducer 2102 can drive the first rotating seat 2101 to rotate around the telescopic arm 2003.

[0086] The mounting mechanism includes a second rotating seat 2103, a second slewing reducer 2104, and a third slewing reducer 2105. The second slewing reducer 2104 is connected between the first rotating seat 2101 and the second rotating seat 2103, and the third slewing reducer 2105 is connected between the second rotating seat 2103 and the rock drilling mechanism 2007.

[0087] The second slewing reducer 2104 is used to drive the second rotating seat 2103 and the rock drilling mechanism 2007 to rotate around the first rotating seat 2101, and the third slewing reducer 2105 is used to drive the rock drilling mechanism 2007 to rotate around the second rotating seat 2103; the axes of rotation 7012 of the first slewing reducer 2102, the second slewing reducer 2104, and the third slewing reducer 2105 are perpendicular to each other.

[0088] The first slewing reducer 2102 can drive the first rotating seat 2101 to rotate, thereby achieving the purpose of driving the rock drilling mechanism 2007 to rotate around the telescopic arm 2003, enabling the rock drilling mechanism 2007 to rotate to the lower side of the telescopic arm 2003 and move closer to the ground to drill holes horizontally on the tunnel face to meet the requirements of drilling explosive holes and extensible bolt holes on the tunnel face, improving applicability. By controlling the second slewing reducer 2104, the rock drilling mechanism 2007 can be rotated around the first rotating seat 2101; by controlling the third slewing reducer 2105, the rock drilling mechanism 2007 can be rotated around the second rotating seat 2103; the first slewing reducer 2102, the second slewing reducer 2104, and the third slewing reducer 2105 cooperate to enable the drill arch part to rotate in multiple directions and move to multiple positions, realizing the functions of drilling locking angle bolts, system bolts, and advanced bolts.

[0089] As an example, the arch spraying unit can be installed on the gantry 1100. The arch spraying unit is located on the top working platform and can thus move in the tunnel following the gantry 1100. Of course, the gantry 1100 can also be a single-layer working platform. The arch spraying unit integrates a gripper mechanism 3004 and a shotcreting mechanism 3005 through a connecting boom 3003, and the shotcreting mechanism 3005 is arranged on the connecting boom 3003 through a first slewing mechanism 3006. Therefore, when the first slewing mechanism 3006 operates, the relative angle between the shotcreting mechanism 3005 and the gripper mechanism 3004 can be adjusted, so as to realize the dislocation or overlap between the shotcreting mechanism 3005 and the gripper mechanism 3004, thereby meeting the requirements of function switching. It can be known that when the arch spraying unit is arranged in the middle of the upper end of the gantry 1100, it is beneficial to grasp the middle part of the arch frame and maintain the grasping balance. Since the distance between the gantry 1100 itself and the tunnel wall is relatively close, when the arch spraying unit is located in the middle of the upper end of the gantry 1100, the distance between the arch spraying unit and the tunnel wall is relatively farther, which is more conducive to avoiding interference with the tunnel wall and thus more conducive to tunnel operations.

[0090] Of course, in some embodiments, the arch drilling unit can be in the structure form as in CN216894470U Figure 2 and CN115434729A Figure 2 . Both CN216894470U and CN115434729A are prior patent applications of the applicant. The arch drilling unit can adopt the previous structural components as an implementation manner of the multifunctional integrated unit of the present invention.

[0091] Specifically, the arch spraying unit includes a connecting boom 3003, a gripper mechanism 3004 and a shotcreting mechanism 3005; one end of the connecting boom 3003 is arranged on the gantry 1100; the gripper mechanism 3004 is arranged at the end of the connecting boom 3003 far from the gantry 1100; the shotcreting mechanism 3005 is arranged at the end of the connecting boom 3003 far from the gantry 1100 through a first slewing mechanism 3006 to switch between a retracted position and a working position. In this embodiment, when the shotcreting mechanism 3005 is in the retracted position, the gripper mechanism 3004 is used to grasp the arch frame; when the shotcreting mechanism 3005 is in the working position, the shotcreting mechanism 3005 is used for shotcreting operations.

[0092] In this embodiment, the gripper mechanism 3004 and the shotcrete mechanism 3005 are both located at the end of the connecting arm 3003, so the construction distance is extended as much as possible. In this embodiment, in order to avoid interference between the gripper mechanism 3004 and the shotcrete mechanism 3005 during the construction process as much as possible, the shotcrete mechanism 3005 and the connecting arm 3003 are located in the same plane regardless of whether the shotcrete mechanism 3005 is located at the recovery position or the working position, that is, the relative angle between the shotcrete mechanism 3005 and the connecting arm 3003 is 0° or 180°. When the gripping mechanism 3004 is in the initial position, the relative angle between the overall structure of the gripping mechanism 3004 and the connecting arm 3003 is 180°. At this time, when the spraying mechanism 3005 is in the working position, the spraying mechanism 3005 is located directly above the gripping mechanism 3004 as a whole, and at this time the spraying mechanism 3005, the gripping mechanism 3004, and the connecting arm 3003 are maintained in the same plane. When the spraying mechanism 3005 is in the recovery position, the spraying mechanism 3005 is located directly above the connecting arm 3003 as a whole, and at this time the spraying mechanism 3005, the gripping mechanism 3004, and the connecting arm 3003 are also maintained in the same plane. In other words, when the spraying mechanism 3005 is in the working position, the spraying mechanism 3005 can hide the gripping mechanism 3004 well, and when the spraying mechanism 3005 is in the recovery position, it is equivalent to exposing the gripping mechanism 3004, so that the gripping mechanism 3004 can operate normally. Obviously, when the overall structural length of the shotcrete mechanism 3005 is greater than the overall structural length of the gripper mechanism 3004, it can better meet the actual use requirements. A rectangular coordinate system XYZ is established with the center of the rotary mechanism 1 3006. It can be seen that the rotary mechanism 1 3006 drives the connecting arm 3003 to rotate along the circumferential direction of the Z axis. The rotary mechanism 1 3006 includes a motor and a turntable. The turntable is arranged on the connecting arm 3003. The motor is connected to the turntable in a transmission manner. The motor action drives the turntable to rotate, thereby driving the shotcrete mechanism 3005 to rotate.

[0093] In this embodiment, a sliding mechanism is provided between the platform 1100 and the connecting arm 3003. Specifically, the sliding mechanism includes a first track 3007 provided on the platform 1100, and a first motion block 3008 that slides with the track 4019, and the connecting arm 3003 is provided on the first motion block 3008, so that when the first motion block 3008 slides along the track 4019, the use range of the arch spray part can be effectively improved. Furthermore, the first track 3007 is provided on the top working platform of the platform 1100.

[0094] In this embodiment, it further includes a boom driving mechanism, which is arranged between the first moving block 3008 and the connecting boom 3003 and is used to drive the connecting boom 3003 to swing and pitch. Specifically, the boom driving mechanism includes a first support 3009 and a first power source 3010; the first support 3009 is arranged on the first moving block 3008, and the first support 3009 is hinged to the connecting boom 3003; the first power source 3010 is arranged between the first support 3009 and the connecting boom 3003 to drive the connecting boom 3003 to swing. Through the drive of the first power source 3010, the connecting boom 3003 realizes circumferential swinging, thereby adjusting the working positions of the shotcreting mechanism 3005 and the gripper mechanism 3004. In this embodiment, the first power source 3010 is a telescopic cylinder, and the two ends of the telescopic cylinder are respectively hinged to the first support 3009 and the connecting boom 3003. Since the structural weight borne by the connecting boom 3003 is relatively large, the connection between the connecting boom 3003 and the first support 3009 occupies a relatively large size to meet the strength requirements and avoid the collapse of the connecting boom 3003 due to insufficient supporting force. Further, the boom driving mechanism further includes a second support 3011 and a second power source 3012; the second support 3011 is hinged to the first support 3009 and the connecting boom 3003; the second power source 3012 is arranged between the second support 3011 and the connecting boom 3003 to drive the connecting boom 3003 to pitch. Thus, the pitching movement of the connecting boom 3003 in the vertical plane is realized, thereby further expanding the construction range.

[0095] In this embodiment, it further includes a third support 3013 and a third power source 3014; the third support 3013 is hinged to the end of the connecting boom 3003 far from the first moving block 3008; the third power source 3014 is arranged between the third support 3013 and the connecting boom 3003 to drive the third support 3013 to pitch; the gripper mechanism 3004 and the shotcreting mechanism 3005 are both arranged on the third support 3013. By establishing a rectangular coordinate system XYZ with the hinge between the third support 3013 and the connecting boom 3003 as the origin, it can be seen that through the drive of the third power source 3014, the third support 3013 rotates circumferentially along the X-axis, thereby adjusting the working positions of the shotcreting mechanism 3005 and the gripper mechanism 3004. In this embodiment, the third power source 3014 is a telescopic cylinder, and the two ends of the telescopic cylinder are respectively hinged to the third support 3013 and the connecting boom 3003.

