Combined arm support system for arch-anchor integrated trolley and working method

Abstract

The application discloses a combined arm support system for an arch-anchor integrated trolley and a working method, and solves the problem of small application range of the combined arm support in the prior art. The combined arm support system comprises a folding arm connected to the trolley, one end of the folding arm is connected to the trolley through a rotating mechanism, the other end of the folding arm is connected with a telescopic arm through a folding mechanism, the telescopic arm is provided with a double-push-beam drill arm and a turnover gripper, the rotating mechanism comprises a rotating support and a rotating base, the inner ring of the rotating support is fixed to the trolley, the rotating base is fixed to the outer ring of the rotating support, and the outer ring of the rotating support can drive the rotating base to rotate relative to the trolley under the action of a rotating driving element, and the folding arm is hinged to the rotating base and connected to the rotating base through a connecting rod driving mechanism. The combined arm support system cooperates the rotating folding arm with the telescopic arm, adopts a multi-quadrilateral connecting rod structure design, increases the coverage range of the arm support, and meets the vertical arch requirements of three-step method tunnel construction and full-face construction tunnel.

Description

Technical Field

[0001] This invention relates to the field of integrated arch-anchor trolley technology, and in particular to a combined boom system and working method for integrated arch-anchor trolley. Background Technology

[0002] In tunnel construction, the initial support stage includes arch erection, wire mesh installation, drilling of anchor bolts, and drilling of system anchor bolts. However, the existing multi-functional boom system does not provide detailed specifications for its adaptability to the three-step method of construction. In actual three-step construction, because the boom cannot extend to the upper step, the arch is erected manually. Furthermore, the upper step has limited space, and the anchor bolt and system anchor bolt operations are all completed manually, which is time-consuming, labor-intensive, and poses safety hazards.

[0003] When erecting arches, the mechanical grippers of existing boom systems cannot adapt to multi-arch operation, meaning they cannot erect two or three arches simultaneously. Existing combined boom technologies, such as Chinese Patent Application No. 202110243212.2 (a combined boom for tunnel construction) and Chinese Patent Application No. 202122542787.2 (an arch anchor boom and arch anchor trolley), can achieve arch erection and anchor bolt locking functions, but they do not provide specific explanations regarding coverage area and adaptability to the three-step construction method. They also have limited applicability in complex underground tunnel spaces, and their work efficiency needs further improvement. Summary of the Invention

[0004] To address the shortcomings in the aforementioned background technology, this invention proposes a combined boom system and working method for an integrated arch-anchor trolley, which solves the problem of limited applicability of combined booms in the prior art.

[0005] The technical solution of the present invention is implemented as follows: A combined boom system for an integrated arch-anchor trolley includes a folding boom connected to the trolley. One end of the folding boom is connected to the trolley via a slewing mechanism, and the other end is connected to a telescopic boom via a folding mechanism. The telescopic boom is equipped with a double-push-beam drill arm and a flip-type gripper. The slewing mechanism includes a slewing support and a slewing base. The inner ring of the slewing support is fixed to the trolley, and the slewing base is fixed to the outer ring of the slewing support. The outer ring of the slewing support can drive the slewing base to rotate relative to the trolley under the action of a slewing drive component. The folding boom is hinged to the slewing base and connected to the slewing base via a linkage drive mechanism.

[0006] Furthermore, the double-push beam drill arm includes a double-rotation mechanism and a double-push sliding mechanism. The double-push sliding mechanism is mounted on the double-rotation mechanism, and a rock drill and a corresponding drill rod are mounted on the double-push sliding mechanism.

[0007] Preferably, the double rotary mechanism includes a rotary drive I that can rotate in a horizontal plane and a rotary drive II that can rotate in a vertical plane. The rotary drive II is mounted on the rotary drive I, and a beam base is mounted on the rotary drive II. The double push-sliding mechanism is mounted on the beam base.

[0008] Preferably, the double-push sliding mechanism includes a lower push beam and an upper push beam arranged in parallel. The lower push beam is slidably connected to the beam base via a friction seat, and a compensating cylinder is provided between the lower push beam and the beam base to drive the lower push beam to move relative to the beam base. The upper push beam is slidably connected to the lower push beam via a friction plate, and a telescopic cylinder is provided between the upper push beam and the lower push beam to drive the upper push beam to move relative to the lower push beam. The upper push beam is provided with a push cylinder to drive the rock drill to move relative to the upper push beam.

[0009] Furthermore, the linkage drive mechanism includes a first linkage mounted on a rotating base. One end of the first linkage is hinged to the rotating base, and the other end is hinged to a second linkage and a first hydraulic cylinder. The other end of the second linkage is hinged to the middle of the folding arm, and the other end of the first hydraulic cylinder is hinged to the upper part of the folding arm. The first linkage, the second linkage, the rotating base, and the lower middle part of the folding arm form a parallelogram linkage mechanism. Preferably, a rotary encoder is connected to the hinge shaft between the folding arm and the rotating base.

