Vertical rotating assembly and injection assembly used for structure of vertical rotating assembly

Abstract

The invention discloses a vertical rotating assembly and an injection assembly used for the structure of the vertical rotating assembly. The vertical rotating assembly comprises a vertical large gear and a vertical rotating driving gear meshed with the vertical large gear. The vertical large gear further comprises a first large gear ring and a first annular gear shaft, the first annular gear shaft is fixed on the rotary table vertical plate, and the rotary large arm is directly fixed on the first large gear ring; the first large gear ring, the rotary large arm and the rotary table vertical plate are connected and fixed through bolts; the vertical rotation driving gear is mounted on the rotary table vertical plate through a vertical rotation driving motor; through the innovatively-designed front arm mechanism, when a certain lateral included angle is formed between the template mechanism and the tunnel rock wall and the template mechanism and the tunnel rock wall cannot be kept parallel, the template mechanism and the tunnel rock wall can be adjusted by slightly rotating the front arm mechanism, and meanwhile synchronous rotation of the spray head assembly is kept; in the process that the template mechanism moves up and down along with the rotary large arm, synchronous movement of the spray head assembly and the template mechanism can be kept.

Description

[0001] This application is a divisional application of the application with application date of November 26, 2018, application number 201811419772.3, and invention name “A mold spraying equipment and mold spraying process”. Technical Field

[0002] The invention relates to the technical field of engineering machinery, and in particular to a vertical rotating component and a spraying assembly used for the structure thereof. Background Art

[0003] In the initial support construction of the tunnel, the construction method of directly spraying concrete on the excavation surface is adopted, and the spraying concrete method is divided into two types: mechanical arm spraying and manual spraying. The current direct spraying concrete construction method has the following disadvantages:

[0004] The rebound rate is high. Currently, there is 20%-40% rebound during the construction process, and the rebound material can no longer be recycled, causing great waste. This is the main reason for the high construction cost.

[0005] The amount of accelerator used is large. The construction method of direct shotcrete requires that the concrete needs to be bonded to the excavation surface in a very short time after contacting the excavation surface, and it must be ensured that it does not fall off after bonding. Ordinary concrete cannot meet the construction requirements. At this time, it is necessary to add accelerator to the plain concrete to achieve the requirement of concrete solidification in a short time. The amount of accelerator used is large, which also increases the construction cost.

[0006] The surface finish of the molding is poor. The surface of the direct shotcrete construction method is uneven and has poor finish after molding. Before the next construction process, the surface needs to be reshaped to meet the construction requirements. This undoubtedly increases the construction process, prolongs the construction period, and increases the construction cost.

[0007] The construction safety is poor. During manual spraying, the operator will be working under the unsupported surface, and there is a risk of being hit by falling rocks and falling concrete. In addition, the accelerator is a chemical reagent. During manual spraying, the operator is close to the nozzle, and long-term operation will cause harm to the operator's health. Summary of the invention

[0008] The purpose of the present invention is to provide a vertical rotating assembly and a spraying assembly used for the structure thereof to address the above-mentioned deficiencies, thereby achieving overall control of the template mechanism and the spray head assembly, simplifying the operation and improving the construction efficiency.

[0009] The present invention is achieved through the following scheme:

[0010] A vertical rotation assembly includes a vertical large gear and a vertical rotation driving gear meshing with the vertical large gear; the vertical large gear also includes a first large gear ring and a first annular gear shaft, the first annular gear shaft is fixed on a turntable vertical plate, and a slewing large arm is directly fixed on the first large gear ring; the first large gear ring and the slewing large arm and the turntable vertical plate are fixed by bolts; the vertical rotation driving gear is installed on the turntable vertical plate through a vertical rotation driving motor.

[0011] Based on the structure of the vertical rotating assembly, the vertical rotating driving gear has one or more than one gears, which are distributed around the first large gear ring and meshed with the first large gear ring at the same time.

[0012] Based on the structure of the vertical rotating assembly described above, there are four vertical rotating driving gears, which are symmetrically arranged on the left and right sides of the first large gear ring.

[0013] Based on the structure of the above-mentioned vertical rotating assembly, the first large gear ring and the first annular gear shaft are respectively provided with a plurality of first bolt through holes and second bolt through holes for fixing at even intervals in the circumferential direction.

[0014] Based on the structure of the above-mentioned vertical rotating assembly, a fixed operating through hole is provided on the rotating circumference of the turntable vertical plate opposite to the first bolt through hole on the first large gear ring, so as to facilitate the insertion of bolts through the fixed operating through hole from the back of the turntable vertical plate and complete the fixation between the rotating arm and the first large gear ring.

[0015] The present invention discloses a spraying assembly, comprising a forearm mechanism and a boom mechanism; the forearm mechanism is connected to the boom mechanism, the boom mechanism comprises a boom turntable which can rotate relative to each other in a horizontal plane, the boom turntable is provided with a swivel boom which can rotate relative to each other in a vertical plane, the boom turntable comprises a turntable frame, a horizontal rotation component and the vertical rotation component, the turntable frame is fixed on a trolley through the horizontal rotation component and can rotate horizontally on the trolley, the swivel boom is installed on the turntable frame through the vertical rotation component, and can rotate in a vertical plane with the vertical rotation component as the center; the forearm mechanism is arranged at the front end of the swivel boom, based on the relative rotation between the swivel boom, the boom turntable and the base of the boom mechanism, the template mechanism moves with the front end of the swivel boom, and the distance and / or angle between the template mechanism and the rock surface are controlled, so that the template mechanism forms a mold cavity with the target rock surface at the target rock surface.

[0016] Based on the structure of the above-mentioned injection assembly, the turntable frame is an L-shaped structure as a whole, including a turntable bottom plate and a turntable vertical plate; the horizontal rotation assembly includes a horizontal large gear and a horizontal rotation driving gear meshing with the horizontal large gear. The horizontal large gear includes a second large gear ring and a second annular gear shaft, and the horizontal large gear is directly fixed to the bolt hole of the top plate by bolts; the turntable bottom plate is fixed to the second annular gear shaft of the horizontal large gear by bolts. The second large gear ring is provided with bolt connection holes evenly spaced in the circumferential direction, and the first annular gear shaft is also provided with bolt connection holes evenly spaced in the circumferential direction.

[0017] Based on the structure of the above-mentioned injection assembly, the horizontal rotation drive gear is mounted on the rotating shaft of the horizontal rotation drive motor, and the horizontal rotation drive motor is fixed downward on the turntable bottom plate. The turntable bottom plate includes a motor mounting portion extending beyond the outside of the horizontal large gear, and the horizontal rotation drive motor is fixed on the motor mounting portion, and the motor mounting portion is connected to the turntable bottom plate body by a smooth transition.

[0018] Based on the structure of the above-mentioned injection assembly, the forearm mechanism includes a forearm beam and a rotating mechanism. The bottom of the forearm beam is connected to the rotating mechanism. The rotating mechanism is placed on the frame / trolley so that the forearm beam can rotate in a plane with the rotating mechanism as a fulcrum; the forearm beam is provided with a template mechanism and a longitudinal movement mechanism, and the longitudinal movement mechanism is provided with a nozzle assembly, and can control the longitudinal movement of the nozzle assembly on the forearm mechanism.

[0019] Based on the structure of the above-mentioned spray assembly, the nozzle assembly is connected to the nozzle fine-tuning mechanism, and the nozzle fine-tuning mechanism includes a pitch angle control mechanism and a rotation angle control mechanism connected to each other; the nozzle fine-tuning mechanism is connected to the nozzle displacement mechanism, and the nozzle displacement mechanism includes a longitudinal movement mechanism and a transverse movement mechanism connected to each other, and the transverse movement mechanism controls the displacement of the nozzle assembly in the transverse direction;

[0020] The transverse movement mechanism includes a transverse movement arm and a nozzle fixing seat, the transverse movement arm is installed on the longitudinal movement mechanism, the nozzle fine-tuning mechanism is arranged on the nozzle fixing seat, the transverse movement arm is provided with a transverse groove rail and a transverse movement rack, the nozzle fixing seat is provided with a roller rolling with the transverse groove rail and a transverse movement driving gear meshing with the transverse movement rack, so that the nozzle fine-tuning mechanism and the nozzle assembly can move in the transverse direction of the transverse movement arm.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0022] Through the innovative design of the forearm mechanism, when a certain lateral angle is formed between the template mechanism and the tunnel rock wall and they cannot remain parallel, the forearm mechanism can be adjusted by slightly rotating it, while keeping the synchronous rotation of the nozzle assembly; the template mechanism can also keep the synchronous movement of the nozzle assembly and the template mechanism as the rotating arm moves up and down; this makes the overall mechanism simpler to control, and does not waste more on-site operation time due to the need to adjust the position of the nozzle assembly again; at the same time, the forearm mechanism integrates the function of the longitudinal movement mechanism, making the template spraying mechanism more concise as a whole and having the advantage of integration; and through the chain drive method, the nozzle longitudinal moving seat forms a two-end traction during the sliding process, and the force is more stable, which can effectively avoid related faults such as jamming. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is the connection diagram of the nozzle fine adjustment mechanism;

[0024] Figure 2 It is a schematic diagram of the drive structure of the nozzle fixing seat;

[0025] Figure 3 This is a schematic diagram of the nozzle moving assembly mechanism;

[0026] Figure 4 It is a schematic diagram of the connection between the nozzle lateral movement arm and the forearm mechanism;

[0027] Figure 5 It is a schematic diagram of the forearm mechanism;

[0028] Figure 6 is a schematic cross-sectional view of the forearm mechanism;

[0029] Figure 7 It is a top view of the forearm mechanism;

[0030] Figure 8 It is a schematic diagram of the rotation mechanism of the forearm mechanism;

[0031] Fig. 9 It is a schematic diagram of the big arm turntable of the big arm mechanism;

[0032] Fig.10 It is a schematic diagram of the horizontal rotation assembly of the boom turntable;

[0033] Fig.11 This is the rear view of the boom turntable;

[0034] Fig.12 It is a schematic diagram of the turntable vertical plate of the big arm turntable;

[0035] Fig.13 It is a schematic diagram of the connection between the slewing arm and the moving assembly mechanism;

[0036] Fig.14 It is a schematic diagram of the slewing arm;

[0037] Fig.15 This is a partial enlarged view of the slewing arm;

[0038] Fig.16 Schematic diagram of the template structure Figure 1 ;

[0039] Fig.17 Schematic diagram of the template structure Figure 2 ;

[0040] Fig.18 For template Figure 1 ;

[0041] Fig.19 For template Figure 2 ;

[0042] Fig. 20 This is a schematic diagram of the entire vehicle when the carrier is a trolley. DETAILED DESCRIPTION

[0043] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0044] Any feature disclosed in this specification (including any additional claims and abstract), unless otherwise stated, may be replaced by other equivalent or alternative features having similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

[0045] The overall concept of the tunnel mold spraying equipment of the present invention is to form a mold cavity on the excavated rock surface through a template mechanism, and then spray concrete into the mold cavity to make the concrete solidify rapidly in the mold cavity to form an initial support layer.

