A tunneling vehicle and assembly equipment therefor
By designing the tunnel operation mechanism of the tunnel work vehicle, the problem of the cumbersome construction of the third stage in the three-stage seven-step excavation method was solved, realizing the efficient combination of tunnel excavation and cement pouring, and improving construction efficiency and cement adhesion effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA FIRST HIGHWAY ENGINEERING CO LTD
- Filing Date
- 2023-11-10
- Publication Date
- 2026-06-23
AI Technical Summary
The construction process of the third stage in the three-stage seven-step excavation method is complicated and inefficient, especially since further excavation and leveling are required between the newly excavated sidewall and the already poured sidewall to create a height difference for cement pouring.
A tunnel working vehicle was designed, equipped with a tunnel working mechanism including a soil breaker, a rotary drilling rig, and a leveling arc plate. Through a slewing mechanism and a double-mounted frame, it can excavate, level, and spray cement grout into the tunnel, thereby improving construction efficiency.
The tunnel boring machine and rotary drilling rig create a height difference during the excavation process, and the flat arc plate is used to press the sidewalls together, which improves the excavation efficiency and cement adhesion effect, and ensures the construction progress.
Smart Images
Figure CN117605487B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to tunnel construction equipment, and more particularly to a tunnel work vehicle and its assembly equipment. Background Technology
[0002] Soft rock is a complex rock mechanical medium with significant plastic deformation under specific environments. In the construction of large-section soft rock tunnels, traditional construction methods include double-side wall pilot tunnel method, CD method, CRD method, etc. These construction methods are slow, inefficient and have certain limitations.
[0003] The three-stage, seven-step excavation method is a new type of construction method for large-section soft rock tunnels. Its main features are: large construction space, convenient mechanized construction, parallel operation on multiple working faces, flexible and timely conversion of construction procedures and adjustment of construction methods, adaptability to different spans and various cross-sectional forms, and convenient operation of the initial support procedure.
[0004] The third stage of the three-stage, seven-step excavation construction method involves reserving core soil and staggering the excavation on the left and right sides. This usually requires an excavator to be brought in to excavate the face. Since the sidewall of the newly excavated face is flush with the sidewall of the already poured face, workers usually need to further excavate, level, and press the sidewall of the newly excavated face to create a certain height difference between the sidewall of the newly excavated face and the sidewall of the already poured face, so that cement pouring can continue. The construction process is cumbersome and inefficient. Summary of the Invention
[0005] In one aspect, the present invention provides a tunnel construction vehicle to solve the problem that the third stage construction process in the three-stage seven-step excavation method is cumbersome and inefficient.
[0006] To achieve the above objectives, a tunnel working vehicle is provided, comprising:
[0007] The support plate has a turntable rotatably connected to it via a rotary mechanism. A base plate is fixedly connected to the turntable, and a lifting beam is installed on the base plate.
[0008] A tunnel excavation mechanism is used to excavate a tunnel while retaining core soil, and simultaneously eliminate and level the height difference between the excavated face and the already poured face; and
[0009] A double-mounted mounting frame, on which robotic arm one and robotic arm two are respectively mounted. A tunnel working mechanism is mounted on the actuator end of robotic arm one, and a cement spraying head is mounted on the actuator end of robotic arm two; and
[0010] The fixed steel frame is fixedly connected to both sides of the bottom surface of the support plate. The lower end of the fixed steel frame has a groove and the lower end of the fixed steel frame is fixedly connected to the connecting base plate.
[0011] Furthermore, a cab is installed on the base plate. A connecting clamp is fixedly connected to one side of the upper surface of the base plate. A first adapter is rotatably connected to the connecting clamp via a pin. A connecting block is fixedly connected to the first adapter. The connecting block is fixedly connected to the side end face of the lifting crossbeam. An adapter frame is fixedly connected to both ends of the lifting crossbeam. A third adapter is rotatably connected to the adapter frame via a pin. A mounting plate is fixedly connected to the turntable. A first adapter is fixedly connected to both sides of the upper surface of the mounting plate. A second adapter is rotatably connected to the first adapter via a pin. A first hydraulic cylinder is fixedly connected to the second adapter. The bottom surface of the outer shell of the first hydraulic cylinder is fixedly connected to the second adapter. A first telescopic rod is fixedly connected to the drive end of the first hydraulic cylinder. The first telescopic rod is fixedly connected to the third adapter.
[0012] Furthermore, the tunnel working mechanism includes a mechanism mounting plate. A clamping plate is fixedly connected to one end face of the mechanism mounting plate. A motor is fixedly connected to the end face of the clamping plate away from the mechanism mounting plate. The motor is fixedly installed on the clamping plate by a motor fixing component. A rotating shaft is fixedly connected to the drive end of the motor. A limit frame is sleeved through and fixedly connected to the rotating shaft. A connecting plate is fixedly connected to the end face of the clamping plate away from the mechanism mounting plate. A limit plate is fixedly connected to the end of the connecting plate away from the motor. The limit plate engages with the limit frame. A clamping plate is fixedly connected to the end of the connecting plate away from the clamping plate. A bearing is sleeved through and connected to the clamping plate. The outer ring of the bearing is embedded in and fixedly connected to the clamping plate. The rotating shaft is sleeved through and fixedly connected to the inner ring of the bearing.
[0013] Furthermore, a clamping plate three is fixedly connected to the rotating shaft one. A connecting plate two is fixedly connected to the end face of the clamping plate three away from the rotating shaft one. A clamping plate four is fixedly connected to the end face of the connecting plate two away from the clamping plate three. A motor two is fixedly connected to the end face of the clamping plate four near the clamping plate three. The housing of the motor two is fixedly connected to the clamping plate four. A rotating shaft two is fixedly connected to the drive end of the motor two. A bearing two is sleeved through and fixedly connected to the end face of the clamping plate four. The outer ring of the bearing two is embedded in and fixedly connected to the clamping plate four. The rotating shaft two is sleeved through and fixedly connected to the inner ring of the bearing two.
