Multifunctional underground excavation trolley

Abstract

The invention relates to the technical field of tunnel excavation, in particular to a multifunctional underground excavation trolley which comprises a frame, a rotary excavation arm is arranged on the frame, and the rotary excavation arm comprises a deflection assembly, a first movable assembly, a second movable assembly, a rotary driving part and an excavation assembly; the bucket is used for being detachably mounted on the rotary excavating arm; the manipulator is detachably mounted on the rotary excavating arm, and a drilling mechanism and a spray head clamping mechanism are detachably mounted on the manipulator; the grouting system is used for being connected to the drilling mechanism or the spray head clamping mechanism; and the scraper conveyer is fixed on the frame. According to the invention, the operation of tunnel excavation operation, slagging-off operation, drilling, arching and auxiliary spraying and mixing can be met, all procedures in the shallow-buried excavation electric power tunnel excavation and primary support process are covered, and the problems of frequent transition in multi-equipment construction, incapability of mistaking vehicles due to small tunnels, long equipment conversion time, low construction efficiency, high construction cost and the like are solved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel excavation equipment, and in particular to a multifunctional tunnel excavation trolley. Background Art

[0002] There is a significant difference in size between power tunnels and train tunnels. Power tunnels are relatively small (generally 2 to 3 meters in width and height), mainly meeting the needs of cable laying and maintenance; while train tunnels are larger in size, mainly meeting the safety and comfort requirements of high-speed train operation.

[0003] At present, all multifunctional machines for excavating shallow and dark-buried electric power tunnels with small cross-sections and large turning angles are integrated into the same body. For example, Chinese patent CN107387093A discloses a shallow and dark-buried system and construction method suitable for soft soil layers, wherein the machine has a left arm and a right arm, and each unit is modularly installed on the left and right arms of the fuselage. There is a mutual interference problem between the left and right arm booms, which mutually affect the functions of each unit module of the left and right arms and their construction range. In addition, the anchor rod unit and the milling unit are simultaneously arranged at the front working position of the right arm, which will also cause mutual interference and mutual influence problems, and both may be inconvenient to use. At the same time, the anchor rod unit and the milling unit require a certain degree of freedom to ensure accurate positioning, which the right arm does not have. Finally, since the width of the grating arch is larger than the width of the initial lining of the tunnel, the excavation and lifting unit on the left arm needs to fix the grating arch and then adjust the posture and angle of the grating arch to squeeze it into the grating slot. However, the excavation and lifting unit does not have a fixed grating arch structure and the freedom to adjust the posture and angle of the grating arch, so the function of assisting in positioning and installing the grating arch to squeeze it into the grating slot cannot be completed.

[0004] Chinese patent CN117108211A provides a dual water drill excavation equipment for electric tunnels, but it does not have the functions of excavation, slag discharge, grouting, arch erection, and auxiliary spraying and mixing. At the same time, the boom + posture adjustment system combination of the dual water drill excavation equipment for electric tunnels cannot realize the functions of excavation, auxiliary spraying and mixing, and arch erection by configuring a bucket and a nozzle clamping mechanism after a quick-change water drill working system.

[0005] Chinese patent CN113833486A discloses a multifunctional cantilever tunnel boring machine and Chinese patent CN103643963A discloses a multifunctional tunnel boring machine. There are problems of mutual interference and mutual influence between the booms of the two machines. At the same time, the large size and mass of the trolley caused by the multiple booms cannot be used in small-section and large-angle power tunnels.

[0006] In summary, there is an urgent need for a multifunctional excavation machine having various modules that do not affect each other to solve the problems existing in the prior art. Summary of the invention

[0007] The purpose of the present invention is to provide a multifunctional dark excavation trolley to solve the technical problem of mutual interference between multifunctional modules of electric tunnel excavation machinery in the prior art. The specific technical solution is as follows:

[0008] The present invention provides a multifunctional underground excavation trolley, comprising: a frame, a rotary excavation arm is provided on the frame, the rotary excavation arm comprises a deflection assembly, a first movable assembly, a second movable assembly, a rotary drive member and an excavation assembly, the deflection assembly is connected to the frame, the first movable assembly is connected to the deflection assembly, the second movable assembly is connected to the first movable assembly, the rotary drive member is connected to the second movable assembly, and the excavation assembly is connected to the rotary drive member; a bucket for detachably mounting on the rotary excavation arm; a manipulator for detachably mounting on the rotary excavation arm, a drilling mechanism and a nozzle clamping mechanism being detachably mounted on the manipulator; a grouting system for connecting to the drilling mechanism or the nozzle clamping mechanism; and a scraper conveyor fixed to the frame.

