Multi-functional underpinning trolley

Abstract

The present application relates to the technical field of tunnel excavation, in particular to a multifunctional underground excavation trolley, comprising: a trolley frame, a rotary excavating arm arranged on the trolley frame, the rotary excavating arm comprising a deflection assembly, a first movable assembly, a second movable assembly, a rotary driving member and an excavating assembly; a bucket detachably mounted on the rotary excavating arm; a mechanical arm detachably mounted on the rotary excavating arm, the mechanical arm detachably mounting a drilling mechanism and a nozzle clamping mechanism; a grouting system connected to the drilling mechanism or the nozzle clamping mechanism; and a scraper conveyor fixed on the trolley frame. The present application can satisfy the operation of tunnel excavation, slagging, drilling, arching and auxiliary spraying, cover all processes in the process of shallow underground excavation of power tunnel and primary support, and solve the problems of frequent site conversion of multiple equipment, inability to change lanes due to small tunnel, long equipment conversion time, low construction efficiency, high construction cost and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel excavation equipment, and particularly relates to a multifunctional underground excavation trolley. BACKGROUND

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

[0003] The multifunctional machinery for excavating small-section large-angle shallow-buried power tunnels currently available is integrated on the same vehicle body, for example, the shallow-buried excavation system suitable for soft soil layers and the construction method disclosed in Chinese patent CN107387093A have a left arm and a right arm, and each unit is modularly installed on the left arm and the right arm of the vehicle body. There is mutual interference between the left arm and the right arm, and the functions of each unit module of the left arm and the right arm and their construction operation range are affected by each other. Moreover, the anchor rod unit and the milling and digging unit are simultaneously arranged on the front end working position of the right arm, which also has mutual interference and mutual influence problems, and both of them may not be convenient to use. At the same time, the anchor rod unit and the milling and digging unit need a certain degree of freedom to ensure accurate positioning, and the right arm does not have it. Finally, since the width of the grid arch is greater than the width of the initial lining of the tunnel, the excavation and lifting unit on the left arm needs to fix the grid arch after assisting in installing the grid or arch, and then adjust the posture and angle of the grid arch to squeeze into the grid slot. However, the excavation and lifting unit does not have the structure of fixing the grid arch and the freedom of adjusting the posture and angle of the grid arch, and therefore cannot complete the function of assisting in positioning and installing the grid arch to squeeze into the grid slot.

[0004] Chinese patent CN117108211A provides a double-water-drill tunneling equipment for power 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 combination of the movable arm + posture adjustment system of the double-water-drill tunneling equipment for power tunnels cannot realize the functions of excavation, auxiliary spraying and mixing, and arch erection by configuring a bucket and a nozzle clamping mechanism after quickly replacing the water drill working system.

[0005] Chinese patent CN113833486A discloses a multifunctional cantilever type tunnel boring machine, and Chinese patent CN103643963A discloses a multifunctional tunnel boring machine. There is mutual interference and mutual influence between the arm frames of the two machines, and at the same time, the arm frames result in large size and mass of the trolley, which cannot be applied to small-section large-angle power tunnels.

[0006] In summary, there is an urgent need for a multifunctional excavation machinery with various modules that do not interfere with each other to solve the problems in the prior art. SUMMARY

[0007] The present application aims to provide a multifunctional underground excavation trolley to solve the technical problem of mutual interference among the multifunctional modules of the power tunnel excavation machinery in the prior art, and the specific technical scheme is as follows:

[0008] The present application provides a multifunctional underground excavation trolley, comprising a trolley frame, a rotary excavating arm arranged on the trolley frame, the rotary excavating arm comprising a deflection assembly, a first movable assembly, a second movable assembly, a rotary drive and an excavating assembly, the deflection assembly being connected to the trolley frame, the first movable assembly being connected to the deflection assembly, the second movable assembly being connected to the first movable assembly, the rotary drive being connected to the second movable assembly, and the excavating assembly being connected to the rotary drive; a bucket detachably arranged on the rotary excavating arm; a mechanical arm detachably arranged on the rotary excavating arm, the mechanical arm detachably arranged with a drilling mechanism and a nozzle clamping mechanism; a grouting system connected to the drilling mechanism or the nozzle clamping mechanism; and a scraper conveyor fixed to the trolley frame.