[0014] Furthermore, a linkage component is fixedly connected to the second rotating shaft. The linkage component includes a disc component, with a lever fixedly connected to both the upper and lower ends of the disc component. A swing component is positioned above the linkage component, with a baffle fixedly connected to the lower end of the swing component. The swing component is rotatably connected to the fourth clamping plate via a pin. A tension spring connecting plate is fixedly connected to the upper end of the swing component. A fixing plate is fixedly connected to the second connecting plate, and a second tension spring connecting plate is fixedly connected to the fixing plate. A tension spring is positioned between the first and second tension spring connecting plates, with both ends of the tension spring fixedly connected to the first and second tension spring connecting plates, respectively. The upper end of the first tension spring connecting plate is fixedly... A sleeve is fixedly connected to a connecting rod, and a sleeve is fitted onto the connecting rod. A mechanism mounting plate is fixedly connected to the upper end of the sleeve's outer shell. Flat connecting plates are fixedly connected to both sides of the upper surface of the mechanism mounting plate. Flat arc plates are fixedly connected to the flat connecting plates. A sleeve connecting rod is fixedly connected to the bottom surface of the mechanism mounting plate. One end face of the sleeve connecting rod is fixedly connected to the side end face of the sleeve. A cylinder fixing plate is fixedly connected to the tension spring connecting plate. A cylinder is fixedly connected to the cylinder fixing plate. A cylinder telescopic rod is fixedly connected to the drive end of the cylinder. The upper end of the cylinder telescopic rod is fixedly connected to the bottom end face of the sleeve connecting rod.
[0015] Furthermore, a connecting shaft 1 is fixedly connected to the end face of the linkage component away from the clamping plate 4. A connecting shaft 2 is coaxially fixedly connected to the connecting shaft 1. Several circular connecting rods 1 are fixedly connected at equal intervals on the outer circumferential end face of the connecting shaft 2 near the linkage component. A circular ring 1 is fixedly connected to the end of the circular connecting rod 1 away from the connecting shaft 2. Several earthbreakers 1 are fixedly connected at equal intervals on the outer circumferential end face of the connecting shaft 2 away from the linkage component. A circular ring 2 is fixedly connected to the end of the circular connecting rod 2 away from the connecting shaft 2. Several earthbreakers 2 are fixedly connected at equal intervals on the outer circumferential end face of the circular connecting shaft 2. A connecting shaft is fixedly connected to the connecting shaft 2. A rotary drilling rig is fixedly connected to the outer side of the connecting shaft.
[0016] Furthermore, the double-mounted frame includes a mounting frame, on which a rotating spindle is rotatably connected via a pin. A connecting plate is fixedly connected to the rotating spindle via a connecting rod. A first connecting clamp is fixedly connected to the connecting plate. A second connecting clamp is positioned above the first connecting clamp. A rotating assembly is fixedly connected to the second connecting clamp. A mounting base plate is rotatably connected to the second connecting clamp via the rotating assembly. Mounting connecting plates are fixedly connected to both sides of the end face of the mounting base plate away from the second connecting clamp. A first robotic arm and a second robotic arm are fixedly connected to the two mounting connecting plates respectively. One end face between the first and second connecting clamps is fixedly connected via a support rod. The other end face between the first and second connecting clamps is fixedly connected via a third connector.
[0017] Furthermore, a second connector is fixedly connected to the bottom surface of the lifting beam. A fourth connector is rotatably connected to the second connector via a pin. A second hydraulic cylinder is fixedly connected to the fourth connector. A second telescopic rod is fixedly connected to the drive end of the second hydraulic cylinder. A fifth connector is fixedly connected to the second telescopic rod. The fifth connector is rotatably connected to the third connector of the double mounting bracket via a pin.
[0018] Secondly, the present invention provides an assembly device for solving the problem that the third stage construction process of the three-stage seven-step excavation construction method is cumbersome and inefficient.
[0019] To achieve the above objectives, an assembly device is provided, wherein the assembly device is equipped with a tunnel working vehicle of the first aspect, comprising:
[0020] Mounting plate one, which is fixedly connected to one side of the bottom surface of the connecting base plate, and a fixed mounting mechanism is fixedly connected to the lower end of the mounting plate;
[0021] Mounting plate two is fixedly connected to the other side of the bottom surface of the connecting base plate. A connecting mechanism is fixedly connected to the lower end of mounting plate two, and a fixing mounting mechanism is fixedly connected to the lower end of the connecting mechanism.
[0022] A fixed installation mechanism includes a support column, a connecting column fixedly connected to the lower end of the support column, a support plate fixedly connected to the lower end of the connecting column, a through groove through the end face of the support plate, several steel nails fixedly connected to the lower end face of the support plate, a connecting protrusion fixedly connected to one side end face of the support column, an adapter plate fixedly connected to the lower end of the connecting protrusion, a cylinder two fixedly connected to the lower end of the adapter plate, the housing of the cylinder two fixedly connected to the adapter plate, a cylinder telescopic rod two fixedly connected to the drive end of the cylinder two, a push plate fixedly connected to the lower end of the cylinder telescopic rod two, and reinforcing steel nails fixedly connected to the lower end of the push plate, the reinforcing steel nails being set in the through groove; and
[0023] The connecting mechanism includes a connecting support column. The lower end of the connecting support column is rotatably connected to a connecting component three via a connecting pin. The lower end of the connecting component three is fixedly connected to a fixed installation mechanism. One side of the connecting support column is fixedly connected to a connecting component one. A connecting component one is rotatably connected to the connecting component one via a pin. A hydraulic cylinder three is fixedly connected to the lower end of the connecting component three. A telescopic rod three is fixedly connected to the drive end of the hydraulic cylinder three. A connecting component two is fixedly connected to the lower end of the telescopic rod three. One side of the connecting component three is fixedly connected to a connecting component two. The connecting component two and the connecting component two are rotatably connected via a pin.
[0024] The beneficial effects of this invention are:
[0025] 1. This device uses the tunnel working mechanism's first and second excavators, along with a rotary drilling rig, to excavate the tunnel soil. Simultaneously, the leveling arc plate of the tunnel working mechanism extends outwards during its swinging motion, allowing for continued excavation of the tunnel sidewall at the current excavation face. This creates a height difference between the current excavation face's sidewall and the already poured sidewall. The outer arc surface of the leveling arc plate also presses against the excavation face's sidewall, facilitating subsequent pouring work and improving excavation efficiency. The rotation of the motor allows the leveling arc plate to tilt at a certain angle, facilitating pressing against the tunnel sidewall at different heights on the outer arc surface of the leveling arc plate, ensuring effective pressing against the tunnel sidewall.
[0026] 2. This device involves excavating one half of the excavation area using a tunnel working mechanism. After the excavation of one half is completed, the rotating assembly of the double-mounted frame rotates the mounting base plate, thereby reversing the position of the cement spraying head of the tunnel working mechanism. While the tunnel working mechanism is excavating the other half of the fan-shaped area, the cement spraying head can simultaneously pour cement into the already excavated area. This staggered excavation on the left and right sides improves construction efficiency and ensures construction safety.
[0027] 3. During the leveling process, the leveling arc plate of the tunnel working mechanism will create multiple concave arc surfaces on the tunnel sidewall, thereby increasing the cement adhesion area and improving the cement adhesion effect.
