Non-explosion excavation construction method based on ultrahigh-pressure water jet cutting

Abstract

The invention provides a non-explosion excavation construction method based on ultrahigh pressure water jet cutting, which comprises a mobile platform, the mobile platform is provided with a water jet mechanical arm, a wet spraying mechanical arm, an arch anchor mechanical arm and an auxiliary frame arch arm, and the lower part of a lower layer frame body of the mobile platform is hollowed out and is provided with a movable tunneling slag-raking machine; the tunneling crawler loader is provided with a splitting drill mechanical arm or a breaking hammer mechanical arm; planning the arrangement position of a slag discharge hole, the movement track of a jet flow module, jet flow parameters and the arrangement of a splitting hole; the arch anchor mechanical arm moves forwards, and drilling operation of a slag discharging hole is conducted; the water jet cutter mechanical arm moves forwards and cuts the contour line with the slag discharging hole as the starting point; the tunneling slagging-off machine synchronously carries out excavation operation in the passing space, and gravels and muck are conveyed to the rear portion to be discharged; after the single-cycle operation is finished, the movable platform and the tunneling crawler loader move forwards, the wet spraying mechanical arm and the auxiliary frame arch arm carry out arch erecting, net hanging and primary spraying operation, and the non-blasting excavation problem under the sensitive geological conditions of superhard rock, high ground stress and the like is solved.

Description

Technical Field

[0001] The present invention relates to the field of tunnel construction, and in particular to a non-explosive excavation construction method based on ultra-high pressure water jet cutting. Background Art

[0002] The drilling and blasting method, with its strong geological adaptability and low construction costs, has become the primary method of tunnel construction. However, with the continuous emergence of tunnel projects in sensitive and complex geological environments, such as those at high altitudes, in high-intensity seismic zones, at great depths, and in ultra-hard rock, the drilling and blasting method's problems of significant surrounding rock disturbance and difficulty controlling over-excavation and under-excavation have become increasingly prominent. Non-explosive rock-breaking methods, which can overcome these drawbacks, have become a focus of attention in the tunneling industry. Compared to blasting, non-explosive excavation boasts low construction vibration, no shock waves, no flying rocks, no harmful gas emissions, and high safety. However, with increasing demands for rock-breaking effectiveness and project quality, a single rock-breaking load application method is insufficiently applicable to complex geological conditions, such as hard rock. The development of multi-source rock-breaking technologies and equipment, combined with auxiliary rock-breaking methods such as high-pressure water jets, has become a new trend in the rock-breaking field.

[0003] For example, patent document CN113153336A discloses a high-pressure abrasive water jet tunneling method, which uses an axial nozzle to divide the tunnel face into a grid, and then uses radial nozzles to radially cut and peel off rock blocks to achieve hydraulic excavation of the tunnel face. For example, patent document CN113107513A discloses a tunnel construction method using high-pressure hydraulic rock breaking, which uses a water jet to cut the tunnel face to form a grid-like cut, and then uses an impact machine vibrating impactor to crush the rock to complete the rock breaking. However, these patents still have the following disadvantages: 1) There is no stable slag discharge channel during the cutting process, and the waste water and slag in the cutting seam are difficult to be discharged in time, resulting in the inability to form a non-submerged jet state, affecting the cutting effect; 2) The speed of the water jet is inversely proportional to the cutting depth. Long-distance and fast cutting will inevitably lead to small single-cycle footage, low efficiency, high energy consumption and high cost. 3) The tunnel face is divided by a grid, but the contour line is not cut directly, so trimming is still required. Summary of the Invention

[0004] The present invention provides a non-explosive excavation construction method based on ultra-high pressure water jet cutting, which solves the problem of non-explosive excavation under sensitive geological conditions such as ultra-hard rock and high ground stress.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a non-explosive excavation construction method based on ultra-high pressure water jet cutting, comprising a mobile platform, the mobile platform comprising a lower frame and an upper frame, the lower frame being hollowed out below and provided with a movable tunneling scraper, water jet mechanical arms being provided at both ends of the lower frame, a wet spraying mechanical arm being provided on the upper frame, an arch anchor mechanical arm and an auxiliary frame arch arm being provided at the upper end and both sides of the mobile platform, the tunneling scraper also comprising a frame, a second crawler wheel set being provided at the lower end of the frame, and a splitting drill mechanical arm or a breaker hammer mechanical arm being provided at the front end of the frame; Plan the placement of slag discharge holes, the motion trajectory of the jet module, jet parameters, and the placement of splitting holes based on the shape and size of the tunnel contour; The arch anchor mechanical arm moves forward to drill the slag discharge hole; The water jet robot arm moves forward and cuts the contour line starting from the slag discharge hole; After a section of contour line cutting is completed, the water jet robot arm moves to the next cutting station to perform cutting operations until all contour line cutting is completed; The tunneling scraper excavates the space it passes through, transporting the crushed stones and debris to the rear for discharge. After the single cycle operation is completed, the mobile platform and the tunneling scraper move forward, and the wet spraying mechanical arm and the auxiliary arch arm perform arch erection, net hanging and initial spraying operations.