[0096] In this embodiment, the driving angle of the gripper mechanism 3004 and the precision related to the angle will affect the quality and efficiency of the arch support. Therefore, in this embodiment, a corresponding adjustment mechanism can be set to meet the multi-directional adjustment of the gripper mechanism 3004, so that the gripper mechanism 3004 has a wider working range. Specifically, a gripper adjustment mechanism is provided between the gripper mechanism 3004 and the third support 3013 to enable the gripper mechanism 3004 to adjust its position through swinging or pitching motions. Further, the gripper adjustment mechanism includes a fourth support 3015 and a fourth power source 3016. The fourth support 3015 is hinged to the third support 3013, and the fourth power source 3016 is disposed between the third support 3013 and the fourth support 3015 to drive the fourth support 3015 to pitch. The gripper adjustment mechanism further includes a fifth support 3017 and a fifth power source 3018. The fifth support 3017 is hinged to the fourth support 3015, and the fifth power source 3018 is disposed between the fourth support 3015 and the fifth support 3017 to drive the fifth support 3017 to swing. The gripper adjustment mechanism further includes a sixth support 3019 and a sixth power source 3020. The sixth support 3019 is hinged to the fifth support 3017, and the sixth power source 3020 is disposed between the fifth support 3017 and the sixth support 3019 to drive the sixth support 3019 to pitch. The gripper adjustment mechanism further includes a seventh support 3021 and a seventh power source 3022. The seventh support 3021 is hinged to the sixth support 3019, and the seventh power source 3022 is disposed between the sixth support 3019 and the seventh support 3021 to drive the seventh support 3021 to pitch. Thus, in this embodiment, the gripper mechanism 3004 is disposed on the seventh support 3021. Among them, when the shotcreting mechanism 3005 is in the recovery position, the fifth support 3017 moves away from the fourth support 3015 to unfold, and when the shotcreting mechanism 3005 is in the working position, the fifth support 3017 moves closer to the fourth support 3015 to fold.

[0097] It can be seen that, as for the gripping mechanism 3004 as a whole, from the end close to the connecting arm 3003 to the end far from the connecting arm 3003, there are support three 3013, support four 3015, support five 3017, support six 3019, and support seven 3021 hinged in sequence, and the corresponding support is driven by the corresponding power source to achieve steering, so as to meet the positioning requirements at multiple angles, thereby ensuring the action accuracy of the gripping mechanism 3004, thereby improving the construction quality. As a preferred technical solution, a rectangular coordinate system XYZ is established with the hinge points between each support. In this embodiment, support four 3015 can rotate along its X-axis, support five 3017 can rotate along its Z-axis, support six 3019 can rotate along its X-axis, and support seven 3021 can rotate along its Y-axis. It should be noted that power source three 3014 to power source seven 3022 are also telescopic cylinders. It should also be noted that, in this embodiment, taking the horizontal plane as a reference, pitch motion refers to rotation on the vertical plane, and swing refers to rotation on the horizontal plane. Therefore, according to the actual position of the corresponding support, its pitch motion or swing should be known.

[0098] In this embodiment, the connecting arm 3003 is configured as a telescopic arm 2003 structure. The connecting arm 3003 includes a plurality of sliding arms that slide with each other, and also includes a power source eight 3023 for driving the movement of each sliding arm. The power source eight 3023 is also a telescopic cylinder, which is convenient to drive and has a simple structure.

[0099] Therefore, in this embodiment, the first moving block 3008 can slide on the first track 3007 to realize the position switching of the connecting arm 3003; the swing angle of the connecting arm 3003 can be adjusted by the power source one 3010; the vertical pitch angle of the connecting arm 3003 can be adjusted by the power source two 3012; the overall length of the connecting arm 3003 can be adjusted by the power source seven 3022; the overall vertical pitch angle of the spraying mechanism 3005 and the gripping mechanism 3004 can be adjusted by the power source three 3014; the vertical pitch angle of the gripping mechanism 3004 can be further adjusted by the power source four 3016; the swing angle of the gripping mechanism 3004 can be adjusted by the power source five 3018; the vertical pitch angle of the gripping mechanism 3004 can be further adjusted by the power source six 3020; the gripping angle of the gripping mechanism 3004 is adjusted by the power source seven 3022.

[0100] In this embodiment, the swivel mechanism 1 3006 is installed above the connecting arm 3003, and the spraying mechanism 3005 is fixed to the swivel mechanism 1 3006. The arch frame and spraying modes can be quickly switched through the swivel mechanism 1 3006. When the spraying mechanism 3005 rotates to the top of the gripping mechanism 3004, the support 6 3019 is retracted to perform the spraying operation; when the spraying mechanism 3005 rotates to the top of the connecting arm 3003, the support 6 3019 is unfolded, and the power source 3 3014 to the power source 7 3022 can be used to adjust the angle to meet the operation requirements of the gripping mechanism 3004.

[0101] In this embodiment, the stand 1100 is provided with a plurality of telescopic columns 3024, and a support base 3025 is provided at the end of the telescopic columns 3024. Further, the free end of the telescopic column 3024 is connected with a second swivel mechanism 3026, and the support base 3025 is connected to the telescopic column 3024 through the second swivel mechanism 3026; the second swivel mechanism 3026 adjusts the relative angle between the support base 3025 and the stand 1100 to adjust the support position of the support base 3025. Further, a transverse movement mechanism 1420 is also provided between the swivel mechanism and the support base 3025, which is used to drive the support base 3025 to transversely move relative to the machine body.

[0102] A transition frame is provided between the transverse mechanism 1420 and the slewing mechanism. The slewing mechanism 2 3026 includes a slewing seat and a slewing motor; one side of the slewing seat is connected to the telescopic column 3024, and the other side is connected to the transition frame; the slewing motor is connected to the slewing seat in a transmission manner to drive the transition frame to rotate circumferentially along the central axis of the slewing seat. The transverse mechanism 1420 includes a slide rail 1330, which is slidably matched with the transition frame; the slide rail 1330 is arranged on the support base 3025. Therefore, the support base 3025 can be pulled by the telescopic cylinder to achieve translation relative to the transition frame. Therefore, during the construction process, when the arch frame needs to be installed or transported, the support base 3025 is driven to move toward the inside of the trolley by the lateral movement mechanism 1420, and the telescopic column 3024 is extended to the ground to provide a stable support for the machine body; in the case of a long arch frame, if the arch frame contacts the support base 3025 or affects the transportation and installation space of the arch frame, the rotation angle of the support base 3025 can be controlled by the second slewing mechanism 3026, and the support base 3025 can be rotated to an appropriate position to ensure that there is enough space for the installation and transportation of the arch frame, avoid interference, and improve construction efficiency. Therefore, this embodiment reasonably configures the lateral movement mechanism 1420 and the second slewing mechanism 3026, so that the support base 3025 has flexible adjustment capabilities during the trolley construction, which can not only ensure the smooth transportation of the side arch and the arch erection operation, but also avoid the collision between the support base 3025 and the arch frame, ensuring the safety and efficiency of the construction process.

[0103] As an example, the arch transfer unit may include a transfer grasping structure 5002 and a transfer carriage 5003. Among them, the transfer grasping structure 5002 includes a rear grasping arm 5004. The rear grasping arm 5004 cooperates with the grasping mechanism 3004 to transport the arch. The transfer carriage 5003 is used to transfer the arch placed on the rear grasping arm 5004 to the grasping range of the grasping mechanism 3004. Through the settings of the grasping mechanism 3004, the rear grasping arm 5004 and the transfer carriage 5003, the transfer carriage 5003 can be used to assist in moving the arch, so as to achieve the action of transporting the arch onto the grasping mechanism 3004 without the grasping mechanism 3004 and the rear grasping arm 5004 rotating. Since neither the grasping mechanism 3004 nor the rear grasping arm 5004 needs to rotate, the width of the tunnel no longer limits the lengths of the grasping mechanism 3004 and the rear grasping arm 5004. Therefore, the lengths of the grasping mechanism 3004 and the rear grasping arm 5004 can be designed to be longer, so as to increase the maximum distance for transferring the arch and be able to move the arch to the arch erection area far from the bench 1100 for arch erection.