[0009] The present application further improves the multifunctional underground excavation trolley, wherein the deflection assembly comprises a deflection seat and a deflection drive, the deflection seat being connected to the trolley frame, the deflection drive being connected between the trolley frame and the deflection seat, and the first movable assembly being connected to the deflection seat.

[0010] The present application further improves the multifunctional underground excavation trolley, wherein the first movable assembly comprises a boom and a boom drive, the boom being connected to the deflection seat, the boom drive being connected between the deflection seat and the boom, and the second movable assembly being connected to the boom.

[0011] The present application further improves the multifunctional underground excavation trolley, wherein the second movable assembly comprises a first arm and an arm drive, the first arm being connected to the boom, the arm drive being connected between the boom and the first arm, and the rotary drive being connected to the first arm.

[0012] The present application further improves the multifunctional underground excavation trolley, wherein the excavating assembly comprises a second arm, a bucket drive and a four-bar linkage, the second arm being connected to the rotary drive, the four-bar linkage being connected to the second arm, the bucket drive being connected between the second arm and the four-bar linkage, and the four-bar linkage being connected to the bucket or the mechanical arm.

[0013] The present application further improves the multifunctional underground excavation trolley, wherein the mechanical arm comprises a connecting seat, a vertical swing motor and a gripper assembly, the connecting seat being connected to the four-bar linkage, and the vertical swing motor being connected between the connecting seat and the gripper assembly.

[0014] The further improvement of the multifunctional tunneling trolley lies in that the gripper is equipped with a sliding block and a clamping oil cylinder, and the clamping oil cylinder is drivingly connected to the sliding block, so that the sliding block moves to complete the clamping action.

[0015] The further improvement of the multifunctional tunneling trolley lies in that the frame is equipped with a rotary lifting arm for assisting in installing the bucket, the manipulator, the drilling mechanism and the nozzle clamping mechanism.

[0016] The further improvement of the multifunctional tunneling trolley lies in that the rotary lifting arm comprises a rotary arm, a supporting arm and a lifting arm, the rotary arm is rotatably installed on the frame, the supporting arm is vertically liftable and horizontally extendable installed on the rotary arm, and the lifting arm is movably connected to the supporting arm.

[0017] The further improvement of the multifunctional tunneling trolley lies in that the bottom of the frame is equipped with a track moving chassis, and an open cab is arranged on the frame, and the open cab is control connected to the track moving chassis, the rotary lifting arm and the rotary excavating arm.

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

[0019] The multifunctional tunneling trolley can selectively install the bucket and the manipulator on the rotary excavating arm, and selectively install the drilling mechanism and the nozzle clamping mechanism on the manipulator, so as to meet the operation of tunnel excavation, slagging, drilling, arching and auxiliary spraying, cover all processes in the process of shallow tunneling power tunnel excavation and primary support, break through the miniaturization layout and design of the whole machine under the multifunctional integration of each functional module and each working device, solve the problems of frequent site conversion of multiple equipment construction, inability to change lanes in small tunnels, long equipment conversion time, low construction efficiency and high construction cost, realize multi-process continuous mechanical construction, improve the overall construction efficiency, reduce the construction personnel, and solve the technical problem of mutual interference between the multifunctional modules of the existing power tunnel excavation machinery.

[0020] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, illustrate the preferred embodiments of the application and assist in the explanation of the application. In the drawings:

[0022] Figure 1 is a right side schematic view of the structure of the multifunctional tunneling trolley of the present application;

[0023] Figure 2is the left side schematic view of the structure of the multifunctional tunneling trolley of the present application;

[0024] Figure 3 is the top view of the structure of the multifunctional tunneling trolley of the present application;

[0025] Figure 4 is the perspective view of the structure of the multifunctional tunneling trolley of the present application;

[0026] Figure 5 is the position schematic view of each component on the frame of the structure of the multifunctional tunneling trolley of the present application;

[0027] Figure 6 is the connection component schematic view of the rotary excavating arm of the structure of the multifunctional tunneling trolley of the present application;