[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments;
[0030] Figure 1 This is a three-dimensional structural schematic diagram of the tunnel working vehicle of the present invention;
[0031] Figure 2 This is a front view of the tunnel working vehicle of the present invention;
[0032] Figure 3 This is a partial three-dimensional structural schematic diagram of the tunnel working vehicle of the present invention;
[0033] Figure 4 This is another perspective view of the partial three-dimensional structure of the tunnel operation vehicle of the present invention;
[0034] Figure 5 This is a three-dimensional structural diagram of the tunnel operation mechanism of the present invention;
[0035] Figure 6 This is a partial cross-sectional view of the tunnel working mechanism of the present invention;
[0036] Figure 7 This is a partial three-dimensional structural diagram of the tunnel working mechanism of the present invention;
[0037] Figure 8 This is a schematic diagram of the linkage component of the present invention;
[0038] Figure 9 This is a partial three-dimensional structural diagram of the tunnel working mechanism of the present invention;
[0039] Figure 10 This is a partial three-dimensional structural diagram of the tunnel working mechanism of the present invention;
[0040] Figure 11 This is a front view of the double mounting bracket of the present invention;
[0041] Figure 12 This is a side view of the double mounting bracket of the present invention;
[0042] Figure 13 This is a three-dimensional structural diagram of the tunnel working vehicle and its assembly equipment according to the present invention;
[0043] Figure 14 This is a schematic diagram showing the connection relationship and structure between the fixing and mounting mechanism and the mounting plate of the present invention;
[0044] Figure 15 This is a schematic diagram showing the connection relationship and structure between the fixing and mounting mechanism and the connecting mechanism of the present invention;
[0045] Legend: 1-Support plate, 2-Turntable, 3-Cockpit, 4-Slewing mechanism, 5-Base plate, 6-Tunnel operation mechanism, 61-Mechanism mounting plate, 62-Clamping plate one, 63-Motor one, 64-Shaft one, 65-Connecting plate one, 66-Clamping plate two, 67-Bearing one, 68-Motor fixing component, 69-Limit frame, 610-Limiting plate, 611-Clamping plate three, 612-Connecting plate two, 613-Clamping plate four, 614-Motor two, 615-Bearing two, 616-Shaft two, 617-Linkage component, 6171-Disc component, 6172-Actuating rod, 618-Fixing plate, 619-Baffle, 620-Swing component, 621-Tension spring connecting plate one 622-Tension Spring Connecting Plate II, 623-Sleeve Rod, 624-Sleeve, 625-Cylinder Fixing Plate, 626-Cylinder I, 627-Tension Spring, 628-Cylinder Telescopic Rod I, 629-Sleeve Connecting Rod, 630-Mechanism Mounting Plate, 631-Flattening Connecting Plate, 632-Flattening Arc Plate, 633-Connecting Shaft I, 634-Connecting Shaft II, 635-Circular Ring Connecting Rod I, 636-Circular Ring Part I, 637-Dump Breaker I, 638-Circular Ring Connecting Rod II, 639-Circular Ring Part II, 640-Dump Breaker II, 641-Connecting Shaft, 642-Rotary Drilling Tool, 7-Adapter I, 8-Connecting Clamp Plate, 9-Connecting Block, 10-Lifting Crossbeam, 11-Mounting Plate, 12-Hydraulic Cylinder I. 13-Telescopic Rod I. 14-Connector I. 15-Adapter II. 16-Adapter Frame I. 17-Adapter III. 18-Hydraulic Cylinder II. 19-Adapter IV. 20-Connector II. 21-Telescopic Rod II. 22-Adapter V. 23-Fixed Steel Frame II. 24-Groove II. 25-Double Mounting Frame II. 251-Mounting Frame II. 252-Rotating Spindle III. 253-Connecting Rod II. 254-Connecting Plate III. 255-Connecting Clamp IV. 26-Connecting Base Plate II. 27-Fixed Mounting Mechanism III. Steel Nail 272-Support column one, 273-Connecting convex plate, 274-Adapter plate, 275-Cylinder two, 276-Cylinder telescopic rod two, 277-Push plate, 278-Reinforcing steel nail, 279-Connecting column, 2710-Support plate, 2711-Through groove, 28-Connecting mechanism, 281-Connecting support column, 282-Mechanism connector one, 283-Mechanism adapter one, 284-Hydraulic cylinder three, 285-Telescopic rod three, 286-Mechanism adapter two, 287-Mechanism connector two, 288-Connecting pin, 289-Mechanism connector three, 29-Mounting plate one, 30-Mounting plate two, 31-Mechanical arm one, 32-Mechanical arm two, 33-Cement spraying head. Detailed Implementation
[0046] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.
[0047] In conjunction with the first aspect of the invention Figures 1 to 12 This invention describes a tunnel boring machine (TBM). Specifically, the TBM is constructed as an integrated structure, comprising a support plate 1, a tunnel working mechanism 6, a double-mounted frame 25, and a fixed steel frame 23. The TBM 6 uses a first excavator 637, a second excavator 640, and a rotary drilling rig 642 to excavate the tunnel soil. While excavating the tunnel, the flat arc plate 632 of the TBM 6 can extend outwards during its swinging motion, allowing for continued excavation of the tunnel sidewall at the current excavation face. This creates a height difference between the sidewall of the current excavation face and the sidewall of the already poured face. The outer arc surface of the flat arc plate 632 can also press against the sidewall of the excavation face, facilitating subsequent pouring work and improving excavation efficiency. The rotation of the first motor 63 allows the flat arc plate 632 to tilt at a certain angle, facilitating pressing against the tunnel sidewall at different heights on the outer arc surface of the flat arc plate 632, ensuring effective pressing against the tunnel sidewall.
[0048] Please refer to Figures 1 to 12 A tunnel working vehicle, comprising:
[0049] Support plate 1, a turntable 2 is rotatably connected to support plate 1 via a rotary mechanism 4, a base plate 5 is fixedly connected to turntable 2, and a lifting beam 10 is installed on base plate 5;
[0050] Tunnel working mechanism 6 is used to excavate the tunnel while reserving core soil, and simultaneously eliminate and level the height difference between the excavated face and the already poured face; and
[0051] A double-mounted mounting frame 25, on which robotic arms 31 and 32 are respectively mounted. A tunnel working mechanism 6 is mounted on the actuator end of robotic arm 31, and a cement spraying head 33 is mounted on the actuator end of robotic arm 32; and
[0052] The fixed steel frame 23 is fixedly connected to both sides of the bottom surface of the support plate 1. The lower end of the fixed steel frame 23 is provided with a groove 24 for cooperating with a forklift to move the entire device. The lower end of the fixed steel frame 23 is fixedly connected to a connecting base plate 26 for installation equipment at the construction site.