[0104] Specifically, the transfer and lifting structure 5002 includes a grabbing arm 5004 and a grabbing arm guide 5005 for the movement of the grabbing arm 5004, which are slidably connected to each other. The grabbing arm 5004 includes a sliding mechanism 5008 slidably connected to the grabbing arm guide 5005. On the sliding mechanism 5008, there are a rear grabbing arm 5004 and a grabbing mechanism 3004 arranged back to back. The grabbing mechanism 3004 is arranged towards the tunnel face. The grabbing mechanism 3004 and the rear grabbing arm 5004 themselves adopt robotic arms commonly used in tunnel engineering equipment. The basic structures for the grabbing mechanism 3004 and the rear grabbing arm 5004 to achieve the functions of grabbing, pitching, telescoping, and steering are prior arts and will not be elaborated here. Their function is that during the construction of the tunnel, the length of the tunnel will gradually be greater than its width. When transferring the front and rear arch frames, the arch frames need to pass through the entire gantry 1100 from the rear side of the gantry 1100 to the front side. If a single robotic arm is used to grab the arch frame, place it on the storage rack 5006, and then rotate the robotic arm 360° to grab the arch frame for transfer, during the rotation of the robotic arm, there will be a state where the robotic arm is parallel to the width of the tunnel. If the length of the robotic arm is large, it cannot rotate smoothly; if the length of the robotic arm is small, the structural strength of the robotic arm itself may not be sufficient to grab a relatively heavy arch frame, which is highly dangerous and not convenient for placing the arch frame in the front far from the gantry 1100, restricting the construction scope. Through the arrangement of the grabbing mechanism 3004 and the rear grabbing arm 5004, it is possible to achieve the grabbing by the rear grabbing arm 5004 of the arch frame, storage, and then grabbing by the grabbing mechanism 3004 without rotating the grabbing mechanism 3004 or the rear grabbing arm 5004 by 360°. While ensuring the transfer operation of the arch frame is completed, the size of the grabbing mechanism 3004 can be designed to be long enough to meet the requirements of construction safety and construction scope. The rotation functions of the rear grabbing arm 5004 and the grabbing mechanism 3004 themselves are only used for fine-tuning the placement angle of the arch frame and are not directly used for the transfer of the arch frame.

[0105] Specifically, the transfer carriage 5003 includes a storage rack 5006 and a storage rack guide 5007 that are slidably connected to each other, and the storage rack guide 5007 is used for the storage rack 5006 to move. The gripper arm 5004 moves along the extending direction of the gripper arm guide 5005 on the gripper arm guide 5005, and the storage rack 5006 moves along the extending direction of the storage rack guide 5007 on the storage rack guide 5007. The storage rack 5006 itself adopts the prior art and will not be elaborated. The storage rack 5006 is a rack body with a cross beam for supporting the arch frame at the top. The driving devices 7004 for driving the gripper arm 5004 to move on the gripper arm guide 5005 and driving the storage rack 5006 to move on the storage rack guide 5007 both adopt motors; the connecting mechanism between the driving device 7004 and the gripper arm 5004 or the storage rack 5006 adopts a gear chain mechanism; the sliding connection structures between the gripper arm 5004 and the gripper arm guide 5005 and between the storage rack 5006 and the storage rack guide 5007 both adopt the prior art and will not be elaborated. A lifting mechanism is provided at the rear end of the bench 1100 for lifting the arch frame to the height that can be clamped by the rear gripper arm 5004. The lifting mechanism adopts the prior art and will not be elaborated. Its function is that through the setting of the storage rack 5006 and the storage rack guide 5007, the storage rack 5006 can move along a direction parallel to the gripper arm guide 5005, so that the arch frame can move while being in contact with the gripper arm 5004 and the storage rack 5006 at the same time, enhancing the stability when transporting the arch frame.

[0106] Specifically, at least one storage rack 5006 is provided on each of the opposite sides of the transfer gripper structure 5002. Both the gripper arm guide 5005 and the storage rack guide 5007 adopt linear guide rails 2001. The moving path of the gripper arm 5004 on the gripper arm guide 5005 is arranged parallel to the moving path of the storage rack 5006 on the storage rack guide 5007. By symmetrically arranging a plurality of storage racks 5006 on the left and right sides of the transfer gripper structure 5002, the balance on both sides of the arch frame can be maintained.

[0107] Specifically, the rear gripper arm 5004 includes a clamping head 5015 for clamping the arch frame and a telescopic arm 2003 provided between the clamping head 5015 and the sliding mechanism 5008. The number of sections, length, and cross-sectional area of the telescopic arm 2003 of the gripper mechanism 3004 are all larger than those of the telescopic arm 2003 of the rear gripper arm 5004. Its function is that through the design of the dimensional relationship between the gripper mechanism 3004 and the rear gripper arm 5004, the gripper mechanism 3004 can have better structural strength and elongation distance.

[0108] Specifically, a pitching mechanism for driving the telescopic arm 2003 to pitch is provided between the telescopic arm 2003 and the sliding mechanism 5008. In the state where both the rear gripper arm 5004 and the gripper mechanism 3004 are at the lowest height, the clamping heads 5015 of the rear gripper arm 5004 and the gripper mechanism 3004 are at the same height. The pitching mechanism and the clamping head 5015 itself adopt existing technologies and will not be elaborated. The pitching mechanism uses a pitching cylinder. Its function is to ensure that the arch placed on the storage rack 5006 by the rear gripper arm 5004 can be grabbed by the gripper mechanism 3004 through the design of the height of the clamping head 5015 on the rear gripper arm 5004 and the gripper mechanism 3004.

[0109] Specifically, as shown in the figure, a guide rod 5013 that bends downward is provided at one end of the storage rack 5006 facing away from the heading face. Its function is to facilitate the rear gripper arm 5004 to move the arch to the middle of the storage rack 5006 through the setting of the guide rod 5013.

[0110] As an example, guide members 6002 for guiding the side arches of the arch are provided on both the left and right sides of the bench 1100. The rear ends of the guide members 6002 are located between the rear end of the lifting mechanism and the bench 1100. An extension structure is provided on the section of the guide member 6002 located outside the front end of the bench 1100. Its function is to support the side arches of the arch during the process of transporting the arch from the front end of the bench 1100 to the heading face through the design of the extension structure, effectively preventing the side arches from shaking and ensuring the smooth progress of the installation process.

[0111] Specifically, the guide member 6002 is in a circular tube shape. The guide members 6002 on both the left and right sides of the bench 1100 are symmetrically arranged with the bench 1100 as the center, and the guide member 6002 is arranged parallel to the bottom end of the bench 1100. Its function is to play the same limiting role on both the left and right sides of the side arch through the symmetrical design of the guide member 6002 on both the left and right sides of the bench 1100; through the design of the guide member 6002 being parallel to the bottom end of the bench 1100, the side arch is kept stable during the transportation process from the back to the front.

[0112] Specifically, the guide member 6002 includes a front guide tube 6011 and a rear guide tube 6012, and the height of the rear guide tube 6012 is higher than the height of the front guide tube 6011.

[0113] Specifically, a first expansion tube 6003 is provided at the rear end of the guide member 6002, and the distance between the first expansion tube 6003 and the bench 1100 gradually decreases from front to back. Its function is to enable the side arch to enter the first expansion tube 6003 when the side arch is not fully expanded through the setting of the first expansion tube 6003, and then enable the side arch to gradually expand along the first expansion tube 6003 during the forward transportation process.

[0114] Specifically, the extension structure includes an extension tube 6004 nested at the front end of the guide member 6002, and the extension tube 6004 is coaxially arranged with the guide member 6002. The state where the guide member 6002 and the extension tube 6004 are nested with each other includes the state where the guide member 6002 is sleeved outside the extension tube 6004 and the state where the extension tube 6004 is sleeved outside the guide member 6002. Its function is that through the arrangement of the extension tube 6004, it can still guide the side arch of the arch frame when the arch frame moves outside the front end of the bench 1100.

[0115] Specifically, a handle 6015 is provided on the extension tube 6004. The handle 6015 is annularly arranged on the side wall of the extension tube 6004. Its function is that through the arrangement of the handle 6015, it is convenient to pull the extension tube 6004 to move along its axial direction.

[0116] Specifically, a first diagonal brace 6016 is provided between the section of the guide member 6002 located outside the front end of the bench 1100 and the front end of the bench 1100. The outer diameter of the extension tube 6004 is less than or equal to the inner diameter of the guide member 6002. A plurality of fixing holes are axially distributed on the extension tube 6004. Through holes corresponding to the fixing holes are provided on the side wall of the front end of the guide member 6002. A pin shaft 6017 for simultaneously penetrating the through holes and the fixing holes is provided on the extension tube 6004. Its function is that through the arrangement of the first diagonal brace 6016, the structural strength of the section of the guide member 6002 located outside the front end of the bench 1100 can be enhanced; through the arrangement of the fixing holes, the through holes and the pin shaft 6017, the length of the whole formed by the extension tube 6004 and the guide member 6002 can be fixed.

[0117] Specifically, a reinforcing rib 6013 is connected between the guide member 6002 and the bench 1100.