[0009] A further improvement of the multifunctional underground excavation trolley of the present invention is that the deflection assembly includes a deflection seat and a deflection driving member, the deflection seat is connected to the frame, the deflection driving member is connected between the frame and the deflection seat, and the first movable member is connected to the deflection seat.

[0010] A further improvement of the multifunctional underground excavation trolley of the present invention is that the first movable component includes a movable arm and a movable arm driving member, the movable arm is connected to the deflection seat, the movable arm driving member is connected between the deflection seat and the movable arm, and the second movable member is connected to the movable arm.

[0011] A further improvement of the multifunctional underground excavation trolley of the present invention is that the second movable component includes a first boom arm and a boom driving member, the first boom arm is connected to the movable arm, the boom driving member is connected between the movable arm and the first boom arm, and the rotary driving member is connected to the first boom arm.

[0012] A further improvement of the multifunctional underground excavation trolley of the present invention is that the excavation assembly includes a second boom arm, a bucket driving component and a four-link connecting rod, the second boom arm is connected to the rotary driving component, the four-link connecting rod is connected to the second boom arm, the bucket driving component is connected between the second boom arm and the four-link connecting rod, and the four-link connecting rod is connected to the bucket or the manipulator.

[0013] A further improvement of the multifunctional underground excavation trolley of the present invention is that the manipulator includes a connecting seat, a vertical swing motor and a gripper assembly, the connecting seat is used to be connected to the four-link rod, and the vertical swing motor is connected between the connecting seat and the gripper assembly.

[0014] A further improvement of the multifunctional underground excavation trolley of the present invention is that a slider and a clamping cylinder are provided on the gripper assembly, and the clamping cylinder is driven and connected to the slider to move the slider to complete the clamping action.

[0015] A further improvement of the multifunctional underground excavation trolley of the present invention is that a rotating boom for assisting the installation of the bucket, the manipulator, the drilling mechanism and the nozzle clamping mechanism is provided on the vehicle frame.

[0016] A further improvement of the multifunctional underground excavation trolley of the present invention is that the rotating boom comprises a rotating arm, a supporting arm and a lifting arm, the rotating arm is rotatably mounted on the frame, the supporting arm can be vertically lifted and horizontally extended and is mounted on the rotating arm, and the lifting arm is movably connected to the supporting arm.

[0017] A further improvement of the multifunctional underground excavation trolley of the present invention is that a crawler mobile chassis is provided at the bottom of the frame, an open cab is provided on the frame, and the open cab is controllably connected to the crawler mobile chassis, the rotating boom and the rotary excavation arm.

[0018] The application of the technical solution of the present invention has the following beneficial effects:

[0019] The multifunctional underground excavation trolley of the present invention can selectively install the bucket and the manipulator on the rotary excavation arm, and the drilling mechanism and the nozzle clamping mechanism on the manipulator, so as to meet the operation of tunnel excavation, slag removal, drilling, arch erection, and auxiliary spraying and mixing, covering all processes in the shallow underground excavation of electric power tunnel excavation and initial support, breaking through the miniaturized layout and design of the whole machine under the multifunctional integration of each functional module and each working device, and solving the problems of frequent transfer of multiple equipment construction, small tunnels and no way to pass the car, long equipment conversion time, low construction efficiency, and high construction cost. It realizes continuous and mechanical construction of multiple processes, improves the overall construction efficiency, reduces the number of construction personnel, and solves the technical problem of mutual interference between the multifunctional modules of the electric power tunnel excavation machinery in the prior art.

