Large-span large-section parallel combined pipe roofing parallel building construction method

Abstract

The invention discloses a large-span large-section parallel combined pipe roof parallel building construction method. The method comprises the following steps: constructing an expanded section cavern; a multi-circle combined pipe roofing is adopted, pipe roofing supporting structure integrated construction is carried out while pipe roofing construction jacking is carried out, and a micro-reinforcing water stopping measure is adopted between pipe roofing; after the upper step soil is excavated and constructed for a certain footage, synchronous parallel excavation of the upper step soil and the lower step soil is carried out, and a parallel construction cooperative control system carries out cooperative construction control on excavation equipment and deslagging equipment according to a construction monitoring result; after a certain footage is excavated in the lower step, a multifunctional parallel construction trolley is used for assisting in laying a support, and primary support concrete pouring is conducted; and the inverted arch secondary lining structure is constructed on the basis of the primary support. Through multi-procedure parallel construction, the construction cooperation efficiency is improved, pipe curtain integrated forming can be achieved, and the waterproof effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel engineering dark excavation construction, and in particular to a parallel construction method for a large-span and large-section parallel combined pipe curtain. Background Art

[0002] In order to meet the growing demand for underground space in my country, underground tunnel projects are constantly developing in the direction of large spans and large sections. In order to avoid the pain points caused by the open-cut method, such as the difficulty in traffic diversion, long impact period, many ground demolitions and relocations of large pipelines, and long construction period, the excavation of underground large-span and large-section tunnels often adopts the construction method of first support and then excavation to ensure construction safety. Among them, the pipe curtain method is a common form of strong support structure.

[0003] At present, the traditional pipe-curtain excavation method has construction difficulties such as low intelligent coordination of excavation equipment, low level of intelligence, complicated construction procedures, easy instability of soft soil layers, multiple steps of single pipe jacking, poor overall waterproofing effect, and high risk of cutting between pipes. As a result, the traditional pipe-curtain excavation method has the disadvantages of high cost and long construction period, which limits the development of the pipe-curtain method in urban underground tunnel excavation. Summary of the invention

[0004] Purpose of the invention: The present invention aims to provide a method for parallel construction of large-span and large-section parallel combined pipe curtains, which can improve the construction coordination efficiency through parallel construction of multiple processes and can realize integrated forming of pipe curtains and improve waterproofing effects.

[0005] Technical solution: The invention discloses a method for parallel construction of large-span and large-section parallel combined pipe curtains, comprising the following steps: (1) Construction of the expanded section cavern; (2) Use a multi-circle combined pipe curtain, carry out integrated construction of the pipe curtain support structure while the pipe curtain is being jacked up, and use micro-reinforcement water-stopping measures between the pipe curtains; (3) After the excavation of the upper step has reached a certain length, the upper and lower step soils are excavated synchronously and in parallel based on the multifunctional parallel construction trolley, and the parallel construction collaborative control system performs collaborative construction control on the excavation equipment and slag discharge equipment according to the construction monitoring results; after the excavation of the lower step has reached a certain length, the multifunctional parallel construction trolley is used to assist in laying the support and pouring the initial support concrete; on the basis of the initial support, the secondary lining structure of the invert is constructed.

[0006] Preferably, in the jacking construction of the multi-circular combined pipe curtain, the pipe curtain at the top of the section is injected first, and then the pipe curtains at the left and right ends are injected symmetrically.

[0007] Preferably, the integrated construction of the pipe-roof support structure includes: 1) Reserved channels are set above and below the joints of adjacent tube-roofs in the multi-circle combined tube-roof; 2) When the combined pipe curtain is pushed forward, the segmented steel bars are placed in the reserved channels in advance; 3) Use the cutting and welding device inside the pipe curtain to cut and weld the pipe curtain steel pipes of the pipe curtain that has been injected; 4) Connect the segmented cut welded steel pipes to the reserved segmented steel bars in the annular direction and longitudinal direction; 5) Pour waterproof concrete lining inside the pipe curtain to make the structure integrated.

[0008] Preferably, the micro-reinforcement water-stopping measure includes reinforcing and water-stopping by grouting between multi-circular combined pipe curtains.

