An arch-anchor integrated operation trolley and construction method thereof

Abstract

The present invention discloses an arch-anchor integrated operation trolley and a construction method thereof, which solves the problems of single function and low working efficiency of the arch-anchor trolley in the prior art. The arch-anchor integrated operation trolley of the present invention comprises a vehicle body, and the vehicle body is provided with at least one side arm and at least one intermediate arm, and the intermediate arm is connected to the vehicle body through a slewing support seat, and the free end of the intermediate arm is provided with a first mechanical gripper, and the arm body of the intermediate arm or the side arm is provided with a drill arm that can move relative to the arm body; the side arm is connected to the vehicle body through a sliding mechanism, and the free end of the side arm is provided with a second mechanical gripper. Preferably, a cab and a cable reel are provided on the vehicle body, and the lower part of the vehicle body is provided with front telescopic legs and rear telescopic legs. The equipment of the present invention cooperates with the new construction method to realize the rapid laying and hanging of mesh and the rapid assembly of arch frames, solves the problem of difficulty in hanging mesh, improves the efficiency of hanging mesh, speeds up the overall work efficiency of initial support of tunnel, and finally achieves the purpose of reducing manpower and increasing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel support, and in particular to an arch-anchor integrated operation trolley and a construction method thereof. Background Art

[0002] At present, in tunnel construction, the initial support process is mostly manual work, which has problems such as a large number of personnel, high labor intensity, low work efficiency, and great safety hazards. With the development of technology and safety regulations, the trend of arch frame installation trolleys replacing manual work is becoming more and more obvious, but the existing arch frame installation trolleys have a single function and cannot achieve full mechanization of the initial process. Anchor operations still require manual cooperation; the existing construction method limits the efficiency of mesh installation, and the use of mechanized operations cannot effectively improve the efficiency of mesh hanging and reinforcement welding construction; the existing multifunctional arch frame installation trolley cannot effectively cope with step method construction. The arm structure, layout and arch frame grabbing mechanism of the existing multifunctional arch frame installation trolley cannot effectively adapt to all tunnel sections or various types of arch frames. When encountering special situations, it cannot play its role well, and has poor adaptability, making it difficult to promote the product. In recent years, in response to the difficulties in mechanized construction of initial tunnel support, multifunctional arch-anchor trolleys have emerged, such as a multifunctional tunnel drilling arch frame integrated machine with publication number CN201711399183.9, which introduces an arch-anchor integrated trolley, but its arm is a two-arm structure, and the arch frame and drill arm structure are station conversions, and synchronous operations cannot be performed. The extension arch frame anchor installation trolley with publication number CN305010366S introduces a three-arm arch-anchor trolley, but its arm is a telescopic arm, which is not suitable for step method construction, and its drill arm form will interfere with the arch frame gripper when dealing with the locking foot anchor drilling adjacent to the face, affecting the anchor drilling quality, and the whole machine is heavy and has many integrated functions, which is not convenient for tunnel entry and exit, and reliability is affected. Summary of the invention

[0003] In view of the deficiencies in the above-mentioned background technology, the present invention proposes an arch-anchor integrated operation trolley and a construction method thereof, which solves the problems of single function and low working efficiency of the arch-anchor trolley in the prior art.

[0004] The technical solution of the present invention is implemented as follows: an arch-anchor integrated operation trolley comprises a vehicle body, at least one side arm and at least one intermediate arm are provided on the vehicle body, the intermediate arm is connected to the vehicle body through a slewing support seat, a first mechanical gripper is provided at the free end of the intermediate arm, and a drill arm that can move relative to the arm is provided on the arm body of the intermediate arm or the side arm; the side arm is connected to the vehicle body through a sliding mechanism, and a second mechanical gripper is provided at the free end of the side arm. Preferably, a cab and a cable reel are provided on the vehicle body, and a front telescopic leg and a rear telescopic leg are provided at the lower part of the vehicle body.

[0005] Furthermore, a drill arm that can move relative to the arm body is provided on the arm body of the intermediate arm frame, and the intermediate arm frame includes a folding arm, a telescopic arm and a first mechanical gripper connected in sequence, and the drill arm is arranged on the telescopic arm; the telescopic arm is connected to the folding arm through a first hinge and a first pitch cylinder is connected between the first hinge and the telescopic arm; a connecting rod is connected between the first hinge and the swivel support seat, and the telescopic arm, the first hinge, the folding arm and the swivel support seat form a parallelogram linkage mechanism, and a folding arm cylinder is provided between the folding arm and the connecting rod.

[0006] Preferably, the drill arm includes a slewing device and a drill arm support arm, the drill arm support arm is rotatably arranged at the front of the telescopic arm through the slewing device, a fixed arm for fixing the propulsion beam is provided on the drill arm support arm, the fixed arm is connected to the drill arm support arm through a swing driving member, and a front drill support and a thimble are provided at the front of the fixed arm, and a rock drill and a middle drill support are slidably arranged on the propulsion beam; the rock drill corresponds to the middle drill support and the front drill support in sequence.