[0118] The working principle of this embodiment is described as follows: When the arch frame is lifted by the lifting device, the side arches of the arch frame are gradually opened. When the distance between the two side arches is greater than the minimum distance between the two first expansion tubes 6003, the transfer device is used to clamp the arch frame and move it from the rear of the trolley to the front of the trolley. When the arch frame passes through the first expansion tube 6003, the side arches move along the first expansion tube 6003 and gradually expand and open, and then the arch frame can be conveyed to the front of the trolley along the guide circular tube and the extension tube 6004.

[0119] When it is necessary to transport the arch frame deeper into the tunnel, the pin shaft 6017 is taken out, and the extension tube 6004 is pulled outwards. When the extension tube 6004 is pulled out to an appropriate length and the fixing hole coincides with the through hole, the pin shaft 6017 is inserted for fixation.

[0120] Specifically, the extension structure further includes a diagonal support telescopic rod 6005 disposed between the extension pipe 6004 and the front end of the bench 1100. The diagonal support telescopic rod 6005 includes an inner rod 6006 and an outer rod 6007 that are nested with each other. The diagonal support telescopic rod 6005 is hinged to the front end of the bench 1100 and the diagonal support telescopic rod 6005 is also hinged to the extension pipe 6004. The inner rod 6006 and the outer rod 6007 are coaxially arranged. The outer rod 6007 is in a circular tubular shape, and the outer rod 6007 is sleeved outside the inner rod 6006. Its function is that through the nested relationship between the extension pipe 6004 and the guide member 6002 and the nested relationship between the inner rod 6006 and the outer rod 6007, the overall length formed by the extension pipe 6004 and the guide member 6002 can be extended to adapt to different tunnel environments; through the setting of the diagonal support telescopic rod 6005, the structural strength of the extension pipe 6004 can be maintained while the extension pipe 6004 is pulled out.

[0121] Specifically, a chamfer 6008 is provided on the outer edge of one end of the guide member 6002 facing the extension pipe 6004. Its function is that through the setting of the chamfer 6008, it is convenient for the arch support to transition and move from the guide member 6002 to the extension pipe 6004.

[0122] Specifically, the inner rod 6006 and the outer rod 6007 are each provided with evenly spaced circular holes 6009 along the axial direction. The spacing between every two adjacent circular holes 6009 on the inner rod 6006 is the same as the spacing between every two adjacent circular holes 6009 on the outer rod 6007. The diagonal support telescopic rod 6005 is provided with a pin 2092 for simultaneously passing through the circular holes 6009 on the inner rod 6006 and the outer rod 6007. Its function is that through the design of the circular holes 6009 and the pin 2092, the length of the diagonal support telescopic rod 6005 can be fixed.

[0123] Specifically, a reinforcing rib 6013 is connected between the guide member 6002 and the bench 1100. A connecting plate 6014 is connected between every two adjacent reinforcing ribs 6013. The top surfaces of the reinforcing ribs 6013 and the top surface of the connecting plate 6014 are in the same horizontal plane. Its function is that through the setting of the reinforcing ribs 6013 and the connecting plate 6014, workers can walk on the reinforcing ribs 6013 and the connecting plate 6014 when the arch support is not being transported, so as to facilitate checking the working conditions on both the left and right sides of the bench 1100.

[0124] When the arch support is lifted by the lifting device, the side arches of the arch support are gradually opened. When the distance between the two side arches is greater than the minimum distance between the two first expansion pipes 6003, the transfer device is used to clamp the arch support and move it from the rear of the bench 1100 to the front of the bench 1100. When the arch support passes through the first expansion pipe 6003, the side arches move along the first expansion pipe 6003 and gradually expand and open. After that, the arch support can be conveyed along the guide member 6002 and the extension pipe 6004 to the front of the bench 1100.

[0125] When it is necessary to transport the arch support to the deeper part of the tunnel, remove the pin 2092, pull the extension tube 6004 outwards, and at the same time move the inner rod 6006 outwards from the outer rod 6007. After the round holes 6009 on the inner rod 6006 and the outer rod 6007 coincide again, insert the pin 2092 for fixation.

[0126] Applied to tunnel construction through an all-in-one machine, an integrated trolley that integrates multiple functions such as excavation, erection, bolt installation, shotcreting, and pumping. It is equipped with a mucking loader and muck trucks for mucking, completing all processes of the tunnel face construction, realizing parallel or seamless connection of processes, changing the traditional construction methods where each process is independent and not parallel and multiple machines cooperate in operation, greatly improving the construction progress, and creating more value for customers.

[0127] Embodiment 2 Its specific structure is similar to that of Embodiment 1, and the difference lies in the arch spraying part. In this embodiment, the arch spraying part includes a connecting boom 3003, a gripper mechanism 3004, and a shotcreting mechanism 3005; one end of the connecting boom 3003 is connected to the gantry 1100, and the other end is connected to a second driving mechanism 4003; the fixed part of the gripper mechanism 3004 is connected to the second driving mechanism 4003; the power part of the shotcreting mechanism 3005 is connected to the second driving mechanism 4003 so that the shotcreting mechanism 3005 rotates around the central axis of the connecting boom 3003; both the gripper mechanism 3004 and the shotcreting mechanism 3005 have telescopic shafts. In this embodiment, the connecting boom 3003 is connected to the gantry 1100 through a first driving mechanism so that the connecting boom 3003 swings and / or pitches.

[0128] In this embodiment, the gripper mechanism 3004 and the shotcreting mechanism 3005 are both arranged on the connecting boom 3003. Therefore, if the connecting boom 3003 moves, the gripper mechanism 3004 and the shotcreting mechanism 3005 can be driven simultaneously. Thus, the operations of two shotcreting parts can be completed by using one shotcreting part. On this basis, the gripper mechanism 3004 is connected to the connecting boom 3003 through the second driving mechanism 4003. Therefore, by the operation of the second driving mechanism 4003, the function switching between the gripper mechanism 3004 and the shotcreting mechanism 3005 can be realized, so as to meet the actual use requirements. Thus, there is no need for equipment transfer, effectively improving the construction efficiency. Specifically, the second driving mechanism 4003 is a slewing device. When the second driving mechanism 4003 operates, the gripper mechanism 3004 can rotate around the central axis of the connecting boom 3003, thus meeting the construction conditions of the shotcreting mechanism 3005. Further, both the gripper mechanism 3004 and the shotcreting mechanism 3005 have telescopic shafts. Therefore, when one of them is used for construction operations, it extends, and the other retracts. Thus, under the action of the second driving mechanism 4003, they do not affect each other, so as to better meet the function switching. It can be known that when switching functions, in some working conditions, it can also be realized by only the telescoping of the gripper mechanism 3004 and / or the shotcreting mechanism 3005. During the specific shotcreting process, the second driving mechanism 4003 can be used to increase the action range of shotcreting.

[0129] In this embodiment, the first driving mechanism is composed of at least one of a rotary device and a telescopic device. That is to say, both the rotary device and the telescopic device can realize the swing and / or pitching of the connecting boom 3003. It should be noted that in this embodiment, taking the horizontal plane as a reference, the pitching motion refers to the rotation in the vertical plane, and the swing refers to the rotation in the horizontal plane. Therefore, according to the actual position of the corresponding device, the pitching motion or swing situation should be known. Specifically, the first driving mechanism includes a first rotary device 4004 and a first telescopic device 4005; the first rotary device 4004 is arranged on the bench 1100, and the connecting boom 3003 and the first rotary device 4004 are hinged; both ends of the first telescopic device 4005 are respectively hinged to the first rotary device 4004 and the connecting boom 3003. In this embodiment, the swing and pitching motions of the connecting boom 3003 are jointly realized by the first rotary device 4004 and the first telescopic device 4005. This structure is simple and easy to implement, and can well realize the corresponding functions. Further, in this embodiment, the first driving mechanism further includes a first second support 4006 and a second telescopic device 4007; a first connecting portion 4008 and a second connecting portion 4009 are arranged on the first second support 4006, the first connecting portion 4008 is hinged to the connecting boom 3003, and the second connecting portion 4009 is hinged to the first telescopic device 4005; both ends of the second telescopic device 4007 are respectively hinged to the first connecting portion 4008 and the first rotary device 4004. The second telescopic device 4007 can further flexibly adjust the overall pitching angle of the connecting boom 3003, so that the actions of the gripper mechanism 3004 and the shotcreting mechanism 3005 are more accurate, thereby effectively improving the construction quality.