[0046] Therefore, the tunnel mold spraying equipment of the present invention includes a nozzle assembly, a template mechanism and an injection system. During the tunnel construction process, the template mechanism cooperates with the tunnel excavation rock surface to form a mold cavity, and the nozzle assembly is placed above the mold cavity with the nozzle facing the mold cavity; the nozzle assembly is connected to the injection system, and the concrete filled with the accelerator is pumped to the nozzle assembly. The nozzle assembly sprays the concrete into the mold cavity at an angle that is not perpendicular to the rock surface, so that the concrete solidifies in the mold cavity to form a support layer.

[0047] The nozzle assembly is arranged on a nozzle fine-tuning mechanism, and the nozzle fine-tuning mechanism adjusts the pitch angle and / or rotation angle, or three-dimensional angle of the nozzle assembly; the nozzle fine-tuning mechanism is arranged on a nozzle displacement mechanism; and the nozzle displacement mechanism controls the displacement of the nozzle assembly in space.

[0048] The injection system includes a concrete pumping mechanism, an accelerator pumping mechanism, a compressed air supply device and a material mixer; the concrete pumping mechanism is connected to the material mixer to deliver concrete into the material mixer; the accelerator pumping mechanism is connected to the material mixer to deliver the accelerator into the material mixer to mix with concrete; the compressed air supply device is connected to the material mixer to deliver compressed air into the material mixer; a nozzle assembly is provided on the material mixer.

[0049] The template mechanism is provided with a template adjustment mechanism, which adjusts the distance between the template and the rock surface, and adjusts the pitch angle and / or rotation angle, or three-dimensional angle of the template mechanism, so that a mold cavity / demolding is formed between the template mechanism and the rock surface. The nozzle displacement mechanism and / or template fine-tuning mechanism are arranged on the support mechanism, and the support mechanism can drive the template mechanism and / or the nozzle assembly to approach / move away from the excavation rock surface.

[0050] A steel arch frame is provided on the tunnel excavation rock surface, and the formwork mechanism, the steel arch frame and the excavation rock surface cooperate to form a mold cavity; or no mold cavity is provided in the tunnel excavation rock surface, and the formwork mechanism and the excavation rock surface directly cooperate to form a mold cavity; the concrete is sprayed into the mold cavity from the top of the mold cavity through the nozzle assembly by the injection system, and solidifies in the mold cavity to form a support layer.

[0051] A plurality of steel arch frames are arranged in parallel and at intervals in the length direction of the tunnel. The steel arch frames are arranged in an arch shape on the tunnel rock wall, and concrete is sprayed on the tunnel rock wall between any adjacent steel arch frames to form a supporting layer. The supporting layer is an arch structure formed by a plurality of supporting blocks connected in sequence. Both sides of the supporting layer are respectively bonded to the steel arch frames, and the surface of the supporting layer is an arc surface with the same curvature as the steel arch frames, and the surface of the supporting layer is flat.

[0052] A control system is also provided, which includes a template adjustment module, a nozzle fine-tuning module, a nozzle displacement module, an injection module and a control module; wherein the template adjustment module is used to receive the template adjustment signal sent by the control module, and control the rotation and pitch angle of the template / template mechanism, so as to control the formation of a mold cavity / demolding between the template mechanism and the rock surface; the nozzle displacement module is used to receive the injection displacement signal sent by the control module, control the displacement of the nozzle in the horizontal and longitudinal directions, and adjust the nozzle to the top of the mold cavity; the nozzle fine-tuning module is used to receive the template fine-tuning signal sent by the control module, and control the rotation and pitch angle of the nozzle / nozzle assembly, so as to control the angle / direction of the nozzle, and ensure that the concrete sprayed by the nozzle is not perpendicular to the rock surface; the injection module is used to receive the injection signal sent by the control module, and control the mixing and pumping of concrete and quick-setting agent; the control module is used to control the operation of each module of the entire system, and the control module can be connected to the remote control terminal in a wireless / wired manner, receive the control signal of the remote control terminal, and send control signals to each module respectively.

[0053] The tunnel mold spraying equipment of the present invention is used to prepare the initial support layer of the tunnel, which specifically involves a tunnel, including a plurality of steel arch frames arranged in parallel at intervals in the length direction of the tunnel, the steel arch frames are arranged in an arch shape on the tunnel rock wall, used to support the tunnel rock wall, and concrete is sprayed on the tunnel rock wall between any adjacent steel arch frames to form a support layer, the support layer is an arch structure formed by connecting a plurality of support blocks in sequence; the two sides of the support layer are respectively bonded to the steel arch frames, the surface of the support layer is an arc surface with the same curvature as the steel arch frame, and the surface of the support layer is flat. The combination of concrete and steel support frames can ensure the structural strength of the initial support layer, and at the same time, the surface of the initial support layer is flat, which can facilitate the spraying of the secondary support layer on the surface of the primary support layer, facilitate the bonding of the concrete of the secondary support layer, make the thickness distribution of the secondary support layer more uniform, and be beneficial to the bearing capacity of the secondary support layer; at the same time, it avoids knocking off the unevenness of the initial support layer when setting the secondary support layer, and avoids damage to the initial support layer, which affects the bearing capacity of the initial support layer. Since the overall construction of the primary support layer is very difficult, and it is difficult to ensure that the entire surface of the primary support layer is flat during the overall construction; therefore, in the present invention, the supporting layer is connected by a number of supporting blocks, which facilitates the construction of the primary support layer, and by ensuring that the surface of each supporting block is flat through separate construction, the surface flatness of the entire supporting layer can be further ensured.

[0054] The support layer includes a side wall support block and a top support block; wherein the top support block is located in the middle area of ​​the tunnel top; the side wall support block is located on the side wall of the tunnel, and is connected to the top support block in the middle area of ​​the tunnel top to form a whole; the side wall support blocks are symmetrically arranged on both sides of the top support block. The tunnel sidewall is arranged with several sections of side wall support blocks, so that the side wall support blocks extend and connect from the bottom of the tunnel sidewall to the middle area of ​​the tunnel top. Due to the special structure of the tunnel top, the top support block is not easy to construct; therefore, side wall support blocks are first set on both sides of the tunnel to support the tunnel before the tunnel top is constructed; during construction, the top support block can be set in the middle area of ​​the tunnel top to connect with the side wall support blocks on both sides to jointly support the tunnel; or the top support block is not set, and the existing spraying method is used to directly spray concrete in the middle area of ​​the tunnel top to connect the support blocks on both sides of the tunnel. Since the spraying area is short, the surface of the spraying area is also relatively flat. The width of the support layer is equal to the distance between two steel arch frames, and the width of the support layer is 500-1500mm; the thickness of the support layer is the distance from the arch surface of two adjacent steel arch frames to the tunnel rock wall.

[0055] In the length direction of the tunnel, the intervals between at least two steel arches are the same; so that at least two supporting layers have the same shape and size. The surface of the supporting layer is flush with the surface of the steel arch; or the surface of the supporting layer exceeds the surface of the steel arch; or the surface of the steel arch exceeds the surface of the supporting layer. The steel arch is an I-beam, a flower arch or a round tube. In this embodiment, the steel arch is an I-beam, that is, the cross-section of the steel arch is I-shaped as shown in the figure; concrete is filled between adjacent I-beams, filling the grooves of the two I-beams to form a supporting layer. Due to the uneven rock wall of the tunnel, there will be gaps between the steel arch and the tunnel rock wall. Therefore, a number of arched supporting layers separated by steel arches are formed in the length direction of the tunnel, wherein any adjacent supporting layers are connected as a whole through the gap between the steel arch and the tunnel rock wall 1.

[0056] Fiber filaments are added to the sprayed concrete so that the formed support layer 2 contains a number of fiber filaments. The fiber filaments are in a filamentous shape and bonded to the rock wall and the steel arch frame 3, which can increase the coagulation speed and toughness of the soil support layer and make the concrete more firmly bonded to the steel arch frame and the rock wall. The present invention provides a tunnel primary support layer structure, the surface of the primary support layer is flat, which can facilitate the spraying of the secondary support layer and ensure the bearing capacity of the secondary support layer.

[0057] In addition, in the present invention, it is necessary to use the support mechanism as a support arm frame, and the support arm frame is set as a large arm, a large arm and an auxiliary arm, two arms, three arms or a frame-type arm frame structure, wherein the template mechanism and the nozzle assembly are arranged on the support arm frame.

[0058] For example: the support arm is configured as a large arm, the support arm is configured as a telescopic arm structure or a folding arm structure, a forearm mechanism is provided on the end of the support arm, and a template mechanism is provided on the end of the forearm mechanism; a nozzle displacement mechanism is provided on the forearm mechanism, a nozzle fine-tuning mechanism is provided on the nozzle displacement mechanism, and a nozzle assembly is provided on the nozzle fine-tuning mechanism to adjust the spatial displacement, angle and direction of the nozzle assembly.