[0010] The folding arm has a "7" shaped structure. The folding mechanism includes a third link hinged to the top crossbeam of the folding arm and a fourth link hinged to the telescopic arm. The third link and the fourth link are hinged to an angle frame via hinge shaft A. A second hydraulic cylinder is also hinged to hinge shaft A. The telescopic end of the second hydraulic cylinder is hinged to the telescopic arm and close to the double push beam drill arm. An inclinometer is provided on the telescopic arm and at one end close to the folding arm.

[0011] Furthermore, the telescopic arm has a swing mechanism at its telescopic end, a pitch mechanism on the swing mechanism, and a flip-type gripper on the pitch mechanism; the swing mechanism includes a first connecting seat hinged to the telescopic end of the telescopic arm, and a first swing cylinder is connected between the telescopic arm and the first connecting seat. Under the action of the first swing cylinder, the first connecting seat can swing left and right in the horizontal plane around the hinge axis I; the pitch mechanism includes a gripper arm hinged to the first connecting seat, and a first pitch cylinder is provided between the gripper arm and the first connecting seat. Under the action of the first pitch cylinder, the gripper arm can pitch in the vertical plane around the hinge axis II, and the flip-type gripper is provided on the gripper arm.

[0012] Furthermore, the flip-type gripper includes a second connecting seat hinged to the end of the gripper arm. A second pitch cylinder is provided between the second connecting seat and the gripper arm. Under the action of the second pitch cylinder, the second connecting seat can perform a pitching motion in the vertical plane around the hinge axis III. A gripper plate seat is hinged to the second connecting seat, and one end of the gripper plate seat is connected to the second connecting seat through a flip-type cylinder. A gripper assembly is provided on the gripper plate seat, and a detachable stabilizing frame is provided on the gripper plate seat. The stabilizing frame is correspondingly arranged with the gripper assembly. The gripper assembly includes two symmetrically arranged grippers. The gripping part of the gripper is provided with a pad. The middle part of the gripper is hinged to the gripper plate seat, and the lower part of the gripper is connected to it through a clamping cylinder located at the lower part of the gripper plate seat.

[0013] Furthermore, the working method of the combined boom system for the integrated arch-anchor trolley includes the following steps: S1: Arch grabbing: Move the trolley to a certain distance from the working face, and use the combination of folding arm, telescopic arm and flipping grab to grab the arch frame in the front or side to carry out full-section construction or step construction. S2: Arch erection: In full-section construction, when erecting the arch, the folding boom is raised, the pitch angle of the telescopic boom is adjusted, and the gripper of the flip-type grab is kept horizontally upward to accurately position the arch frame at a specific installation point on the inner wall of the tunnel; in step construction, when erecting the arch, the pitch of the folding boom is coordinated with the pitch of the telescopic boom, the gripper of the flip-type grab is kept horizontally upward to avoid the steps, and the arch frame on the steps is sent to a specific installation point at the top of the tunnel. S3: Anchoring: In the full-section and bench method construction of large tunnels, due to the large working space, the drilling of system anchors and locking anchors adopts a dual-propulsion system; in the bench method construction of small-section tunnels, due to the small working space, the drilling of upper bench locking anchors adopts a single-propulsion system; then the system anchors and locking anchors are used to fix the arch frame. S4: Repeat steps S1 to S4 until all arch frames are installed.

[0014] In step S1, when the arch frame is gripped in the forward direction, the folding arm is tilted up to the maximum angle. At this time, the minimum angle at which the telescopic arm does not interfere with the frame is b, the upward angle of the gripper arm is b1, and the backward swing angle of the gripper is b2. In order to ensure that the arch can be gripped smoothly, the gripper must be able to be adjusted to a horizontal angle at this time, which must satisfy b1+b2=b. When laterally gripping the arch, the maximum downward angle of the telescopic arm is c, the minimum downward angle of the telescopic arm is d, the downward angle of the gripper arm is a1, and the forward swing angle of the gripper is a2. To ensure smooth gripping, the coverage area during lateral gripping is (c~d) + a1 + a2 > 90°.

[0015] When the arch is erected in step S2, the folding arm is fully retracted and the telescopic arm is fully extended and tilted upward to angle a. This is the first limit position of the gripper's working range. Then the folding arm tilts upward to the maximum angle and the telescopic arm is fully extended and tilted upward to the maximum angle e. This is the second limit position of the gripper's working range. Since a>e, angle a is the limit angle. The downward tilt angle of the gripper arm is a1, and the forward swing angle of the gripper is a2. To ensure that the gripper is horizontal and upward, a1+a2=a must be satisfied.

[0016] The beneficial effects of this invention are as follows: 1. This invention utilizes a combination of a rotary folding arm and a telescopic arm, with a multi-quadrilateral linkage structure design, to increase the coverage range of the boom. The folding arm can rotate in a plane on the trolley under the action of the slewing mechanism, and the telescopic arm can be retracted and extended with one click under the action of the folding mechanism, improving its operational coverage and applicability, and meeting the arch erection requirements of three-stage method tunnel construction and full-section construction tunnel construction. 2. The integrated combined drilling arm formed by the double-push-beam drilling arm and the flip-type grabber can realize multi-functional operations such as arch erection, netting, anchor bolt locking, and system anchor bolting in the initial support stage of tunnel construction, and can simultaneously grab and install multiple arch frames, reducing the frequency of vehicle relocation, reducing the number of workers, and improving the efficiency of initial support construction. 3. The double-push-beam drilling arm is mounted on the boom, and with its high degree of freedom, it is not only suitable for full-section construction of large tunnels, but also for step method construction, achieving high-precision arch erection and rock drilling positioning, and is simple and easy to operate; it has strong adaptability to single-line tunnel or three-stage method construction, replacing manual labor and reducing safety risks. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the combined boom structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the present invention mounted on a trolley and in a folded state.