[0130] In this embodiment, the gripper mechanism 3004 includes a gripper member 4010 and a first connecting arm 4011; one end of the first connecting arm 4011 is connected to the second driving mechanism 4003, and the other end is connected to the gripper member 4010 through a third driving mechanism. The shotcreting mechanism 3005 includes a shotcreting member 4012 and a second connecting arm 4013; one end of the second connecting arm 4013 is connected to the second driving mechanism 4003, and the other end is connected to the shotcreting member 4012. Since both the gripper mechanism 3004 and the shotcreting mechanism 3005 have telescopic shafts, in this embodiment, for the purpose of simplifying the structure, the first connecting arm 4011 and the second connecting arm 4013 are both configured as telescopic shafts. When the gripper member 4010 needs to be used, the first connecting arm 4011 extends and the second connecting arm 4013 retracts. On the contrary, when the shotcreting member 4012 needs to be used, the first connecting arm 4011 retracts and the second connecting arm 4013 extends. To further improve the use precision of the gripper member 4010, the third driving mechanism in this embodiment is configured as a multi-axis turntable mechanism. The components in the multi-axis turntable mechanism can rotate around at least two rotation axes, so it has a higher degree of freedom of movement. Specifically, in this embodiment, the third driving mechanism includes a second rotary device 4015. The fixed part of the second rotary device 4015 is connected to the first connecting arm 4011, and the power part of the second rotary device 4015 is connected to the gripper member 4010 to drive the gripper member 4010 to rotate around the axis of the first connecting arm 4011. Further, the third driving mechanism further includes a third rotary device 4016. The axis of the third rotary device 4016 is perpendicular to the axis of the first connecting arm 4011. The fixed part of the third rotary device 4016 is connected to the power part of the second rotary device 4015, and the power part of the third rotary device 4016 is connected to the gripper member 4010 to drive the gripper member 4010 to rotate around an axis perpendicular to the axis of the third rotary device 4016. Further, the third driving mechanism further includes a first carrier 4014, a second carrier 4017, and a third telescopic device 4018; the first carrier 4014 is connected to the power part of the second rotary device 4015; the second carrier 4017 is connected to the fixed part of the third rotary device 4016; the two ends of the third telescopic device 4018 are respectively hinged to the first carrier 4014 and the second carrier 4017 to drive the gripper member 4010 to rotate along the straight line where the hinge joint of the first carrier 4014 and the second carrier 4017 is located. Thus, specifically, the fixed part of the second rotary device 4015 is connected to the first connecting arm 4011, and the power part is connected to the first carrier 4014; the fixed part of the third rotary device 4016 is connected to the first carrier 4014, and the power part is connected to the gripper member 4010.The carrier 1 (4014) serves as an intermediate connecting member. When the rotary device 2 (4015) operates, it rotates accordingly and drives the gripper member 4010 to rotate. When the rotary device 3 (4016) operates, the carrier 1 (4014) remains relatively stationary with respect to the boom 3003 and is connected thereto. That is to say, at this time, the rotation of the rotary device 3 (4016) only drives the gripper member 4010 to rotate, thus meeting the usage requirements of the gripper member 4010. The telescopic device 3 (4018) can enable the gripper member 4010 to turn over, so as to better meet the requirements of construction for multi-angle applications, thereby further improving the construction quality. In this embodiment, the carrier 1 (4014) has a proximal end and a distal end relative to the connecting arm 1 (4011). The proximal end and the distal end are located on opposite sides of the connecting arm 1 (4011). The proximal end of the carrier 1 (4014) is hinged to the carrier 2 (4017), and the distal end of the carrier 1 (4014) is hinged to the telescopic device 3 (4018). The cross-section of the carrier 1 (4014) is a triangular structure, with its proximal end being corner 1 and its distal end being corner 2. It can be seen that in the axial direction of the connecting arm 1 (4011), there is a triangular notch between corner 1 and corner 2. This can reduce the structural weight and also increase the telescopic length of the telescopic device 3 (4018), thus better meeting the usage requirements of the gripper member 4010.

[0131] In this embodiment, the boom 3003 is a telescopic structure. The boom 3003 includes a plurality of sliding arms that are slidably engaged with each other, and further includes a telescopic cylinder for driving the movement of each sliding arm, thereby facilitating driving and having a simple structure.

[0132] In this embodiment, a sliding mechanism is provided between the gantry 1100 and the boom 3003. Specifically, the sliding mechanism in this embodiment is provided between the driving mechanism 1 and the gantry 1100. Further, the sliding mechanism 5008 includes a first track 3007 provided on the gantry 1100, and a second moving block 4020 that is slidably engaged with the first track 3007. The driving mechanism 1 is placed on the second moving block 4020. Thus, when the second moving block 4020 slides along the first track 3007, the usage range of the arch spraying part can be effectively increased.

[0133] Accordingly, the second moving block 4020 can perform a sliding movement on the first track 3007, and the rotary device 4004 on the second moving block 4020 can swing the connecting boom 3003; the telescopic device 4005 provided on the side of the connecting boom 3003 can adjust the pitching angle of the connecting boom 3003 within a certain angle range, and the telescopic device 4007 can adjust the pitching angle of the second support 3011. When the telescopic device 4005 and the telescopic device 4007 cooperate with each other to adjust, when the connecting boom 3003 is at the maximum opening angle, the second support 3011 can be further driven to switch at a certain angle, thereby further increasing the pitching range of the connecting boom 3003; since the connecting boom 3003 is a telescopic structure, the connecting boom 3003 can be telescoped by a certain length; a second driving mechanism 4003 is provided between the connecting boom 3003 and the second connecting arm 4013. Through the second driving mechanism 4003, the second connecting arm 4013 can rotate around the connecting boom 3003 by a certain angle for operation; when performing arch frame operation, the second connecting arm 4013 can be shortened and retracted, the first connecting arm 4011 is extended, and the gripper member 4010 grabs the arch frame. Through the cooperation of the second rotary device 4015, the third rotary device 4016 and the third telescopic device 4018, the position state of the gripper member 4010 can be flexibly adjusted so that the arch frame can accurately reach the designated position; when performing shotcreting operation, the first connecting arm 4011 is shortened and retracted, and the second connecting arm 4013 is extended, then the shotcreting operation can be carried out; during the process of function switching, by using the second driving mechanism 4003 to change the position of the shotcreting mechanism 3005, operation interference can be avoided, thereby improving the operation stability and accuracy.

[0134] Thus, during the process of using this embodiment, the actual usage requirements can be met through the switching of at least three states. Through the action of the second moving block 4020, the connecting boom 3003 is moved to the rear end of the gantry 1100. Then, by the coordinated action of the first slewing device 4004, the first telescopic device 4005, and the second telescopic device 4007, the arch support is picked up from the rear end of the gantry 1100. Then, the second moving block 4020 is used to move to the front end of the gantry 1100, and through the coordinated action of the first slewing device 4004, the first telescopic device 4005, and the second telescopic device 4007, the arch support is transported to the heading face. During the above process, after the arch support is grasped, the occupied volume after grasping the arch support can also be reduced by the telescoping of the first telescopic device 4005 and the second telescopic device 4007, thereby avoiding movement interference. That is to say, this embodiment can achieve the grasping, transportation, and installation of the arch support in the front-back direction of the gantry 1100, and effectively reduce the occupied volume during the transportation process. During the idle time period, the second moving block 4020 can be driven to move to the middle of the gantry 1100, and the first telescopic device 4005 and the second telescopic device 4007 can be retracted, so as to better realize the movement of the gantry 1100. In other words, this embodiment can avoid the drawbacks of limited space, such as the need to empty the tunnel and stop other construction operations during the arch support transportation or arch erection operation, thereby avoiding the reduction of the overall efficiency of tunnel construction.

[0135] Of course, the arch spraying part can also include other structural forms. For example, a quick-change mechanism is provided at the front end of the connecting boom. When erecting the arch, an arch support gripper is connected, and when spraying mortar, a nozzle is connected. The quick-change mechanism is a current technology and will not be elaborated here.

[0136] Embodiment 3 Its specific structure is similar to that of Embodiment 1, and the difference lies in the side arch guiding mechanism. In this embodiment, guiding members 6002 and a driving device 7004 for facilitating the dragging of the side arch are provided on the side of the gantry 1100. The guiding member 6002 extends from the rear end of the gantry 1100 to the front end of the gantry 1100, and an extension member 7003 that can extend towards the arch erection area is further provided at the front end of the guiding member 6002. The driving device 7004 is used to drive the extension member 7003 to move back and forth. Its function is that through the design of the extension member 7003, during the process of transporting the arch support from the front end of the gantry 1100 to the heading face, the side arch of the arch support can be supported, effectively preventing the side arch from shaking and ensuring the smooth progress of the installation process. Through the setting of the driving device 7004, the extension member 7003 can be automatically driven to move back and forth telescopically, and the driving of the extension member 7003 is relatively labor-saving.

[0137] Specifically, both the extension member 7003 and the driving device 7004 are built into the guiding member 6002, and the rear end of the extension member 7003 is connected to the driving device 7004. The function is that by the design of building the driving device 7004 inside, it can avoid damage to the driving device 7004 caused by accidental bumps.