[0006] In the preferred solution, an arch frame slide is further provided on the outside of the mobile platform, and the supporting arch frame enters the site and slides along the arch frame slide to the working depth, while the auxiliary arch arm is unfolded to press against the inner side of the supporting arch frame.

[0007] In the preferred scheme, the tunneling scraper includes a first mode and a second mode. In the first mode, a splitting drill robot arm is used for zoned splitting excavation, and the splitting order is from the arch feet on both sides of the tunnel to the middle, gradually expanding the free surface, and reserving the central core soil for final splitting; the second mode is to use a breaker robot arm for excavation, and the crushing operation is carried out radiating from the middle position of the bottom to the next tunnel contour line.

[0008] In the preferred solution, in the second mode, when splitting to the edge area of ​​the tunnel contour line, the splitting operation is carried out after the contour line cutting of the area is completed. When splitting the core soil area, vertical splitting is adopted to make the rock peel off to both sides.

[0009] In the preferred solution, a water jet cutting assembly is provided at the front end of the water jet robot arm. The water jet cutting assembly includes a swingable water jet nozzle. The water jet nozzle cuts from bottom to top, and the angle between the jet direction and the nozzle movement direction is an obtuse angle.

[0010] In the preferred solution, a turntable is provided at the front end of the water jet robot arm, a turning frame is provided on the turntable, the turning table is perpendicular to the rotating axis of the turning frame, and movable water jet cutting components are provided at both ends of the turning frame.

[0011] In the preferred solution, the water jet cutting assembly also includes a transverse base plate, a rotating frame is provided on the transverse base plate, a tilt frame is provided on the rotating frame, one end of the tilt frame is hinged to the rotating frame, a forward extension frame is provided on the tilt frame, the water jet nozzle is provided on the forward extension frame, and a support wheel is provided on one side of the water jet nozzle.

[0012] In the preferred embodiment, a cylinder is further provided, a telescopic rod is provided at one end of the cylinder, a universal joint is provided at the ends of the telescopic rod and the cylinder away from each other, each universal joint is respectively connected to the transverse base plate and the front extension frame, and a liquid inlet and outlet connected to the interior is provided at the end of the cylinder, and a liquid storage barrel is also provided, the liquid inlet and outlet are connected to the liquid storage barrel through a pipeline, and an on-off valve is provided on the pipeline.

[0013] In the preferred solution, an oblique shovel is also connected to the bottom of the frame, and two rotating slag skimming wheels are provided on the oblique shovel. The two slag skimming wheels rotate in different directions. A slag feeding channel is provided between the two slag skimming wheels. A connecting arm is provided at the rear end of the slag feeding channel, and a conveyor belt is provided on the connecting arm.

[0014] In a preferred solution, a rotatable arm is provided at the front end of the splitting drill mechanical arm, a positioning cone is provided at the front end of the arm, and a second drill and a splitting rod are provided on both sides of the arm.

[0015] The beneficial effects of the present invention are as follows: for non-blasting excavation under sensitive geological conditions such as ultra-hard rock and high ground stress, ultra-high pressure hydraulic pressure is used to accurately cut the contour line, effectively controlling the phenomenon of over-excavation and under-excavation, reducing the amount of initial sprayed concrete, and reducing construction costs; contour cutting can also provide a free surface for subsequent face excavation, improve the stress distribution in the rock, and solve the problem of low excavation efficiency of hard rock tunnels; through a multi-mode tunneling scraper, the drilling and splitting / mechanical crushing operation modules can be quickly switched to adapt to different surrounding rock conditions, and face excavation and slag removal operations can be carried out while contour cutting, thereby improving operation efficiency; to solve the problems that existing non-explosive excavation equipment is scattered and not in line, and the process flow is not convenient, a method for synchronous excavation of "cutting-excavation-slag removal-support" is proposed, which optimizes the process connection and improves excavation efficiency through parallel operation; the water jet mechanism can adopt a universal follow-up support component that can be locked at any time to assist in resisting the operation recoil force and reduce the impact on the swing angle mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

[0017] Figure 1 This is a cross-section of a tunnel.

[0018] Figure 2 This is a schematic diagram of excavation equipment digging a tunnel.

[0019] Figure 3 It is a side view of excavation equipment entering the tunnel.

[0020] Figure 4 This is a water jet cutting sequence diagram.

[0021] Figure 5 It is a 3D image of excavation equipment.

[0022] Figure 6 This is a diagram of the excavation equipment and the tunnel end view.

[0023] Figure 7 This is an end view of the excavation equipment.

[0024] Figure 8 This is the rear end structure diagram of the tunneling scraper.