[0020] Figure 3 This is a schematic diagram of the rotary mechanism of the present invention.

[0021] Figure 4 This is a schematic diagram of the connection structure between the flip-type gripper and the telescopic arm.

[0022] Figure 5 This is a schematic diagram of a flip-type gripper structure.

[0023] Figure 6 This is a schematic diagram of a double-push-beam drill arm structure.

[0024] Figure 7 This is a schematic diagram of the combined boom system in the forward gripping state.

[0025] Figure 8 This is a schematic diagram showing the maximum downward angle of the telescopic boom when the combined boom system is laterally gripping the arch.

[0026] Figure 9 This is a schematic diagram showing the minimum angle at which the telescopic boom tilts down when the combined boom system is laterally gripping the arch.

[0027] Figure 10 This is a schematic diagram showing the coverage area during the arch erection process of the combined boom system.

[0028] Figure 11 A diagram illustrating the range of vertical tilt angles for gripping the arm.

[0029] Figure 12 A schematic diagram showing the range of pitch angles for the gripper.

[0030] Figure 13 This is a diagram showing the gripper in an open position.

[0031] Figure 14 A schematic diagram of the gripper grasping the three-hinged arch.

[0032] Figure 15 This is a schematic diagram showing the state of the gripper grasping the grid arch.

[0033] Figure 16 This image shows a comparison of the arch-grabbing state of the boom of this invention and a conventional boom during the full-section construction of a large tunnel.

[0034] Figure 17 This is a comparison diagram of the arch-erecting state of the boom of this invention and a conventional boom during the full-section construction of a large tunnel.

[0035] Figure 18 This is a comparison diagram of the arch-grabbing state of the boom of this invention and the conventional boom during the step method construction.

[0036] Figure 19 This is a comparison diagram of the arched state of the boom of this invention and the conventional boom during the step method construction.

[0037] Figure 20 This is a schematic diagram of the working state of the double push beam drill arm of the present invention.

[0038] Figure 21 This is a flowchart of the one-button retraction / expansion control process for the boom of the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] like Figure 1 , 2 As shown in Embodiment 1, a combined boom system for an integrated arch-anchor trolley includes a folding boom 1 connected to the trolley 100. One end of the folding boom 1 is connected to the trolley 100 via a rotary mechanism 5, and the other end is connected to a telescopic boom 2 via a folding mechanism 6. The telescopic boom 2 is equipped with a double-push-beam drill arm 3 and a flip-type gripper 4. The folding boom can rotate in a plane on the trolley under the action of the rotary mechanism, and the telescopic boom can be retracted and extended with a single key under the action of the folding mechanism. Figure 21 As shown, this improves its operational coverage and applicability, meeting the arch erection requirements for tunnels constructed using the three-stage method and full-face construction. The integrated combined drilling arm, consisting of the double-push-beam drill arm 3 and the flip-type grabber 4, enables multi-functional operations such as arch erection, mesh installation, anchor bolt installation, and system anchor bolt installation in the initial support stage of tunnel construction. It can also simultaneously grab and install multiple arch frames, reducing the frequency of vehicle relocation, decreasing the number of workers, and improving the efficiency of initial support construction.

[0041] like Figure 3 As shown, in this embodiment, the preferred rotary mechanism 5 includes a rotary support 51 and a rotary base 52. The rotary support 51 is similar to a bearing structure. The inner ring of the rotary support 51 is fixed to the trolley 100, and the rotary base 52 is fixed to the outer ring of the rotary support 51. Under the action of the rotary drive component 53, the outer ring of the rotary support 51 can drive the rotary base 52 to rotate relative to the trolley 100. The folding arm 1 is hinged to the rotary base 52 and connected to the rotary base 52 through the linkage drive mechanism 7. In this embodiment, the rotary drive component 53 is a hydraulic cylinder. The two hinge points of the rotary base are respectively hinged to two hydraulic cylinders (A and B), and the other ends of hydraulic cylinders A and B are hinged to the frame. When the slewing base rotates clockwise, cylinder B retracts and pulls back, while cylinder A extends and pushes outward. The small and large oil ports of cylinder A are connected to the small and large oil ports of cylinder B, respectively, so that the pull-back angle is the same as the push-out angle, thereby driving the slewing base to rotate.