[0138] Specifically, the driving device 7004 adopts a hydraulic cylinder. The driving device 7004 includes a cylinder block 7005 and a piston rod 7006. A sealing ring 7007 for sealing the piston rod 7006 and the cylinder block 7005 is provided on the outer side of the side wall of the piston rod 7006 located inside the cylinder block 7005. The function is that through the setting of the hydraulic cylinder, it can realize the automatic driving of the extension member 7003.

[0139] Specifically, a first infusion tube 7008 and a second infusion tube 7009 are respectively communicated with the cylinder block 7005 on both sides before and after the sealing ring 7007. The function is that through the setting of the first infusion tube 7008 and the second infusion tube 7009, it can control the forward and backward movement of the piston rod 7006 by inputting fluid into the cylinder block 7005 through one of the infusion tubes and outputting fluid from the cylinder block 7005 through the other infusion tube.

[0140] Specifically, the guiding member 6002 is located outside the extension member 7003, and the first infusion tube 7008 and the second infusion tube 7009 penetrate through the guiding member 6002.

[0141] Specifically, the piston rod 7006 is hinged to the rear end of the extension member 7003. An elastic ring 7010 is filled and provided between the outer wall of the extension member 7003 and the inner wall of the guiding member 6002. One end of the cylinder block 7005 far from the extension member 7003 is fixedly connected to the guiding member 6002. The function is that through the design of hinging the piston rod 7006 to the extension member 7003 and the setting of the elastic ring 7010, when the extension member 7003 supports the arch frame, there is a certain deflection space between the extension member 7003 and the guiding member 6002, avoiding direct contact between the extension member 7003 and the side wall of the guiding member 6002, which may easily cause deformation or damage to the extension member 7003 or the guiding member 6002 when the extension member 7003 and the guiding member 6002 are offset.

[0142] Specifically, a hinge seat 7011 is provided at the rear end of the extension member 7003. The piston rod 7006 is connected to the hinge seat 7011 through a rotating shaft 7012. The rotating shaft 7012 is vertically arranged with respect to the ground. The elastic ring 7010 is provided near the hinge seat 7011 of the extension member 7003. The function is that since the extension member 7003 is subjected to a large force in the horizontal direction when supporting the arch frame, through the setting of the orientation of the rotating shaft 7012, it is convenient for the extension member 7003 to generate an offset on the horizontal plane, extending the service life of the guiding member 6002 and the extension member 7003.

[0143] Specifically, the guiding member 6002 and the extension pipe are square tubular. The guiding members 6002 on the left and right sides of the bench 1100 are symmetrically arranged with the bench 1100 as the center, and the guiding member 6002 is arranged parallel to the bottom end of the bench 1100. Its function is that through the symmetrical design of the guiding members 6002 on the left and right sides of the bench 1100, the same limiting effect can be exerted on the left and right sides of the side arch; through the design of the guiding member 6002 being parallel to the bottom end of the bench 1100, the side arch can be kept stable during the transportation process from the back to the front.

[0144] Specifically, a second expansion pipe 6003 is provided at the rear end of the guiding member 6002, and the distance between the second expansion pipe 6003 and the bench 1100 gradually decreases from front to back. Its function is that through the setting of the second expansion pipe 6003, the side arch can enter the position of the second expansion pipe 6003 when the side arch is not fully expanded, and then the side arch can be gradually expanded along the second expansion pipe 6003 during the transportation process from back to front.

[0145] Specifically, a second diagonal brace 6016 is provided between the section of the guiding member 6002 outside the front end of the bench 1100 and the front end of the bench 1100. Its function is that through the setting of the second diagonal brace 6016, the structural strength of the section of the guiding member 6002 outside the front end of the bench 1100 can be enhanced.

[0146] The working principle of this embodiment is described as follows: When the arch frame is lifted by the lifting device, the side arches of the arch frame are gradually opened. When the distance between the two side arches is greater than the minimum distance between the two second expansion pipes 6003, the arch frame is clamped by the transfer device and moved from the rear of the bench 1100 to the front of the bench 1100. When the arch frame passes through the second expansion pipe 6003, the side arch moves along the second expansion pipe 6003 and gradually expands outward. Then, the arch frame is conveyed to the front of the bench 1100 along the guiding member 6002 and the extension member 7003.

[0147] When it is necessary to transport the arch frame deeper into the tunnel, start the driving device 7004 and push the extension member 7003 outward.

[0148] Embodiment 5 Its specific structure is similar to that of Embodiment 1, and the difference lies in the side arch guiding mechanism. In this embodiment, as Figures 31 to 33 shown; the tunneling arm mechanism may include two horizontal swing mechanisms 200 arranged on the bench. The horizontal swing mechanisms 200 are both connected with vertical swing mechanisms 300, and the vertical swing mechanisms 300 are both connected with tunneling mechanisms 1200; wherein, the vertical swing mechanism 300 is used to drive the tunneling mechanism 1200 to swing up and down, and the horizontal swing mechanism 200 is used to drive the vertical swing mechanism 300 and the tunneling mechanism 1200 to swing left and right as a whole.

[0149] In this embodiment, the traditional single tunneling arm is improved to two or more tunneling mechanisms 1200. However, when setting multiple tunneling mechanisms 1200, the problem of mutual interference needs to be considered, so it is necessary to redesign the connection structure between the tunneling mechanism 1200 and the bench. Since the space does not support the sliding movement of the tunneling arm after installing two or more tunneling mechanisms 1200, the front-back and left-right sliding structures of the single tunneling arm are cancelled, and the horizontal swing mechanism 200 and the vertical swing mechanism 300 are used to drive the tunneling mechanism 1200 to swing left and right and up and down, so as to meet the excavation operation within a certain range, that is, the interference problem is avoided, and the working ranges of multiple tunneling mechanisms 1200 can cover the construction range, and multiple tunneling mechanisms 1200 can work simultaneously. Compared with the single-arm tunneling machine or the traditional tunneling method, more rocks or soils can be broken per unit time. In the excavation of tunnels with a large cross-section, different positions can be broken simultaneously to speed up the construction progress. There is a certain space between the tunneling mechanisms 1200, and the bucket of the mucking machine can pass through the middle for mucking operation during tunneling, which can effectively improve the construction efficiency. At the same time, in the face of complex geological conditions, such as uneven rock hardness or the existence of multiple different types of geological structures, the adaptability can be enhanced by adjusting the working positions and angles of different tunneling mechanisms 1200, and it can be flexibly responded to. One tunneling mechanism 1200 can be used to process the harder part first, and the other tunneling mechanism 1200 can process the relatively softer part to ensure the continuous progress of the tunneling work. Therefore, during the tunneling process, the work of multiple tunneling mechanisms 1200 can make the force of the machine more balanced, reduce the problem of machine deflection caused by excessive unilateral force, is beneficial to improving the accuracy and stability of tunneling, making the tunnel forming quality better, and increasing the emergency response ability. If one tunneling mechanism 1200 fails, the other tunneling mechanisms 1200 can still continue to work, reducing the impact of equipment failure on the overall project progress.

[0150] It should be noted that the bench is in a frame structure, with a certain space and an operation platform inside. The horizontal swing mechanism 200 should be arranged on one side of the operation platform inside the bench close to the construction direction.

[0151] As an optional implementation manner, a slewing mechanism is further included. The slewing mechanism is connected between the horizontal swing mechanism 200 and the vertical swing mechanism 300, and the slewing mechanism is used to drive the vertical swing mechanism 300 and the tunneling mechanism 1200 as a whole to rotate by a corresponding angle around the axis of the slewing mechanism itself.

[0152] In this implementation manner, by setting the slewing mechanism, the tunneling mechanism 1200 can also rotate by a certain angle in the vertical plane, so as to perform tunneling at different angles, further improving the flexibility of the excavation operation.

[0153] As an alternative embodiment, the slewing mechanism includes a vertical slewing platform 500 connected to the vertical swing mechanism 300. The vertical slewing platform 500 is connected to a slewing motor (not shown in the figure), and the slewing motor is arranged on the horizontal swing mechanism 200.

[0154] In this embodiment, when a slewing operation is required, the vertical slewing platform 500 is driven by the slewing motor to rotate a certain angle, thereby driving the vertical swing mechanism 300 and the tunneling mechanism 1200 as a whole to automatically rotate a certain angle in the vertical plane. Here, the slewing motor can be a servo motor, which can accurately control the rotation speed and direction to meet the usage requirements.

[0155] As an alternative embodiment, the horizontal swing mechanism 200 includes a first oil cylinder 210 hinged to the chassis. The first oil cylinder 210 is hinged to a horizontal rotating platform 220. The horizontal rotating platform 220 is rotatably connected to the chassis, and the slewing mechanism is connected to the side of the horizontal rotating platform 220 away from the first oil cylinder 210.