[0059] For example: the boom is arranged on the boom turntable, and the boom can rotate relative to the boom turntable in the vertical plane; the boom turntable is arranged on the carrier and the boom turntable can rotate relative to the carrier in the horizontal plane; based on the relative rotation between the boom, the boom turntable and the carrier; the template mechanism moves with the front end of the boom, and the distance and / or angle between the template mechanism and the rock surface is controlled.

[0060] For example: a track mechanism is laid on the carrier, and a moving seat mechanism is matched on the track mechanism. The boom turntable is arranged on the moving seat mechanism. The moving seat mechanism moves along the laying direction of the track mechanism, and the template mechanism is displaced in the direction of the track mechanism through the boom; a track mechanism is provided on one side of the track mechanism, and the hose guide mechanism includes a guide groove and a moving mechanism thereon, and the moving mechanism moves back and forth along the length direction of the guide groove; a hose is arranged in the guide groove, and the hose bypasses the moving mechanism and is connected to the moving mechanism and follows the moving mechanism to move in the guide groove.

[0061] The carrier is a trolley, the track mechanism is laid on the top of the trolley, and the trolley is a wheeled, tracked or framed track; the chassis of the trolley adopts an automobile chassis, a tracked chassis or an engineering chassis, and the engineering chassis is a four-wheel drive mechanism, and adopts four-wheel steering, front-wheel drive front-wheel steering or rear-wheel drive rear-wheel steering; the trolley adopts a hanging walking mode or a self-walking mode, and the self-walking mode adopts a wheeled walking mechanism, a tracked walking mechanism, a tracked walking mechanism and a walking walking mechanism; the power of the trolley can adopt a diesel engine, a pure electric engine, or a diesel-electric hybrid power source. A cab is provided on the trolley, and the cab is fixed on the trolley; or the cab is rotatably arranged on the trolley, and the cab is fixed to the trolley with an outer shell, and the internal operating platform can rotate relative to the trolley; or the cab as a whole can rotate 180° relative to the trolley; or the cab can rotate with a point of the trolley as the center, so that the front and rear of the trolley cab are interchangeable. The trolley is provided with a cab lifting platform, and the cab is arranged on the cab lifting platform and rises and falls with the cab lifting platform; it is convenient for the driver to adjust the position according to the needs.

[0062] When the carrier mechanism is a trolley, the engine of the trolley can be a diesel engine or an electric engine, or a diesel engine and an electric engine can be used in combination.

[0063] The trolley can be walked on rollers, tracks or tracks.

[0064] The trolley is also provided with a steel arch lifting arm, which can rotate relative to the trolley on a horizontal plane and can also rotate in a vertical plane. The steel arch lifting arm is retractable, and a steel arch support platform is provided at the front end of the steel arch lifting arm, and a steel arch gripper is provided on the steel arch support platform; when the steel arch is set on the steel arch support platform, the steel arch gripper grabs the steel arch, and the steel arch lifting arm can lift the steel arch and set it on the rock wall of the tunnel, which is convenient for the installation of the steel arch.

[0065] The trolley is also provided with a personnel lifting platform. When the mold spraying template gradually moves to the direction of the arch, people can rise in the lifting platform to observe the spraying situation in the mold cavity.

[0066] The bottom of the trolley is provided with a plurality of trolley support legs, and the trolley support legs are retractable. When the template mechanism and the nozzle assembly are in operation, the support legs support the ground to ensure the stability of the trolley, thereby ensuring the stability of the position of the template mechanism and the nozzle assembly.

[0067] In the present invention, the quick-setting agent pumping mechanism and the concrete pumping mechanism in the injection system are both located at the front end of the trolley, which makes it inconvenient for the trolley to be as close to the tunnel face as possible; therefore, a rotating platform of the injection system is arranged in front of the trolley, and the rotating platform of the injection system is rotated to one side of the trolley, which makes it convenient for the trolley to be as close to the tunnel face as possible.

[0068] The cab shell is fixed on the cab lifting platform, and the operating platform inside it can rotate, which is convenient for the driver to observe the situation outside the vehicle, and when the operating platform rotates 180 degrees, it is convenient for reversing.

[0069] Wherein the big arm turntable 3 is fixed on the carrier platform. For the convenience of construction, the big arm turntable 3 can be arranged on the sliding mechanism.

[0070] The sliding mechanism includes a track mechanism 1 laid on a carrier mechanism, the track mechanism 1 is matched with a moving seat mechanism 2, the moving seat mechanism 2 is connected to a large arm mechanism, and the large arm mechanism is provided with a template mechanism 8; the moving seat mechanism 2 moves along the laying direction of the track mechanism 1, and drives the template mechanism 8 to move in the direction of the track mechanism 1 through the large arm mechanism.

[0071] The track mechanism 1 can be laid along the longitudinal direction of the tunnel or along the transverse direction of the tunnel. When laid transversely, the track mechanism 1 is configured to have an arc structure that matches the arc of the tunnel, and the mold spraying mechanism including the template mechanism 8 and the large arm mechanism is integrally arranged on the arc-shaped track mechanism 1.

[0072] In the sliding mechanism of the present invention, the track mechanism 1 includes two parallel longitudinal rails 12, and the longitudinal rails 12 are laid on the surface of the carrier; the moving seat mechanism 2 is provided with two rows of rollers 24 that cooperate with the longitudinal rails 12, and the rollers 24 can roll on the longitudinal rails 12; the moving seat mechanism 2 is provided with a driving mechanism, and the driving mechanism drives the moving seat mechanism 2 to move on the longitudinal rails 12; wherein the driving mechanism is set to be an oil cylinder, an air cylinder, a gear mechanism or a chain transmission mechanism.

[0073] The boom turntable 3 of the boom mechanism is arranged on the moving seat mechanism 2, and the moving seat mechanism 2 is arranged on the track mechanism 1, and can move with the boom turntable 3 in the longitudinal direction of the track mechanism 1. The boom mechanism and the template mechanism 9, the nozzle assembly 8 and other related mechanisms and components carried by the boom mechanism can move with the boom mechanism in the longitudinal direction of the excavated rock surface, so that the mold cavity formed between the template mechanism 8 and the rock surface can be adjusted along the longitudinal direction of the rock surface. For example, in the initial support mold spraying of the tunnel, continuous multi-section rock surface can be carried out by moving the carrier mechanism (such as a trolley) at a single time. The mold spraying avoids the disadvantage that only a single section of the rock surface mold spraying can be carried out at a single movement, and greatly improves the construction efficiency of the mold spraying.

[0074] The track mechanism 1 includes a support frame 11 and two longitudinal rails 12 mounted on the support frame 11 and parallel to each other. The support frame 11 includes two parallel and spaced longitudinal support beams 111 and a plurality of evenly spaced transverse support beams 112 connected between the two longitudinal support beams 111, and the two longitudinal rails 12 are fixed on the top of the longitudinal support beams 111.

[0075] The track mechanism 1 also includes two track mechanism connecting plates 13, which are fixed to the bottom of the supporting longitudinal beam 111 and have the same length as the supporting longitudinal beam 111; the function is that the track mechanism 1 is fixed to the frame beam of the trolley frame I through the track mechanism connecting plates 13.

[0076] The two track mechanism connecting plates 13 are also provided with a plurality of evenly spaced connecting lug plates 14, which are fixed downwardly to the outer side of the track mechanism connecting plates 13 and can be fixed to the outer side of the frame beam. The track mechanism connecting plates 13 and the connecting lug plates 14 are respectively provided with connecting screw holes 131 and connecting screw holes 141, and are fixed to the frame beam by connecting bolts.

[0077] The track mechanism connecting plate 13 includes a connecting plate wide portion 131 and a connecting plate narrow portion 132, which are connected by a smooth transition portion 133. The clearance between the two connecting plate narrow portions 132 is relatively larger, so as to facilitate the installation of the engine assembly in the space below.

[0078] A longitudinal rack 15 is provided along the longitudinal direction of the track mechanism 1 and can be engaged with the sliding drive gear on the moving seat mechanism 2 . The length of the longitudinal rack 15 is equal to the length of the supporting longitudinal beam 111 .

[0079] The longitudinally shifting rack 15 is fixed to the inner side of any longitudinal rail 12. The specific fixing method is that a plurality of rack fixing seats 16 are evenly spaced and fixed to the inner side of the supporting longitudinal beam 111 under the longitudinal rail 12, and the rack fixing seat 16 includes a horizontal plate 161 and a vertical plate 162, the upper surface of the horizontal plate 161 is flush with the lower surface of the longitudinal rail 12, and the vertical plate 162 is directly welded to the inner side of the supporting longitudinal beam 111, and a reinforcing support plate 163 is connected between the horizontal plate 161 and the vertical plate 162 of the rack fixing seat 16.

[0080] The track mechanism 1 is also provided with an anti-slip mechanism to prevent the movable seat mechanism 2 from being laterally and longitudinally detached from the longitudinal rail 12 during operation. Specifically, the anti-slip mechanism includes a longitudinal anti-slip mechanism and a transverse anti-slip mechanism.