[0009] Preferably, the soil backfilling is carried out after the excavation of the expansion section cavern is completed.

[0010] Preferably, the multifunctional parallel construction trolley includes excavation equipment, slag discharge equipment, walking system, transportation equipment, and arch frame construction equipment; the excavation equipment includes a plurality of mechanical arms, the slag discharge equipment is connected to the excavation equipment, the slag discharge equipment includes a loader for discharging materials and a belt conveyor for transportation; the arch frame construction system includes a spraying and mixing robot, a primary support steel frame assembly and a steel bar bundling robot; the multifunctional parallel construction trolley integrates the functions of excavation, slag discharge, material transportation, steel arch frame laying, and primary support spraying and mixing.

[0011] Preferably, the parallel construction collaborative control system includes an equipment status monitoring module, a data acquisition and processing module, a task decision and allocation module, and a process parallel and process integration module, thereby performing intelligent collaborative control of the dark mining equipment cluster.

[0012] Preferably, while the soil of the upper step is being excavated, a face scanning robot is used to scan the soil, and while the soil of the lower step is being excavated, a sensor system provided on the multifunctional parallel construction trolley is used to scan the soil, and the scan is transmitted in real time to the parallel construction collaborative control system; the parallel construction collaborative control system controls the upper step excavator to optimize the over-excavation and under-excavation of the face according to the results of the face soil scanning and evaluation by the face scanning robot; the parallel construction collaborative control system automatically calculates the excavation position and movement layout route of the multifunctional parallel construction trolley according to the real-time construction monitoring results, formulates a slag shoveling control plan, and transmits the results in real time to the data receiving modules of the excavation equipment and the slag discharge equipment, so as to perform collaborative construction control of the excavation equipment and the slag discharge equipment.

[0013] Preferably, after a certain excavation advance of the lower step, the initial support arch frame is installed with the assistance of the multifunctional parallel construction trolley, and the parallel construction collaborative control system controls the spraying and mixing robot to perform initial support spraying and mixing according to the established spraying path; after every two sections of the initial support of the lower step invert and arch foot are completed, the construction of the secondary lining structure of the invert is started synchronously.

[0014] Preferably, the installation of the primary support arch and the spraying of concrete are carried out under the support of a multifunctional parallel construction trolley baffle.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: through the micro-disturbance construction of multi-circle combined pipe curtains, the problems of the traditional pipe curtain method, such as multiple single-pipe jacking steps, poor overall waterproofing effect, and high risk of cutting between pipes, are solved; through the optimization of the support, excavation, and structural construction processes, a multi-process parallel construction resource scheduling and organization system of the parallel combined pipe curtain method based on the intelligent dark excavation equipment cluster is proposed to solve the problems of overlapping processes and low coordination efficiency in the traditional dark excavation method; through the parallel construction of collaborative control systems and multi-functional parallel construction trolleys, the problem of difficult collaborative operation of equipment clusters between processes is solved, and the collaborative parallel construction of multiple processes of equipment clusters is realized, that is, the parallel construction of soil excavation, primary support and secondary lining is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the method of the present invention; Figure 2 is a cross-sectional view of an underground tunnel of the present invention; Figure 3 It is a schematic diagram of the multi-circle combined tube curtain structure of the present invention; Figure 4 It is a cross-sectional schematic diagram of the upper step excavation construction of the present invention; Figure 5 It is a cross-sectional schematic diagram of the lower step excavation construction of the present invention; Figure 6 It is a schematic diagram of the parallel construction plan of the present invention; Among them, 1. upper step excavation section; 2. lower step excavation section; 3. reserved channel; 4. segmented steel bars; 5. concrete lining; 6. excavator; 7. slag backfill section; 8. multifunctional parallel construction trolley; 9. robotic arm; 10. loader; 11. sensor system; 12. belt conveyor. DETAILED DESCRIPTION

[0017] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0018] The invention discloses a method for parallel construction of large-span and large-section parallel combined pipe curtains, comprising the following steps: (1) Construction of the expanded section cavern.