[0020] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a right schematic diagram of the structure of the multifunctional dark excavation trolley of the present invention;

[0023] Figure 2It is a left schematic diagram of the structure of the multifunctional dark excavation trolley of the present invention;

[0024] Figure 3 It is a top view of the structure of the multifunctional dark excavation trolley of the present invention;

[0025] Figure 4 It is a three-dimensional diagram of the structure of the multifunctional dark excavation trolley of the present invention;

[0026] Figure 5 It is a schematic diagram of the positions of various components on the frame of the multifunctional dark excavation trolley of the present invention;

[0027] Figure 6 It is a schematic diagram of the connection components of the rotary excavation arm of the structure of the multifunctional dark excavation trolley of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the manipulator of the multifunctional dark excavation trolley of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the rotating boom of the structure of the multifunctional dark excavation trolley of the present invention;

[0030] Fig. 9 It is a schematic diagram of the connection between the rotary excavation arm and the bucket of the structure of the multifunctional dark excavation trolley of the present invention;

[0031] Fig.10 It is a schematic diagram of bucket excavation of the structure of the multifunctional dark excavation trolley of the present invention;

[0032] Fig.11 It is a schematic diagram of the connection between the rotary excavation arm and the manipulator of the structure of the multifunctional dark excavation trolley of the present invention;

[0033] Fig.12 It is a schematic diagram of the connection between the manipulator and the drilling mechanism of the structure of the multifunctional dark excavation trolley of the present invention;

[0034] Fig.13 It is a schematic diagram of the drilling mechanism of the structure of the multifunctional dark excavation trolley of the present invention performing drilling operation;

[0035] Fig.14 It is a schematic diagram of a manipulator grabbing an arch frame of the structure of the multifunctional dark excavation trolley of the present invention;

[0036] Fig.15 It is a schematic diagram of the spray mixing operation performed by the nozzle clamping mechanism of the structure of the multifunctional dark excavation trolley of the present invention.

[0037] Among them, 1. crawler mobile chassis; 1.1. left crawler assembly; 1.2. right crawler assembly; 1.3. frame; 2. rotary excavator arm; 2.1. deflection seat; 2.2. boom; 2.3. first boom arm; 2.4. second boom arm; 2.5. deflection drive; 2.6. boom drive; 2.7. boom drive; 2.8. rotary drive; 2.9. bucket drive; 3. bucket; 4. manipulator; 4.1. Connecting seat; 4.2. Vertical swing motor 4.3. Gripper assembly; 5. Drilling mechanism; 6. Nozzle clamping mechanism; 7. Scraper conveyor; 8. Grouting system; 9. Open cab; 10. Cable drum; 11. Hydraulic oil tank; 12. Radiator; 13. Motor pump unit; 14. Electric control cabinet; 15. Rotating boom; 15.1. Rotating arm; 15.2 Support arm; 15.3. Lifting arm; 16. Arch frame. DETAILED DESCRIPTION

[0038] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0039] See also Figure 1 to Figure 15 As shown, a multifunctional underground excavation trolley comprises: a frame 1.3, on which a rotary excavation arm 2 is provided, and the rotary excavation arm 2 comprises a deflection assembly, a first movable assembly, a second movable assembly, a rotary drive member 2.8 and an excavation assembly, the deflection assembly is connected to the frame 1.3, the first movable assembly is connected to the deflection assembly, the second movable assembly is connected to the first movable assembly, the rotary drive member 2.8 is connected to the second movable assembly, and the excavation assembly is connected to the rotary drive member 2.8; a bucket 3 for detachably mounting on the rotary excavation arm 2; a manipulator 4 for detachably mounting on the rotary excavation arm 2, on which a drilling mechanism 5 and a nozzle clamping mechanism 6 are detachably mounted; a grouting system 8 for connecting to the drilling mechanism 5 or the nozzle clamping mechanism 6; and a scraper conveyor 7 fixed to the frame 1.3.

[0040] like Figure 6 to Figure 13 As shown. The rotary excavation arm 2 has multiple uses. The rotary excavation arm 2 + bucket 3 realizes non-explosive excavation of power tunnels (upper and lower front excavation, left and right side excavation and shaping, arch excavation and shaping) and slag removal to the scraper conveyor 7; the rotary excavation arm 2 + manipulator 4 clamps / switches the drilling mechanism 5, the arch frame 16, and the nozzle clamping mechanism 6 (with nozzles) to realize the integration and conversion functions of drilling, arch erection, and auxiliary spraying.