[0042] like Figure 6As shown, the double-push beam drill arm 3 in this embodiment includes a double-rotation mechanism and a double-push sliding mechanism. The double-push sliding mechanism is set on the double-rotation mechanism. Under the action of the double-rotation mechanism, the double-push sliding mechanism can rotate in the horizontal plane and the vertical plane, and can perform double stroke movement. The double-push sliding mechanism is equipped with a rock drill 31 and a corresponding drill rod 32. Under the action of the double-push sliding mechanism, the rock drill 31 and the drill rod 32 can perform a wide range of construction movements, improving the applicability of construction.

[0043] The dual-rotation mechanism described in this embodiment includes a rotary drive I 33 capable of rotating in the horizontal plane and a rotary drive II 34 capable of rotating in the vertical plane. Both rotary drive I and rotary drive II include a rotating part and a driving part. The driving part can be driven by a motor or a swing cylinder to rotate the rotating part, forming a rotary support structure. Rotary drive II 34 is mounted on rotary drive I 33, that is, rotary drive II is mounted on the rotating part of rotary drive I. Under the action of the driving part, rotary drive II can rotate in the horizontal plane. A beam base 35 is provided on rotary drive II 34. Similarly, the beam base can rotate in the vertical plane under the action of rotary drive II. The dual-push-sliding mechanism is mounted on the beam base 35. With the combined action of rotary drive I and rotary drive II, the dual-push-sliding mechanism can rotate in both the horizontal and vertical planes, greatly improving its flexibility and facilitating the rock drill to drive the drill rod for long-distance rock drilling operations.

[0044] In this embodiment, as a preferred solution, such as Figure 6 As shown, the double-push sliding mechanism includes a lower push beam 36 and an upper push beam 37 arranged in parallel. The lower push beam 36 is slidably connected to the beam base 35 via a friction seat 38, and a compensating cylinder 39 is provided between the lower push beam 36 and the beam base 35 to drive the lower push beam 36 to move relative to the beam base 35. The compensating cylinder 39 is arranged in parallel between the lower push beam 36 and the beam base 35 and is hinged to both respectively. The compensating cylinder can push the lower push beam to perform translational movement. The upper push beam 37 is slidably connected to the lower push beam 36 via a friction plate 310, and a telescopic cylinder 311 is provided between the upper push beam 37 and the lower push beam 36 to drive the upper push beam 37 to move relative to the lower push beam 36. The telescopic cylinder 311 can drive the upper push beam to perform translational movement relative to the lower push beam. The upper push beam 37 is provided with a push cylinder 312 to drive the rock drill 31 to move relative to the upper push beam 37. The upper part of the upper push beam is equipped with a rock drill, drill rod, etc. The drill rod is installed at the front end of the rock drill, and the rock drill performs rock drilling operations under the action of the push cylinder.

[0045] Example 2, as Figure 1 As shown, based on Example 1, this example makes the following improvements: In this embodiment, the linkage drive mechanism 7 includes a first linkage 71 mounted on a rotary base 52. One end of the first linkage 71 is hinged to the rotary base 52, and the other end is hinged to a second linkage 72 and a first hydraulic cylinder 73. The other end of the second linkage 72 is hinged to the middle of the folding arm 1, and the other end of the first hydraulic cylinder 73 is hinged to the upper part of the folding arm 1. The first hydraulic cylinder is used to drive the folding arm to pitch up and down. The first linkage 71, the second linkage 72, the rotary base 52, and the lower middle part of the folding arm 1 form a parallelogram linkage mechanism. This parallelogram linkage mechanism increases the pitch angle of the folding arm.

[0046] As a preferred embodiment, a rotary encoder 74 is connected to the hinge shaft between the folding arm 1 and the rotary base 52. The aforementioned combined boom has a one-button retraction and extension function, avoiding collisions caused by misoperation during retraction and extension, and is easy to operate. A rotary encoder is installed at the hinge point between the folding arm and the rotary base, connecting the folding arm to the encoder's rotating shaft. The encoder housing is fixed to the rotary base, allowing for real-time transmission of the folding arm's position and angle.

[0047] In this embodiment, the folding arm 1 has a "7"-shaped structure. The folding mechanism 6 includes a third link 61 hinged to the top crossbeam 101 of the folding arm 1 and a fourth link 62 hinged to the telescopic arm 2. The third link 61 and the fourth link 62 are hinged to an angle frame via a hinge shaft A. A second hydraulic cylinder 63 is also hinged to the hinge shaft A. The telescopic end of the second hydraulic cylinder 63 is hinged to the telescopic arm 2 and close to the double-push-beam drill arm 3. The third link 61, the fourth link 62, the folding arm, and the telescopic arm form a quadrilateral linkage mechanism, increasing the pitch angle of the telescopic arm. Under the action of the second hydraulic cylinder 63, the telescopic arm can perform pitch movements, achieving rapid folding. An inclinometer 64 is provided on the telescopic arm 2 and at one end close to the folding arm 1. The inclinometer 64 can determine in real time whether the telescopic arm is horizontal to the horizontal plane, ensuring that the telescopic arm remains parallel to the horizontal plane during the unfolding and retraction process until the end.