[0028] Figure 7 is the mechanical hand structure schematic view of the structure of the multifunctional tunneling trolley of the present application;

[0029] Figure 8 is the rotary hanging arm structure schematic view of the structure of the multifunctional tunneling trolley of the present application;

[0030] Figure 9 is the schematic view of the rotary excavating arm and the bucket connection of the structure of the multifunctional tunneling trolley of the present application;

[0031] Figure 10 is the bucket excavation schematic view of the structure of the multifunctional tunneling trolley of the present application;

[0032] Figure 11 is the schematic view of the rotary excavating arm and the mechanical hand connection of the structure of the multifunctional tunneling trolley of the present application;

[0033] Figure 12 is the schematic view of the mechanical hand and the drilling mechanism connection of the structure of the multifunctional tunneling trolley of the present application;

[0034] Figure 13 is the schematic view of the drilling mechanism drilling operation of the structure of the multifunctional tunneling trolley of the present application;

[0035] Figure 14 is the schematic view of the mechanical hand grabbing the arch of the structure of the multifunctional tunneling trolley of the present application;

[0036] Figure 15 is the schematic view of the nozzle clamping mechanism spraying mixing operation of the structure of the multifunctional tunneling trolley of the present application.

[0037] Wherein, 1, crawler chassis; 1.1, left track assembly; 1.2, right track assembly; 1.3, frame; 2, rotary excavating arm; 2.1, deflection seat; 2.2, boom; 2.3, first arm; 2.4, second arm; 2.5, deflection driving element; 2.6, boom driving element; 2.7, arm driving element; 2.8, rotary driving element; 2.9, bucket driving element; 3, bucket; 4, manipulator; 4.1, connecting seat; 4.2, vertical swing motor; 4.3, gripper assembly; 5, drilling mechanism; 6, spray head clamping mechanism; 7, scraper conveyor; 8, grouting system; 9, open cab; 10, cable reel; 11, hydraulic oil tank; 12, radiator; 13, motor pump set; 14, electric control cabinet; 15, rotary jib; 15.1, rotary arm; 15.2, support arm; 15.3, hoisting arm; 16, arch. DETAILED DESCRIPTION

[0038] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0039] Referring to Figures 1-15 As shown in the figure, a multifunctional underground excavation trolley comprises a frame 1.3, a rotary excavating arm 2 provided on the frame 1.3, the rotary excavating arm 2 comprising a deflection assembly, a first movable assembly, a second movable assembly, a rotary driving element 2.8 and an excavating assembly, the deflection assembly being connected to the frame 1.3, the first movable assembly being connected to the deflection assembly, the second movable assembly being connected to the first movable assembly, the rotary driving element 2.8 being connected to the second movable assembly, and the excavating assembly being connected to the rotary driving element 2.8; a bucket 3 detachably mounted on the rotary excavating arm 2; a manipulator 4 detachably mounted on the rotary excavating arm 2, the manipulator 4 being detachably provided with a drilling mechanism 5 and a spray head clamping mechanism 6; a grouting system 8 connected to the drilling mechanism 5 or the spray head clamping mechanism 6; and a scraper conveyor 7 fixed to the frame 1.3.

[0040] As Figures 6-13 shown. The rotary excavating arm 2 is multi-purpose. The rotary excavating arm 2 + bucket 3 realizes non-explosive excavation of electric power tunnels (upward and downward excavation, left and right side excavation, arch top excavation and arch top modification), and performs a scraping slag operation to the scraper conveyor 7; the rotary excavating arm 2 + manipulator 4 clamps / switches the drilling mechanism 5, arch 16, spray head clamping mechanism 6 (with spray head) to realize drilling, vertical arch, auxiliary spray mixing functions integration and conversion functions.

[0041] The rotary excavation arm 2 and the rotating boom 15 adopt the 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 assembly, and their placement / placement on the trolley, and solves the difficult problem of process conversion and connection of the 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 power tunnels.