[0053] Slewing mechanism 4. Slewing mechanisms are commonly used in engineering machinery or industrial assembly machinery to enable the working device and upper turntable to rotate left or right. For example, single-bucket hydraulic excavators are equipped with slewing support devices and slewing transmission devices, which are called slewing mechanisms. Slewing mechanisms typically include: brakes, hydraulic motors, planetary gear reducers, slewing gear rings, lubricating oil cups, and central slewing joints. The transmission forms of the slewing device of a full-slewing hydraulic excavator are direct transmission and indirect transmission. Direct transmission involves installing a drive pinion on the output shaft of a low-speed, high-torque hydraulic motor, which meshes with the slewing gear. Indirect transmission is an indirect transmission structure in which a high-speed hydraulic motor drives the slewing gear ring through a gear reducer.
[0054] The cement spraying head 33 is connected to a concrete spraying machine via a mortar pipe and an air pipe. The concrete spraying machine is installed on the support plate 1. The concrete spraying machine is a mechanical device that directly sprays concrete mixture onto the surface of a building or structure to reinforce the building surface or form a new structure. It mainly consists of a drive unit, rotor assembly, air system, spraying system, and electrical control system. The drive unit consists of a motor and a cycloidal pin reducer installed at one end of the machine. The motor is directly mounted on the reducer and is parallel to the rotor and stator axes. The rotor assembly is made of special alloy material and is subjected to high-temperature quenching and tempering treatment. The stator is generally made of special rubber material to improve wear resistance and strength and reduce maintenance workload. The air system uses a motor to drive an air compressor to produce high-pressure air, which is then supplied to the spray gun through a safety valve and a pressure relief valve, and the mortar is sprayed out. The spraying system is the most important system of the mortar spraying machine. It consists of a material delivery hose and a spray gun. The material delivery hose is generally made of wear-resistant mortar pipe, and the spray gun is made of high-polymer material. The spray gun consists of a mortar pipe, an air pipe, and an air valve fixed to the spray gun. The electrical control system consists of a leakage current automatic switch, an AC contactor, a thermal relay, and start and stop buttons, which can effectively protect against leakage, excessive current, and short circuit.
[0055] Robotic arm 1 31 and robotic arm 2 32, preferably, are six-axis robotic arms. Robotic arms are the most widely used automated mechanical devices in the field of robotics. They can receive instructions and accurately position themselves at a point in three-dimensional or two-dimensional space to perform operations. Preferably, in this embodiment, a six-axis robotic arm is used, that is, a robotic arm with six degrees of freedom. The first axis is the part connected to the base, which mainly bears the weight of the upper axis and the left and right rotation of the base. The second axis controls the back-and-forth swing of the robot's main arm and the up-and-down movement of the entire arm. The third axis is also used to control the back-and-forth swing of the robot, but the swing range of the arm is smaller than that of the second axis. The fourth axis is the freely rotatable circular tube part on the robot, and the range of motion is equivalent to that of a human arm, but not 360 degrees. The fifth axis controls and finely adjusts the rotation of the robotic arm. Usually, when the product is grasped, the product can be flipped. The sixth axis is the rotation function of the end gripper part, which can rotate 360 degrees.
[0056] Rotary connections, such as the lifting beam 10 being rotatably connected to the base plate 5 via a pin, are common mechanical connectors widely used in rotary connections of mechanical transmission systems. Their basic structure includes two cylindrical bushings and a pin. The bushings have cylindrical holes into which the pin is inserted, and the pin's two sides are embedded in circular grooves inside the bushings for a fixed connection. Pin-connected connectors offer advantages such as strong, secure connections and ease of disassembly. They are widely used in various mechanical transmission systems, such as automobiles, ships, aircraft, and construction machinery. When selecting and applying them, factors such as the load, speed, torque, and operating environment of the connector must be considered, and a suitable connector should be chosen based on actual needs. In this embodiment, unless otherwise specified, rotary connections are considered to be pin-connected.
[0057] According to the requirements of the three-step, seven-stage excavation method, core soil needs to be reserved during the excavation of the third step. Therefore, the actual excavation face is a fan-shaped area. The tunnel working mechanism 6 on the robotic arm 31 can first excavate half of the fan-shaped area. The tunnel working mechanism 6 uses the first excavator 637, the second excavator 640, and the rotary drilling rig 642 to excavate the tunnel soil. The flat arc plate 632 of the tunnel working mechanism 6 can extend outward during the swinging process, allowing for continued excavation of the tunnel sidewall at the current excavation face. This creates a certain height difference between the sidewall of the current excavation face and the sidewall of the already poured face. The outer arc surface of the flat arc plate 632 can also press the sidewall of the excavation face together, facilitating subsequent... During the pouring process, the leveling arc plate 632 creates multiple concave arc surfaces on the tunnel sidewall, increasing the cement adhesion area and improving the cement adhesion effect. The rotation of motor 63 allows the leveling arc plate 632 to tilt at a certain angle, facilitating the pressing of the tunnel sidewall at different heights on the outer arc surface of the leveling arc plate 632. After the excavation work on one side is completed, the mounting base plate 259 is rotated 180 degrees by the rotating component 258 of the double mounting frame 25, thereby reversing the position of the cement spraying head 33 of the tunnel working mechanism 6. While the tunnel working mechanism 6 is excavating the other half of the fan-shaped area, the cement spraying head 33 can simultaneously pour cement into the already excavated area, improving construction efficiency and ensuring construction progress.
[0058] As shown in Figures 1 to 3 of this embodiment, a cab 3 is mounted on a base plate 5. A connecting clamp 8 is fixedly connected to one side of the upper surface of the base plate 5. A first adapter 7 is rotatably connected to the connecting clamp 8 via a pin. A connecting block 9 is fixedly connected to the first adapter 7. The connecting block 9 is fixedly connected to the side surface of the lifting beam 10. A connecting frame 16 is fixedly connected to both sides of the lifting beam 10. A third adapter 17 is rotatably connected to the connecting frame 16 via a pin. A mounting plate 11 is fixedly connected to the turntable 2. A first adapter 14 is fixedly connected to both sides of the upper surface of the mounting plate 11. Connector 14 is rotatably connected to adapter 2 15 via a pin. Hydraulic cylinder 12 is fixedly connected to adapter 2 15. The bottom surface of the outer shell of hydraulic cylinder 12 is fixedly connected to adapter 2 15. Telescopic rod 13 is fixedly connected to the drive end of hydraulic cylinder 12. Telescopic rod 13 is fixedly connected to adapter 3 17. During operation, the drive end of hydraulic cylinder 12 drives telescopic rod 13 to extend and retract. The extension and retraction of telescopic rod 13 can change the lifting angle of lifting beam 10, thereby facilitating the tunnel excavation work of various engineering machinery installed on lifting beam 10.