[0007] Further, the swing drive component includes a first swing cylinder and a second swing cylinder, the axis of the first swing cylinder is perpendicular to the axis of the second swing cylinder, and the output shaft of the first swing cylinder is parallel and fixedly connected to the drill arm support arm, and the output shaft of the second swing cylinder is parallel and fixedly connected to the fixed arm; a first fixed slider and a second fixed slider are slidably provided on the propulsion beam, the rock drill is fixed on the first fixed slider, the middle drill support is fixed on the second fixed slider, and the first fixed slider and the second fixed slider are slidably connected to the propulsion beam through a sliding drive assembly. Preferably, the sliding drive assembly includes a propulsion telescopic cylinder embedded in the propulsion beam, the first fixed slider and the second fixed slider are connected through a connecting plate, a movable pulley is provided on the connecting plate, and the telescopic end of the propulsion telescopic cylinder is connected to a wire rope that passes around the movable pulley.

[0008] Furthermore, the first mechanical gripper includes a forearm hinged at the end of the intermediate arm, the forearm is connected to the intermediate arm through a forearm pitch cylinder and a forearm swing cylinder, the front end of the forearm is hinged with a scissor-type clamp, and the scissor-type clamp is connected to the forearm through a third swing cylinder.

[0009] Among them, the end of the intermediate arm is hinged with a second hinge, the forearm is hinged on the second hinge, a forearm pitch cylinder is connected between the second hinge and the intermediate arm, and a forearm swing cylinder is connected between the forearm and the second hinge.

[0010] Furthermore, the sliding mechanism includes a sliding track arranged on the vehicle body and a sliding arm seat slidably arranged on the sliding track, and the side arm frame is connected to the sliding arm seat; two side arm frames and an intermediate arm frame are arranged on the vehicle body, and the two side arm frames are respectively a left arm frame and a right arm frame, and the intermediate arm frame is located between the left arm frame and the right arm frame.

[0011] Furthermore, the left arm and the right arm both include a telescopic arm, one end of the telescopic arm is connected to the sliding arm seat through a swivel joint connection, the swivel joint connection is connected to the sliding arm seat through a fourth swing cylinder, and the telescopic arm is connected to the swivel joint connection through a boom pitch cylinder; the other end of the telescopic arm is provided with a hanging basket platform, the hanging basket platform is provided with a second mechanical gripper and a foldable hanging basket, and the second mechanical gripper is located at the front of the foldable hanging basket.

[0012] Among them, a basket arm is hinged on one side of the basket platform, the basket arm is hinged to the telescopic boom and a basket pitch cylinder is provided between the two, and a fifth swing cylinder is provided between the basket platform and the basket arm; the basket includes a main baffle fixed on the basket platform and a side baffle hinged on the basket platform, and a folding connecting rod is provided between the main baffle and the side baffle.

[0013] Furthermore, the second mechanical gripper includes a third hinge connected to the front end of the hanging basket platform, a support arm is hinged on the third hinge, a support arm pitch cylinder is provided between the third hinge and the hanging basket platform, and a sixth swing cylinder is provided between the support arm and the third hinge; a fourth hinge is hinged at the end of the support arm, a scissor-type clamp is provided on the fourth hinge, a lifting arm pitch cylinder is provided between the scissor-type clamp and the fourth hinge, and a sixth swing cylinder is provided between the fourth hinge and the support arm. A breaker hammer is provided on the support arm, and the breaker hammer is arranged parallel to the support arm. Preferably, the scissor-type clamp includes a lifting arm, and claws are symmetrically provided on both sides of the lifting arm, and the opening and closing of the claws are controlled by the clamping cylinder, and a wedge-shaped portion is provided at the open end of the claw.

[0014] A construction method of an arch-anchor integrated operation trolley, using the arch-anchor integrated operation trolley, the specific steps are as follows:

[0015] S1: Drive the arch-anchor integrated trolley into a suitable position in the tunnel, and extend the front telescopic legs and the rear telescopic legs to position the trolley;

[0016] S2: After the trolley is positioned, the operator in the basket operates the left and right booms to move forward, sends the operator in the basket to the designated working surface for point measurement, and uses a breaker to perform tunnel undercut operations;

[0017] S3: unfold the middle boom, adjust the drill arm posture, operate the middle boom rotation, folding and telescopic actions, and use the drill arm to quickly drill 5-7 positioning anchor holes at the designated positions in the tunnel ring;

[0018] S4: Use the first mechanical gripper to grab the top mesh and lift it to a specific position in the tunnel; the operator in the hanging basket uses anchor rods to fix the top mesh to the tunnel wall, and then the middle arm, the left arm and the right arm are recovered at the same time; then, the second mechanical grippers on the left arm and the right arm simultaneously lift the meshes on both sides to a specific position in the tunnel; the operator in the hanging basket uses anchor rods to fix the meshes on both sides to the tunnel wall and on both sides of the top mesh;

[0019] S5: After the mesh is installed and fixed, the operator operates the middle arm, the left arm and the right arm to grab the arch frame on the top of the arch and the arch frames on the left and right sides respectively, adjusts the posture of the arch frame after grabbing it, and lifts the arch frame to the designated position in the tunnel for splicing and fixing;

[0020] S6: The operators use the hanging basket platform to carry out the reinforcement welding of the mesh and arch frame. During the reinforcement welding, the operators operate the middle boom and use the drill arm to drill the locking foot anchor holes and system anchor holes;

[0021] S7: Repeat steps S2 to S6 until the entire tunnel support is completed.