[0025] Figure 9 This is a schematic diagram of the end of the water jet robot arm.

[0026] Figure 10 It is a schematic diagram of the water jet cutting components.

[0027] Figure 11 Schematic diagram of the back support assembly.

[0028] Figure 12 This is the principle diagram of the back support assembly follow-up.

[0029] Figure 13 This is a side view of the splitting drill robot arm.

[0030] Figure 14 This is a partial structural diagram of the arch anchor robotic arm.

[0031] In the figure: mobile platform 1; passing space 101; lower frame 102; upper frame 103; first crawler wheel assembly 104; water jet robot arm 2; turntable 201; tilt frame 202; traverse track 203; rack 204; water jet cutting assembly 3; traverse base plate 301; turntable 302; tilt frame 303; outrigger 304; water jet nozzle 305; abutment wheel 306; traverse motor 307; drive gear 308; turntable shaft 309; rocker arm 310; rotating wheel 311; eccentric hole 312; ejector rod 313; connecting rod 314; universal joint 315; cylinder 316; telescopic rod 317; Sealing piston 318; liquid inlet and outlet 319; on-off valve 320; liquid storage tank 321; arch anchor robotic arm 4; first drilling rig 401; anchor storage rack 402; swing angle motor 403; swing angle rack 404; splitting drill robotic arm 5; turntable 501; arm 502; second drilling rig 503; splitting rod 504; positioning cone head 505; wet spraying robotic arm 6; auxiliary frame arch arm 7; tunneling scraper 8; oblique shovel 801; scraper pulley 802; connecting arm 803; conveyor belt 804; frame 805; second crawler wheel set 806; slag inlet channel 807; breaker hammer robotic arm 9; arch frame slide 10; support arch frame 11. DETAILED DESCRIPTION

[0032] Example 1: like Figure 1-14 In the invention, a non-explosive excavation construction method based on ultra-high pressure water jet cutting is provided, comprising a mobile platform 1, the mobile platform 1 comprising a lower frame 102 and an upper frame 103, the lower frame 102 being hollowed out and provided with a movable excavation scraper 8, water jet mechanical arms 2 being provided at both ends of the lower frame 102, a wet spraying mechanical arm 6 being provided on the upper frame 103, an arch anchor mechanical arm 4 and an auxiliary frame arch arm 7 being provided at the upper end and both sides of the mobile platform 1, the excavation scraper 8 further comprising a vehicle frame 805, a second crawler wheel set 806 being provided at the lower end of the vehicle frame 805, a splitting drill mechanical arm 5 or a breaker hammer mechanical arm 9 being provided at the front end of the vehicle frame 805, the splitting drill mechanical arm 5 or the breaker hammer mechanical arm 9 having the same mechanical arm body parts, and the front end can be replaced with a crushing mechanism or a splitting drill integrated machine according to the surrounding rock conditions; Plan the placement of slag discharge holes, the motion trajectory of the jet module, jet parameters, and the placement of splitting holes based on the shape and size of the tunnel contour; The arch anchor mechanical arm 4 moves forward to perform the drilling operation of the slag discharge hole; The water jet robot arm 2 moves forward and cuts the contour line starting from the slag discharge hole; After a section of contour line cutting is completed, the water jet robot arm 2 moves to the next cutting station to perform cutting operations until all contour line cutting is completed; The excavator 8 excavates the space 101 and transports the crushed stones and debris to the rear for discharge. After the single cycle operation is completed, the mobile platform 1 and the tunneling scraper 8 move forward, and the wet spraying mechanical arm 6 and the auxiliary frame arch arm 7 perform arch erection, net hanging and initial spraying operations.

[0033] Each robotic arm is equipped with a multi-axis rotation mechanism, which is driven by hydraulic or electric means, and is equipped with a telescopic rod at the front end, on which are mounted various specific mechanisms for performing excavation, crushing, etc.

[0034] The robotic arms are integrated and installed at various positions on the front end of the mobile platform 1 without interfering with each other.

[0035] The hydraulic system, electrical control box, water storage tank, abrasive tank, etc. are placed near the rear end of the lower frame 102.

[0036] The excavation scraper 8 can freely enter and exit the passage space 101 .

[0037] A first track wheel set 104 is provided at the lower end of the mobile platform 1 .

[0038] In the preferred solution, an arch slide 10 is further provided on the outside of the mobile platform 1 , and the supporting arch 11 enters the site and slides along the arch slide 10 to the working depth, while the auxiliary arch arm 7 is unfolded to press against the inner side of the supporting arch 11 .

[0039] In the preferred scheme, the tunneling scraper 8 includes a first mode and a second mode. In the first mode, a splitting drill robot arm 5 is used for zoned splitting excavation, and the splitting order is from the arch feet on both sides of the tunnel to the middle, gradually expanding the free surface, and reserving the central core soil for final splitting; the second mode is to use a breaker robot arm 9 for excavation, and the crushing operation is carried out radiating from the middle position of the bottom to the next tunnel contour line.