[0059] As shown in Figures 5 to 10 of this embodiment, the tunnel working mechanism 6 includes a mechanism mounting plate 61. A clamping plate 62 is fixedly connected to one end face of the mechanism mounting plate 61. A motor 63 is fixedly connected to the end face of the clamping plate 62 away from the mechanism mounting plate 61. The motor 63 is fixedly mounted to the clamping plate 62 by a motor fixing member 68. A rotating shaft 64 is fixedly connected to the drive end of the motor 63. A limit frame 69 is sleeved and fixedly connected through the rotating shaft 64. The clamping plate 62 is located away from the mechanism mounting plate 61. A connecting plate 65 is fixedly connected to one end face of the mounting plate 61. A limiting plate 610 is fixedly connected to the end of the connecting plate 65 away from the motor 63. The limiting plate 610 is engaged with the limiting frame 69. A clamping plate 66 is fixedly connected to the end of the connecting plate 65 away from the clamping plate 62. A bearing 67 is inserted through and sleeved on the clamping plate 66. The outer ring of the bearing 67 is embedded in and fixedly connected to the clamping plate 66. A rotating shaft 64 is inserted through and fixedly connected to the inner ring of the bearing 67.
[0060] As shown in Figures 5 to 10 of this embodiment, a clamping plate 3 611 is fixedly connected to the rotating shaft 1 64. A connecting plate 2 612 is fixedly connected to the end face of the clamping plate 3 611 away from the rotating shaft 1 64. A clamping plate 4 613 is fixedly connected to the end face of the connecting plate 2 612 away from the clamping plate 3 611. A motor 2 614 is fixedly connected to the end face of the clamping plate 4 613 near the clamping plate 3 611. The outer shell of the motor 2 614 is fixedly connected to the clamping plate 4 613. A rotating shaft 2 616 is fixedly connected to the drive end of the motor 2 614. A bearing 2 615 is sleeved through and fixedly connected to the end face of the clamping plate 4 613. The outer ring of the bearing 2 615 is embedded in and fixedly connected to the clamping plate 4 613. The rotating shaft 2 616 is sleeved through and fixedly connected to the inner ring of the bearing 2 615.
[0061] As shown in Figures 5 to 10 of this embodiment, a linkage 617 is fixedly connected to the second rotating shaft 616. The linkage 617 includes a disc 6171, and a lever 6172 is fixedly connected to both the upper and lower ends of the disc 6171. A swinging member 620 is provided above the linkage 617. A baffle 619 is fixedly connected to the lower end of the swinging member 620. The swinging member 620 is rotatably connected to the fourth clamping plate 613 via a pin. A tension spring connecting plate 621 is fixedly connected to the upper end of the swinging member 620. A fixing plate 618 is fixedly connected to the second connecting plate 612. A tension spring connecting plate 622 is fixedly connected to the fixing plate 618. A tension spring 627 is provided between the first tension spring connecting plate 621 and the second tension spring connecting plate 622. The two ends of the tension spring 627 are fixed to the first tension spring connecting plate 621 and the second tension spring connecting plate 622, respectively. The connection includes a spring connecting plate 621 with a sleeve rod 623 fixedly connected to its upper end, a sleeve 624 sleeved on the sleeve rod 623, a mechanism mounting plate 630 fixedly connected to the upper end of the sleeve 624, a flat connecting plate 631 fixedly connected to both sides of the upper end face of the mechanism mounting plate 630, a flat arc plate 632 fixedly connected to the flat connecting plate 631, a sleeve connecting rod 629 fixedly connected to the bottom surface of the mechanism mounting plate 630, one end face of the sleeve connecting rod 629 fixedly connected to the side end face of the sleeve 624, a cylinder fixing plate 625 fixedly connected to the spring connecting plate 621, a cylinder 626 fixedly connected to the cylinder fixing plate 625, a cylinder telescopic rod 628 fixedly connected to the drive end of the cylinder 626, and the upper end of the cylinder telescopic rod 628 fixedly connected to the bottom end face of the sleeve connecting rod 629.
[0062] As shown in Figures 5 to 10 of this embodiment, a connecting shaft 633 is fixedly connected to the end face of the linkage 617 away from the clamping plate 613. A connecting shaft 634 is coaxially fixedly connected to the connecting shaft 633. A plurality of annular connecting rods 635 are fixedly connected at equal intervals on the outer circumferential end face of the connecting shaft 634 near the linkage 617. An annular member 636 is fixedly connected to the end of the annular connecting rod 635 away from the connecting shaft 634. The outer side of the annular member 636 is fixedly connected to the connecting shaft 635. Several earthbreakers 637 are fixedly connected at intervals. Several circular connecting rods 638 are fixedly connected at equal intervals on the outer circumferential end face of the connecting shaft 634 away from the linkage 617. A circular ring 639 is fixedly connected to the end of the circular connecting rod 638 away from the connecting shaft 634. Several earthbreakers 640 are fixedly connected at equal intervals on the outer side of the circular ring 639. A connecting shaft 641 is fixedly connected to the connecting shaft 634. A rotary drilling rig 642 is fixedly connected to the outer side of the connecting shaft 641.
[0063] In this embodiment, the limiting frame 69 is a square limiting frame with smooth transitions on all four sides. Depending on the specific needs, the limiting frame 69 can be a square limiting frame or a hexagonal limiting frame with smooth transitions on all four sides. The limiting plate 610 is a metal plate with a U-shaped cross-section. By engaging the limiting frame 69 with the limiting plate 610, the rotating shaft 64 can be locked and fixed by the limiting plate 610 after rotating at a certain angle. The first earthbreaker 637 is inclined at a certain angle relative to the axial direction of the first ring 636 and the second earthbreaker 640 is inclined at a certain angle relative to the axial direction of the second ring 639. During operation, the rotation of the drive shaft of the second motor 614 can drive the second rotating shaft 616 to rotate. The rotation of the second rotating shaft 616 causes the linkage 617 to rotate, which in turn drives the first connecting shaft 633 to rotate. The rotation of the first connecting shaft 633 then drives the second connecting shaft 634 and the connecting shaft 641 to rotate. The rotation of the second connecting shaft 634 and the connecting shaft 641 then drives the first excavator 637, the second excavator 640, and the rotary drilling rig 642 to rotate. During rotation, the first excavator 637, the second excavator 640, and the rotary drilling rig 642 excavate the tunnel soil. The soil excavated from the gaps between several circular connecting rods 635 and 638 is transported to the rear of the first circular component 636. Simultaneously, during the rotation of the linkage 617... The actuating lever 6172 contacts the baffle 619. Under the forward push of the actuating lever 6172 and the reverse pull of the tension spring 627, the baffle 619 drives the swinging component 620 to swing. The swinging component 620 drives the tension spring connecting plate 621, the sleeve rod 623, and the sleeve 624 to swing, thereby driving the leveling connecting plate 631 and the leveling arc plate 632 to swing. During the swinging process of the leveling arc plate 632, the driving end of the cylinder 626 drives the cylinder extension rod 628 to extend, thereby driving the leveling arc plate 632 to extend outward toward the central axis of the device. This allows the leveling arc plate 632 to extend outward during the swinging process, allowing it to continue to work at the current excavation face. The tunnel sidewalls are excavated, creating a height difference between the current excavated sidewall and the already poured sidewall. The outer arc surface of the leveling arc plate 632 can also press the excavated sidewall, facilitating subsequent pouring work. Furthermore, during the leveling process, the leveling arc plate 632 creates multiple concave arc surfaces on the tunnel sidewall, increasing the cement adhesion area and improving adhesion. The rotation of motor 63 allows the leveling arc plate 632 to tilt at a certain angle, facilitating pressing of the tunnel sidewall at different heights on its outer arc surface. For example, when pressing the highest point of the tunnel sidewall, the leveling arc plate 632 should be positioned... Figure 7 In the vertical position shown, when pressing the bottom of the tunnel sidewall, the flat arc plate 632 should rotate 90 degrees under the drive of the motor 63. The flat arc plate 632 will not interfere with the excavation work or the work of the flat arc plate 632 itself when adjusting the angle, thus ensuring the efficiency and continuity of the excavation work.