[0022] The present invention adopts an optimized boom structure, which can realize synchronous operation of arch and anchor and improve efficiency; the optimized arch frame grabbing manipulator can adapt to various types of arch frames, and there is no need to replace the grabbing mechanism when encountering a flower arch, which is convenient and efficient. In addition, the boom of the present invention realizes anchor drilling integration, increases the function of anchor rod drilling, realizes mechanized operation of arch and anchor, reduces the number of operators, and improves the efficiency of initial support construction; the construction method of the present invention is a new construction method coordinated with the equipment, which realizes rapid laying and hanging of mesh and rapid assembly of arch frames, solves the problem of difficulty in hanging mesh, improves the efficiency of hanging mesh, speeds up the overall efficiency of initial support of tunnel, and finally achieves the purpose of reducing manpower and increasing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0024] Figure 1 It is a schematic diagram of the overall structure of the trolley of the present invention.

[0025] Figure 2 It is a schematic diagram of the structure of the intermediate boom of the present invention.

[0026] Figure 3 It is a schematic diagram of the side arm structure of the present invention.

[0027] Figure 4 It is a schematic diagram of the drill arm structure of the present invention.

[0028] Figure 5 This is a schematic diagram of the connection status between the second mechanical gripper and the hanging basket platform.

[0029] Figure 6 This is a schematic diagram of the unfolded state of the hanging basket on the hanging basket platform.

[0030] Figure 7 It is a schematic diagram of the working state of the trolley of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figure 1 As shown, in embodiment 1, an arch-anchor integrated operation trolley comprises a vehicle body 1, which can be a wheeled vehicle body or a crawler vehicle body as required. The vehicle body 1 is provided with at least one side arm and at least one intermediate arm 9, the number of side arms can be set to one or more as required, and the number of intermediate arms 9 can be set to one or more as required; the selection is made according to the construction conditions and construction requirements. The intermediate arm 9 is connected to the vehicle body 1 through a slewing support seat 6; the slewing support seat is driven by a motor or an electric motor, and can drive the intermediate arm to rotate relative to the vehicle body. A first mechanical gripper 12 is provided at the free end of the intermediate arm 9, and a drill arm 10 that can move relative to the arm body is provided on the arm body of the intermediate arm 9, so as to realize the integration of the drill arm and the intermediate arm; a wet spray head can also be integrated on the arm body of the intermediate arm 9 as required. The side arm is connected to the vehicle body 1 through a sliding mechanism, and a second mechanical gripper 14 is provided at the free end of the side arm. The arch frame grabbing manipulator and the wet spray head are integrated on the side arm as required, so as to realize multiple functions of arch erection, drilling and wet spraying. The first mechanical gripper 12 cooperates with the second mechanical gripper 14, and has the functions of arch erection, net hanging, anchor hole drilling, etc., which can realize rapid net hanging, rapid installation of arch frame and synchronous operation of arch anchor, greatly improve the efficiency of tunnel initial support construction, and accelerate the progress of tunnel excavation. The vehicle body 1 is also provided with a cab 4 and a cable reel 18. The lower part of the vehicle body 1 is provided with a front telescopic leg 2 and a rear telescopic leg 3. The number of front and rear telescopic legs can be set as needed to locate the position of the trolley. The front and rear legs are retractable structures. When the trolley is operating, the front telescopic leg 2 and the rear telescopic leg 3 are retracted respectively, so that the trolley body is in a horizontal position to ensure the stability of the trolley during arch erection operation. The cable reel 18 is fixed on the vehicle body 1, and the cable reel can automatically retract and release the cable, which is convenient for the operator to connect the power and collect the vehicle. The cab 4 is fixed to the front end of the vehicle body 1, and the driving position in the cab can rotate 180° forward and backward to realize forward and backward two-way driving, which is convenient for the trolley to enter and exit the site.

[0033] In this embodiment, the vehicle body 1 is mainly composed of an engineering machinery chassis, a main and co-driver cab, a main boom system, an auxiliary boom system, a control system, and a hydraulic system. The engineering machinery chassis and the power system adopt a diesel-electric dual power system, the diesel engine drives the vehicle, and an electric motor is used during the face operation (a diesel engine can also be used to drive the vehicle). The trolley has a two-way driving function, which is convenient for rapid transfer in the tunnel; the side boom and the middle boom constitute the main boom system, and the main boom system can realize the arch grabbing and installation function of the tunnel arch top and the locking foot anchor drilling function. The control system is composed of multiple control units, including a driving control unit, a boom operation motion control unit, and a rock drilling control unit. The driving control unit is installed in the cab, the middle boom arm motion control unit and the rock drilling control unit are installed on the front side of the vehicle body, and the side boom operation motion control unit is installed in the corresponding hanging basket. At the same time, the boom motion control, rock drilling control, and arch grabbing manipulator motion control are remotely controlled to improve the convenience of operation.