[0156] In this embodiment, when it is necessary to swing the tunneling mechanism 1200 left and right in the horizontal plane, the telescopic action of the first oil cylinder 210 can drive the horizontal rotating platform 220 to swing a certain amplitude on the chassis, thereby driving the slewing mechanism, the vertical swing mechanism 300 and the tunneling mechanism 1200 as a whole to swing synchronously, so as to swing to the corresponding position in the horizontal plane to meet the requirements of the excavation operation.

[0157] As an alternative embodiment, an installation support 230 is fixedly arranged on the chassis. The horizontal rotating platform 220 is rotatably connected within the installation support 230, so as to provide a certain protection for moving parts such as the horizontal rotating platform 220. It should be noted that the horizontal rotating platform 220 can be a hollow structure, and a slewing motor can be accommodated inside, with a compact structure and space saving.

[0158] As an alternative embodiment, the vertical swing mechanism 300 includes a boom 310 hinged to one side of the slewing mechanism. The other end of the boom 310 is hinged to the tunneling mechanism 1200. Second oil cylinders 320 are hinged on both sides of the boom 310, and the other ends of the second oil cylinders 320 are hinged to the slewing mechanism. A third oil cylinder 330 is hinged to the top of the boom 310. The third oil cylinder 330 is hinged to a connecting rod assembly 340, and the other end of the connecting rod assembly 340 is hinged to the tunneling mechanism 1200.

[0159] In this embodiment, when the tunneling mechanism 1200 needs to swing up and down, the telescopic action of the second oil cylinder 320 can drive the boom 310 to rotate by a certain angle around the hinge pin shaft of the slewing mechanism, so that the boom 310 drives the tunneling mechanism 1200 to swing up and down significantly. At this time, the third oil cylinder 330 expands and contracts synchronously. When fine adjustment is required, the telescopic action of the third oil cylinder 330 and the transmission action of the connecting rod assembly 340 are used to drive the tunneling mechanism 1200 to rotate by a certain angle around the hinge pin shaft of the boom 310, so that the tunneling mechanism 1200 swings up and down slightly, realizing flexible up and down swing to meet more excavation requirements.

[0160] As an alternative embodiment, the connecting rod assembly 340 includes a hinge shaft 341 hinged to the third oil cylinder 330. Two first connecting rods 342 and a second connecting rod 343 are simultaneously hinged on the hinge shaft 341. The other ends of the two first connecting rods 342 are respectively hinged to both sides of the boom 310, and the other end of the second connecting rod 343 is hinged to the tunneling mechanism 1200.

[0161] In this embodiment, when the third oil cylinder 330 expands and contracts to pull or push the hinge shaft 341, the first connecting rod 342 and the second connecting rod 343 move synchronously, and the first connecting rod 342 plays a certain supporting role, thereby driving the tunneling mechanism 1200 to swing accordingly.

[0162] As an alternative embodiment, the tunneling mechanism 1200 includes a breaker 410 connected to the vertical swing mechanism 300. The other end of the breaker 410 is connected with a drill rod 420, which is applicable to rock drilling operations.

[0163] As an alternative embodiment, two tunneling mechanisms 1200 are provided, and the two tunneling mechanisms 1200 are arranged left and right on one side of the bench. The number of tunneling mechanisms 1200 should not be too many, otherwise it will increase the equipment cost and control difficulty. According to the current excavation operation and working space conditions, setting two tunneling mechanisms 1200 can meet the basic requirements. The two tunneling mechanisms 1200 are arranged left and right, and can be respectively responsible for the excavation operations of their respective half faces of the heading face, with high construction efficiency.

[0164] In this solution, a mucking mechanism is arranged in the mucking channel. The mucking mechanism includes an auxiliary digging arm 5000 arranged at the front end of the bench and a material conveying system 6000; the transport vehicle moves to the end of the material conveying system, and the auxiliary digging arm pushes the muck produced by tunneling to the front position of the material conveying system, and the material conveying system automatically transports the muck into the transport vehicle 7000, and the muck is moved out of the tunnel through the transport vehicle.

[0165] The material conveying system discharges muck from the bottom of the bench; or discharges muck from at least one side of the bench; or first discharges muck from the bottom of the bench, and then passes through the bench and discharges muck from at least one side of the bench.

[0166] During the mucking operation, the tunneling operation is carried out on the left and right sides of the heading face through the tunneling mechanism arranged at the front end of the jumbo. At this time, the mucking mechanism is the auxiliary digging arm and the material conveying system arranged at the front end of the jumbo; the transport vehicle moves to the end of the material conveying system, and the auxiliary digging arm pushes the muck produced by tunneling to the front position of the material conveying system. The material conveying system automatically transports the muck into the transport vehicle and moves out of the tunnel through the transport vehicle; the material conveying system can be a conveyor belt structure driven by a power mechanism.

[0167] In this solution, the material conveying system can carry out mucking operations from the bottom of the jumbo; or from at least one side of the jumbo; or first carry out mucking operations from the bottom of the jumbo, and then pass through the jumbo and carry out mucking operations from at least one side of the jumbo. Since muck is likely to accumulate at the bottom of the heading face, the material conveying system can quickly collect the muck at the bottom of the jumbo. At the same time, in order to avoid interference with the rear components of the jumbo, the material conveying system is set as a "Z"-shaped structure that first discharges muck from the jumbo, then passes through the side position of the jumbo, and finally discharges muck from the side of the jumbo, so that mucking operations can be carried out more efficiently.

[0168] Through the mucking mechanism in this solution, automatic mucking operations can be realized on both sides of the jumbo, enabling it to adapt to different construction environments. Since there is no need to set up an access passage at the bottom of the jumbo, the jumbo can be made smaller.

[0169] The mucking efficiency can be improved through this solution: In the prior art, the cooperation between the mucking machine and the transport vehicle is often limited by the large volume of the integrated unit, resulting in low mucking operation efficiency. This solution aims to achieve synchronous and efficient tunneling and mucking operations through optimized system design, reducing waiting time and operation interference.

[0170] At the same time, this solution enhances the parallel construction ability of the mucking machine and the integrated unit: In the complex working conditions of the integrated unit construction, it is difficult for the mucking machine to carry out parallel construction with the integrated unit, which limits the improvement of the mucking efficiency. This solution aims to enhance its collaborative operation ability with the integrated unit by optimizing the layout and movement mode of the mucking machine to achieve efficient and continuous mucking operations; At the same time, this solution improves the adaptability of the system to complex working conditions: The existing mucking method with the cooperation of the mucking machine and the transport vehicle has poor adaptability in the tunnel constructed by the integrated unit and is difficult to meet the requirements of efficient tunneling. This solution aims to improve the adaptability of the system to different tunnel cross-sections, tunneling speeds, and geological conditions through innovative design to ensure the high efficiency and stability of construction.

[0171] When it is necessary to transport the arch frame to a deeper part of the tunnel, start the driving device and push the extension piece outwards.

[0172] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multifunctional all-in-one unit, characterized in that: It comprises a stand (1100), a tunneling unit (1), an arch erecting unit, an arch spraying unit (3) and a rock drilling unit (5): A slag discharge channel is provided below or at least on one side of the stand (1100); The excavation unit (1) is arranged at the front end of the frame (1100) and is used for tunnel excavation; The arch erecting part is slidably arranged at at least one side of the platform (1100) and is used to cooperate with the arch spraying part (3) to perform the arch erecting operation: The arch spraying part (3) and the rock drilling part (5) are respectively slidably mounted on the platform (1100), wherein the arch spraying part (3) is used for grouting operations and cooperating with the arch erecting part to perform arch erecting operations, and the rock drilling part (5) is used for drilling operations.

2. The multifunctional all-in-one unit according to claim 1, characterized in that: The vertical arch portion is also integrated with a drilling mechanism to form a drilling arch portion (2), and the drilling mechanism is used to implement a drilling operation.

3. The multifunctional all-in-one unit according to claim 2, characterized in that: The excavation section (1), the arch drilling section (2), the arch spraying section (3) and the rock drilling section (5) can perform construction in parallel with each other when performing their respective construction operations.

4. The multifunctional all-in-one unit according to claim 3, characterized in that: The structural forms that can be constructed in parallel with each other include one or more of the following: The arch spraying part (3) is used to perform spraying operations when the excavation part (1) is excavating; The excavation section (1) is used to perform grouting operations when the arch drilling section (2) cooperates with the arch spraying section (3) to perform arch erection operations; The rock drilling part (5) is used to perform a drilling operation when the arch drilling part (2) cooperates with the arch spraying part (3) to perform an arch erection operation; The arch drilling part (2) or the rock drilling part (5) is used to perform drilling operations when the excavation part (1) is excavating; Slag discharge operation is performed in the slag discharge channel, and the slag discharge operation is performed synchronously with one or more construction operations of the excavation section (1), the arch drilling section (2), the arch spraying section (3) and the rock drilling section (5).