[0064] As shown in Figures 11 and 12 of this embodiment, the double mounting frame 25 includes a mounting frame 251. A rotating spindle 252 is rotatably connected to the mounting frame 251 via a pin. A connecting plate 254 is fixedly connected to the rotating spindle 252 via a connecting rod 253. A first connecting clamp 255 is fixedly connected to the connecting plate 254. A second connecting clamp 257 is disposed above the first connecting clamp 255. A rotary assembly 258 is fixedly connected to the second connecting clamp 257. A mounting base plate 259 is rotatably connected to the second connecting clamp 257 via the rotary assembly 258. Mounting connecting plates 2510 are fixedly connected to both sides of the end face of the mounting base plate 259 away from the second connecting clamp 257. A first robotic arm 31 and a second robotic arm 32 are fixedly connected to the two mounting connecting plates 2510 respectively. One end face between the first connecting clamp 255 and the second connecting clamp 257 is fixedly connected via a support rod 256. The other end face between plate 255 and connecting clamp 257 is fixedly connected by connector 2511. In this embodiment, the rotary assembly 258 and the rotary mechanism 4 have the same structure and function. During operation, according to the requirements of the three-step seven-stage excavation construction method, core soil needs to be reserved during the excavation process on the third step. Therefore, the actual excavation surface is a fan-shaped area. The tunnel operation mechanism 6 on the robotic arm 31 can first excavate half of the fan-shaped area. After the excavation of half of the area is completed, the rotary assembly 258 of the double-mounted frame 25 rotates the mounting base plate 259 by 180 degrees, thereby swapping the position of the cement spraying head 33 of the tunnel operation mechanism 6. When the tunnel operation mechanism 6 is excavating the other half of the fan-shaped area, the cement spraying head 33 can simultaneously pour cement into the excavated area, thereby improving construction efficiency and ensuring construction progress.
[0065] As shown in Figure 4 of this embodiment, a connecting piece 20 is fixedly connected to the bottom surface of the lifting beam 10. A connecting piece 4 19 is rotatably connected to the connecting piece 20 via a pin. A hydraulic cylinder 2 18 is fixedly connected to the connecting piece 4 19. A telescopic rod 21 is fixedly connected to the drive end of the hydraulic cylinder 2 18. A connecting piece 5 22 is fixedly connected to the telescopic rod 21. The connecting piece 5 22 is rotatably connected to the connecting piece 3 2511 of the double-mounted frame 25 via a pin. During operation, the telescopic rod 21 is extended and retracted by the drive end of the hydraulic cylinder 2 18, so that the various mechanisms on the double-mounted frame 25 remain horizontal during the lifting process of the lifting beam 10, thereby facilitating the excavation work of each mechanism.
[0066] In conjunction with the second aspect of the invention Figures 13 to 15 An assembly device is described, specifically, the assembly device is configured as a split structure.
[0067] Please refer to Figures 13-15, an assembly device comprising:
[0068] Mounting plate 29 is fixedly connected to one side of the bottom surface of connecting base plate 26. A fixing installation mechanism 27 is fixedly connected to the lower end of mounting plate 29 for fixing the tunnel operation vehicle on the plane of the third step.
[0069] Mounting plate 20 is fixedly connected to the other side of the bottom surface of connecting base plate 26. A connecting mechanism 28 is fixedly connected to the lower end of mounting plate 20, and a fixing mounting mechanism 27 is fixedly connected to the lower end of connecting mechanism 28. These mechanisms are used to fix the tunnel working vehicle to the inclined surface connecting the third step and the second step.
[0070] The fixed installation mechanism 27 includes a support column 272, a connecting column 279 fixedly connected to the lower end of the support column 272, a support plate 2710 fixedly connected to the lower end of the connecting column 279, a through groove 2711 through the end face of the support plate 2710, several steel nails 271 fixedly connected to the lower end face of the support plate 2710, a connecting protrusion 273 fixedly connected to the side end face of the support column 272, a transition plate 274 fixedly connected to the lower end of the connecting protrusion 273, and a cylinder 275 fixedly connected to the lower end of the transition plate 274. The outer casing is fixedly connected to the adapter plate 274. A cylinder telescopic rod 276 is fixedly connected to the drive end of cylinder 275. A push plate 277 is fixedly connected to the lower end of cylinder telescopic rod 276. A reinforcing steel nail 278 is fixedly connected to the lower end of push plate 277. The reinforcing steel nail 278 is located within the through groove 2711. During operation, the steel nail 278 provides initial fixation to the entire device. The extension of cylinder telescopic rod 276, driven by the drive end of cylinder 275, pushes the reinforcing steel nail 278 into the tunnel floor, thus achieving a strengthening and fixing effect.
[0071] The connecting mechanism 28 includes a connecting support column 281. A connecting component 289 is rotatably connected to the lower end of the connecting support column 281 via a connecting pin 288. A fixing mounting mechanism 27 is fixedly connected to the lower end of the connecting component 289. A connecting component 282 is fixedly connected to one side end face of the connecting support column 281. A connecting component 283 is rotatably connected to the connecting component 282 via a pin. A hydraulic cylinder 284 is fixedly connected to the lower end of the connecting component 283. The drive end of the hydraulic cylinder 284 is fixedly connected to... There is a telescopic rod 285, and a mechanism adapter 286 is fixedly connected to the lower end of the telescopic rod 285. A mechanism connector 287 is fixedly connected to one side end face of the mechanism connector 289. The mechanism connector 287 and the mechanism adapter 286 are rotatably connected by a pin. During operation, the telescopic rod 285 is driven to extend and retract by the drive end of the hydraulic cylinder 284. The relative angle between the connecting support column 281 and the mechanism connector 289 can be adjusted, making the tunnel working vehicle more stable when fixedly installed on the inclined surface connecting the third step and the second step.