[0034] like Figure 2 As shown, in Example 2, an arch-anchor integrated operation trolley, the intermediate arm frame 9 includes a folding arm 33, a telescopic arm 37 and a first mechanical gripper 12 connected in sequence, the folding arm adopts a parallelogram connecting rod structure, and the folding arm and the connecting rod are hinged through a slewing support seat and a connecting piece. The telescopic arm is composed of a basic arm and a two-stage telescopic arm, which is hinged to the upper part of the connecting piece. The drilling arm 10 is arranged on the telescopic arm 37 and can rotate relative to the telescopic arm 37 to change its working orientation. The telescopic arm 37 is connected to the folding arm 33 through a first hinge 36, and a first pitch cylinder 35 is connected between the first hinge 36 and the telescopic arm 37; under the action of the first pitch cylinder, the telescopic arm can pitch relative to the folding arm. A connecting rod 34 is connected between the first hinge 36 and the slewing support seat 6, and the telescopic arm 37, the first hinge 36, the folding arm 33 and the slewing support seat 6 form a parallelogram connecting rod mechanism, and a folding arm cylinder 32 is provided between the folding arm 33 and the connecting rod 34. Under the action of the folding arm oil cylinder, the folding arm 33 and the connecting rod 34 are folded or not. Through the above structural design, the intermediate arm frame can realize horizontal rotation, folding and unfolding, and two-stage telescopic, so that the intermediate arm frame 9 has a wide operating range when unfolded and a compact structure when retracted.

[0035] Further, if Figure 4As shown, the drill arm 10 includes a slewing device 42 and a drill arm support arm 41. The slewing device 42 can be a swing motor. The drill arm support arm 41 is rotatably arranged at the front of the telescopic arm 37 through the slewing device 42. Under the action of the slewing device, the drill arm support arm 41 can rotate relative to the folding arm; when it is necessary to work, the drill arm 10 swings to the front end of the telescopic arm 37, and when it is not working, the drill arm 10 swings to the rear end of the telescopic arm 37. A fixed arm 52 for fixing the propulsion beam 38 is provided on the drill arm support arm 41. The fixed arm 52 is connected to the drill arm support arm 41 through a swing driving member; under the action of the swing driving member, the propulsion beam can rotate relative to the drill arm support arm to change the working position of the rock drill 49. A front drill support 54 and a thimble 53 are provided at the front of the fixed arm 52. The rock drill 49 and the middle drill support 59 are slidably arranged on the propulsion beam 38; the rock drill 49 corresponds to the middle drill support 59 and the front drill support 54 in sequence to straighten the drill rod.

[0036] Specifically: the swing drive member includes a first swing cylinder 40 and a second swing cylinder 39, the axis of the first swing cylinder 40 is perpendicular to the axis of the second swing cylinder 39, and the output shaft of the first swing cylinder 40 is parallel and fixedly connected to the drill arm support arm 41, and the output shaft of the second swing cylinder 39 is parallel and fixedly connected to the fixed arm 52; so that the rock drill position adjustment is more flexible. A first fixed slider 57 and a second fixed slider 61 are slidably provided on the push beam 38, the rock drill 49 is fixed to the first fixed slider 57 by bolts, and the middle drill support 59 is fixed to the second fixed slider 61 by bolts, and the first fixed slider 57 and the second fixed slider 61 are slidably connected to the push beam 38 through a sliding drive assembly. Under the action of the sliding drive assembly, the rock drill 49 and the middle drill support 59 can move back and forth on the push beam, and the movement is more flexible.

[0037] Furthermore, the sliding drive assembly includes a telescopic propulsion cylinder 51 embedded in the propulsion beam 38, and the telescopic propulsion cylinder 51 is arranged parallel to the propulsion beam 38. The first fixed slider 57 and the second fixed slider 61 are connected by a connecting plate 60, and a movable pulley 62 is provided on the connecting plate 60. The telescopic end of the telescopic propulsion cylinder 51 is connected to a steel wire rope bypassing the movable pulley 62. The above structural design can realize that the displacement of the rock drill is twice the stroke of the propulsion cylinder, and the rock drill can move forward and backward. The propulsion cylinder of the rock drill is buried inside the propulsion beam.