[0042] Preferably, Figure 6 As shown, the deflection assembly includes a deflection base 2.1 and a deflection driver 2.5. The deflection base 2.1 is connected to the vehicle frame 1.3. The deflection driver 2.5 is connected between the vehicle frame 1.3 and the deflection base 2.1. The first movable member is connected to the deflection base 2.1. Driven by the deflection driver 2.5, the deflection base 2.1 can be deflected relative to the vehicle frame 1.3, thereby driving the entire rotary excavating arm 2 to swing left and right.

[0043] Preferably, the first movable assembly includes a boom 2.2 and a boom driver 2.6. The boom 2.2 is connected to the deflection seat 2.1, the boom driver 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 curved downward, thereby imparting a certain curvature to the entire rotary excavating arm 2, thereby enhancing the flexibility of the rotary excavating arm 2. The boom 2.2 is hingedly connected to the deflection seat 2.1, and the boom driver 2.6 is hingedly connected to the inner center of the boom 2.2. The boom driver 2.6 drives the boom 2.2 to pitch and swing through the telescopic movement of the boom driver 2.6.

[0044] Preferably, the second movable assembly includes a first arm 2.3 and an arm drive 2.7. The first arm 2.3 is connected to the boom 2.2. The arm drive 2.7 is connected between the boom 2.2 and the first arm 2.3. The slewing drive 2.8 is connected to the first arm 2.3. In this embodiment, the slewing drive 2.8 is a slewing reducer. The arm drive 2.7 is connected to the center of the outer side of the boom 2.2. The first arm 2.3, the arm drive 2.7, and the boom 2.2 are all hingedly connected. The arm drive 2.7 drives the first arm 2.3 to pitch and swing.

[0045] Preferably, the excavating assembly comprises a second arm 2.4 connected to the slewing drive 2.8, a four-bar linkage connected to the second arm 2.4, a bucket drive 2.9 connected between the second arm 2.4 and the four-bar linkage, and the four-bar linkage connected to the bucket 3 or the manipulator 4. The slewing drive 2.8 can drive the second arm 2.4 to rotate, and the bucket drive 2.9 can drive the bucket 3 to swing up and down. In the embodiment, the deflection drive 2.5, the boom drive 2.6 and the bucket drive 2.9 are all oil cylinders, and can also be directly driven by air cylinders or electric telescopic members according to requirements.

[0046] The slewing excavating arm 2+bucket 3 has five actions and five degrees of freedom. The slewing excavating arm 2+bucket 3 can realize the axial ±180° rotation of the second arm 2.4 and the bucket 3 through the slewing reducer, and can excavate at any position of a working surface (upward and downward excavation, left and right side excavation, and profile and vault excavation) and perform a scraping operation to the scraper conveyor 7. The excavating and scraping operation range is wide, and there is no dead angle, and the working surface does not need to be manually cleaned. The slewing excavating arm 2+bucket 3 cooperates with the scraper conveyor 7 to scrape the excavated soil to the scraper conveyor 7, and the scraper conveyor 7 unloads the soil from the tail into the small car.

[0047] Preferably, as shown in Figure 7 The manipulator 4 comprises a connecting seat 4.1 connected to the four-bar linkage, a vertical swing motor 4.2 connected between the connecting seat and a gripper assembly 4.3. The bucket drive 2.9 can drive the manipulator 4 to swing up and down, and the vertical swing motor 4.3 can drive the gripper assembly 4.3 to rotate vertically (±120° degree of freedom).

[0048] Preferably, the gripper assembly is provided with a sliding block and a clamping oil cylinder, and the clamping oil cylinder is drivenly connected to the sliding block to move the sliding block to complete the clamping action. The extension and retraction of the clamping oil cylinder of the gripper assembly drives the sliding block on the gripper assembly to move, so as to clamp the drilling mechanism 5, the arch 16, and the nozzle clamping mechanism 6 (with a nozzle).

[0049] The slewing excavating arm 2+manipulator 4 has seven actions and six degrees of freedom: plane XY left and right rotation, plane XZ up and down swing, boom extension and retraction, boom axial (X-axis) rotation, plane XZ up and down leveling, and vertical (Z-axis) rotation. All the degrees of freedom required for drilling, small guide pipe drilling, arch erection, and auxiliary spraying and mixing operations are met. The slewing excavating arm 2+manipulator 4 clamps / switches the drilling mechanism 5, the arch 16, and the nozzle clamping mechanism 6 (with a nozzle) to realize the functions of drilling, arch erection, and auxiliary spraying and mixing.