[0041] The rotary excavation arm 2 and the rotating boom 15 have quick-change technology for the bucket 3, manipulator 4, drilling mechanism 5, and nozzle clamping mechanism 6 working devices, and the working mechanism on the crawler mobile chassis 1 is adaptively optimized to arrange the bucket 3, manipulator 4, drilling mechanism 5, and nozzle clamping mechanism 6 working devices, which solves the problems of large weight and size of the bucket 3, manipulator 4, and drilling mechanism 5, difficulty in quick disassembly and quick assembly, and their placement / placing on the trolley, and solves the problem of difficulty in process conversion and connection of the bucket 3, manipulator 4, and drilling mechanism 5, and realizes rapid connection and continuous operation of multiple processes in the excavation and initial support of small-section shallow buried electric tunnels.

[0042] Preferably, Figure 6 As shown, the deflection assembly includes a deflection seat 2.1 and a deflection driving member 2.5, wherein the deflection seat 2.1 is connected to the vehicle frame 1.3, the deflection driving member 2.5 is connected between the vehicle frame 1.3 and the deflection seat 2.1, and the first movable member is connected to the deflection seat 2.1. The deflection driving member 2.5 drives the deflection seat 2.1 to deflect relative to the vehicle frame 1.3, thereby driving the entire rotary excavating arm 2 to deflect left and right.

[0043] Preferably, the first movable component includes a boom 2.2 and a boom driving member 2.6, the boom 2.2 is connected to the deflection seat 2.1, the boom driving member 2.6 is connected between the deflection seat 2.1 and the boom 2.2, and the second movable member is connected to the boom 2.2. The boom 2.2 is in a downwardly bent shape, so that the entire rotary excavating arm 2 has a certain curvature, thereby improving the flexibility of the rotary excavating arm 2. The boom 2.2 is connected to the deflection seat 2.1 in an articulated manner, and the boom driving member 2.6 is articulated at the inner middle position of the boom 2.2, and the boom 2.2 is driven to pitch and swing through the telescopic movement of the boom driving member 2.6.

[0044] Preferably, the second movable component includes a first arm 2.3 and an arm driving member 2.7, the first arm 2.3 is connected to the boom 2.2, the arm driving member 2.7 is connected between the boom 2.2 and the first arm 2.3, and the slewing driving member 2.8 is connected to the first arm 2.3. In this embodiment, the slewing driving member 2.8 adopts a slewing reducer. The arm driving member 2.7 is connected to the middle position of the outer side of the boom 2.2, the first arm 2.3 and the arm driving member 2.7 and the boom 2.2 are all connected in an articulated manner, and the first arm 2.3 is driven by the arm driving member 2.7 to perform pitching and swinging.

[0045] Preferably, the excavation assembly includes a second boom arm 2.4, a bucket driving member 2.9 and a four-link, wherein the second boom arm 2.4 is connected to the slewing driving member 2.8, the four-link is connected to the second boom arm 2.4, the bucket driving member 2.9 is connected between the second boom arm 2.4 and the four-link, and the four-link is connected to the bucket 3 or the manipulator 4. The slewing driving member 2.8 can drive the second boom arm 2.4 to slew, and the bucket driving member 2.9 can drive the bucket 3 to pitch and swing. In this embodiment, the deflection driving member 2.5, the boom driving member 2.6 and the bucket driving member 2.9 are all hydraulic cylinders, and direct driving members such as air cylinders or electric telescopic members can also be selected as needed.

[0046] The rotary excavation arm 2+bucket 3 of the present invention has five actions and five degrees of freedom. The rotary excavation arm 2+bucket 3 can realize the axial rotation of the second dipper arm 2.4 and its bucket 3 by ±180° through the rotary reducer, and can excavate at any position of the working surface (upper and lower front excavation, left and right side excavation and shaping, arch excavation and shaping) and scrape the slag to the scraper conveyor 7. The excavation and scraping operation range is wide, leaving no dead corners, and no manual assistance is required to clean the working surface. The rotary excavation arm 2+bucket 3 cooperates with the scraper conveyor 7 to scrape the excavated slag to the scraper conveyor 7, and the scraper conveyor 7 unloads the slag from the tail into the excavation trolley.