[0038] In this embodiment, the first mechanical gripper 12 includes a small arm 50 hinged at the end of the telescopic arm 37 of the intermediate arm 9, and the small arm 50 is connected to the intermediate arm 9 through the small arm pitch cylinder 43 and the small arm swing cylinder 44. Specifically, the end of the intermediate arm 9 is hinged with a second hinge 55, the small arm 50 is hinged on the second hinge 55, the small arm pitch cylinder 43 is connected between the second hinge 55 and the intermediate arm 9, and the small arm swing cylinder 44 is connected between the small arm 50 and the second hinge 55; under the action of the small arm pitch cylinder, the small arm can pitch relative to the telescopic arm of the intermediate arm; under the action of the small arm swing cylinder, the small arm can swing left and right relative to the telescopic arm of the intermediate arm. The front end of the small arm 50 is hinged with a scissor-type clamp 47, which is connected to the small arm 50 through the third swing cylinder 45. Under the action of the third swing cylinder, the scissor-type clamp 47 can swing up and down relative to the small arm 50, which is used to adjust the angle of the scissor-type clamp 47 so as to flexibly grasp and splice the arch frame. The scissor-type clamp 47 has openings at both ends, and the open ends are wedge-shaped angles, which can reliably clamp the flange plate of the arch frame. This clamping method can adapt to various types of arch frames, including steel arch frames, square flower arch frames and triangular flower arch frames.

[0039] like Figure 3 As shown, embodiment 3 is an arch-anchor integrated operation trolley. On the basis of embodiment 2, the vehicle body 1 in this embodiment is provided with two side arms and an intermediate arm 9, the two side arms are respectively a left arm 15 and a right arm 8, and the intermediate arm 9 is located between the left arm 15 and the right arm 8. The left arm 15 and the right arm 8 have the same or similar structure, and cooperate with the intermediate arm to simultaneously grab and assemble the entire arch frame section, thereby improving work efficiency. The sliding mechanism includes a sliding track 7 arranged on the vehicle body 1 and a sliding arm seat 5 slidingly arranged on the sliding track 7; in this embodiment, the left arm 15 is connected to the sliding track through the left sliding seat 11. The side arm is connected to the sliding arm seat 5. The sliding arm seat moves forward and backward along the sliding track through a driving cylinder arranged parallel to the sliding track, so as to change the overall position of the side arm. Alternatively, a driving device is used, and the driving device drives the left and right side arms to move forward and backward on the track 7 through a chain. The sliding distance can be controlled individually to achieve flexible movement of the boom and reduce the machine moving operations during trolley operation.

[0040] Furthermore, the left arm frame 15 and the right arm frame 8 both include a telescopic boom 63, and the telescopic boom 63 is a two-stage or three-stage telescopic boom body. One end of the telescopic boom 63 is connected to the sliding arm seat 5 through a swivel joint 19, and the swivel joint 19 is connected to the sliding arm seat 5 through a fourth swing cylinder 31; under the action of the fourth swing cylinder, the telescopic boom 63 can swing left and right relative to the sliding arm seat. The telescopic boom 63 is connected to the swivel joint 19 through the boom pitch cylinder 20, and under the action of the boom pitch cylinder, the telescopic boom 63 can pitch relative to the sliding arm seat. Through the above-mentioned structural design, the side boom frame can realize the up and down pitching, left and right swinging, and front and back telescoping of the boom, ensuring that the hanging basket 13 and the second mechanical gripper 14 can reach the working position. The other end of the telescopic arm 63 is provided with a hanging basket platform 23, on which a second mechanical gripper 14 and a foldable hanging basket 13 are provided, and the second mechanical gripper 14 is located in front of the foldable hanging basket 13, and the hanging basket 13 provides safety protection for the operator and an operating space for the operator. The second mechanical gripper is used to grab the arch frame and install the arch frame.

[0041] like Figure 5 , 6 As shown, in order to further improve the flexibility of the hanging basket and the hanging basket platform, a hanging basket arm 64 is hinged on one side of the hanging basket platform 23, and the hanging basket arm 64 is hinged with the telescopic boom 63, and a hanging basket pitching cylinder 21 is arranged between the two; under the action of the hanging basket pitching cylinder, the hanging basket platform 23 can pitch relative to the telescopic boom to change the working angle of the hanging basket platform. A fifth swinging cylinder 22 is arranged between the hanging basket platform 23 and the hanging basket arm 64, and under the action of the fifth swinging cylinder, the hanging basket platform can swing left and right relative to the hanging basket arm to change the working angle of the hanging basket platform on the horizontal plane. The hanging basket 13 is an expandable structure, specifically including a main baffle fixed to the hanging basket platform 23 and a side baffle hinged on the hanging basket platform 23, and the main baffle and the side baffle form a rectangular frame structure. A folding connecting rod is arranged between the main baffle and the side baffle, and under the action of the folding connecting rod, the side baffle can be unfolded into a platform structure relative to the main baffle, thereby expanding the working area, increasing the number of operators when manual operation is required, and improving the working efficiency.