[0050] Preferably, as shown in Figure 1 and Figure 8 The vehicle frame 1.3 is provided with a rotating hoist 15 for assisting in mounting the bucket 3, the manipulator 4, the drilling mechanism 5 and the spray head clamping mechanism 6. Specifically, the rotating hoist 15 includes a rotating arm 15.1 rotatably mounted on the vehicle frame 1.3, a support arm 15.2 vertically liftable and horizontally extendable mounted on the rotating arm 15.1, and a hoist arm 15.3 movably connected to the support arm 15.2. The rotating hoist 15 can assist in hoisting the bucket 3, the manipulator 4 and the drilling mechanism 5 for quick disassembly / assembly.

[0051] Preferably, the bottom of the vehicle frame 1.3 is provided with a track moving chassis 1, and the vehicle frame 1.3 is provided with an open cab 9 connected to the track moving chassis 1, the rotating hoist 15 and the rotary excavating arm 2. Further, the vehicle frame 1.3 is also provided with a cable reel 10, a hydraulic oil tank 11, a radiator 12, a motor pump set 13 and an electric control cabinet 14. The trolley is externally provided with a grouting system 8, and the trolley and the grouting system 8 are configured with hydraulic pipeline quick connection interfaces and walking drive chain connection interfaces, so that the trolley and the grouting system 8 can be quickly connected and disconnected, and move forward together with the track moving chassis 1 of the whole machine (when grouting is performed, the equipment is parked and positioned to be fixed, and the grouting system 8 is disconnected from the equipment during other construction procedures), and the grouting system 8 realizes stirring, pumping and double-liquid grouting by using 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 whole vehicle control functions to ensure the safety of the operator and the operation field of view during construction. At the same time, the roof of the open cab 9 has a lifting function, which can manually adjust the height inside the cab and the height of the whole vehicle.

[0053] The cable reel 10 is bolted to the left rear end of the track moving chassis 1 and behind the electric control cabinet 14, and electric power 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 set 13 and the hydraulic oil tank 11 provide equipment walking power and working power, avoiding tail gas emission in the hole and protecting the health of the construction personnel.

[0054] Specifically, the track moving chassis 1 includes a left track assembly 1.1 and a right track assembly 1.2, and the left track assembly 1.1 and the right track assembly 1.2 in the longitudinal direction are bolted to the cross beam of the vehicle frame 1.3 in the transverse direction to form a stable structure, which together forms a support system to support the rotary excavating arm 2, the scraper conveyor, the open cab 9, the hydraulic oil tank 11, the motor pump set 13, the hydraulic system and the electrical system and other main components.

[0055] AsFigure 5 As shown, the positions of the rotary boom 15, the bucket 3, the manipulator 4 and the drilling mechanism 5 on the crawler mobile chassis 1 are optimized in layout design, the rotary boom 15 is designed at the position above the middle of the frame 1.3 and the scraper conveyor, the bucket 3 / manipulator 4 can be installed and placed at the right rear of the frame 1.3 when not in use, the drilling mechanism 5 can be installed and placed at the right front of the frame 1.3 when not in use, and the nozzle clamping mechanism 6 can be installed and placed on the covering piece at the left rear 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 power as a power source through the cable reel 10 to drive the trolley to walk, park, climb and turn on the ground.

[0056] The multifunctional underground excavation trolley of the present application meets the operation of tunnel excavation, slagging, drilling, arching and auxiliary spraying by selectively installing the bucket 3 and the manipulator 4 on the rotary excavating arm 2, and selectively installing the drilling mechanism 5 and the nozzle clamping mechanism 6 on the manipulator 4, covering all processes in the shallow buried underground power tunnel excavation and initial support process, breaking through the miniaturization layout and design of the whole machine under the multifunctional integration of each functional module and each working device, solving the problems of frequent site conversion of multiple equipment construction, inability to change lanes in small tunnels, long equipment conversion time, low construction efficiency and high construction cost. The multifunctional underground excavation trolley realizes multi-process continuous and mechanical construction, 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 existing power tunnel excavation machinery.