[0072] The following steps are involved in the work:
[0073] 1. The tunnel work vehicle is transported to the construction site by forklift, and the installation and fixation of the tunnel work vehicle on site is completed by assembly equipment.
[0074] 2. Based on the height of the tunnel, the lifting angle of the lifting beam 10 is adjusted by adjusting the drive end of hydraulic cylinder 12 to drive the telescopic rod 13 to extend and retract. At the same time, the telescopic rod 21 is extended and retracted by the drive end of hydraulic cylinder 18, so that the various mechanisms on the double mounting frame 25 remain horizontal during the lifting process of the lifting beam 10, thereby facilitating the excavation work of each mechanism.
[0075] 3. The tunnel working mechanism 6 on the robotic arm 31 first excavates half of the fan-shaped area. The soil in the tunnel is excavated by the soil breaker 637, soil breaker 640 and rotary drilling rig 642 of the tunnel working mechanism 6.
[0076] 4. The flat arc plate 632 of the tunnel working mechanism 6 can extend outward during the swinging process, and can continue to excavate the tunnel sidewall at the current excavation face, so as to form a certain height difference between the sidewall of the current excavation face and the sidewall of the already poured face. The outer arc surface of the flat arc plate 632 can also press the sidewall of the excavation face, thus facilitating the subsequent pouring work.
[0077] 5. After the excavation work on one side is completed, the mounting base plate 259 is rotated 180 degrees by the rotating component 258 of the double mounting frame 25, thereby swapping the position of the cement spraying head 33 of the tunnel working mechanism 6. When the tunnel working mechanism 6 is excavating the fan-shaped area on the other side, the cement spraying head 33 can simultaneously pour cement into the excavated area, improving construction efficiency and ensuring construction progress.
[0078] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. A tunnel working vehicle, characterized in that, include: Support plate (1), a turntable (2) is rotatably connected to the support plate (1) via a rotary mechanism (4), a base plate (5) is fixedly connected to the turntable (2), and a lifting beam (10) is installed on the base plate (5); Tunnel operation mechanism (6) is used to excavate the tunnel while reserving core soil, and at the same time eliminate and level the height difference between the excavation surface and the poured surface. as well as A double-mounted mounting frame (25) is provided, on which a first robotic arm (31) and a second robotic arm (32) are mounted respectively. A tunnel working mechanism (6) is mounted on the execution end of the first robotic arm (31), and a cement spraying head (33) is mounted on the execution end of the second robotic arm (32). A fixed steel frame (23) is fixedly connected to both sides of the bottom surface of the support plate (1). A groove (24) is opened at the lower end of the fixed steel frame (23). A connecting base plate (26) is fixedly connected to the lower end of the fixed steel frame (23). The tunnel working mechanism (6) includes a mechanism mounting plate (61). A clamping plate (62) is fixedly connected to one end face of the mechanism mounting plate (61). A motor (63) is fixedly connected to the end face of the clamping plate (62) away from the mechanism mounting plate (61). The motor (63) is fixedly installed on the clamping plate (62) through a motor fixing component (68). A rotating shaft (64) is fixedly connected to the drive end of the motor (63). A limit frame (69) is sleeved through and fixedly connected to the rotating shaft (64). The clamping plate (62) is away from the mechanism mounting plate (61). A connecting plate (65) is fixedly connected to one end face of the motor (63). A limiting plate (610) is fixedly connected to the end of the connecting plate (65) away from the motor (63). The limiting plate (610) is engaged with the limiting frame (69). A clamping plate (66) is fixedly connected to the end of the connecting plate (65) away from the clamping plate (62). A bearing (67) is inserted through and sleeved on the clamping plate (66). The outer ring of the bearing (67) is embedded and fixedly connected to the clamping plate (66). A rotating shaft (64) is inserted through and fixedly connected to the inner ring of the bearing (67). A clamping plate three (611) is fixedly connected to a rotating shaft one (64). A connecting plate two (612) is fixedly connected to the end face of the clamping plate three (611) away from the rotating shaft one (64). A clamping plate four (613) is fixedly connected to the end face of the connecting plate two (612) away from the clamping plate three (611). A motor two (614) is fixedly connected to the end face of the clamping plate four (613) close to the clamping plate three (611). The outer shell of the motor two (614) is fixedly connected to the clamping plate four (613). A rotating shaft two (616) is fixedly connected to the drive end of the motor two (614). A bearing two (615) is sleeved through and fixedly connected to the end face of the clamping plate four (613). The outer ring of the bearing two (615) is embedded in and fixedly connected to the clamping plate four (613). The rotating shaft two (616) is sleeved through and fixedly connected to the inner ring of the bearing two (615).
2. A tunnel working vehicle according to claim 1, characterized in that, A cab (3) is installed on the base plate (5). A connecting clamp (8) is fixedly connected to one side of the upper end face of the base plate (5). A first adapter (7) is rotatably connected to the connecting clamp (8) via a pin. A connecting block (9) is fixedly connected to the first adapter (7). The connecting block (9) is fixedly connected to the side end face of the lifting beam (10). A transition frame (16) is fixedly connected to both end faces of the lifting beam (10). A third adapter (17) is rotatably connected to the transition frame (16) via a pin. A turntable (2) is also present. A mounting plate (11) is fixedly connected to the upper part. Connector 1 (14) is fixedly connected to both sides of the upper end face of the mounting plate (11). Connector 1 (14) is rotatably connected to adapter 2 (15) via a pin shaft. Hydraulic cylinder 1 (12) is fixedly connected to adapter 2 (15). The bottom surface of the outer shell of hydraulic cylinder 1 (12) is fixedly connected to adapter 2 (15). Telescopic rod 1 (13) is fixedly connected to the drive end of hydraulic cylinder 1 (12). Telescopic rod 1 (13) is fixedly connected to adapter 3 (17).