[0042] Further, the second mechanical gripper 14 includes a third hinge 65 connected to the front end of the hanging basket platform 23, and a support arm 66 is hinged on the third hinge 65. A support arm pitching cylinder 24 is provided between the third hinge 65 and the hanging basket platform 23. Under the action of the support arm pitching cylinder 24, the support arm can perform a pitching motion relative to the hanging basket platform 23. A sixth swinging cylinder 25 is provided between the support arm 66 and the third hinge 65. Under the action of the sixth swinging cylinder, the support arm can perform a left and right swinging motion relative to the hanging basket platform. The third hinge, the support arm, etc. form a connecting rod mechanism, and the arch frame grabbing manipulator can be adjusted by -20°-90° pitch through the connecting rod mechanism. The end of the support arm 66 is hinged with a fourth hinge, and a scissor-type clamp 47 is provided on the fourth hinge. A lifting arm pitching cylinder 29 is provided between the scissor-type clamp 47 and the fourth hinge; under the action of the lifting arm pitching cylinder, the scissor-type clamp 47 can perform a pitching motion relative to the support arm 66. A seventh swing cylinder 27 is provided between the fourth hinge and the support arm 66. Under the action of the sixth swing cylinder, the scissor-type clamp 47 can swing relative to the support arm, and the scissor-type clamp can grab the arch frame more flexibly. A breaker hammer 28 is provided on the support arm, and the breaker hammer 28 is arranged parallel to the support arm 66. The breaker hammer 28 can be used to quickly deal with tunnel under-excavation.

[0043] The scissor-type clamp 47 in this embodiment includes a lifting arm 30, and the lifting arm 30 is symmetrically provided with a clamping claw 46 on both sides. The middle part of the clamping claw is hinged on the lifting arm, and the two corresponding clamping claws on the left and right form a group. The two clamping claws 46 in the same group are controlled to open and close by a clamping oil cylinder 48. The open end of the clamping claw 46 is provided with a wedge-shaped portion, which can completely fit the clamping mechanism mounting plate and can reliably clamp the arch frame flange plate. This clamping method can adapt to various types of arch frames, including steel arch frames, square flower arch frames and triangular flower arch frames.

[0044] Example 4: Figure 7 As shown, a construction method of an arch-anchor integrated operation trolley is provided, using the arch-anchor integrated operation trolley described in Example 3, and the specific steps are as follows:

[0045] S1: Drive the arch-anchor integrated trolley into a suitable position in the tunnel, extend the front telescopic legs 2 and the rear telescopic legs 3 to position the trolley; at this time, the trolley is completely off the ground. During the actual construction process, the arch-anchor integrated trolley is fixed at a distance of 6 to 8 meters from the assembly surface.

[0046] S2: After the trolley is positioned, the operator is located in the hanging basket 13 and operates the left arm 15 and the right arm 8 to move forward, and sends the operator in the hanging basket to the designated working surface for point measurement, and uses the breaker 28 to perform tunnel under-excavation operations; in this process, the upper arm pitch cylinder 20, the fourth swing cylinder 31 and the hanging basket pitch cylinder 21 are adjusted to adjust the working position of the hanging basket.

[0047] S3: The left boom 15 and the right boom 8 are retracted, and the middle boom 9 is unfolded at the same time. The posture of the drill arm 10 is adjusted, and the middle boom is operated to rotate, fold and retract. The drill arm 10 is used to quickly drill 5-7 positioning anchor holes at the designated positions in the tunnel ring.

[0048] S4: Use the first mechanical gripper 12 to grab the top mesh and lift it to a specific position in the tunnel; at the same time, the operator in the hanging basket uses anchor rods to fix the top mesh on the tunnel wall, and then the middle arm 9, the left arm 15 and the right arm 8 are recovered at the same time; then, the second mechanical grippers on the left arm 15 and the right arm 8 simultaneously lift the meshes on both sides to a specific position in the tunnel; the operator in the hanging basket uses anchor rods to fix the meshes on both sides to the tunnel wall and on both sides of the top mesh; this method changes the traditional tunnel mesh from manual installation of small pieces to mechanized installation of large pieces, and the operator only needs assistance to complete the rapid fixing and installation of the entire ring mesh of the tunnel, thereby improving the mesh installation efficiency.

[0049] S5: After the mesh is installed and fixed, the operator operates the middle arm 9, the left arm 15 and the right arm 8 to grab the arch frame and the left and right arch frames respectively, adjust the arch frame posture after grabbing the arch frame, and lift the arch frame to the designated position in the tunnel for splicing and fixing. Specifically, the operator operates the middle arm 9 to lift the arch frame to the top and keep it still; then the left arm 15 and the right arm 8 simultaneously grab the side arch frames and lift them to both sides of the arch frame and bolt them together to complete the assembly of the arch frame.

[0050] S6: The operators use the hanging basket platform to carry out the reinforcement welding of the mesh and the arch frame. During the reinforcement welding, the operators operate the intermediate arm 9 and use the drilling arm 10 to drill the locking foot anchor holes and the system anchor holes. This reduces the workload of the operators and can simultaneously meet the needs of arch erection and anchor construction, greatly improving the efficiency of the initial support construction of the tunnel.

[0051] S7: Repeat steps S2 to S6 until the entire tunnel support is completed. After the reinforcement welding and anchor drilling operations are completed, the operator disconnects the cable, retracts the cable, retracts the front telescopic legs and the rear telescopic legs, adjusts the cab to the front, and drives the arch-anchor integrated trolley out of the tunnel.