[0081] The specific form of the longitudinal anti-slip mechanism is that a stop mechanism is respectively provided at both ends of the longitudinal rail 12 to prevent the moving seat mechanism from longitudinally detaching from the longitudinal rail 12; and an anti-collision seat 25 corresponding to the stop mechanism is respectively provided at both ends of the moving seat mechanism 2. A stop seat 17 is provided at the same end of the two longitudinal rails 12 to limit the moving seat mechanism 2 at the end. The stop seat 17 includes a stop seat horizontal plate 171 and a stop seat vertical plate 172, and a stop seat support plate 173 connecting the stop seat horizontal plate 171 and the stop seat vertical plate 172. The stop seat 17 is connected to the sliding seat slide plate 12 by bolts. Two corresponding vertical stop blocks 18 are provided at the other end of the two supporting longitudinal beams 111 relative to the stop seat 17. A mounting seat 181 for mounting the arm bracket 19 is connected between the two vertical stop blocks 18. The vertical stop block 18 can be directly welded to the end of the supporting longitudinal beam 111. The mounting seat 181 includes a mounting seat vertical plate 181a and a mounting seat horizontal plate 181b. The mounting seat horizontal plate 181b is provided with a connecting hole 181c, and the arm support 19 is connected to the mounting seat horizontal plate 181b by connecting bolts. The arm support 19 is used to support the rotating arm 4 after the rotating arm 4 is retracted when the mold spraying trolley stops working and needs to leave the work site. The above-mentioned stopper 17 and vertical stopper 18 are two specific forms of the stop mechanism, which can be selected and used according to actual conditions.

[0082] The specific structure of the mobile seat mechanism 2 is:

[0083] The movable seat mechanism 2 includes a seat body 21 and at least two groups of sliding rollers 22 located on both sides of the bottom of the seat body 21 . The sliding rollers 22 are directly placed on the longitudinal rails 111 and can roll longitudinally along the longitudinal rails 111 .

[0084] The longitudinal rail 12 is a horizontal plate-like structure, and hook plates 23 are also provided on both sides of the moving seat mechanism 2 to lock the longitudinal rail 12 from the lower part of the plate-like longitudinal rail to prevent the moving seat mechanism from lateral separation from the longitudinal rail 12; L-shaped hook plates 23 are correspondingly provided on both sides of the moving seat mechanism 2 to form a lateral anti-separation mechanism of the sliding mechanism, and the hook plates 23 include a limiting vertical plate 231 and a limiting horizontal plate 232 to prevent the moving seat mechanism 2 from deviating and overturning during the walking process on the longitudinal rail 111, and to achieve the overall stability of the attachments such as the boom turntable 3 and the rotating boom 4 on the moving seat mechanism 2. The limiting horizontal plate 232 extends toward the inner side of the moving seat mechanism 2 and is located under the sliding roller 22. The distance from the top surface of the limiting horizontal plate 232 to the sliding roller 22 is slightly greater than the thickness of the longitudinal rail 111, and the longitudinal rail 111 can be clamped between the sliding roller 22 and the limiting horizontal plate 232, so that the movement of the moving seat mechanism 2 is more stable.

[0085] The seat body 21 of the movable seat mechanism 2 is a square structure as a whole, including two longitudinal plates 211 located on both sides and two transverse plates 212 located at both ends, and a sliding roller fixing plate 213 parallel to the longitudinal plate 211 is arranged on both sides close to the longitudinal plates 211, and the sliding rollers 22 on both sides are respectively installed between the longitudinal plates 211 and the sliding roller fixing plates 213 of the trolley on the same side, and each group of sliding rollers 22 shares a roller shaft 221, and the roller shaft 221 passes through the longitudinal plates 211 and the sliding roller fixing plates 213 on both sides at the same time.

[0086] The hook plate 23 is fixed to the outer side of the longitudinal plates 211 on both sides by bolts, and the hook plate 23 on each side of the trolley is divided into three sections, including two end hook plates 23a and a middle hook plate 23b located between the two end hook plates 23a. The end hook plates 23a are also fixed to the ends of the roller shaft 221, which has the multiple functions of simultaneously strengthening the fixed roller shaft 221 and blocking the roller shaft 221 from the ends, and also has the effect of further increasing the strength of the end hook plates 23a.

[0087] Furthermore, the movable seat mechanism 2 is provided with two sets of sliding rollers 22, and two hollow reinforcing sleeves 24 are fixed between the two sliding rollers 22 on the same side, and between the trolley longitudinal plate 211 and the sliding roller fixing plate 213 on the same side. The connection between the trolley longitudinal plate 211 and the reinforcing sleeve 24 is provided with a longitudinal plate through hole (not shown in the figure) that penetrates the reinforcing sleeve 24, and a reinforcing shaft 241 is provided on the limiting vertical plate 231 of the middle hook plate 23b corresponding to the reinforcing sleeve 24. When installing the middle hook plate 23b, the reinforcing shaft 241 is aligned with the reinforcing sleeve 24 and penetrated therein, and then the limiting vertical plate 231 is fixed to the trolley longitudinal plate 211 from the outside by bolts, which greatly improves the strength of the middle hook plate 23b. A plurality of vertical reinforcing plates 23b1 are also provided on the outside of the limiting vertical plate 231 of the middle hook plate 23b, which play a further reinforcing role.

[0088] Furthermore, a plurality of longitudinal reinforcing plates 214 and transverse reinforcing plates 215 that are staggered and fixedly connected are arranged between the two sliding roller fixing plates 213 and between the two trolley transverse plates 212. At the same time, a transverse reinforcing plate 215 is arranged between the sliding roller 22 and the reinforcing sleeve 24 on the same side and between the two reinforcing sleeves 24 on the same side.

[0089] The inner side of the hook plate 23 (i.e. the inner side of the limiting horizontal plate 232) is also provided with an anti-wear layer 233, which is made of copper alloy material. Due to the unique properties of copper, it can effectively prevent the movable seat mechanism 2 from getting stuck when sliding on the track mechanism 1.

[0090] Corresponding to the stopper mechanism on the aforementioned track mechanism 1, anti-collision seats are respectively provided at the front and rear ends of the moving seat mechanism 2. There are four anti-collision seats in total, one of which is installed at each end of the outer side of each transverse plate 212, so as to correspond to the stopper 17 and the vertical stopper 18 at the two ends of the track mechanism 1, respectively, so as to effectively block and limit the moving seat mechanism 2 when it slides to the end of the track mechanism 1, thereby achieving the purpose of limiting. Furthermore, the length of the anti-collision seat 25a facing the side of the vertical stopper 18 is greater than the length of the anti-collision seat 25b facing the side of the stopper 17, so as to avoid the moving seat mechanism 2 from damaging the arm support 19 when it slides to the extreme position on the side of the vertical stopper 18.

[0091] Dust-proof scrapers 212 a are respectively provided at both ends of the movable seat mechanism 1 . Specifically, the dust-proof scrapers 212 a are fixed on the outer side of the transverse plate 212 to scrape off dust, mud and other debris that falls onto the top surface of the longitudinal rail 12 on the track mechanism 1 .

[0092] A motor mounting seat 26 is provided outwardly at either end of the moving seat mechanism 2, and a driving motor 27 is mounted on the motor mounting seat 26, the rotating shaft of the driving motor 27 is downward, and a sliding driving gear 271 is mounted on the free end of the rotating shaft, and the bottom elevation of the sliding driving gear 271 is higher than the top elevation of the supporting longitudinal beam 111 and the supporting transverse beam 112 of the track mechanism 1. When the moving seat mechanism 2 is installed on the track mechanism 1, the sliding driving gear 271 can just mesh with the longitudinal rack 15. Further, the motor mounting seat 26 is installed at one end of the stop seat 17 to avoid interference with other equipment of the trolley.

[0093] The motor mounting seat 26 includes a fixed vertical plate 261 and a fixed horizontal plate 262 which are vertically connected to each other. The fixed vertical plate 261 is fixed to the outer side of the horizontal plate 212 by bolts, and the sliding drive motor 27 is fixed on the fixed horizontal plate 262; fixed reinforcing plates 263 connecting the fixed vertical plate 261 and the fixed horizontal plate 262 are also provided on both sides of the driving fixed seat 26.

[0094] The movable seat mechanism 2 further comprises a top plate 28 and a bottom plate 29, wherein the bottom plate 29 covers the area between the two roller fixing plates 213, and the top plate 28 entirely covers the area between the two transverse plates 212 and the two longitudinal plates 211. A plurality of bolt holes 281 arranged in an annular shape and evenly spaced are provided in the middle of the top plate 28 for fixing the boom turntable 3.

[0095] The movable seat mechanism 2 is also provided with mud guards around it to prevent concrete from falling into the machine and onto the guide rail mechanism during operation.

[0096] In the above examples, the support arm can be a large arm (also known as a large arm mechanism), which can be used to adjust the gap / distance between the nozzle assembly and the template mechanism and the excavated rock surface, so as to control the entire device. The large arm or large arm mechanism can adopt the following similar or similar structures:

[0097] The boom mechanism includes a boom turntable 3 which can rotate relative to the horizontal plane, and the boom turntable 3 is provided with a swivel boom 4 which can rotate relative to the vertical plane. The forearm mechanism 5 is arranged at the front end of the swivel boom 4. Based on the relative rotation between the swivel boom 4, the boom turntable 3 and the base of the boom mechanism, the template mechanism 8 moves with the front end of the swivel boom 4, and the distance and / or angle between the template mechanism 4 and the rock wall are controlled, so that the template mechanism 8 forms a mold cavity with the target rock wall at the target rock wall.

[0098] The boom turntable 3 includes a turntable frame 31, a horizontal rotation component and a vertical rotation component. The turntable frame 31 is fixed on the carrier mechanism through the horizontal rotation component and can rotate horizontally on the carrier mechanism. The slewing boom 4 is installed on the turntable frame 31 through the vertical rotation component and can rotate in a vertical plane with the vertical rotation component as the center.

[0099] The turntable frame 31 is an L-shaped structure as a whole, including a turntable bottom plate 311 and a turntable vertical plate 312; the horizontal rotation assembly includes a horizontal large gear 32 and a horizontal rotation driving gear 323 meshing with the horizontal large gear 32. The horizontal large gear 32 includes a second large gear ring 321 and a second annular gear shaft 322, and the horizontal large gear 32 is directly fixed to the bolt hole 281 of the top plate 28 by bolts; the turntable bottom plate 311 is fixed to the second annular gear shaft 322 of the horizontal large gear 32 by bolts. The second large gear ring 321 is provided with bolt connection holes 321a at even intervals in the circumferential direction, and the first annular gear shaft 322 is also provided with bolt connection holes 322a at even intervals in the circumferential direction.