[0047] Preferably, Figure 7 As shown, the manipulator 4 includes a connection seat 4.1, a vertical swing motor 4.2 and a gripper assembly 4.3, wherein the connection seat 4.1 is used to be connected to the four-link, and the vertical swing motor 4.2 is connected between the connection seat and the gripper assembly 4.3. The manipulator 4 can be driven to pitch and level through the bucket drive 2.9, and the gripper assembly 4.3 can be driven to perform vertical (Z-axis) rotation (±120° degrees of freedom) through the vertical swing motor 4.3.

[0048] Preferably, the gripper assembly is provided with a slider and a clamping cylinder, and the clamping cylinder is driven and connected to the slider to move the slider to complete the clamping action. The clamping cylinder of the gripper assembly is telescopically driven to drive the slider on the gripper assembly to move, thereby clamping the drilling mechanism 5, the arch frame 16, and the nozzle clamping mechanism 6 (with the nozzle).

[0049] The rotary excavation arm 2 + manipulator 4 has seven actions and six degrees of freedom: plane XY left and right rotation, plane XZ pitch swing, boom extension, boom axial (X axis) rotation, plane XZ pitch leveling, vertical (Z axis) rotation. It meets all the degrees of freedom required for three construction operations: drilling, small pipe, arch, and auxiliary spraying and mixing. The rotary excavation arm 2 + manipulator 4 clamps / switches the drilling mechanism 5, arch frame 16, and nozzle clamping mechanism 6 (with nozzle) to realize the integration and conversion functions of drilling, arch, and auxiliary spraying and mixing.

[0050] Preferably, Figure 1 and Figure 8 As shown, the frame 1.3 is provided with a rotating boom 15 for assisting the installation of the bucket 3, the manipulator 4, the drilling mechanism 5 and the nozzle clamping mechanism 6. Specifically, the rotating boom 15 includes a rotating arm 15.1, a supporting arm 15.2 and a lifting arm 15.3. The rotating arm 15.1 is rotatably installed on the frame 1.3, the supporting arm 15.2 can be vertically lifted and horizontally extended and installed on the rotating arm 15.1, and the lifting arm 15.3 is movably connected to the supporting arm 15.2. The rotating boom 15 can assist the quick disassembly / quick installation of the bucket 3, the manipulator 4 and the drilling mechanism 5.

[0051] Preferably, a crawler mobile chassis 1 is provided at the bottom of the frame 1.3, and an open cab 9 is provided on the frame 1.3, and the open cab 9 is control-connected to the crawler mobile chassis 1, the rotating boom 15 and the rotary excavation arm 2. Furthermore, a cable drum 10, a hydraulic oil tank 11, a radiator 12, a motor pump group 13 and an electric control cabinet 14 are also provided on the frame 1.3. An external grouting system 8 is arranged at the rear of the trolley, and the trolley and the grouting system 8 are provided with a hydraulic pipeline quick-connect interface and a travel drive chain connection interface, so that the trolley and the grouting system 8 can be quickly connected and disconnected, and the crawler mobile chassis 1 of the whole machine is used to drive the travel system to move forward together (the equipment is parked and fixed during the grouting operation, and the grouting system 8 is disconnected from the equipment during other construction process operations), and the grouting system 8 is stirred, pumped, and double-liquid grouting is realized by the hydraulic system of the whole machine.

[0052] The open cab 9 is bolted to the left front end of the chassis, and has driving and vehicle control functions to ensure the safety of operators and operating vision during construction. At the same time, the roof of the open cab 9 has a lifting function, which can manually adjust the height of the cab and the height of the vehicle.

[0053] The cable reel 10 is bolted and installed at the rear left end of the crawler mobile chassis 1 and behind the electric control cabinet 14. Electricity is used as the power source. The cable reel 10 is connected to the electric control cabinet 14 to provide 380V power, and then the motor pump group 13 and the hydraulic oil tank 11 are used to provide the equipment with walking power and working power, avoiding exhaust emissions in the tunnel and ensuring the health of construction workers.