[0040] The second mode corresponds to a working scenario when the surrounding rock strength is average, and the first mode corresponds to a working scenario when the surrounding rock is extremely hard.

[0041] In the preferred solution, in the second mode, when splitting to the edge area of ​​the tunnel contour line, the splitting operation is carried out after the contour line cutting of the area is completed. When splitting the core soil area, vertical splitting is adopted to make the rock peel off to both sides.

[0042] In the preferred embodiment, a water jet cutting assembly 3 is provided at the front end of the water jet robot arm 2. The water jet cutting assembly 3 includes a swingable water jet nozzle 305. The water jet nozzle 305 cuts from bottom to top, and the angle between the jet direction and the nozzle movement direction is an obtuse angle.

[0043] In the preferred solution, a turntable 201 is provided at the front end of the water jet robot arm 2, a flip frame 202 is provided on the turntable 201, the turntable 201 and the flip frame 202 have rotating axes perpendicular to each other, and a movable water jet cutting assembly 3 is provided at each end of the flip frame 202.

[0044] In the preferred embodiment, the water jet cutting assembly 3 also includes a transverse base plate 301, a rotating frame 302 is provided on the transverse base plate 301, a tilt frame 303 is provided on the rotating frame 302, one end of the tilt frame 303 is hinged to the rotating frame 302, a forward extension frame 304 is provided on the tilt frame 303, a water jet nozzle 305 is provided on the forward extension frame 304, and a supporting wheel 306 is provided on one side of the water jet nozzle 305.

[0045] A transverse motor 307 is also provided on the transverse base plate 301, and a driving gear 308 is provided at the shaft end of the transverse motor 307. A transverse track 203 is provided on the flip frame 202. A slider is provided at the lower end of the transverse base plate 301 and is slidably connected to the transverse track 203. A rack 204 is also provided on the flip frame 202, and the driving gear 308 is engaged with the rack 204.

[0046] The lower end of the outrigger 304 is slidably connected to the tilt frame 303 via a slide rail. The tilt frame 303 is L-shaped, and a linear hydraulic cylinder is provided at one end to drive the outrigger 304 to move linearly.

[0047] The mounting frame of the abutting wheel 306 can adjust the extended length. When working, the abutting wheel 306 abuts against the tunnel working surface, and the designed water jet nozzle 305 has a constant distance from the working surface.

[0048] Since the water jet robot arm 2 has basic telescopic and angle adjustment functions, the water jet cutting assembly 3 can be lifted to the construction position. The turntable 201 and the flip frame 202 are driven by a motor, and the flip frame 202 can be adjusted to be parallel to the working surface to ensure that the two water jet cutting assemblies 3 are at the same distance from the working surface.

[0049] The outrigger 304 can be extended forward for processing, and the water jet nozzle 305 can be rotated in the horizontal and vertical directions to adjust the spraying angle.

[0050] The lower end of the rotating frame 302 is provided with a rotating frame shaft 309 which is rotatably connected to the transverse base plate 301. The transverse base plate 301 is also provided with a rotating wheel 311, and the rotating wheel 311 is provided with an eccentric hole 312 and a rocker rod 310. One end of the rocker rod 310 is rotatably connected to the eccentric hole 312, and the other end of the rocker rod 310 is slidably connected to the rotating frame shaft 309.

[0051] Another reduction motor housing is provided at the lower end of the transverse bottom plate 301 to drive the rotating wheel 311 to rotate, and the swing arm 310 swings and drives the rotating shaft 309 to rotate, thereby adjusting the horizontal direction of the rotating frame 302.

[0052] A liftable push rod 313 is provided at one end of the rotating frame 302 away from the hinge portion. A hinged connecting rod 314 is provided at the upper end of the push rod 313 . The upper end of the connecting rod 314 is hinged to the bottom end of the tilt frame 303 .

[0053] A short-stroke linear servo electric cylinder is provided at the lower end of the rotating frame 302 to drive the ejector rod 313 to move up and down.

[0054] In the preferred embodiment, a cylinder 316 is further provided, a telescopic rod 317 is provided at one end of the cylinder 316, a universal joint 315 is provided at the ends of the telescopic rod 317 and the cylinder 316 away from each other, each universal joint 315 is respectively connected to the transverse base plate 301 and the front extension frame 304, and a liquid inlet and outlet 319 connected to the interior is provided at the end of the cylinder 316, and a liquid storage barrel 321 is also provided. The liquid inlet and outlet 319 is connected to the liquid storage barrel 321 through a pipeline, and a shut-off valve 320 is provided on the pipeline.

[0055] The telescopic rod 317 is slidably connected to the cylinder 316, and a sealing piston 318 is provided at the connecting end.