[0100] The horizontal rotation driving gear 323 is mounted on the rotating shaft of the horizontal rotation driving motor 324, and the horizontal rotation driving motor 324 is fixed downward on the turntable bottom plate 311. The turntable bottom plate 311 includes a motor mounting portion 311a extending beyond the outside of the horizontal large gear 32, and the horizontal rotation driving motor 324 is fixed on the motor mounting portion 311a, and the motor mounting portion 311a is connected to the main body of the turntable bottom plate 311 by a smooth transition.

[0101] The vertical rotating assembly includes a vertical large gear 33 and a vertical rotating driving gear 333 meshing with the vertical large gear 33. The vertical large gear 33 also includes a first large gear ring 331 and a first annular gear shaft 332, wherein the first annular gear shaft 332 is fixed to the turntable vertical plate 312, and the slewing arm 4 is directly fixed to the first large gear ring 331. The first large gear ring 331 and the first annular gear shaft 331 are respectively provided with a plurality of bolt through holes 331a and bolt through holes 332a for fixing at even intervals in the circumferential direction, that is, the first large gear ring 331 and the slewing arm 4 are fixed by bolt connection, and the first annular gear shaft 332 and the turntable vertical plate 312 are also fixed by bolt connection.

[0102] The vertical rotation driving gear 333 is installed on the turntable vertical plate 312 through the vertical rotation driving motor 334. The vertical rotation driving gear 333 has one or more than one, which are distributed around the first large gear ring 331 and meshed with it at the same time. Furthermore, there are four vertical rotation driving gears 333, which are symmetrically arranged on the left and right sides of the first large gear ring 331.

[0103] A fixing operation through hole 312a is provided on the turntable vertical plate 312 on the rotation circumference opposite to the bolt through hole 331a on the first large gear ring 331, so as to facilitate the insertion of bolts from the back of the turntable vertical plate 312 through the fixing operation through hole 312a and complete the fixation between the rotating arm 4 and the first large gear ring 331.

[0104] A plurality of reinforcing vertical plates 313 are connected between the turntable bottom plate 311 and the turntable vertical plate 312. The back of the turntable vertical plate 312 is provided with pipeline brackets 314 facing both sides for supporting and fixing the pump pipe.

[0105] The swivel boom 4 is a telescopic structure, the forearm mechanism 5 is installed at the front end of the swivel boom 4, the rear end of the swivel boom 4 is fixed on the first large gear ring 331 of the boom turntable 3, and the maximum rotation angle of the swivel boom 4 in the vertical plane is greater than 240 degrees.

[0106] The swing boom 4 is a multi-section structure, and the extension and retraction are controlled by hydraulic components. In this embodiment, it includes three sections, including a swing rear arm 41, a swing middle arm 42, and a swing front arm 43. A box-type joint 412 is provided at the rear end of the swing rear arm 41 of the swing boom 4, and a boom connecting plate 411 is fixed on the box-type joint 412. The boom connecting plate 411 is provided with a connecting plate bolt through hole 411a corresponding to the bolt through hole 331a on the second large gear ring 331.

[0107] The swing rear arm 41 is provided with a pipe clamp 413 along the longitudinal direction for fixing a concrete delivery pipe, a hydraulic pipe, a high-pressure air pipe, etc. The pipe clamp 413 includes two pipe clamps, which are respectively fixed at the front end and the rear end of the side of the swing rear arm 41, and each pipe clamp 413 is fixed to the swing rear arm through a pipe clamp support rod 413a.

[0108] A hose guide 44 is provided on the same side of the front end of the swing middle arm 42 and the pipe clamp 413 to support the relevant hoses on the swing arm 4. Similarly, the hose guide 44 can also be provided on the swing forearm 43, but it is better not to provide the swing forearm 43 and the swing middle arm 42 at the same time, because after the swing arm 4 is recovered as a whole, the relevant hose clamp 44 may be clamped between the two hose guides, affecting the complete recovery of the swing forearm 4. The hose guide 44 includes a guide crossbeam 441 and a bracket 442 fixed on the guide crossbeam 441. More than two brackets 442 can be provided to space hoses with different functions or directions. Each bracket 442 includes two downward bracket vertical pipes 443 fixed on the guide crossbeam 441 and a bracket horizontal pipe 444 connecting the two bracket vertical pipes 443 at the bottom. The bracket vertical tube 443 and the bracket horizontal tube 444 are both sleeved with bracket rollers 445 to reduce friction damage to the related hoses and make the guidance of the related hoses smoother.

[0109] The front end of the swivel forearm 43 is provided with an upward swivel forearm elbow 431, and the top surface of the swivel forearm elbow 431 is provided with an upward swivel forearm connecting seat 432. The swivel forearm connecting seat 432 is provided with a plurality of connecting holes 432a at evenly spaced intervals in an annular direction to facilitate the installation of the template mechanism 8 and the nozzle assembly 9.

[0110] Furthermore, the front end of the rotating arm 4 is connected to a forearm mechanism 5, and the template mechanism 8 and the nozzle assembly 9 are both arranged on the forearm mechanism 5, and the forearm mechanism 5 is connected to the front end of the rotating arm 4 through a rotating mechanism 51, specifically, it can be connected to a rotating forearm connecting seat 432, and the template mechanism 8 and the nozzle assembly 9 can rotate around the rotating mechanism 51 under the action of the rotating mechanism 51.

[0111] In the present invention, a slewing arm telescopic amount detection sensor is also provided on the slewing arm, and the slewing arm telescopic amount detection sensor is provided on a hydraulic component, and the hydraulic component is a hydraulic cylinder, and detects the telescopic amount of the hydraulic cylinder.

[0112] In the above-mentioned support arm example, the support arm is configured as a large arm, a large arm and an auxiliary arm, two arms, three arms or a frame-type arm structure, wherein when a large arm is used, the structure of the above-mentioned large arm mechanism or a similar structure can be used; in addition, when a non-large arm or auxiliary arm is used, its nozzle assembly, formwork mechanism, etc. are similar to the previous example, such as when the nozzle assembly is connected to the injection system for concrete injection, and the auxiliary arm can drive the nozzle assembly to move three-dimensionally in space to ensure that it can penetrate or spray into the concrete above the mold cavity.

[0113] In the present invention, the accelerator and concrete need to be mixed and then sprayed into the mold cavity through the nozzle assembly. Therefore, the injection system needs to be set as an independent pumping system (independent injection system), or several pumping systems are arranged in parallel and connected to the material mixer; in the injection system, the concrete delivery hose / accelerator delivery pipe are all arranged on the pump pipe automatic supply mechanism, and the pump pipe automatic supply mechanism can wind up or release the delivery pipe.

[0114] In addition, in order to match the nozzle assembly / nozzle with the template / mold cavity for concrete spraying, the nozzle assembly needs to be fine-tuned before or during the spraying process, so a nozzle fine-tuning mechanism can be set, wherein the nozzle fine-tuning mechanism includes a nozzle pitch fine-tuning mechanism and a nozzle rotation fine-tuning mechanism, wherein the nozzle assembly is connected to the nozzle pitch fine-tuning mechanism and / or the nozzle rotation fine-tuning mechanism; the nozzle pitch fine-tuning mechanism can adjust the pitch angle / direction of the nozzle assembly; the nozzle rotation fine-tuning mechanism can adjust the rotation angle / direction of the nozzle assembly; the nozzle pitch fine-tuning mechanism and the nozzle rotation fine-tuning mechanism are connected and cooperated with each other to adjust the angle / direction of the nozzle assembly relative to the mold cavity. To ensure the effect and quality of injection casting.

[0115] The fine-tuning mechanism also includes a nozzle fixing seat 7, and the rotation fine-tuning mechanism is fixed on the nozzle fixing seat 7; the pitch fine-tuning mechanism and the nozzle assembly 9 are both arranged on the rotation fine-tuning mechanism, and the pitch fine-tuning mechanism and the nozzle assembly 9 rotate as a whole under the action of the rotation fine-tuning mechanism. The pitch fine-tuning mechanism is set as an oil cylinder, an air cylinder, a gear mechanism or a chain transmission mechanism to adjust the front and rear angle / direction of the nozzle assembly 9 relative to the mold cavity; the rotation fine-tuning mechanism is an oil cylinder, an air cylinder, a gear mechanism or a chain transmission mechanism to adjust the left and right angle / direction of the nozzle assembly relative to the mold cavity.

[0116] Furthermore, the rotation fine-tuning mechanism is configured as a rotation cylinder 73, and a nozzle support plate 74 is fixed on the rotating shaft of the rotation cylinder 73; the pitch fine-tuning mechanism is a pitch cylinder 75, and the pitch cylinder 75 is hinged to the nozzle support plate 74, and the piston rod 752 of the pitch cylinder 75 is hinged to the nozzle support plate 74, and the nozzle assembly 9 is hinged to the nozzle support plate 74 (specifically hinged at the hinge support 741 at the lower end), so that the pitch cylinder 75 controls the pitch angle / direction of the nozzle assembly 9.

[0117] The nozzle fine-tuning mechanism includes a pitch fine-tuning mechanism and a rotation fine-tuning mechanism, wherein the nozzle assembly 9 is connected to the pitch fine-tuning mechanism and / or the rotation fine-tuning mechanism; the pitch fine-tuning mechanism can adjust the pitch angle / direction of the nozzle assembly 9; the rotation fine-tuning mechanism can adjust the rotation angle / direction of the nozzle assembly 9; the pitch fine-tuning mechanism and the rotation fine-tuning mechanism are interconnected and cooperated to adjust the angle / direction of the nozzle assembly 9 relative to the mold cavity to ensure the effect and quality of injection casting.