[0019] The cross-sectional dimensions and form of the expanded section cavern are designed according to the excavation section of complex strata (including soft soil strata) and the construction space requirements of the combined pipe curtain excavation and the initial receiving trolley. Specifically, the span and height of the expanded section cavern should be appropriately expanded in combination with the pipe curtain section section, and meet the operating space of the multi-circle combined pipe curtain machine to push the pipe curtain. After the excavation of the expanded cavern is completed, the slag is backfilled to provide working conditions for the equipment to carry out the first excavation on the upper step.

[0020] (2) The combined pipe-roof jacking construction is carried out, and at the same time, the completed pipe-roof is filled to form a pipe-roof support structure.

[0021] According to the shape of the construction surface, the positions of the multi-circle combined pipe curtain starting and receiving trolley and the multi-circle combined pipe curtain machine are adjusted to carry out the combined pipe curtain jacking construction. While the pipe curtain construction is jacking, concrete is filled into the already injected pipe curtain, so that the formed pipe curtain is both a permanent lining structure and a supporting structure, and micro-reinforcement water-stopping measures are adopted between the pipe curtains. Preferably, the grouting method is used for reinforcement and water-stopping.

[0022] Among them, the multi-circular combined pipe curtain starting receiving trolley includes a supporting platform, a multi-circular combined pipe curtain machine, a lifting mechanism, a walking mechanism, and an angle adjustment mechanism. The multi-circular pipe curtain machine is arranged on the multi-circular combined pipe curtain starting receiving trolley, and the multi-circular combined pipe curtain starting receiving trolley adjusts the height of the supporting platform through a lifting device. An angle adjustment mechanism is arranged on the supporting platform. According to the construction pipe curtain angle, the inclination angle of the multi-circular combined pipe curtain machine is automatically adjusted to improve the positioning accuracy of the pipe curtain injection. Compared with the conventional single-circular pipe curtain machine, the multi-circular combined pipe curtain machine of the present invention can simultaneously push in multiple pipe curtains, reduce the joints between pipe curtains and the construction time of pipe curtain injection, and can solve the problem of water leakage of traditional single-circular pipe curtain joints; the multi-circular combined pipe curtain machine has a retraction function, and the multi-circular combined pipe curtain starting receiving trolley has the ability to adjust the height and move. In the combined pipe curtain jacking construction, the top pipe curtain of the section is injected first, and then the pipe curtains at the left and right ends are injected symmetrically respectively.

[0023] Concrete pouring pipes and pipe curtain stress / deformation sensors are embedded in the multi-circular combined pipe curtain, and reserved channels are set at the joints of adjacent pipe curtains of the multi-circular combined pipe curtain, and segmented steel bars, i.e. internal steel bars, are set in the reserved channels. The reserved channels are mainly used to place steel bars in the pipe curtain to avoid setting short steel bars in each single-circular pipe curtain and reconnecting them, thereby reducing the workload. The purpose of setting internal steel bars in the multi-circular combined pipe curtain is to first set internal steel bars in the multi-circular combined pipe curtain, and then fill them with concrete, so that the structure is directly integrated and formed to form a permanent reinforced concrete structure. At the same time, grouting is used between the pipe curtains to reinforce and stop water.

[0024] During the process of jacking other combined pipe curtains, the combined pipe curtains that have been jacked are cut, welded and cast in parallel at the connection positions.

[0025] The method of pouring concrete is used between the pipe curtains to complete the integrated forming and waterproofing of the pipe curtain lining.

[0026] (3) After the excavation of the upper step soil has progressed to a certain extent, the upper and lower step soils are excavated synchronously and in parallel, and the slag removal and the pouring of the secondary lining of the invert are carried out in parallel.

[0027] An excavator is used to excavate the soil of the upper step. After a certain amount of excavation of the upper step soil is made to reserve construction and operation space for the lower step equipment, the excavation of the lower step soil is simultaneously carried out using a multifunctional parallel construction trolley.

[0028] The multifunctional parallel construction trolley described in the present invention integrates the functions of excavation, slag discharge, material transportation, steel arch frame laying, initial support spraying and mixing, etc., including excavation equipment, slag discharge equipment, walking system, transportation equipment, and arch frame construction equipment; the excavation equipment includes a number of mechanical arms, and the slag discharge equipment is connected to the excavation equipment, and the slag discharge equipment includes a loader for discharging materials and a belt conveyor for transportation; the arch frame construction system includes a spraying and mixing manipulator, an initial support steel frame assembly and a steel bar bundling manipulator. Conventional dark excavation trolleys do not realize the integration of such functions. Compared with ordinary trolleys, the multifunctional parallel construction trolley of the present invention can simultaneously perform construction steps such as steel arch frame placement, initial support spraying and mixing, slag discharge, and material transportation while performing face excavation.