[0052] The above construction method provides a mechanized operation plan for tunnel arch erection and anchor construction. The integrated trolley is not only suitable for full-section tunnel excavation, but also for step method construction. At the same time, a new method for rapid net hanging is proposed. Combined with the arch-anchor integrated trolley, the efficiency of the initial support operation of the tunnel can be greatly improved, achieving the purpose of reducing manpower and increasing efficiency.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A construction method for an arch-anchor integrated operation trolley, characterized in that: An arch-anchor integrated operation trolley is used, the arch-anchor integrated operation trolley comprising a vehicle body (1), the vehicle body (1) being provided with at least one side arm frame and at least one intermediate arm frame (9), the intermediate arm frame (9) being connected to the vehicle body (1) via a slewing support seat (6), a first mechanical gripper (12) being provided at the free end of the intermediate arm frame (9), and a drilling arm (10) being movable relative to the arm frame being provided on the arm body of the intermediate arm frame (9) or the side arm frame; the side arm frame being connected to the vehicle body (1) via a sliding mechanism, and a second mechanical gripper (14) being provided at the free end of the side arm frame; A drill arm (10) capable of moving relative to the arm body is provided on the arm body of the intermediate arm frame (9); the intermediate arm frame (9) comprises a folding arm (33), a telescopic arm (37) and a first mechanical gripper (12) which are connected in sequence, and the drill arm (10) is arranged on the telescopic arm (37); the telescopic arm (37) is connected to the folding arm (33) via a first hinge (36), and a first pitch cylinder (35) is connected between the first hinge (36) and the telescopic arm (37); a connecting rod (34) is connected between the first hinge (36) and the slewing support seat (6); the telescopic arm (37), the first hinge (36), the folding arm (33) and the slewing support seat (6) form a parallelogram connecting rod mechanism, and a folding arm cylinder (32) is provided between the folding arm (33) and the connecting rod (34); The second mechanical gripper (14) comprises a third hinged member (65) connected to the front end of the hanging basket platform (23), a support arm (66) being hingedly connected to the third hinged member (65), and a breaker hammer (28) being provided on the support arm; The specific steps are as follows: S1: driving the arch-anchor integrated trolley into a suitable position in the tunnel, and extending the front telescopic legs (2) and the rear telescopic legs (3) to position the trolley; S2: After the trolley is positioned, the operator is located in the hanging basket (13) and operates the left arm (15) and the right arm (8) to move forward, and sends the operator in the hanging basket to the designated working surface for point measurement, and uses a breaker hammer (28) to perform tunnel undercut operations; S3: unfolding the middle boom (9), adjusting the posture of the drill arm (10), operating the rotation, folding and telescopic actions of the middle boom, and using the drill arm (10) to quickly drill 5-7 positioning anchor holes at designated positions in the tunnel annular direction; S4: Using the first mechanical gripper (12) to grab the top mesh and lift it to a specific position in the tunnel; the operator in the hanging basket uses anchor rods to fix the top mesh to the tunnel wall, and then the middle arm (9), the left arm (15) and the right arm (8) are recovered at the same time; then, the second mechanical grippers on the left arm (15) and the right arm (8) simultaneously lift the meshes on both sides to a specific position in the tunnel; the operator in the hanging basket uses anchor rods to fix the meshes on both sides to the tunnel wall and on both sides of the top mesh; S5: After the mesh is installed and fixed, the operator operates the middle arm (9), the left arm (15) and the right arm (8) to grab the arch frame of the vault and the arch frames on the left and right sides respectively, adjusts the posture of the arch frames after grabbing them, and lifts the arch frames to the designated positions in the tunnel for splicing and fixing; S6: The operator uses the hanging basket platform to perform the reinforcement welding operation of the mesh and the arch frame. During the reinforcement welding, the operator operates the intermediate arm frame (9) and uses the drilling arm (10) to perform the drilling operation of the locking foot anchor hole and the system anchor hole; S7: Repeat steps S2 to S6 until the entire tunnel support is completed.

2. The construction method of the arch-anchor integrated operation trolley according to claim 1 is characterized in that: The drill arm (10) comprises a slewing device (42) and a drill arm support arm (41). The drill arm support arm (41) is rotatably arranged at the front of the telescopic arm (37) through the slewing device (42). A fixed arm (52) for fixing the propulsion beam (38) is provided on the drill arm support arm (41). The fixed arm (52) is connected to the drill arm support arm (41) through a swing driving member. A front drill support (54) and a thimble (53) are provided at the front of the fixed arm (52). A rock drill (49) and a middle drill support (59) are slidably arranged on the propulsion beam (38). The rock drill (49) corresponds to the middle drill support (59) and the front drill support (54) in sequence.

3. The construction method of the arch-anchor integrated operation trolley according to claim 2 is characterized in that: The swing drive component comprises a first swing cylinder (40) and a second swing cylinder (39); the axis of the first swing cylinder (40) is arranged perpendicular to the axis of the second swing cylinder (39); the output shaft of the first swing cylinder (40) is parallel and fixedly connected to the drill arm support arm (41); the output shaft of the second swing cylinder (39) is parallel and fixedly connected to the fixed arm (52); a first fixed slide block (57) and a second fixed slide block (61) are slidably provided on the propulsion beam (38); the rock drill (49) is fixed on the first fixed slide block (57); the middle drill support device (59) is fixed on the second fixed slide block (61); the first fixed slide block (57) and the second fixed slide block (61) are slidably connected to the propulsion beam (38) via a sliding drive assembly.