[0056] Since the recoil force of the water jet nozzle 305 is large when it is working, and the water jet nozzle 305 has many inclination adjustment mechanisms and limited structural strength, simply relying on the motors to lock the angle may cause angle jitter or creep, causing the nozzle to deviate from the predetermined position.

[0057] Therefore, a support assembly is installed between the forward outrigger 304 and the transverse base plate 301. When the angle of the water jet nozzle 305 is adjusted, the on-off valve 320 is opened, allowing the liquid in the liquid storage barrel 321 to freely enter the inner cavity of the cylinder 316. The angle and total length of the cylinder 316 and the telescopic rod 317 change with the position of the water jet nozzle 305. When the water jet nozzle 305 is adjusted to the correct position, the on-off valve 320 is closed. Since the liquid is enclosed in the inner cavity of the cylinder 316 and is difficult to compress, the extension length of the telescopic rod 317 is locked. The recoil force of the water jet nozzle 305 is partially transferred to the transverse base plate 301 by the support assembly, reducing the force on each angle adjustment mechanism and stabilizing the position of the water jet nozzle 305 nozzle.

[0058] In the preferred solution, an inclined shovel 801 is also connected to the bottom of the frame 805, and two rotating slag skimmer wheels 802 are provided on the inclined shovel 801. The two slag skimmer wheels 802 rotate in different directions. A slag feed channel 807 is provided between the two slag skimmer wheels 802, and a connecting arm 803 is provided at the rear end of the slag feed channel 807, and a conveyor belt 804 is provided on the connecting arm 803.

[0059] In a preferred embodiment, a rotatable arm 502 is provided at the front end of the splitting drilling robot arm 5, a positioning cone head 505 is provided at the front end of the arm 502, and a second drill rig 503 and a splitting rod 504 are provided on both sides of the arm 502.

[0060] The splitting drill arm 5 has basic swing and extension functions. The splitting drill arm 5 is connected to the arm frame 502 via a turntable 501. The arm frame 502 is equipped with guide rails and linear hydraulic cylinders on the side to drive the second drill rig 503 and the splitting rod 504 to extend forward. During use, the splitting drill arm 5 extends forward so that the positioning cone head 505 is pressed against the work surface. The hydraulic cylinder at the rear end of the second drill rig 503 is pushed out, causing the second drill rig 503 to drill a hole on the work surface. After drilling is completed, the second drill rig 503 retracts, the turntable 501 rotates so that the splitting rod 504 is aligned with the drill hole, and the hydraulic cylinder at the rear end of the splitting rod 504 extends the splitting rod 504 and causes the splitting rod 504 to extend into the drill hole, splitting the drill hole.

[0061] After the tunnel is excavated to a certain depth, the excavator 8 enters the tunnel through the space 101 to clean up the fallen stones. The front end of the slag puller 802 rotates to pull the stones and slag into the slag inlet channel 807 and onto the conveyor belt 804. The rear end is connected to the conveyor belt 804 by a loader to transport the stones and slag away.

[0062] A swing frame 404 is provided at the front end of the arch anchor mechanical arm 4. The swing frame 404 is provided with a first drilling rig 401 and an anchor storage rack 402 arranged in parallel. The anchor storage rack 402 stores a plurality of anchors along the circumferential direction.

[0063] In addition to the telescopic structure, the arch anchor mechanical arm 4 is also provided with two mutually perpendicular swing motors 403 at the front end, and the swing motor 403 is connected to the swing frame 404. When the hole is deep, the anchor rod is taken out laterally from the anchor rod storage rack 402 and the anchor rod is lengthened.

[0064] Example 2: This multi-mode non-explosive excavation method, based on ultra-high-pressure hydraulic cutting technology, features a dual-mode tunnel boring machine, a gantry-type mobile platform, an arch-anchor manipulator, a wet-jet manipulator, an arch-transfer manipulator, and a waterjet manipulator. These three manipulators are integrated into the gantry-type mobile platform, which provides sufficient clearance beneath it to allow the dual-mode tunnel boring machine to reach the tunnel face for excavation and mucking operations. Depending on the surrounding rock conditions, the dual-mode tunnel boring machine's excavation manipulator can be replaced with a drill-splitter or breaker for face excavation.

[0065] During excavation, the layout of the slag holes, the movement trajectory of the jet module, and the layout of the splitting holes are first planned according to the cross-sectional shape and size of the tunnel; then the slag holes are drilled; after the drilling of the slag holes is completed, the contour line of the tunnel face is cut with the slag holes as the starting point to control over-excavation, and the waste water and waste slag from the ultra-high pressure jet cutting will be discharged from the slag holes along the cutting seam under the action of gravity, forming a non-flooding jet environment to improve cutting efficiency and reduce the impact of water mist and dust during cutting; during the cutting process, the tunnel face is excavated simultaneously; when the surrounding rock is extremely hard rock, zonal splitting excavation is adopted. The splitting order is from the lower left and right corners to the middle, step by step expanding the free surface, solving the problem of narrow cutting seams and insufficient free surface, and reserving the central core soil for final splitting to maintain the stability of the tunnel face; in the splitting process, large rock blocks are crushed for the second time, and the tunnel slag is transported to the rear for discharge by conveyor; when the surrounding rock strength is general, a breaker hammer is used for excavation; after each excavation of a certain distance, according to the state of the surrounding rock of the tunnel face, initial support operations such as arch erection, net hanging, and initial spraying are carried out at the rear, realizing the continuous and synchronous construction of contour cutting-splitting and crushing-slag discharge-support and other processes, greatly improving the construction efficiency and excavation quality of non-explosive excavation.