[0118] The template and template mechanism involved in the present invention need to match the rock surface and the steel arch frame to form a mold cavity, so the template mechanism can be set as a plate template, a combined template, a side template, an electromagnetic template, an airbag template, a belt template and / or a chain plate template.

[0119] The plate template (also known as flat template) 8 includes a template 81, a template rotation adjustment mechanism and / or a template pitch adjustment mechanism. The surface of the template 81 is set as an arc surface. The template 81 is set on the template rotation adjustment mechanism and / or the template pitch adjustment mechanism. The rotation adjustment mechanism can adjust the rotation angle of the template 81, and the template pitch adjustment mechanism can adjust the pitch angle of the template 81. The template 81 is hinged on the template support 85. The template support 85 is connected with the template pitch adjustment mechanism. The template pitch adjustment mechanism is connected to the template 81, so that the template pitch adjustment mechanism can adjust the pitch angle of the template 81 relative to the template support 85. The hinge point of the template support 85 and the template 81, and the connection point of the template pitch angle adjustment mechanism and the template 81 are all located at different heights in the same vertical direction of the template 81; the template pitch angle adjustment mechanism is set as an oil cylinder, a cylinder, a gear mechanism or a chain transmission mechanism.

[0120] Furthermore, the template pitch angle adjustment mechanism is set as a template pitch cylinder 86, the cylinder body 861 of the template pitch cylinder 86 is hinged on the template support 85, and its piston rod 862 is hinged on the template 81; wherein the hinge point of the piston rod 862 and the template 81 is located below the hinge point of the template support 85 and the template 81, so that the extension and retraction of the template pitch cylinder 86 controls the pitch angle of the template 81 relative to the template support 85.

[0121] The template support 85 is connected to the forearm mechanism 5 through a template rotation adjustment mechanism, so that the template rotation adjustment mechanism can adjust the rotation angle of the template 81. The template rotation adjustment mechanism is a mutually meshing gear mechanism, and the gear mechanism enables the template support 85 and the forearm mechanism 5 to rotate relative to each other at a certain angle, so that the rotation angle of the template can be adjusted. The template rotation adjustment mechanism is not specifically shown in the figure, but all existing rotation mechanisms can be applied here to realize the rotation control of the template support 85 with the axis of the forearm mechanism as the center line, so that the control of the template mechanism 8 is more precise and has stronger adaptability to working conditions. The specific implementation method of the template rotation adjustment mechanism can refer to the rotating cylinder 73 of the nozzle fine-tuning mechanism, and serve as a specific implementation method.

[0122] The curved surface of the template 81 has the same curvature as the steel arches arranged in the tunnel. When the template is attached to two or more adjacent steel arches, one or more mold cavities are formed between the template 81 and the rock wall and the steel arches. The surface of the template 81 is provided with a partition 811. When concrete is sprayed into the mold cavity, the partition 811 is placed between the concrete and the surface of the template 81, so that the concrete does not directly contact the surface of the template 81.

[0123] The template mechanism 8 in the present invention includes a template body 81 and a transverse reinforcing rib plate 82 and a longitudinal reinforcing rib plate 83 arranged alternately on the back of the template body 81; the curvature of the template body 81 is the same as the curvature of the steel arch frame, and the outer plate surface of the template body 81 is in close contact with two or more adjacent steel arch frames. The purpose of this arrangement is that when the template body 81 covers two adjacent rows of steel arch frames in the longitudinal direction of the tunnel at the same time, a transverse mold cavity to be sprayed can be enclosed between the template body 81 and the two rows of steel arch frames. When the template body 81 covers multiple adjacent steel arch frames, multiple transverse mold cavities will be formed at the same height. Then, each time the template mechanism 8 moves upward from the bottom of the steel arch frame, a larger area that can be sprayed can be formed, so as to effectively improve the construction efficiency of mold spraying.

[0124] The template mechanism 8 and the nozzle assembly 9 are simultaneously mounted on the forearm mechanism 5, and the nozzle assembly 9 is located above the template mechanism 8. This ensures that the wet spray nozzle sprays from the top of the aforementioned transverse mold cavity to ensure the quality of spray casting.

[0125] A hinge support 84 is disposed on the back of the template body 81 , and the hinge support 84 is connected to a template support 85 , and can be connected and fixed to the forearm mechanism through the template support 85 .

[0126] The template support 85 includes a support elbow 851, a support connecting plate 852 and a template connecting seat 853. The support connecting plate 852 is fixed to the horizontal top of the support elbow 851, has the same shape as the forearm connecting plate 53, and is connected thereto by bolts.

[0127] The template connecting seat 853 includes a template horizontal seat plate 853a and a template vertical seat plate 853b. The template horizontal seat plate 853a is fixed to the vertical bottom end of the support elbow 851, and the template vertical seat plate 853b is fixed on both sides of the template horizontal seat plate 853a and connected to the template hinge support 84 through a rotating shaft.

[0128] A template pitch cylinder 86 is also connected between the back of the template body 81 and the template support 85 to adjust the pitch angle of the template mechanism 8 .

[0129] A cylinder hinge support 854 is provided at the bottom of the template horizontal seat plate 853a between the two template vertical seat plates 853b to connect the cylinder 861 of the template pitch oil cylinder 86; a hinge support 2 87 of the template pitch oil cylinder 86 is provided at the back of the template body 81 and below the hinge support 1 84 to connect the piston rod 862 of the template pitch oil cylinder 86. Further, the hinge support 2 87 is formed integrally with the seat plate of the template hinge support 84 of the template body 81 and the two longitudinal reinforcing rib plates 83 located in the center.

[0130] The side surfaces of the seat plates of all the hinge supports are provided with seat plate reinforcing ribs.

[0131] The partition layer 811 disposed on the outer surface of the template body 81 is a replaceable wear-resistant plastic layer, which can be replaced very conveniently.

[0132] In actual use, the template mechanism 8 can be made into finished products of different sizes and specifications, which can be selected and used by different construction sites to meet different customer needs. Specifically, the template mechanism 8 can be made into one frame (can cover two adjacent steel arch frames at the same time), two frames (can cover three adjacent steel arch frames at the same time) or three frames (can cover four adjacent steel arch frames at the same time) or more, and all template mechanisms 8 are provided with template supports 85, which can be very conveniently connected and fixed with the forearm connecting plate 83 of the forearm mechanism 5 through the template supports 85, so that the replacement operation of the template mechanism 8 is convenient and fast.

[0133] The mold spraying method can achieve zero rebound. Within the same operating range, the amount of concrete can be reduced by 20%-40%, while the amount of accelerating setting agent is reduced, with significant economic and social benefits; the surface finish is high, no post-shaping is required, the construction period is shortened, and the production efficiency is greatly improved; the construction safety is good, and the mechanical construction is remotely controlled throughout the process, which greatly improves the construction safety.

[0134] The specific structure of the template in the template mechanism is described, and the template includes a template body 81, the edge contour of the template body 81 is rectangular, and the working surface of the template body 81 is set to an arc surface that convexes outward in the middle, so that the arc contour of the working surface is in the length direction of the template body. In the length direction of the working surface of the template body 81, its curvature is set to match the curvature of the steel arch frame in the tunnel. Alternatively, the working surface of the template body 81 is set to an arc surface, and the arc surface is arranged along the length direction of the template body 81. On the non-working surface of the template body 81, there are also provided a hinge support 1 84 connected to the control frame, and a hinge support 2 87 connected to the pitch angle adjustment mechanism, and the hinge support 2 87 and the hinge support 1 84 are both located at different heights in the same vertical direction of the template. Furthermore, the hinge support 2 87 of the template is located below the hinge support 1 84.

[0135] The working surface of the template is provided with a partition 811. When concrete is sprayed into the mold cavity, the partition 811 is placed between the concrete and the template surface so that the concrete does not directly contact the surface of the template. The partition 811 is made of flexible plastic, and the template is also provided with a continuous replacement mechanism for the partition.

[0136] The upper and lower ends of the template are respectively provided with a release reel 88 and a recovery reel 89 for the plastic interlayer, and the length of the plastic interlayer 811 is longer than the height of the template and not less than the width of the template; the plastic interlayer 811 is wound on the release reel 88, and is wound on the recovery reel 89 after passing around the front surface of the template; and the recovery reel 89 is connected to a driving device (not shown in the figure, it can be set as a rotating cylinder) so that the recovery reel 89 rotates automatically to recover the damaged plastic interlayer segment, and the release reel 88 is provided with an automatic locking mechanism (not shown in the figure) which can automatically lock the plastic interlayer in front of the template surface after being renewed.

[0137] In addition, the template structure can also adopt a combined template. The present invention also provides another template structure and a construction method using the template structure.

[0138] In addition, when one or more support arms are used, a nozzle displacement mechanism can be provided at the end of the nozzle fine-tuning mechanism and the support arm, so that the nozzle fine-tuning mechanism and the nozzle displacement mechanism are combined to form a nozzle displacement assembly. The nozzle assembly is arranged on the transverse movement mechanism, and the transverse movement mechanism drives the nozzle assembly to move transversely; the transverse movement mechanism is arranged on the longitudinal movement mechanism, and the longitudinal movement mechanism drives the transverse movement mechanism and the nozzle assembly to move longitudinally as a whole. The nozzle assembly 9 can be connected to the forearm mechanism 5 alone through the nozzle fine-tuning mechanism or the nozzle displacement mechanism; the position and angle of the nozzle assembly 9 relative to the template mechanism / mold cavity can be controlled.

[0139] For example:

[0140] The nozzle displacement mechanism includes a longitudinal movement mechanism and a transverse movement mechanism; a nozzle assembly 9 is arranged on the longitudinal movement mechanism and / or the transverse movement mechanism, the longitudinal movement mechanism can adjust the displacement of the nozzle assembly in the longitudinal direction, and the transverse movement mechanism can adjust the displacement of the nozzle assembly in the transverse direction; the longitudinal movement mechanism and the transverse movement mechanism are interconnected and cooperated to control the nozzle assembly to move to any displacement point on the same plane.