4. The construction method of the arch-anchor integrated operation trolley according to claim 3 is characterized in that: The sliding drive assembly comprises a propulsion telescopic oil cylinder (51) embedded in the propulsion beam (38); a first fixed slide block (57) and a second fixed slide block (61) are connected via a connecting plate (60); a movable pulley (62) is provided on the connecting plate (60); and a telescopic end of the propulsion telescopic oil cylinder (51) is connected to a steel wire rope that passes around the movable pulley (62).

5. The construction method of the arch-anchor integrated operation trolley according to claim 1, 2 or 4, characterized in that: The first mechanical gripper (12) comprises a small arm (50) hinged at the end of the intermediate arm frame (9), the small arm (50) being connected to the intermediate arm frame (9) via a small arm pitch cylinder (43) and a small arm swing cylinder (44), a scissor-type clamp (47) being hinged at the front end of the small arm (50), and the scissor-type clamp (47) being connected to the small arm (50) via a third swing cylinder (45).

6. The construction method of the arch-anchor integrated operation trolley according to claim 5 is characterized in that: A second hinged component (55) is hingedly connected to the end of the intermediate arm (9), the forearm (50) is hingedly connected to the second hinged component (55), a forearm pitch cylinder (43) is connected between the second hinged component (55) and the intermediate arm (9), and a forearm swing cylinder (44) is connected between the forearm (50) and the second hinged component (55).

7. The construction method of the arch-anchor integrated operation trolley according to any one of claims 1, 2 and 6, characterized in that: The sliding mechanism comprises a sliding track (7) arranged on the vehicle body (1) and a sliding arm seat (5) slidably arranged on the sliding track (7), and a side arm frame is connected to the sliding arm seat (5); two side arm frames and an intermediate arm frame (9) are arranged on the vehicle body (1), the two side arm frames are respectively a left arm frame (15) and a right arm frame (8), and the intermediate arm frame (9) is located between the left arm frame (15) and the right arm frame (8).

8. The construction method of the arch-anchor integrated operation trolley according to claim 7, characterized in that: The left arm frame (15) and the right arm frame (8) both include a telescopic boom (63), one end of the telescopic boom (63) being connected to the sliding arm seat (5) via a swivel joint connection (19), the swivel joint connection (19) being connected to the sliding arm seat (5) via a fourth swing cylinder (31), and the telescopic boom (63) being connected to the swivel joint connection (19) via a boom pitch cylinder (20); the other end of the telescopic boom (63) is provided with a hanging basket platform (23), the hanging basket platform (23) being provided with a second mechanical gripper (14) and a foldable hanging basket (13), the second mechanical gripper (14) being located at the front of the foldable hanging basket (13).

9. The construction method of the arch-anchor integrated operation trolley according to claim 8, characterized in that: A hanging basket arm (64) is hingedly connected to one side of the hanging basket platform (23); the hanging basket arm (64) is hingedly connected to the telescopic boom (63), and a hanging basket pitch cylinder (21) is provided between the two; a fifth swing cylinder (22) is provided between the hanging basket platform (23) and the hanging basket arm (64); the hanging basket (13) comprises a main baffle fixed to the hanging basket platform (23) and a side baffle hinged to the hanging basket platform (23); a folding connecting rod is provided between the main baffle and the side baffle.

10. The construction method of the arch-anchor integrated operation trolley according to claim 8 or 9, characterized in that: A support arm pitch cylinder (24) is provided between the third hinged member (65) and the hanging basket platform (23), and a sixth swing cylinder (25) is provided between the support arm (66) and the third hinged member (65); a fourth hinged member (67) is hingedly connected to the end of the support arm (66), a scissor-type clamp (47) is provided on the fourth hinged member (67), a lifting arm pitch cylinder (29) is provided between the scissor-type clamp (47) and the fourth hinged member (67), and a seventh swing cylinder (27) is provided between the fourth hinged member (67) and the support arm (66).

11. The construction method of the arch-anchor integrated operation trolley according to claim 10, characterized in that: The breaker hammer (28) is arranged parallel to the support arm (66).

12. The construction method of the arch-anchor integrated operation trolley according to claim 11, characterized in that: The scissor-type clamp (47) comprises a lifting arm (30), and clamping claws (46) are symmetrically provided on both sides of the lifting arm (30). The opening and closing of the clamping claws (46) are controlled by a clamping cylinder (48), and a wedge-shaped portion is provided at the open end of the clamping claw (46).

13. The construction method of the arch-anchor integrated operation trolley according to claim 1 or 12, characterized in that: The vehicle body (1) is provided with a cab (4) and a cable reel (18), and the lower part of the vehicle body (1) is provided with a front telescopic support leg (2) and a rear telescopic support leg (3).

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