[0048] Example 3, based on Example 1 or 2, makes the following improvements: like Figure 4 , 5 As shown, in this embodiment, the telescopic arm 2 is provided with a swing mechanism 8 at its telescopic end, a pitch mechanism 9 on the swing mechanism 8, and a flip-type gripper 4 on the pitch mechanism 9. Under the action of the swing mechanism and the pitch mechanism, the flip-type gripper can swing in the horizontal plane and pitch in the vertical plane, thereby improving the flexibility of the flip-type gripper.

[0049] As a preferred embodiment, the swing mechanism 8 includes a first connecting seat 85 hinged to the telescopic end of the telescopic arm 2. A first swing cylinder 86 is connected between the telescopic arm 2 and the first connecting seat 85. Under the action of the first swing cylinder 86, the first connecting seat 85 can swing left and right in the horizontal plane around the hinge axis I 87. The hinge axis I is set perpendicular to the horizontal plane. Preferably, the pitch mechanism 9 includes a gripper arm 88 hinged to the first connecting seat 85. A first pitch cylinder 89 is provided between the gripper arm 88 and the first connecting seat 85. Under the action of the first pitch cylinder 89, the gripper arm 88 can perform pitching motion in the vertical plane around the hinge axis II 810. The hinge axis II 810 is set perpendicular to the hinge axis I. A flip-type gripper 4 is set on the gripper arm 88. Under the action of the swing mechanism and the pitch mechanism, the flip-type gripper 4 can rotate freely and flexibly, and can grip and install multiple arch frames, reducing the frequency of vehicle movement and improving the efficiency of initial support construction.

[0050] Furthermore, the flip-type gripper 4 includes a second connecting seat 11 hinged to the end of the gripper arm 88. The second connecting seat is a triangular seat, and a second pitch cylinder 12 is provided between the second connecting seat 11 and the gripper arm 88. Under the action of the second pitch cylinder 12, the second connecting seat 11 can perform a pitching motion in the vertical plane around the hinge axis III 13. The setting direction of the hinge axis III is the same as the axial direction of the hinge axis II, and both can achieve pitching motion. The difference is that the pitching motion amplitude of the gripper arm is greater than that of the second connecting seat, completing a motion similar to coarse and fine adjustment. A gripper plate seat 14 is hinged to the second connecting seat 11, and one end of the gripper plate seat 14 is connected to the second connecting seat 11 through a flip cylinder 17. Under the action of the flip cylinder, the gripper plate seat can perform a flipping motion in the vertical plane, changing the gripping direction of the gripper plate seat and improving its flexibility. The gripper base 14 is equipped with a gripper assembly 15, and a detachable stabilizing frame 16 is also provided on the gripper base 14. The stabilizing frame 16 is correspondingly arranged with respect to the gripper assembly 15. The number of gripper assemblies 15 can be set to two or more as needed, and two are preferred in this embodiment. The stabilizing frame is a U-shaped structure frame and is located between the two gripper assemblies. The stabilizing frame 16 and the gripper assembly 15 can stably and firmly grip multiple arch frames. The first swing cylinder 86 and the first pitch cylinder 89 of the robotic arm are arranged one above the other to drive the gripper's up-and-down pitch and forward-and-backward pitch movements, respectively. A drive cylinder is arranged on one side of the triangular base and the gripper to drive the gripper to achieve left-and-right pitch movements, ensuring flexible adjustment of the arch frame's posture and accurate positioning.

[0051] Specifically, the gripper assembly 15 includes two symmetrically arranged grippers 15-1. Each gripper 15-1 has a pad 15-2 at its gripping part. The pad ensures the gripper is firmly clamped onto the arch frame, guaranteeing stable gripping. The middle part of each gripper 15-1 is hinged to the gripper plate seat 14, and the lower part of each gripper 15-1 is connected via a clamping cylinder 15-3 located at the lower part of the gripper plate seat 14. The clamping cylinder determines whether the two grippers are clamped. When the gripper grips the arch frame, the pair of grippers are fully open, with an opening distance of L1, a bottom width distance of L2 for the triangular arch frame, and a width distance of L3 for the steel grating, satisfying L1>L2 and L1>L3. This allows for gripping different types of arch frames, increasing adaptability to construction sites. Two pairs of grippers are pressed down by the hydraulic cylinders, eventually pressing against the bottom surface. At this point, a gap remains between the left and right pairs of grippers, allowing direct gripping of the bottom surface of the steel arch frame. This gap with the central transverse reinforcement of the steel frame provides space for fine-tuning the arch frame's posture. Alternatively, the grippers can grip the connecting steel bars in the middle of the arch frame, with each gripper pressing vertically onto the bars to prevent the arch frame from shifting during lifting. The robotic arm is designed to provide space for the grippers to grip multiple arch frames without interfering with the rear structure of the boom. When gripping a single arch frame, the two pairs of grippers grip the bottom surface of the arch frame; when gripping two arch frames, they grip the connecting steel bars between the two arch frames; when gripping three arch frames, they grip the bottom surface of the middle arch frame to ensure gripping stability.