[0054] Specifically, the crawler mobile chassis 1 includes a left crawler assembly 1.1 and a right crawler assembly 1.2. The left crawler assembly 1.1 and the right crawler assembly 1.2 in the longitudinal direction are connected with the crossbeam bolts of the frame 1.3 in the transverse direction to form a stable structure, and together constitute a support system to support major components such as the rotary excavator arm 2, scraper conveyor, open cab 9, hydraulic oil tank 11, motor pump group 13, hydraulic system and electrical system.

[0055] like Figure 5 As shown, the layout of the rotating boom 15, bucket 3, manipulator 4, and drilling mechanism 5 are optimized on the crawler mobile chassis 1. The rotating boom 15 is designed in the middle of the frame 1.3 and above the scraper conveyor. The bucket 3 / manipulator 4 can be installed and placed on the right rear of the frame 1.3 when not in use. The drilling mechanism 5 can be installed and placed on the right front of the frame 1.3 when not in use. The nozzle clamping mechanism 6 can be installed and placed on the left rear cover of the frame 1.3 when not in use. At the same time, the left crawler assembly 1.1 and the right crawler assembly 1.2 of the crawler mobile chassis 1 provide electricity as a power source through the cable drum 10 to drive the trolley to walk, park, climb and turn on the ground.

[0056] The multifunctional underground excavation trolley of the present invention can selectively install the bucket 3 and the manipulator 4 on the rotary excavation arm 2, and the drilling mechanism 5 and the nozzle clamping mechanism 6 on the manipulator 4, so as to meet the operation of tunnel excavation, slag removal, drilling, arch erection, and auxiliary spraying and mixing, covering all processes in the shallow buried underground excavation power tunnel excavation and initial support process, breaking through the miniaturized layout and design of the whole machine under the multifunctional integration of each functional module and each working device, and solving the problems of frequent transfer of multiple equipment construction, small tunnels and no way to pass the car, long equipment conversion time, low construction efficiency, and high construction cost. It realizes continuous and mechanical construction of multiple processes, improves the overall construction efficiency, reduces the number of construction personnel, and solves the technical problem of mutual interference between the multifunctional modules of the power tunnel excavation machinery in the prior art.

[0057] The rotary excavation arm 2 has multiple uses. The rotary excavation arm 2 + bucket 3 can meet the requirements of vertical excavation, left and right side excavation and shaping, arch excavation and shaping, and realize non-explosive excavation of the face and slag removal to the scraper conveyor 7; the rotary excavation arm 2 + manipulator 4 can meet the six degrees of freedom required for the four construction operations of drilling, arch erection, and auxiliary spraying and mixing. The rotary excavation arm 2 + manipulator 4 clamps / switches the drilling mechanism 5, arch frame 16, and nozzle clamping mechanism 6 (with nozzle) to realize rapid, continuous, and mechanized operations of multiple construction processes such as drilling, arch erection, and auxiliary spraying and mixing. It solves the problem of interference and fighting between multiple booms (excavation arms, drills, etc.) corresponding to the multiple functions of the original power tunnel excavation and installation support operation trolley; at the same time, it solves the problem of multiple booms blocking the view of the cab.

[0058] Multifunctional working device quick-change technology and working mechanism adaptability technology. The rotary excavation arm 2 has quick-change technology for the working devices of bucket 3, manipulator 4, drilling mechanism 5, and nozzle clamping mechanism 6, and the rotating boom 15 and the frame 1.3 have working mechanism adaptability technology for optimizing the arrangement of the working devices of bucket 3, manipulator 4, drilling mechanism 5, and nozzle clamping mechanism 6. It solves the problems of large weight and size of bucket 3, manipulator 4, and drilling mechanism 5, and the difficulty of quick disassembly and quick assembly, as well as their placement / placing on the trolley, and solves the problem of difficult process conversion and connection of bucket 3, manipulator 4, and drilling mechanism 5, and realizes the rapid connection and continuous operation of multiple processes in the excavation and initial support of small-section shallow buried electric tunnels.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multifunctional underground excavation trolley, characterized in that: include: A vehicle frame (1.3), wherein a slewing excavation arm (2) is provided on the vehicle frame (1.3), wherein the slewing excavation arm (2) comprises a deflection assembly, a first movable assembly, a second movable assembly, a slewing drive member (2.8) and an excavation assembly, wherein the deflection assembly is connected to the vehicle frame (1.3), the first movable assembly is connected to the deflection assembly, the second movable assembly is connected to the first movable assembly, the slewing drive member (2.8) is connected to the second movable assembly, and the excavation assembly is connected to the slewing drive member (2.8); A bucket (3) for being detachably mounted on the rotary excavating arm (2); A manipulator (4) for detachably mounting on the rotary excavation arm (2), wherein a drilling mechanism (5) and a nozzle clamping mechanism (6) are detachably mounted on the manipulator (4); A grouting system (8) for connecting to the drilling mechanism (5) or the nozzle clamping mechanism (6); A scraper conveyor (7) is fixed on the frame (1.3).