[0141] The nozzle assembly 9 is arranged on the transverse movement mechanism, and the transverse movement mechanism drives the nozzle assembly to move transversely; the transverse movement mechanism is arranged on the longitudinal movement mechanism, and the longitudinal movement mechanism drives the transverse movement mechanism and the nozzle assembly to move longitudinally as a whole.

[0142] The nozzle displacement assembly. The nozzle fine-tuning mechanism and the nozzle displacement mechanism can also be connected to form a nozzle displacement assembly to control the displacement of the nozzle assembly 9 relative to the template mechanism 8 / mold cavity. The nozzle fine-tuning mechanism and the nozzle displacement mechanism constitute a nozzle moving assembly mechanism to achieve the control of the longitudinal and lateral distance relationship between the nozzle assembly 9 and the mold cavity, as well as the angle / direction relationship relative to the mold cavity.

[0143] For example:

[0144] The nozzle displacement mechanism includes a longitudinal movement mechanism and a transverse movement mechanism; a nozzle fine-tuning mechanism is arranged on the longitudinal movement mechanism and / or the transverse movement mechanism, the longitudinal movement mechanism can adjust the displacement of the nozzle fine-tuning mechanism and the nozzle assembly 9 in the longitudinal direction, and the transverse movement mechanism can adjust the displacement of the nozzle fine-tuning mechanism and the nozzle assembly 9 in the transverse direction; the longitudinal movement mechanism and the transverse movement mechanism are interconnected and cooperated to control the nozzle assembly 9 to move to any displacement point on the same plane.

[0145] The longitudinal movement mechanism adjusts the displacement of the nozzle assembly 9 in the longitudinal direction by controlling the nozzle fine-tuning mechanism; the transverse movement mechanism adjusts the displacement of the nozzle assembly 9 in the transverse direction by controlling the nozzle fine-tuning mechanism; the longitudinal movement mechanism and the transverse movement mechanism are connected to each other and cooperate with each other to control the movement of the nozzle assembly 9 to any displacement point on the same plane. Through the comprehensive control of the nozzle displacement mechanism and the nozzle fine-tuning mechanism, the nozzle assembly 9 is optimized in the injection position and injection angle / direction relative to the mold cavity, achieving the best mold injection effect and effectively improving the efficiency of mold injection.

[0146] The transverse movement mechanism includes a transverse movement arm 6 and a nozzle fixing seat 7, and the transverse movement arm 6 is provided with a transverse guide and a transverse movement driving member, wherein the transverse guide is a transverse groove rail, a transverse slide groove or a transverse slider, and the transverse movement driving member is a transverse movement rack, a chain, a cylinder, an oil cylinder or a steel rope; the nozzle fixing seat 7 is provided with a guide wheel / block / groove matching the transverse guide, and a driving member cooperating with the transverse movement driving member, so that the nozzle assembly can move in the transverse direction relative to the transverse movement arm 6.

[0147] The nozzle fine-tuning mechanism is arranged on the nozzle fixing seat 7, and the nozzle fixing seat 7 is arranged on the transverse arm 6 and can drive the nozzle fine-tuning mechanism and the nozzle assembly 9 to move in the transverse direction on the transverse arm 6. The main problem of the nozzle assembly 9 moving in the transverse direction over a long distance is solved. The nozzle of the traditional wet spraying manipulator does not have a transverse movement function. The reason why there is a high transverse movement demand in this patent technology is mainly because, after the template mechanism 8 and the excavated rock wall form a mold cavity to be poured, it is necessary to make the nozzle assembly 9 move in a large range in the transverse direction, so as to cast a large width that can cover the entire mold cavity at the same time, thereby improving the spraying efficiency.

[0148] The longitudinal movement mechanism is arranged on the forearm mechanism 5, and the forearm mechanism 5 is provided with a longitudinal movement seat 56, and the transverse movement arm 6 is installed on the longitudinal movement seat 56. The forearm mechanism 5 can control the longitudinal movement seat 56 and the transverse movement mechanism, the nozzle fine adjustment mechanism and the nozzle assembly 9 thereon to move in the longitudinal direction of the forearm mechanism 5 at the same time. In this way, the forearm mechanism 5 and the longitudinal movement seat 56 constitute a realization mode of the longitudinal movement mechanism, but are not limited thereto.

[0149] The transverse arm 6 further includes a transverse groove rail 61 , and the nozzle fixing seat 7 includes a roller connecting seat 71 , on which a roller 711 is mounted. The nozzle fixing seat 7 is integrally connected to the transverse arm 6 via the roller connecting seat 71 .

[0150] Further, the traverse arm 6 is provided with two mutually parallel traverse groove rails 61, including an upper traverse groove rail 611 located at the top of the traverse arm 6, and a lower traverse groove rail 612 located at the bottom of the traverse arm 6, and the lengths of the upper traverse groove rail 611 and the lower traverse groove rail 612 are equal to the length of the traverse arm 6. The roller connecting seat 71 also includes a roller connecting plate 712, and upper and lower rows of rollers 711 fixed on the roller connecting plate 712, and the upper and lower rows of rollers 711 roll in the upper traverse groove rail 611 and the lower traverse groove rail 612, respectively.

[0151] The traverse arm 6 is provided with a traverse rack 63, which meshes with a traverse driving gear 713 installed on the roller connecting seat 71. The traverse arm 6 also includes a detachable traverse front cover plate 621, which is provided with a cover plate strip hole 621a along the transverse center line, and the traverse rack 63 is fixed to the inner side of the traverse front cover plate 624. The traverse rack 63 can be fixed to the inner side of the traverse front cover plate 621 by bolts, and is located above or below the cover plate strip hole 621a.

[0152] The nozzle fixing seat 7 includes a square section 7a and a hollow cylindrical section 7b, and is fixedly connected by welding. The inner cavity of the hollow cylindrical section 7b is provided with a transverse driving motor 714. The rotating shaft of the transverse driving motor 714 passes through the roller connecting plate 712 and extends from the cover strip hole 621a of the transverse front cover plate 621 into the transverse arm 6. The transverse driving gear 713 is fixed to the free end of the rotating shaft of the transverse driving motor 714 and is engaged with the transverse driving rack 63.

[0153] The outer diameter of the transverse driving gear 713 is smaller than the width of the strip hole 621a of the cover plate. This can further enhance the lateral stability of the nozzle fixing seat 7. The transverse arm 6 is also provided with a cover plate 622 to protect the transverse upper groove rail 611 and prevent impurities from entering the transverse upper groove rail 611.

[0154] The forearm mechanism 5 includes a forearm beam 52 and a rotating mechanism 51. The bottom of the forearm beam 52 is connected to the rotating mechanism 51. The rotating mechanism 51 is placed on the upper arm mechanism so that the forearm beam 52 can rotate in a plane with the rotating mechanism 51 as a fulcrum. The forearm beam 51 is provided with a template mechanism 8 and a longitudinal movement mechanism. The longitudinal movement mechanism is provided with a nozzle assembly 9 and can control the nozzle assembly 9 to move longitudinally on the forearm mechanism 5. The forearm beam 52 is provided with a mutually cooperating slide rail / slide groove / slider and a longitudinal movement seat 56, wherein the slide rail / slide groove / slider is arranged on the top and / or inside of the forearm beam 52, and the longitudinal movement seat 56 is arranged in cooperation with the slide rail / slide groove / slider and can move the nozzle assembly 9 in the longitudinal direction relative to the forearm beam.

[0155] In addition, a forearm mechanism 5 can be connected between the nozzle displacement mechanism, the nozzle displacement assembly and the end of the upper arm mechanism. The forearm mechanism 5 is connected to the nozzle displacement mechanism. The nozzle displacement mechanism includes a longitudinal movement mechanism and a transverse movement mechanism. The longitudinal movement mechanism is arranged on the forearm mechanism 5, the transverse movement mechanism is arranged on the longitudinal movement mechanism, and the fine-tuning mechanism is arranged on the transverse movement mechanism. The fine-tuning mechanism includes a pitch angle control mechanism and a rotation angle control mechanism.

[0156] The forearm mechanism 5 includes a forearm beam 52 and a rotating mechanism 51. A rotating support 58 is installed at the bottom of the forearm beam 52. A connecting plate 581 is provided at the bottom of the rotating support 58. The connecting plate 581 can be fixed to the rotating mechanism 51 (the rotating mechanism 51 of this embodiment is set as a rotary reducer). The rotating mechanism can be placed on the carrier mechanism I and other similar carriers. In the present invention, the rotating mechanism is placed on the upper arm mechanism.

[0157] The forearm mechanism 5 includes a forearm beam 52, a longitudinal moving seat 56 and a transmission member 57 fixed on the forearm beam 52. The longitudinal moving seat 56 can slide along the longitudinal direction of the forearm mechanism 5 under the drive of the transmission member 57 to meet the need of front and rear position adjustment of the nozzle assembly 9. The transverse movement mechanism of the nozzle moving assembly mechanism is fixed on the longitudinal moving seat 56 as a whole and can move with it.

[0158] The front end of the forearm beam 52 is provided with a forearm connecting plate 53 for fixing the template support 85 of the template mechanism 8. The forearm beam 52 is a hollow structure, and its top is covered with a beam top plate 54. Two longitudinal slide rails 55 are provided parallel to each other along the longitudinal sides of the beam top plate 54. The longitudinal moving seat 56 cooperates with the two longitudinal slide rails 55 and can slide along the longitudinal slide rails 55. Further, the longitudinal slide rails 55 can be replaced by two longitudinal slide plates, and the outer side surface of the longitudinal slide plate needs to exceed the corresponding outer side edge of the beam top plate 54, so as to facilitate the longitudinal slide plate to be inserted into the slide groove of the longitudinal moving seat 56.