[0052] Example 4, a working method of the combined boom system for the integrated arch-anchor trolley described in Example 2 or 3, characterized in that: the steps are as follows: S1: Arch Grabbing: Move the trolley 100 to a certain distance from the working face, and use the folding arm 1, telescopic arm 2, and tilting gripper 4 to perform forward or lateral arch grabbing of the arch frame for full-section or stepped construction. In full-section arch grabbing construction, such as... Figure 16 As shown, during construction, the arch frame is placed in front of the working face. The folding boom has a short arch-grabbing distance and strong adaptability. Conventional booms have a long arch-grabbing distance, requiring the trolley to be parked further away from the arch frame, which reduces the effective coverage area of ​​the boom. In the three-stage method of construction, as... Figure 18 As shown, the arch frame is placed on the second step. The trolley is driven to the working face. The folding boom uses two combined actions: folding and telescopic boom tilting. By adjusting the grab handle to be horizontal and upward, the gripper opens and can grab the arch frame. With a conventional boom, a single tilting action is insufficient to grab the arch frame due to the boom length limitation. During construction, the parking distance must be increased to meet the arch grabbing requirements.

[0053] like Figure 7 As shown, when gripping the arch in the forward direction, the folding arm is tilted up to its maximum angle. At this point, the minimum angle at which the telescopic arm does not interfere with the frame is b, the upward tilt angle of the gripper arm is b1, and the backward swing angle of the gripper is b2. To ensure smooth gripping, the gripper must be able to be adjusted to a horizontal angle, satisfying b1 + b2 = b. Figure 11 , 12 As shown.

[0054] like Figure 8 , 9 As shown, when laterally gripping the arch, the maximum downward angle of the telescopic boom is c, the minimum downward angle is d, the downward angle of the gripper arm is a1, and the forward swing angle of the gripper is a2. To ensure successful gripping, the coverage area during lateral gripping is (c~d) + a1 + a2 > 90°. Figure 11 , 12 As shown.

[0055] S2: Arch Erection: In full-section construction, during arch erection, the folding boom is raised, the telescopic boom's pitch angle is adjusted, and the gripper of the flip-type grabber 4 is kept horizontally upward, accurately positioning the arch frame at a specific installation point on the tunnel wall. For example... Figure 19 As shown, in the step-method construction, when erecting the arch, the folding arm tilts in conjunction with the telescopic arm tilts, and the gripper of the flip-type grabber 4 maintains a horizontal upward posture to avoid the upper step, and delivers the arch frame on the step to a specific installation point at the top of the tunnel. For example... Figure 17 As shown, during the full-section arch erection method, the folding boom lifts the arch with a smaller pitch angle (m) of the telescopic boom, facilitating gripper adjustment. The conventional boom, however, has a larger pitch angle (n), exceeding the gripper's adjustment range, making it difficult to maintain a horizontal and upward gripper position, thus hindering arch positioning during erection. During the three-step arch erection method, the folding combined boom's pitch angle, combined with the telescopic boom's pitch angle, can deliver the arch to the tunnel top, ensuring the gripper remains horizontal and upward. Conventional booms, limited by their pitch angle, cannot avoid the upper steps.

[0056] like Figure 9 , 10 As shown, when the arch is erected, its coverage area is as follows: when the folding arm is fully retracted and the telescopic arm is fully extended and tilted upward to angle a, this is the first limit position of the gripper's working range; then the folding arm tilts upward to the maximum angle, and the telescopic arm is fully extended and tilted upward to the maximum angle e, this is the second limit position of the gripper's working range; since a>e, angle a is the limit angle, the downward tilt angle of the gripper arm is a1, and the forward swing angle of the gripper is a2. To ensure that the gripper is horizontal and upward, a1+a2=a must be satisfied.

[0057] S3: Anchoring: In the full-face and bench method construction of large tunnels, due to the large working space, a dual-propulsion system is used for drilling system anchors and locking anchors; in the bench method construction of small-face tunnels, due to the small working space, a single-propulsion system is used for drilling upper bench locking anchors; then, the arch frame is fixed using system anchors and locking anchors; such as Figure 20 As shown.

[0058] In the construction of system anchor bolts and locking anchor bolts, the work is divided into long and large tunnels and small-section tunnels. In the construction of long and large tunnels with full-section and bench drilling methods, where space is large, the drilling of system anchor bolts and locking anchor bolts adopts a dual propulsion system. First, the drill arm unfolds under the action of the rotary device II. Then, the upper propulsion beam retracts under the action of the beam telescopic cylinder. The drill rod is installed, and the pitch of the folding boom and the telescopic boom are adjusted to adjust the drill arm to the appropriate position. The rotary devices I and II are adjusted so that the drill arm and drill bit are aligned with the hole position and the drill rod direction is the drilling direction. Under the action of the compensation cylinder, the propulsion beam is pushed forward so that the top plate is pressed against the tunnel face, completing the drill arm positioning. Then, the rock drill is pushed forward under the action of the cylinder. After the stroke is completed, the control system switches to the upper propulsion beam, which continues to push forward under the action of the beam telescopic cylinder until the drilling operation is completed. The control system controls the rock drill to retract, and then the upper propulsion beam retracts, and then the next cycle begins.