[0066] Step S1: planning the layout of the slag discharge holes, the motion trajectory of the jet module, the jet parameters, and the layout of the splitting holes according to the shape and size of the tunnel contour; Step S2: The arch anchor mechanical arm on the mobile gantry platform moves forward to perform the drilling operation of the slag discharge hole. The drilling hole should have a certain outward expansion angle to leave space for the next drilling cycle; Step S3.1: The arch anchor manipulator retracts, the water jet manipulator moves forward, the end water jet moving track is aligned with the contour line, and the water jet nozzle cuts the contour line starting from the slag discharge hole; after a section of the contour line is cut, it moves to the next cutting station until all contour lines are cut; Step S3.2: The dual-mode tunneling scraper performs excavation operations simultaneously under the mobile gantry platform Step S3.2.1: When the surrounding rock is extremely hard, adopt zoned splitting excavation. The splitting sequence is from the arch feet on both sides of the tunnel to the center, gradually expanding the free surface. The central core soil is reserved for final splitting. During the splitting process, large blocks of rock are secondary crushed, and the excavation debris is transported to the rear by conveyor for discharge. Step S3.2.1: When the surrounding rock strength is moderate, use a breaker to excavate, with the crushing operation radiating from the bottom middle position to the tunnel outline; Step S4: After the single cycle operation is completed, the mobile gantry platform and the dual-mode tunneling scraper move forward. According to the surrounding rock conditions of the tunnel face, the arch anchor mechanical arm, wet spraying mechanical arm, and arch frame transfer mechanical arm on the mobile gantry perform initial support operations such as arch erection, net hanging, and initial spraying on the tunnel face after excavation.

[0067] Furthermore, for S3.1, the tunnel nozzle should cut from bottom to top along the track to facilitate the discharge of wastewater and waste residue, forming a non-submerged jet environment; the jet direction should be at an obtuse angle (95~100°) to the nozzle movement direction (i.e. the jet incident angle) to facilitate water and residue discharge; the nozzle should have a certain outward expansion angle with the mileage direction to leave space for the next round of cutting; the cutting should be overall along the tunnel arch foot to the arch crown direction Furthermore, with regard to S3.2.1, if splitting reaches the edge of the tunnel contour line, the splitting operation should be carried out after the contour line cutting in this area is completed; when the splitting operation is finally carried out in the core soil area, vertical splitting should be adopted to make the rock peel off to both sides to ensure splitting safety.

[0068] The above technical solution has the following advantages or beneficial effects: 1. Traditional non-explosive tunnel excavation mostly uses a single process with multiple equipment combined. Each piece of equipment frequently moves in and out of the tunnel and crosses paths with the excavation process. The equipment is scattered and not in line, and the process flow is inconvenient. This patent realizes the continuous coordinated operation of contour cutting-excavation-slag removal-primary support, greatly improving excavation efficiency. 2. Ultra-high pressure water jet cutting can achieve precise cutting of the tunnel face contour line, control overbreak and underbreak of the tunnel, reduce the consumption of primary support concrete, eliminate holes behind the primary support, and benefit the thickness and flatness of the primary support and the quality of arch splicing; 3. Ultra-high pressure water cutting reduces vibration disturbance to surrounding rock, lowers the risk of surrounding rock instability and primary support collapse, and can release some stress in high-stress sections in advance during the cutting process of hard surrounding rock. The splitting method of reserved core soil maintains the stability of the surrounding rock at the tunnel face. The vertical splitting method of the core soil causes the rock to peel off to both sides, which is safer than traditional horizontal splitting.

[0069] Example 3: A non-explosive excavation construction method based on ultra-high pressure water jet cutting, According to the planned equipment elevation, the site at the tunnel entrance is leveled, the equipment walking channel is planned, and the slag channel is excavated with a breaker hammer. The equipment channel elevation deviation is -200~0mm; The equipment walking path requires that the crawler walking path has a flat surface without water seepage, unevenness or collapse; The breaker hammer is used to excavate the slag channel. The channel elevation deviation is -300~0mm. Pay attention to over-excavation and under-excavation and level the site. First, move the control equipment to the main entrance, and then drive the crushing and slag removal machine to the bottom of the platform channel.