[0029] Specifically, while the core soil of the upper step is being excavated, the soil is scanned using a face scanning robot, and the lower step is scanned using a sensor system installed on a multifunctional parallel construction trolley, and the information is transmitted to the parallel construction collaborative control system in real time. The parallel construction collaborative control system controls the upper step excavator to optimize the over-excavation and under-excavation of the face based on the scanning and evaluation results of the face soil of the face scanning robot; the parallel construction collaborative control system automatically calculates the excavation points and mobile layout routes of the multifunctional parallel construction trolley's mechanical arm based on the real-time construction monitoring results, formulates a slag shoveling control plan, and transmits the results in real time to the data receiving module of the excavator and slag discharge equipment, and performs collaborative construction control of the excavator, mechanical arm, and slag discharge equipment.

[0030] After part of the space is excavated on the lower step, a multifunctional parallel construction trolley is used to assist in laying the steel frame and pouring the initial support concrete. On the basis of the initial support, auxiliary binding of the arch steel bars, erection of formwork and concrete pouring are carried out to realize the construction of the secondary lining structure of the arch.

[0031] The parallel construction collaborative control system described in the present invention includes an equipment status monitoring module, a data acquisition and processing module, a task decision and allocation module, and a process parallel and process integration module, thereby performing intelligent collaborative control of a dark mining equipment cluster.

[0032] The equipment status monitoring module is used to monitor the operating status of multi-circular combined pipe curtain machines, multi-functional parallel construction trolleys, excavators, slag discharge equipment, etc. in real time, and dynamically adjust the construction plan and equipment operation parameters according to the changes in construction progress and site conditions. The core functions of the equipment status monitoring module include real-time monitoring of equipment operating status, equipment excavation points, equipment excavation trajectories, and equipment travel points, and data transmission and command execution with sensors and actuators such as soil pressure, stress, and vision deployed on site through wireless or wired networks to achieve interactive parallelism between devices.

[0033] The data acquisition and processing module is used to collect and process operating parameter information such as soil pressure, water pressure, over-excavation and under-excavation of the face, walking posture of each dark excavation equipment, excavation points, etc. at the construction site. Through algorithm models such as data processing, data fusion, data analysis, and data prediction, a comprehensive perception of the dark excavation construction status is formed, providing decision support for the parallel construction of collaborative control systems by the dark excavation integrated control center.

[0034] The task decision and allocation module is used to dynamically allocate the next excavation point, excavation volume, excavation equipment movement trajectory, etc. to each construction equipment according to the construction site information transmitted by the data acquisition and processing module, and in combination with the construction plan, equipment status, equipment performance, site conditions and project progress. It can also adjust the task volume and movement trajectory of each excavation equipment in real time according to the real-time monitored construction progress and equipment status information. It should have a high degree of flexibility and real-time performance, and be able to respond to emergencies that occur during the construction process, such as equipment failure, changes in construction strata, etc.

[0035] The process parallelization and process integration module is used to ensure the effective connection and coordination between the various processes of support-excavation-structure construction, and improve the construction efficiency and quality. The module should be able to realize the parallel control of upper step excavation and lower step excavation, and can adjust the construction progress of the upper and lower steps in real time according to the equipment monitoring information and data collection information, control the excavation footage and excavation spacing of the upper and lower steps, coordinate the parallel operation process of lower step excavation and invert construction, and realize the excavation of different areas of different lower steps and the construction of inverts synchronously; the module should also be able to control the dynamic switching and utilization of general equipment for dark excavation between different processes.

[0036] The method of the present invention is further described below with reference to a specific embodiment.