[0057] The rotary excavating arm 2 is multi-purpose. The rotary excavating arm 2+bucket 3 meets upward and downward digging, left and right side digging, and arching and top digging, and realizes non-explosive excavation of the working face and slagging to the scraper conveyor 7. The rotary excavating arm 2+manipulator 4 meets the six degrees of freedom required for drilling, arching and auxiliary spraying, and the rotary excavating arm 2+manipulator 4 clamping / switching the drilling mechanism 5, the arch 16 and the nozzle clamping mechanism 6(belt nozzle) realizes rapid and continuous mechanical operation of multiple construction processes. The multifunctional underground excavation trolley solves the interference and fighting problem of multiple functions of the original power tunnel excavation and support operation trolley corresponding to multiple arm supports(excavating arms, drills, etc.), and solves the problem of blocking the field of view of the cab.

[0058] Multi-functional working device quick-change technology and working mechanism adaptability technology. The rotary excavating arm 2 is provided with the working device quick-change technology of the bucket 3, the manipulator 4, the drilling mechanism 5 and the spray head clamping mechanism 6, and the rotary lifting arm 15 and the frame 1.3 are provided with the working mechanism adaptability technology of the working device optimal arrangement of the bucket 3, the manipulator 4, the drilling mechanism 5 and the spray head clamping mechanism 6. The problems of the large weight and size of the bucket 3, the manipulator 4 and the drilling mechanism 5, the difficulty of quick disassembly and quick assembly and the placement of the bucket 3, the manipulator 4 and the drilling mechanism 5 on the trolley are solved, the problem of the difficulty of process conversion and connection of the bucket 3, the manipulator 4 and the drilling mechanism 5 is solved, and the multi-process quick connection and continuous operation in the process of small-section shallow-buried power tunnel excavation and primary support are realized.

[0059] The preferred embodiments of the present application have been described above with reference to the drawings, but the present application is not limited to the above examples, and various modifications and changes can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multifunctional underground excavation trolley, characterized in that: include: A vehicle frame (1.3), wherein a crawler mobile chassis (1) is provided at the bottom of the vehicle frame (1.3), a rotary excavation arm (2) is provided on the vehicle frame (1.3), 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, 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 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 excavating arm (2); A manipulator (4) for detachably mounting on the rotary excavating 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) fixed on the vehicle frame (1.3); 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); The positions of the rotating boom (15), bucket (3), manipulator (4), drilling mechanism (5) and nozzle clamping mechanism (6) are optimized and designed on the crawler mobile chassis (1). The rotating boom (15) is designed to be located in the middle of the frame (1.3) and above the scraper conveyor (7). When the bucket (3) / manipulator (4) is not in use, it is installed and placed at the right rear of the frame (1.3). When the drilling mechanism (5) is not in use, it is installed and placed at the right front of the frame (1.3). When the nozzle clamping mechanism (6) is not in use, it is installed and placed on the left rear cover of 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 assembly is connected to the deflection seat (2.1).

3. The multifunctional underground excavation trolley according to claim 2, characterized in that: The first movable assembly 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 assembly is connected to the movable arm (2.2).

4. The multifunctional underground excavation trolley according to claim 3, characterized in that: The second movable assembly comprises a first boom arm (2.3) and a boom drive member (2.7); the first boom arm (2.3) is connected to the movable arm (2.2); the boom drive member (2.7) is connected between the movable arm (2.2) and the first boom arm (2.3); and the rotary drive 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 drive member (2.9) and a four-link, wherein the second boom arm (2.4) is connected to the rotary drive member (2.8), the four-link is connected to the second boom arm (2.4), the bucket drive 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).

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-link, and 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 oil cylinder, and the clamping oil 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 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 the vehicle frame (1.3); the supporting arm (15.2) is mounted on the rotating arm (15.1) and can be vertically lifted and horizontally extended; and the lifting arm (15.3) is movably connected to the supporting arm (15.2).

9. The multifunctional underground excavation trolley according to claim 1, characterized in that: 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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