[0070] Two anchor drilling rigs were used to drill water jet slag holes on both sides. The hole depth was 0.55m and the hole diameter was 100mm. A total of 26 holes were drilled simultaneously. The drilling efficiency was 1min / hole, and the total drilling time was about 20 minutes. During excavation, excavation is carried out from bottom to top along the contour line. One robotic arm is equipped with two water jets, and two robotic arms have a total of four water jets cutting simultaneously. After the drilling of two adjacent slag discharge holes is completed, water jet contour excavation can be carried out; The water jet robotic arms are controlled and operated by a single person; Drainage ditches are set up on both sides of the ground to discharge water jet waste liquid and waste residue.

[0071] The water jet travels along a linear rack guide rail with a length of 1.05m. To fully fit the contour line, the water jet robot arm needs to adjust its posture every time it cuts 1m. There are 13 sections on a single side of the contour, which is divided into 7 cuts. It takes about 40 minutes to cut a 0.5x1m section with the water jet, and about 7 hours to cut 7 times. When water jet cutting, the nozzle needs to cut obliquely upwards, and in the longitudinal direction, it presents a serrated shape; When the water jet robot arm moves one station, the drilling and splitting machine can drill and split at the location where the contour has been cut; The drilling and splitting equipment is controlled by a single person, who needs to pay attention to the surrounding environment and avoid interference with other robotic arms; The drilled and split slag is directly transported by a scraper.

[0072] The water jet first cuts the bottom of the tunnel face, then obliquely cuts the contour of the bottom free surface to form a triangular area; After the airside area is cut, a breaker hammer can be used to simply break it to form a triangular airside area; After the triangular free area is cut, continue cutting the tunnel face contour; After water jet cutting on the tunnel face, micro steps are formed with a cutting depth of approximately 0.5m.

[0073] Before water jet cutting, the tunnel face needs to be pre-treated. The protruding parts of the rock should be broken in advance with a small breaker hammer. The height deviation within the 0.5m area of ​​the water jet trajectory line on the tunnel face should not exceed 3cm. During water jet cutting, the track is fixed and the water jet moves in a straight line along the track to complete the cutting; The water jet cutting profile is 13 passes (on one side), each pass is 1 meter, 1.2m / h, cutting depth is 0.5m, and it takes about 6 hours in total (water jet experimental data 1.5m / h); When cutting the contour with a water-abrasive drill, a total of 130 holes (on one side) were drilled at a speed of 3 minutes per hole with a depth of 0.5 meters and a hole diameter of 100 mm, which took about 6.5 hours in total.

[0074] After the water jet cuts part of the contour line, drilling and splitting can be carried out in this area; The diameter of the splitting holes is 100 mm, the distance between adjacent splitting holes is about 1 m, the splitting hole depth is about 0.5 m, there are a total of 115 holes, and the drilling time is about 5 minutes per hole, so the total drilling time is about 5 hours; The equipment is equipped with two drilling and splitting machines, each excavating one side of the tunnel. During excavation, the excavation starts from the bottom corner vertically, with a thickness of 1m, then switches to horizontal excavation. After the excavation thickness reaches 1m, it switches to vertical excavation, with a thickness of 1m, and then switches to horizontal excavation. Using a broken line excavation method, it takes about 6 hours to excavate the entire section. The drilling order of split holes is from both sides to the middle, and the drilling order is carried out obliquely upwards; After the slag is drilled and split, it is removed by a slag scraper.

[0075] Drill holes and split vertically from bottom to top in sequence, so that the splitting direction extends vertically Drill holes horizontally from both sides to the middle to split the holes, so that the splitting direction extends horizontally. Continue to split horizontally from both sides to the middle, so that the splitting direction extends along the horizontal direction Drill and split the corners, with the splitting direction being vertical Drill and split from bottom to top, with the splitting direction being vertical On the other side, do the same After the tunnel face is excavated, one of the drill-splitters is converted into a breaker hammer, which is used to excavate the channel for the scraper. The excavation depth of the breaker is 1m, the depth range is -200~0mm, the width is 5m, and the length is 0.5m; After excavation, the ground needs to be leveled to allow the scraper to collect slag and for the equipment to move.

[0076] Switch the drill-splitter to a breaker hammer, which has an excavation efficiency of about 5-10 m³ / hour. After crushing and excavation, the slag is directly pushed into the bucket of the slag discharger; When the breaker hammer is excavating, the equipment moves forward once every 1m of excavation. First, the crusher and scraper move forward, and then the whole platform moves forward. During crushing and excavation, a water jet can be used for local trimming, or a small breaker hammer on an anchor drilling rig can be used for overall trimming.