[0037] The invention discloses a large-span and large-section parallel combined pipe curtain method for parallel construction, such as Figure 1 As shown, the following steps are included: (1) Construction of the expanded section cavern According to the excavation section and the construction space requirements of the multi-circular combined pipe curtain jacking and the starting receiving trolley, excavation equipment is used to excavate the expanded section of the cavern. The expanded cavern should have a longitudinal length of not less than 10m and an expansion space of not less than 2m to meet the construction space for the multi-circular combined pipe curtain starting receiving trolley to install the pipe curtain.

[0038] After the expansion section is completed, the soil backfill is carried out to provide conditions for the transportation of construction equipment. Specifically, the soil backfill with a slope of no more than 15°, a width of J (no less than 7.5m), and a height of K (no less than 6.548m) can be carried out to form a soil backfill section 7, such as Figure 4 shown.

[0039] (2) Multi-circle combined pipe curtain is jacked in and concrete is filled into the completed pipe curtain to form an integrated pipe curtain support structure.

[0040] After the expansion of the cavern construction is completed, the multi-circular combined pipe curtain machine is installed on the multi-circular combined pipe curtain starting and receiving trolley. The multi-circular combined pipe curtain starting and receiving trolley adjusts the height of the supporting platform through the lifting mechanism according to the injection position of the pipe curtain (the diameter of the pipe curtain is 1.8m), and an angle adjustment cylinder is set on the supporting platform. According to the construction angle of the pipe curtain, the inclination angle of the multi-circular combined pipe curtain machine is automatically adjusted to improve the positioning accuracy of the pipe curtain injection.

[0041] With the assistance of the multi-circular combined pipe curtain starting and receiving trolley, the multi-circular combined pipe curtain machine first applies the combined pipe curtain on the top of the section, and then symmetrically applies the pipe curtains on the left and right sides respectively, and constructs a collaborative control system in parallel to solve the current theoretical and actual curve errors of the pipe curtain, and provides real-time feedback for jacking adjustment and correction; the multi-circular combined pipe curtain starting and receiving trolley feeds back the information of the constructed pipe curtain, and the parallel construction collaborative control system calculates the next construction position of the combined pipe curtain; the multi-circular combined pipe curtain machine automatically fits the jacking curve according to the current positioning information provided by the trolley.

[0042] In the process of pushing in other combined pipe-roofs, the combined pipe-roofs that have been pushed in are cut, welded and poured in an integrated manner. The integrated forming of the pipe-roof support structure is completed as the pipe-roofs are pushed in.

[0043] The integrated construction of the pipe-roof support structure includes: 1) In the multi-circle combined tube curtain, reserved channels 3 are set above and below the joints of adjacent tube curtains, such as Figure 3 As shown; 2) When the combined pipe curtain is pushed forward, the segmented steel bars 4 are placed in the upper and lower reserved channels in advance; 3) After the pipe roof is jacked in, use the cutting and welding device inside the pipe roof to cut and weld the steel pipe; 4) Connect the segmented cut welded steel pipes to the reserved segmented steel bars in the annular direction and longitudinal direction; 5) Concrete lining 5 is poured inside the pipe curtain, for example, 1.2m thick C40 waterproof reinforced concrete, so that the structure is integrated; at the same time, grouting is used between the pipe curtains to reinforce and stop water.

[0044] (3) After the excavation of the upper step soil has progressed to a certain extent, the upper and lower step soils are excavated synchronously and in parallel, and the slag removal and the pouring of the secondary lining of the invert are carried out in parallel.

[0045] According to the design plan, the large-span and large-section tunnel is divided into two excavation sections, upper step excavation section 1 and lower step excavation section 2, by the step method under the combined pipe curtain advance support. Figure 2 shown.

[0046] The excavator 6 excavates the soil of the upper step face by expanding the slag backfill section 7 in the cavern. The upper step excavation is ahead of the lower step H (for example, 12.5m). The distance I between the excavator and the face, the excavation footage M and the upper step height N are controlled. Figure 4 shown.