3. A tunnel working vehicle according to claim 2, characterized in that, A linkage component (617) is fixedly connected to the second rotating shaft (616). The linkage component (617) includes a disc component (6171). Both ends of the disc component (6171) are fixedly connected to a lever (6172). A swing component (620) is provided above the linkage component (617). A baffle (619) is fixedly connected to the lower end of the swing component (620). The swing component (620) is rotatably connected to the fourth clamping plate (613) through a pin. (620) A tension spring connecting plate one (621) is fixedly connected to the upper end. A fixing plate (618) is fixedly connected to the connecting plate two (612). A tension spring connecting plate two (622) is fixedly connected to the fixing plate (618). A tension spring (627) is provided between the tension spring connecting plate one (621) and the tension spring connecting plate two (622). The two ends of the tension spring (627) are fixedly connected to the tension spring connecting plate one (621) and the tension spring connecting plate two (622) respectively. A sleeve rod (623) is fixedly connected to the upper end of a (621) assembly. A sleeve (624) is fitted onto the sleeve rod (623). A mechanism mounting plate (630) is fixedly connected to the upper end of the outer shell of the sleeve (624). Flat connecting plates (631) are fixedly connected to both sides of the upper surface of the mechanism mounting plate (630). Flat arc plates (632) are fixedly connected to the flat connecting plates (631). A sleeve connecting rod is fixedly connected to the bottom surface of the mechanism mounting plate (630). 629), one end face of the sleeve connecting rod (629) is fixedly connected to the end face of the sleeve (624), a cylinder fixing plate (625) is fixedly connected to the tension spring connecting plate (621), a cylinder (626) is fixedly connected to the cylinder fixing plate (625), a cylinder telescopic rod (628) is fixedly connected to the drive end of the cylinder (626), and the upper end of the cylinder telescopic rod (628) is fixedly connected to the bottom end face of the sleeve connecting rod (629).
4. A tunnel working vehicle according to claim 3, characterized in that, A connecting shaft 1 (633) is fixedly connected to the end face of the linkage component (617) away from the clamping plate 4 (613). A connecting shaft 2 (634) is coaxially fixedly connected to the connecting shaft 1 (633). Several circular ring connecting rods 1 (635) are fixedly connected at equal intervals on the outer circumferential end face of the connecting shaft 2 (634) near the linkage component (617). A circular ring component 1 (636) is fixedly connected to the end of the circular ring connecting rod 1 (635) away from the connecting shaft 2 (634). Several circular ring components 1 (636) are fixedly connected at equal intervals on the outer side of the circular ring component 1 (636). On the outer circumferential end face of the first earthbreaker (637) and the connecting shaft (634), a number of circular connecting rods (638) are fixedly connected at equal intervals on the side away from the linkage (617). A circular ring (639) is fixedly connected to the end of the circular connecting rod (638) away from the connecting shaft (634). A number of earthbreakers (640) are fixedly connected at equal intervals on the outer side of the circular ring (639). A connecting shaft (641) is fixedly connected to the connecting shaft (634). A rotary drilling rig (642) is fixedly connected to the outer side of the connecting shaft (641).
5. A tunnel working vehicle according to claim 1, characterized in that, The double mounting bracket (25) includes a mounting bracket (251), a rotating spindle (252) is rotatably connected to the mounting bracket (251) via a pin, a connecting plate (254) is fixedly connected to the rotating spindle (252) via a connecting rod (253), a first connecting clamp (255) is fixedly connected to the connecting plate (254), a second connecting clamp (257) is provided above the first connecting clamp (255), a rotating assembly (258) is fixedly connected to the second connecting clamp (257), and a mounting base plate (259) is connected to the connecting clamp via the rotating assembly (258). The second (257) is rotated and connected. On the side of the mounting base plate (259) away from the second (257) of the connecting clamp, both sides are fixedly connected to the mounting connecting plates (2510). The first (31) and the second (32) of the mechanical arm are fixedly connected to the two mounting connecting plates (2510) respectively. One side of the connecting clamp (255) and the second (257) of the connecting clamp is fixedly connected by the support rod (256). The other side of the connecting clamp (255) and the second (257) of the connecting clamp is fixedly connected by the connector (2511).
6. A tunnel working vehicle according to claim 2, characterized in that, A connecting piece 2 (20) is fixedly connected to the bottom surface of the lifting beam (10). A connecting piece 4 (19) is rotatably connected to the connecting piece 2 (20) via a pin. A hydraulic cylinder 2 (18) is fixedly connected to the connecting piece 4 (19). A telescopic rod 2 (21) is fixedly connected to the drive end of the hydraulic cylinder 2 (18). A connecting piece 5 (22) is fixedly connected to the telescopic rod 2 (21). The connecting piece 5 (22) is rotatably connected to the connecting piece 3 (2511) of the double mounting bracket (25) via a pin.
7. An assembly device, characterized in that, The assembly equipment is equipped with a tunnel working vehicle as described in any one of claims 1-6, comprising: Mounting plate 1 (29) is fixedly connected to one side of the bottom surface of the connecting base plate (26), and a fixed mounting mechanism (27) is fixedly connected to the lower end of mounting plate 1 (29); Mounting plate two (30), which is fixedly connected to the other side of the bottom surface of the connecting base plate (26), and a connecting mechanism (28) is fixedly connected to the lower end of mounting plate two (30), and a fixing mounting mechanism (27) is fixedly connected to the lower end of the connecting mechanism (28); and The fixed installation mechanism (27) includes a support column (272), a connecting column (279) fixedly connected to the lower end of the support column (272), a support plate (2710) fixedly connected to the lower end of the connecting column (279), a through groove (2711) through the end face of the support plate (2710), a number of steel nails (271) fixedly connected to the lower end face of the support plate (2710), and a connecting protrusion (273) fixedly connected to the side end face of the support column (272). 273) A connecting plate (274) is fixedly connected to the lower end of the connecting plate (274), and a cylinder two (275) is fixedly connected to the lower end of the connecting plate (274). The outer shell of the cylinder two (275) is fixedly connected to the connecting plate (274). A cylinder telescopic rod two (276) is fixedly connected to the driving end of the cylinder two (275). A push plate (277) is fixedly connected to the lower end of the cylinder telescopic rod two (276). A reinforcing steel nail (278) is fixedly connected to the lower end of the push plate (277). The reinforcing steel nail (278) is set in the through groove (2711); and The connecting mechanism (28) includes a connecting support column (281). The lower end of the connecting support column (281) is rotatably connected to a third mechanism connector (289) via a connecting pin (288). The lower end of the third mechanism connector (289) is fixedly connected to a fixed mounting mechanism (27). A first mechanism connector (282) is fixedly connected to one side end face of the connecting support column (281). A mechanism adapter is movably connected to the first mechanism connector (282) via a pin. Part 1 (283) has a hydraulic cylinder 3 (284) fixedly connected to its lower end. The drive end of the hydraulic cylinder 3 (284) is fixedly connected to a telescopic rod 3 (285). The lower end of the telescopic rod 3 (285) is fixedly connected to a mechanism adapter 2 (286). One end face of the mechanism connector 3 (289) is fixedly connected to a mechanism connector 2 (287). The mechanism connector 2 (287) and the mechanism adapter 2 (286) are rotatably connected by a pin.