[0077] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A non-explosive excavation construction method based on ultra-high pressure water jet cutting, characterized by: The mobile platform (1) includes a lower frame (102) and an upper frame (103), the lower frame (102) is hollowed out and provided with a movable excavator (8), water jet mechanical arms (2) are provided at both ends of the lower frame (102), and a wet spraying mechanical arm (6) is provided on the upper frame (103), an arch anchor mechanical arm (4) and an auxiliary frame arch arm (7) are provided at the upper end and both sides of the mobile platform (1), the excavator (8) also includes a vehicle frame (805), a second crawler wheel set (806) is provided at the lower end of the vehicle frame (805), and a splitting drill mechanical arm (5) or a breaker hammer mechanical arm (9) is provided at the front end of the vehicle frame (805); Plan the placement of slag discharge holes, the motion trajectory of the jet module, jet parameters, and the placement of splitting holes based on the shape and size of the tunnel contour; The arch anchor mechanical arm (4) moves forward to perform the drilling operation of the slag discharge hole; The water jet robot arm (2) moves forward and cuts the contour line with the slag discharge hole as the starting point; After a section of contour line cutting is completed, the water jet robot arm (2) moves to the next cutting station to perform cutting operations until all contour line cutting is completed; The excavator (8) excavates the space (101) and transports the crushed stones and slag to the rear for discharge; After the single cycle operation is completed, the mobile platform (1) and the tunneling scraper (8) move forward, and the wet spraying mechanical arm (6) and the auxiliary arch arm (7) perform arch erection, net hanging, and initial spraying operations.

2. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 1 is characterized by: An arch frame slideway (10) is also provided on the outside of the mobile platform (1), and the supporting arch frame (11) enters the site and slides along the arch frame slideway (10) to the working depth, while the auxiliary arch arm (7) is unfolded to press against the inner side of the supporting arch frame (11).

3. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 1 is characterized by: The tunneling scraper (8) includes a first mode and a second mode. In the first mode, a splitting drill mechanical arm (5) is used to split and excavate in sections. The splitting sequence is from the arch feet on both sides of the tunnel to the middle, gradually expanding the free surface, and reserving the central core soil for the final splitting. In the second mode, a breaker mechanical arm (9) is used for excavation. The crushing operation is carried out radiating from the middle position of the bottom to the tunnel contour line.

4. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 3 is characterized by: In the second mode, when splitting to the edge area of ​​the tunnel contour line, the splitting operation is carried out after the contour line cutting of the area is completed. When splitting the core soil area, vertical splitting is used to make the rock peel off to both sides.

5. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 1 is characterized by: A water jet cutting assembly (3) is provided at the front end of the water jet mechanical arm (2). The water jet cutting assembly (3) includes a swingable water jet nozzle (305). The water jet nozzle (305) cuts from bottom to top, and the angle between the jet direction and the nozzle movement direction is an obtuse angle.

6. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 5 is characterized by: A flat turntable (201) is provided at the front end of the water jet mechanical arm (2), a turning frame (202) is provided on the flat turntable (201), the turning axis of the flat turntable (201) and the turning frame (202) are perpendicular, and a movable water jet cutting assembly (3) is provided at each end of the turning frame (202).

7. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 6 is characterized by: The water jet cutting assembly (3) further comprises a transverse bottom plate (301), a rotating frame (302) is provided on the transverse bottom plate (301), a tilting frame (303) is provided on the rotating frame (302), one end of the tilting frame (303) is hinged to the rotating frame (302), a forward extending frame (304) is provided on the tilting frame (303), a water jet nozzle (305) is provided on the forward extending frame (304), and a supporting wheel (306) is provided on one side of the water jet nozzle (305).

8. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 7 is characterized by: A cylinder (316) is also provided, and a telescopic rod (317) is provided at one end of the cylinder (316). A universal joint (315) is provided at the ends of the telescopic rod (317) and the cylinder (316) that are separated from each other. Each universal joint (315) is respectively connected to the transverse bottom plate (301) and the front extension frame (304). A liquid inlet and outlet (319) communicating with the interior is provided at the end of the cylinder (316). A liquid storage barrel (321) is also provided. The liquid inlet and outlet (319) is communicated with the liquid storage barrel (321) through a pipeline, and an on-off valve (320) is provided on the pipeline.

9. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 1 is characterized by: An oblique shovel (801) is further connected below the vehicle frame (805). Two rotating slag-removing wheels (802) are provided on the oblique shovel (801). The two slag-removing wheels (802) rotate in different directions. A slag-feeding channel (807) is provided between the two slag-removing wheels (802). A connecting arm (803) is provided at the rear end of the slag-feeding channel (807). A conveyor belt (804) is provided on the connecting arm (803).

10. The non-explosive excavation construction method based on ultra-high pressure water jet cutting according to claim 1 is characterized by: A rotatable arm (502) is provided at the front end of the splitting drilling mechanical arm (5), a positioning cone head (505) is provided at the front end of the arm (502), and a second drilling rig (503) and a splitting rod (504) are respectively provided on two side surfaces of the arm (502).

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