[0059] In the bench method construction of small-section tunnels, where space is limited, a single propulsion system is used for drilling the upper bench anchor bolts. First, the drill arm unfolds under the action of rotary device II, a short drill rod is installed, and the pitch of the folding boom and the telescopic boom are adjusted to position the drill arm appropriately. Rotary devices I and II are then adjusted so that the drill arm and drill bit are aligned with the hole position, and the drill rod direction is the drilling direction. Under the action of the compensating cylinder, the propulsion beam is pushed forward so that the top plate rests against the tunnel face, completing the drill arm positioning. Subsequently, the rock drill is pushed forward under the action of the cylinder. After the stroke is completed, the rock drill is controlled to retreat under the action of the control system, and then the next cycle begins.

[0060] S4: Repeat steps S1 to S4 until all arch frames are installed.

[0061] The above-mentioned construction method is not only applicable to full-section construction of large tunnels, but also to bench method construction; it can realize multi-functional operations such as arch erection, netting, anchor bolt locking, and system anchor bolting in the initial support stage of tunnel construction, and can simultaneously grab and install multiple arch frames, reduce vehicle relocation frequency, reduce the number of workers, and improve the efficiency of initial support construction; it is highly adaptable to single-line tunnel or three-bench method construction, replaces manual operations, and reduces safety risks.

[0062] 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A working method for a combined boom system for an integrated arch-anchor trolley, characterized in that: The steps are as follows: S1: Arch grabbing: Move the trolley (100) to a certain distance from the working face, and use the folding arm (1), telescopic arm (2) and flip-type grab (4) to grab the arch frame in the front or side, so as to carry out full-section construction or step construction. S2: Erecting the arch: In the full-section method construction, when erecting the arch, the folding boom is raised, the telescopic boom pitch angle is adjusted, and the gripper of the flip-type grab (4) is kept horizontally upward, so that the arch frame is accurately positioned at a specific installation point on the inner wall of the tunnel; In the step method construction, when erecting the arch, the folding boom pitch is coordinated with the telescopic boom pitch, the gripper of the flip-type grab (4) is kept horizontally upward, avoiding the upper step, and the arch frame on the step is sent to a specific installation point at the top of the tunnel; S3: Anchoring: In the full-section and bench method construction of large tunnels, due to the large working space, the drilling of system anchors and locking anchors adopts a dual-propulsion system; in the bench method construction of small-section tunnels, due to the small working space, the drilling of upper bench locking anchors adopts a single-propulsion system; then the system anchors and locking anchors are used to fix the arch frame. S4: Repeat steps S1 to S4 until all arch frames are installed; The combined boom system for the arch-anchor integrated trolley includes a folding boom (1) connected to the trolley (100). One end of the folding boom (1) is connected to the trolley (100) via a slewing mechanism (5), and the other end is connected to a telescopic boom (2) via a folding mechanism (6). The telescopic boom (2) is equipped with a double push beam drill arm (3) and a flip-type gripper (4). The slewing mechanism (5) includes a slewing support (51) and a slewing base (52). The inner ring of the slewing support (51) is fixed on the trolley (100), and the slewing base (52) is fixed on the outer ring of the slewing support (51). Under the action of the slewing drive (53), the outer ring of the slewing support (51) can drive the slewing base (52) to rotate relative to the trolley (100). The folding arm (1) is hinged to the slewing base (52) and passes through... The linkage drive mechanism (7) is connected to the rotary base (52); the two hinge points of the rotary base are respectively hinged to the cylinder A and the cylinder B, and the other end of the cylinder A and the cylinder B are hinged to the frame. When the rotary base rotates in the clockwise direction, the cylinder B retracts and pulls back, and the cylinder A extends and pushes outward. The small cavity oil port and the large cavity oil port of the cylinder A are connected to the small cavity oil port and the large cavity oil port of the cylinder B, respectively, so that the pull-back angle is the same as the push-out angle, thereby driving the rotary base to rotate. The double-push beam drill arm (3) includes a double-rotation mechanism and a double-push sliding mechanism. The double-push sliding mechanism is set on the double-rotation mechanism, and the double-push sliding mechanism is equipped with a rock drill (31) and a corresponding drill rod (32). The double rotary mechanism includes a rotary drive I (33) that can rotate in the horizontal plane and a rotary drive II (34) that can rotate in the vertical plane. The rotary drive II (34) is mounted on the rotary drive I (33), and a beam base (35) is mounted on the rotary drive II (34). The double push sliding mechanism is mounted on the beam base (35). The linkage drive mechanism (7) includes a first linkage (71) mounted on a rotary base (52). One end of the first linkage (71) is hinged to the rotary base (52), and the other end is hinged to a second linkage (72) and a first hydraulic cylinder (73). The other end of the second linkage (72) is hinged to the middle of the folding arm (1), and the other end of the first hydraulic cylinder (73) is hinged to the upper part of the folding arm (1). The first linkage (71), the second linkage (72), the rotary base (52), and the lower middle part of the folding arm (1) form a parallelogram linkage mechanism. The folding arm (1) has a "7" shaped structure. The folding mechanism (6) includes a third link (61) hinged to the top crossbeam (101) of the folding arm (1) and a fourth link (62) hinged to the telescopic arm (2). The third link (61) and the fourth link (62) are hinged to form an angle frame through the hinge shaft A. A second oil cylinder (63) is also hinged to the hinge shaft A. The telescopic end of the second oil cylinder (63) is hinged to the telescopic arm (2) and close to the double push beam drill arm (3).