5. The multifunctional all-in-one unit according to claim 1, characterized in that: The excavation section (1) comprises an excavation mechanism (1200) and a driving member, wherein the driving member comprises a second translation mechanism (1400) and a first translation mechanism (1300), wherein the excavation mechanism (1200) is hingedly connected to the second translation mechanism (1400), and the second translation mechanism (1400) is used to drive the excavation mechanism (1200) to move left and right; the first translation mechanism (1300) comprises a sliding beam (1310) slidably arranged in the platform (1100), and a propulsion mechanism (1320) is arranged in the platform (1100) for driving the sliding beam (1310) to slide, and the second translation mechanism (1400) is arranged on the sliding beam (1310).

6. The multifunctional all-in-one unit according to claim 5, characterized in that: A first swing mechanism (1500) is provided between the second translation mechanism (1400) and the excavation mechanism (1200); the first swing mechanism (1500) is used to drive the excavation mechanism (1200) to swing up and down; the excavation mechanism (1200) comprises a second swing mechanism (1210) hinged on the second translation mechanism (1400); the second swing mechanism (1210) is hinged to a excavation arm (1220); the second swing mechanism (1210) is used to drive the excavation arm (1220) to swing left and right.

7. The multifunctional all-in-one unit according to claim 1, characterized in that: The excavation section (1) comprises at least two excavation mechanisms (1200) arranged on a stand (1100), wherein the excavation mechanism (1200) is connected to a horizontal swing mechanism (200), and the horizontal swing mechanism (200) is connected to a vertical swing mechanism (300); wherein the vertical swing mechanism (300) is used to drive the excavation mechanism (1200) to swing up and down, and the horizontal swing mechanism (200) is used to drive the vertical swing mechanism (300) and the excavation mechanism (1200) to swing left and right as a whole; and further comprises a slewing mechanism (500), wherein the slewing mechanism (500) is connected between the horizontal swing mechanism (200) and the vertical swing mechanism (300), and wherein the slewing mechanism is used to drive the vertical swing mechanism (300) and the excavation mechanism (1200) to rotate as a whole around the axis of the slewing mechanism by a corresponding angle.

8. The multifunctional all-in-one unit according to claim 1, characterized in that: The arch drilling part (2) comprises a telescopic arm (2003), the movable end of the telescopic arm (2003) being connected to a pitch adjustment seat (2321); a swing arm (2004), one end of the swing arm (2004) being hinged to the pitch adjustment seat (2321); a gripper mounting part (2005), hinged to the swing arm (2004), the swing arm (2004) being provided with a second driving member (2041) for driving the gripper mounting part (2005) to rotate within a second base surface; a gripper assembly (2006), provided on the gripper mounting part (2005) for clamping the arch frame; and a rock drilling mechanism (2007), the rock drilling mechanism (2007) being rotatably provided on the movable end of the telescopic arm (2003).

9. The multifunctional all-in-one unit according to any one of claims 1 to 3, characterized in that The arch spraying part (3) comprises a connecting arm (3003), one end of which is arranged on the platform (1100); a gripping mechanism (3004), which is arranged at one end of the connecting arm (3003) away from the platform (1100); and a spraying mechanism (3005), which is arranged at one end of the connecting arm (3003) away from the platform (1100) through a rotating mechanism (3006) to switch between a recovery position and a working position.

10. A multifunctional all-in-one unit according to any one of claims 1 to 3, characterized in that: The arch spraying part (3) comprises a connecting arm (3003), one end of the connecting arm (3003) is connected to the vehicle body, and the other end is connected to the second driving mechanism (4003); a gripping mechanism (3004), the gripping mechanism (3004) is connected to the fixed part of the second driving mechanism (4003); and a spraying mechanism (3005), the spraying mechanism (3005) is connected to the power part of the second driving mechanism (4003), so that the spraying mechanism (3005) rotates around the central axis of the connecting arm (3003); wherein the gripping mechanism (3004) and the spraying mechanism (3005) both have a telescopic shaft.

11. The multifunctional all-in-one unit according to claim 10, characterized in that: The gripping mechanism (3004) comprises: a gripping member (4010); a connecting arm 1 (4011), one end of the connecting arm 1 (4011) being connected to a driving mechanism 2 (4003), and the other end being connected to the gripping member (4010) via a driving mechanism 3; the driving mechanism 3 comprises: a rotating device 2 (4015), a fixed portion of the rotating device 2 (4015) being connected to the connecting arm 1 (4011), and a power portion of the rotating device 2 (4015) being connected to the gripping member (4010) so as to drive the gripping member (4010) to rotate around the axis of the connecting arm 1 (4011).

12. The multifunctional all-in-one unit according to claim 11, characterized in that: The driving mechanism three also includes: a rotating device three (4016), the axis of the rotating device three (4016) is perpendicular to the axis of the connecting arm one (4011), the fixed part of the rotating device three (4016) is connected to the power part of the rotating device two (4015), and the power part of the rotating device three (4016) is connected to the gripping member (4010) to drive the gripping member (4010) to rotate around the axis perpendicular to the rotating device three (4016).

13. The multifunctional all-in-one unit according to claim 12, characterized in that: The driving mechanism three also includes: a rotating device three (4016), the axis of the rotating device three (4016) is perpendicular to the axis of the connecting arm one (4011), the fixed part of the rotating device three (4016) is connected to the power part of the rotating device two (4015), and the power part of the rotating device three (4016) is connected to the gripping member (4010) to drive the gripping member (4010) to rotate around the axis perpendicular to the rotating device three (4016).

14. The multifunctional all-in-one unit according to claim 13, characterized in that: The driving mechanism three also includes: a carrier one (4014), the carrier one (4014) is connected to the power part of the rotating device two (4015); a carrier two (4017), the carrier two (4017) is connected to the fixed part of the rotating device three (4016); a telescopic device three (4018), the two ends of the telescopic device three (4018) are respectively hinged to the carrier one (4014) and the carrier two (4017), so as to drive the gripper member (4010) to move along the carrier one (4014) and the carrier two (4017). 017) is hinged at a linear rotation; the carrier one (4014) has a proximal end and a distal end relative to the connecting arm one (4011), the proximal end and the distal end are located on opposite sides of the connecting arm one (4011), the proximal end of the carrier one (4014) is hinged to the carrier two (4017), and the distal end of the carrier one (4014) is hinged to the telescopic device three (4018); the connecting arm (3003) is connected to the vehicle body through the driving mechanism one, so that the connecting arm (3003) swings and / or pitches.

15. The multifunctional all-in-one unit according to claims 1 to 14, characterized in that: It also includes a transfer grabbing structure (5002) and a transfer slide (5003); the transfer grabbing structure (5002) includes a rear grabbing arm (5004) arranged at the rear end of the arch spraying part, and the transfer slide (5003) is used to transfer the arch frame on which the rear grabbing arm (5004) is placed into the grabbing range of the arch spraying part (3), so that the arch spraying part (3) grabs the arch frame to the arch standing area.

16. The multifunctional all-in-one unit according to claim 1, characterized in that: The side of the platform (1100) is provided with a guide member (6002) for facilitating the dragging of the side arch, and the guide member (6002) extends from the rear end of the platform (1100) to the front end of the platform (1100), and an extension structure that can extend to the vertical arch area is also provided at the front end of the platform (1100).

17. The multifunctional all-in-one unit according to claim 1, characterized in that: The side of the platform (1100) is provided with a guide member (6002) and a driving device (7004) for facilitating the dragging of the side arch; the guide member (6002) extends from the rear end of the platform (1100) to the front end of the platform (1100); and an extension member (7003) that can extend toward the vertical arch area is also provided at the front end of the guide member (6002); the driving device (7004) is used to drive the extension member (7003) to move forward and backward.

18. A structural combination capable of realizing parallel construction of excavation, grouting and slag removal as claimed in any one of claims 1 to 8, characterized in that: A slag discharge mechanism is provided in the slag discharge channel, and the slag discharge mechanism comprises an auxiliary digging arm (5000) and a conveying system (6000) provided at the front end of the platform (100); the transport vehicle (7000) moves to the end of the conveying system, the auxiliary digging arm (5000) pushes the slag generated by excavation to the front end of the conveying system (6000), and the conveying system (6000) automatically transports the slag to the transport vehicle (7000), and the slag is moved out of the tunnel by the transport vehicle (7000).

19. The structural combination capable of realizing parallel construction of excavation, grouting and slag removal as claimed in claim 10, characterized in that: The conveying system (6000) discharges slag from the bottom of the platform (100); or discharges slag from at least one side of the platform (100); or first discharges slag from the bottom of the platform (100), and then passes through the platform (100) to discharge slag from at least one side of the platform (100).

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