2. The multifunctional underground excavation trolley according to claim 1, characterized in that: The deflection assembly comprises a deflection seat (2.1) and a deflection drive member (2.5); the deflection seat (2.1) is connected to the vehicle frame (1.3); the deflection drive member (2.5) is connected between the vehicle frame (1.3) and the deflection seat (2.1); and the first movable member is connected to the deflection seat (2.1).

3. The multifunctional underground excavation trolley according to claim 2, characterized in that: The first movable component comprises a movable arm (2.2) and a movable arm driving member (2.6); the movable arm (2.2) is connected to the deflection seat (2.1); the movable arm driving member (2.6) is connected between the deflection seat (2.1) and the movable arm (2.2); and the second movable member is connected to the movable arm (2.2).

4. The multifunctional underground excavation trolley according to claim 3 is characterized in that: The second movable component comprises a first boom arm (2.3) and a boom driving member (2.7); the first boom arm (2.3) is connected to the movable arm (2.2); the boom driving member (2.7) is connected between the movable arm (2.2) and the first boom arm (2.3); and the rotary driving member (2.8) is connected to the first boom arm (2.3).

5. The multifunctional underground excavation trolley according to claim 4, characterized in that: The excavation assembly comprises a second boom arm (2.4), a bucket driving member (2.9) and a four-link rod, wherein the second boom arm (2.4) is connected to the rotary driving member (2.8), the four-link rod is connected to the second boom arm (2.4), the bucket driving member (2.9) is connected between the second boom arm (2.4) and the four-link rod, and the four-link rod is connected to the bucket (3) or the manipulator (4).

6. The multifunctional underground excavation trolley according to claim 5, characterized in that: The manipulator (4) comprises a connecting seat (4.1), a vertical swing motor (4.2) and a gripper assembly (4.3); the connecting seat (4.1) is used to be connected to the four-linkage; the vertical swing motor (4.2) is connected between the connecting seat (4.1) and the gripper assembly (4.3).

7. The multifunctional underground excavation trolley according to claim 6, characterized in that: The gripper assembly is provided with a slider and a clamping cylinder, and the clamping cylinder is driven and connected to the slider to move the slider to complete the clamping action.

8. The multifunctional underground excavation trolley according to claim 1, characterized in that: The vehicle frame (1.3) is provided with a rotating boom (15) for assisting in the installation of the bucket (3), the manipulator (4), the drilling mechanism (5) and the nozzle clamping mechanism (6).

9. The multifunctional underground excavation trolley according to claim 8, characterized in that: The rotating boom (15) comprises a rotating arm (15.1), a supporting arm (15.2) and a lifting arm (15.3); the rotating arm (15.1) is rotatably mounted on a vehicle frame (1.3); the supporting arm (15.2) is mounted on the rotating arm (15.1) in a manner that allows it to be vertically lifted and horizontally extended; and the lifting arm (15.3) is movably connected to the supporting arm (15.2).

10. The multifunctional underground excavation trolley according to claim 8, characterized in that: A crawler mobile chassis (1) is provided at the bottom of the vehicle frame (1.3), an open cab (9) is provided on the vehicle frame (1.3), and the open cab (9) is controllably connected to the crawler mobile chassis (1), the rotating boom (15) and the rotary excavating arm (2).

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