2. The working method of the combined boom system for the integrated arch-anchor trolley according to claim 1, characterized in that: The double-push sliding mechanism includes a lower push beam (36) and an upper push beam (37) arranged in parallel. The lower push beam (36) is slidably connected to the beam base (35) through a friction seat (38), and a compensation cylinder (39) is provided between the lower push beam (36) and the beam base (35) to drive the lower push beam (36) to move relative to the beam base (35). The upper push beam (37) is slidably connected to the lower push beam (36) through a friction plate (310), and a telescopic cylinder (311) is provided between the upper push beam (37) and the lower push beam (36) to drive the upper push beam (37) to move relative to the lower push beam (36). A push cylinder (312) is provided on the upper push beam (37) to drive the rock drill (31) to move relative to the upper push beam (37).

3. The working method of the combined boom system for the integrated arch-anchor trolley according to claim 2, characterized in that: A rotary encoder (74) is connected to the hinge shaft between the folding arm (1) and the rotating base (52).

4. The working method of the combined boom system for the integrated arch-anchor trolley according to claim 1, characterized in that: An inclinometer (64) is provided on the telescopic arm (2) and at one end near the folding arm (1).

5. The working method of the combined boom system for the integrated arch-anchor trolley according to any one of claims 1 to 4, characterized in that: The telescopic arm (2) is provided with a swing mechanism (8) at its telescopic end, and a pitch mechanism (9) is provided on the swing mechanism (8), and a flip-type gripper (4) is provided on the pitch mechanism (9). The swing mechanism (8) includes a first connecting seat (85) hinged to the telescopic end of the telescopic arm (2), and a first swing cylinder (86) is connected between the telescopic arm (2) and the first connecting seat (85). Under the action of the first swing cylinder (86), the first connecting seat (85) can swing left and right in the horizontal plane around the hinge axis I (87). The pitch mechanism (9) includes a gripper arm (88) hinged to the first connecting seat (85). A first pitch cylinder (89) is provided between the gripper arm (88) and the first connecting seat (85). Under the action of the first pitch cylinder (89), the gripper arm (88) can perform pitching motion in the vertical plane around the hinge axis II (810). A flip-type gripper (4) is provided on the gripper arm (88).

6. The working method of the combined boom system for the integrated arch-anchor trolley according to claim 5, characterized in that: The flip-type gripper (4) includes a second connecting seat (11) hinged to the end of the gripper arm (88). A second pitch cylinder (12) is provided between the second connecting seat (11) and the gripper arm (88). Under the action of the second pitch cylinder (12), the second connecting seat (11) can perform a pitching action in the vertical plane around the hinge axis III (13). A gripper plate seat (14) is hinged on the second connecting seat (11). One end of the gripper plate seat (14) is connected to the second connecting seat (11) through a flip-type cylinder (17). A gripper assembly (15) is provided on the gripper plate seat (14), and a stabilizer (16) is detachably provided on the gripper plate seat (14). The stabilizer (16) is correspondingly provided with the gripper assembly (15). The gripper assembly (15) includes two symmetrically arranged grippers (15-1). The gripping part of the gripper (15-1) is provided with a pad (15-2). The middle part of the gripper (15-1) is hinged to the gripper plate seat (14). The lower part of the gripper (15-1) is connected to the gripper plate seat (14) by a clamping cylinder (15-3). The clamping cylinder (15-3) is located at the lower part of the gripper plate seat (14).

7. The working method of the combined boom system for the integrated arch-anchor trolley as described in claim 1, characterized in that: In step S1, when the arch frame is gripped in the forward direction, the folding arm is tilted up to the maximum angle. At this time, the minimum angle at which the telescopic arm does not interfere with the frame is b, the upward angle of the gripper arm is b1, and the backward swing angle of the gripper is b2. In order to ensure that the arch can be gripped smoothly, the gripper must be able to be adjusted to a horizontal angle at this time, which must satisfy b1+b2=b. When laterally gripping the arch, the maximum downward angle of the telescopic arm is c, the minimum downward angle of the telescopic arm is d, the downward angle of the gripper arm is a1, and the forward swing angle of the gripper is a2. To ensure smooth gripping, the coverage area during lateral gripping is (c~d) + a1 + a2 > 90°.

8. The working method of the combined boom system for the integrated arch-anchor trolley as described in claim 7, characterized in that: When the arch is erected in step S2, the folding arm is fully retracted and the telescopic arm is fully extended and tilted upward to angle a. This is the first limit position of the gripper's working range. Then the folding arm tilts upward to the maximum angle and the telescopic arm is fully extended and tilted upward to the maximum angle e. This is the second limit position of the gripper's working range. Since a>e, angle a is the limit angle. The downward tilt angle of the gripper arm is a1, and the forward swing angle of the gripper is a2. To ensure that the gripper is horizontal and upward, a1+a2=a must be satisfied.

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