[0159] The transmission member 57 is installed inside the forearm beam 52 , and a top plate strip hole 541 is opened along the center line of the beam top plate 54 to facilitate the transmission member 57 to achieve traction movement on the longitudinal moving seat 56 .

[0160] The transmission member 57 is a chain transmission mechanism; if other transmission mechanisms can achieve the same transmission function, they can also be applied to the forearm mechanism 5, such as directly using cylinder transmission, cylinder transmission, gear transmission, rack transmission, belt transmission or rope transmission.

[0161] Furthermore, the chain transmission mechanism includes two chains 571, a guide wheel group, a transmission frame 574, and a driving cylinder 576. The two chains 571 are connected to the longitudinal movable seat 56 from the front and rear ends thereof, respectively, and the connecting head can be located above the strip-shaped hole 541 of the top plate. The chain 571 forms a front and rear oblique pull transmission for the longitudinal movable seat 56, and has a longitudinal pulling force for the longitudinal movable seat 56, and also has a downward restraining force, so that the longitudinal movable seat 56 is more firmly fixed on the forearm mechanism 5, and the chain transmission has a very high buffering effect on the irregular vibration of the nozzle assembly 9 during spraying, and has a better protective effect on the power mechanism.

[0162] The guide wheel group includes two fixed guide wheels and two movable guide wheels, namely, a fixed guide front wheel 573a and a fixed guide rear wheel 573b, which are respectively installed at the front end and the rear end inside the forearm beam 52, and the chain drive wheel is located between the fixed guide front wheel 573a and the fixed guide rear wheel 573b.

[0163] The movable guide wheels are respectively a movable guide front wheel 572a and a movable guide rear wheel 572b; the chain includes a front pull chain 571a and a rear pull chain 571b; the movable guide front wheel 572a and the movable guide rear wheel 572b can synchronously slide between the fixed guide front wheel 573a and the fixed guide rear wheel 573b.

[0164] One end of the front chain 571a is connected to the front end of the longitudinal movable seat 56, and the other end changes direction through the fixed guide front wheel 573a, and then bypasses the movable guide front wheel 572a, and is tensioned and fixed to the front end of the inner wall of the forearm beam 52; similarly, one end of the rear chain 571b is connected to the rear end of the longitudinal movable seat 56, and the other end changes direction through the fixed guide rear wheel 573b, and then bypasses the movable guide rear wheel 572b, and is tensioned and fixed to the rear end of the inner wall of the forearm beam 52.

[0165] The movable guide front wheel 572a and the movable guide rear wheel 572b are fixed on the transmission frame 574 at the same time. The transmission frame 574 includes two transmission frame beams 574a on both sides. The movable guide front wheel 572a and the movable guide rear wheel 572b are located between the two transmission frame beams 574a. The inner walls on both sides of the forearm beam 52 are respectively provided with drive frame slide grooves 575 for the drive frame to slide.

[0166] Furthermore, the driving frame slide groove on each side is composed of an upper groove plate 575a and a lower groove plate 575b fixed on the inner wall of the forearm beam 52 and spaced apart and parallel to each other.

[0167] The wheel axles of the chain-driven front wheel 572a and the chain-driven rear wheel 572b pass through the transmission frame beams 574a on both sides, so that both ends of the wheel axles are simultaneously placed in the driving frame slide grooves 575 on both sides, so that the wheel axles serve as guide shafts.

[0168] Furthermore, rollers 578 are installed at the free ends of the wheel axles of the movable guide front wheel 572a and the movable guide rear wheel 572b, so that the movement of the transmission frame 574 is smoother.

[0169] The power source of the chain transmission mechanism is provided by the driving oil cylinder 576, and any end of the transmission frame 574 is connected to the piston rod 576b of the driving oil cylinder 576 to provide sliding power for the transmission frame 574. In this embodiment, the cylinder body 576a of the chain driving oil cylinder 576 is installed at the rear end of the forearm beam 52, because the rear end has a longer installation space for easy installation and transmission.

[0170] The chain driving cylinder 576 is connected to the two transmission frame beams 574 a of the transmission frame 574 via a connecting shaft 577 .

[0171] The above is a complete solution for the chain transmission mechanism. The special design of this solution allows the front chain 571a and the rear chain 571b to remain in a tensioned state while the longitudinal movable seat 56 slides on the forearm mechanism 5, forming a balanced front and rear restraining force on the longitudinal movable seat 56, avoiding the phenomenon of jamming during the sliding process, making the sliding more stable, and effectively reducing the failure rate.

[0172] The forearm mechanism 5 needs to be set on the carrier mechanism to achieve the purpose of overall deflection and overall movement of the nozzle assembly 9 and the template mechanism 8 as well as related nozzle displacement mechanisms and nozzle fine-tuning mechanisms and other connecting mechanisms, and realize more refined control purposes.

[0173] Fiber filaments are added to the sprayed concrete of the present invention, so that the formed supporting layer contains a plurality of fiber filaments.

[0174] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A vertical rotating assembly, Features: It includes a vertical large gear and a vertical rotating driving gear meshing with the vertical large gear; the vertical large gear also includes a first large gear ring and a first annular gear shaft, the first annular gear shaft is fixed on the turntable vertical plate, and the slewing large arm is directly fixed on the first large gear ring; the first large gear ring and the slewing large arm and the turntable vertical plate are fixed by bolts; the vertical rotating driving gear is installed on the turntable vertical plate through a vertical rotating driving motor.

2. A vertical rotating assembly as claimed in claim 1, Features: The vertical rotation driving gear has one or more than one gears, which are distributed around the first large gear ring and mesh with the first large gear ring at the same time.

3. A vertical rotating assembly as claimed in claim 2, Features: There are four vertically rotating drive gears, which are symmetrically arranged on the left and right sides of the first large gear ring.

4. A vertical rotating assembly as claimed in claim 3, Features: The first large gear ring and the first annular gear shaft are respectively provided with a plurality of first bolt through holes and second bolt through holes for fixing at even intervals in the circumferential direction.

5. A vertical rotating assembly as claimed in claim 4, Features: A fixing operation through hole is arranged on the rotating circle of the turntable vertical plate opposite to the first bolt through hole on the first large gear ring, so as to facilitate the insertion of bolts through the fixing operation through hole from the back of the turntable vertical plate and complete the fixation between the slewing arm and the first large gear ring.

6. An injection assembly, Features: It comprises a forearm mechanism and a boom mechanism; the forearm mechanism is connected to the boom mechanism, the boom mechanism comprises a boom turntable which can rotate relative to each other in a horizontal plane, the boom turntable is provided with a swivel boom which can rotate relative to each other in a vertical plane, the boom turntable comprises a turntable frame, a horizontal rotation assembly and a vertical rotation assembly as described in any one of claims 1 to 5, the turntable frame is fixed to a trolley through a horizontal rotation assembly and can rotate horizontally on the trolley, the swivel boom is mounted on the turntable frame through a vertical rotation assembly and can rotate in a vertical plane with the vertical rotation assembly as the center; the forearm mechanism is arranged at the front end of the swivel boom, and based on the relative rotation between the swivel boom, the boom turntable and the base of the boom mechanism, the template mechanism moves with the front end of the swivel boom, and the distance and / or angle between the template mechanism and the rock surface is controlled, so that the template mechanism forms a mold cavity with the target rock surface at the target rock surface.

7. An injection assembly as claimed in claim 6, Features: The turntable frame is an L-shaped structure as a whole, including a turntable bottom plate and a turntable vertical plate; the horizontal rotation assembly includes a horizontal large gear and a horizontal rotation driving gear meshing with the horizontal large gear. The horizontal large gear includes a second large gear ring and a second annular gear shaft, and the horizontal large gear is directly fixed to the bolt hole of the top plate by bolts; the turntable bottom plate is fixed to the second annular gear shaft of the horizontal large gear by bolts. The second large gear ring is provided with bolt connection holes at even intervals in the circumferential direction, and the first annular gear shaft is also provided with bolt connection holes at even intervals in the circumferential direction.

8. An injection assembly as claimed in claim 7, Features: The horizontal rotation driving gear is mounted on the rotating shaft of the horizontal rotation driving motor, and the horizontal rotation driving motor is fixed downward on the turntable bottom plate. The turntable bottom plate includes a motor mounting portion extending beyond the outside of the horizontal large gear, and the horizontal rotation driving motor is fixed on the motor mounting portion, and the motor mounting portion is connected to the turntable bottom plate body by a smooth transition.

9. An injection assembly as claimed in claim 8, Features: The forearm mechanism includes a forearm beam and a rotating mechanism. The bottom of the forearm beam is connected to the rotating mechanism. The rotating mechanism is placed on a frame / trolley so that the forearm beam can rotate in a plane with the rotating mechanism as a fulcrum. A template mechanism and a longitudinal movement mechanism are provided on the forearm beam. A nozzle assembly is provided on the longitudinal movement mechanism, and the nozzle assembly can be controlled to move longitudinally on the forearm mechanism.

10. An injection assembly as claimed in claim 9, Features: The nozzle assembly is connected to the nozzle fine-tuning mechanism, which includes a pitch angle control mechanism and a rotation angle control mechanism connected to each other; the nozzle fine-tuning mechanism is connected to the nozzle displacement mechanism, which includes a longitudinal displacement mechanism and a transverse displacement mechanism connected to each other, and the transverse displacement mechanism controls the displacement of the nozzle assembly in the transverse direction; The transverse movement mechanism includes a transverse movement arm and a nozzle fixing seat, the transverse movement arm is installed on the longitudinal movement mechanism, the nozzle fine-tuning mechanism is arranged on the nozzle fixing seat, the transverse movement arm is provided with a transverse groove rail and a transverse movement rack, the nozzle fixing seat is provided with a roller rolling with the transverse groove rail and a transverse movement driving gear meshing with the transverse movement rack, so that the nozzle fine-tuning mechanism and the nozzle assembly can move in the transverse direction of the transverse movement arm.

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