[0047] After the upper step excavation construction length H, the expanded cavern is cleared to prepare the upper step equipment for the working conditions of the slag backfill section 7, and the parallel construction collaborative control system controls the mechanical arm 9 of the multifunctional parallel construction trolley 8 to excavate the lower step soil. The lower step height is O, and the distance R between the upper step excavation face and the multifunctional parallel construction trolley is controlled, and the distance P between the loader 10 and the upper step free surface is controlled. Figure 5 As shown. The soil of the face is scanned and evaluated by the sensor system 11 equipped with the multifunctional parallel construction trolley, and the parallel construction collaborative control system controls the mechanical arm 9 to optimize the over-excavation and under-excavation of the face according to the face scanning results. In the excavation process of such a large section, the traditional upper and lower step construction can only be carried out after the excavation of the upper step is completed, and the construction equipment returns to the lower step, and then the excavation of the lower step is carried out. However, in the present invention, under the support of the multi-circular combined pipe curtain, the upper step excavation equipment does not need to retreat, and the upper and lower steps can be excavated at the same time, and there is no intersection and interference between the processes, thereby realizing the parallel construction of the upper and lower step excavation.

[0048] While excavating the soil of the upper step, a face scanning robot is used to scan and evaluate the face soil, and the scanning results are transmitted to the parallel construction collaborative control system in real time. The parallel construction collaborative control system controls the excavator 6 to optimize the over-excavation and under-excavation of the upper step face according to the face scanning results; the parallel construction collaborative control system automatically calculates the excavation position of the excavator according to the real-time excavation data, and controls the excavation volume, excavation depth and excavation distance of the excavator.

[0049] While excavating the lower step, the sensor system 11 on the multifunctional parallel construction trolley 8 is used to scan and evaluate the soil at the lower step face. The parallel construction collaborative control system controls the robotic arm 9 to optimize the over-excavation and under-excavation of the face according to the scanning results. The parallel construction collaborative control system automatically calculates the excavation points and arranges the moving route of the multifunctional parallel construction trolley; the excavator scans the tunnel slag situation, and the parallel construction collaborative control system formulates the tunnel slag shoveling plan according to the real-time scanning results; the belt conveyor 12 monitors the tunnel slag loading volume and weight, and the parallel construction collaborative control system issues instructions to adjust the excavated slag volume according to the monitoring results.

[0050] The plan of parallel construction collaboration is as follows Figure 6 As shown, the excavation distance of the lower step lags behind that of the upper step by H (12.5m). Two excavators 6 are arranged on the excavation working surface of the upper step respectively. The loader 10 puts the excavated debris on the belt conveyors 12 on both sides. The belt conveyors are overlapped on the multifunctional parallel construction trolley 8 through a tripod. The soil excavated from the upper step is transported by the transportation equipment on the multifunctional parallel construction trolley; the two mechanical arms 9 of the multifunctional parallel construction trolley excavate the soil on the heading face of the lower step, and the excavated soil is transported by the transportation equipment. Through this step, the excavation construction of the upper and lower steps is coordinated.

[0051] When the lower step excavation reaches a certain length, with the assistance of the multifunctional parallel construction trolley, the initial support arch frame is installed, such as laying the Ф10 bottom steel mesh 150×150 (single layer), laying the 122b I-beam (longitudinal distance 500) steel frame, and laying the upper steel mesh. Each time the initial support arch frame is installed in one stage, 5 frames, and the spraying and mixing manipulator is used to spray concrete in one section. The parallel construction collaborative control system controls the spraying and mixing manipulator to perform initial support spraying and mixing according to the specified spraying path; the initial support arch frame and spraying concrete are carried out under the support of the baffle of the multifunctional parallel construction trolley to improve the safety factor of construction. While the initial support is being carried out, the excavation of the lower step soil continues, realizing the parallelization of processes.

[0052] After the lower step invert and arch foot primary support are completed for every two sections, the invert secondary lining structure is started synchronously. Specifically, the 150×150 (single layer) Ф10 invert reinforcement mesh is laid, and the parallel construction collaborative control system controls the mobile multifunctional parallel construction trolley, controls the moving position of the invert formwork, and issues instructions to dock with the concrete pump truck to pump concrete for the invert pouring. The buried sensors upload data to the collaborative system according to the real-time pouring situation, complete the concrete pouring, and perform concrete maintenance.

Claims

1. A method for parallel construction of large-span and large-section parallel combined pipe curtains, characterized in that: The following steps are involved: (1) Construction of the expanded section cavern; (2) Use a multi-circle combined pipe curtain to carry out integrated construction of the pipe curtain support structure while the pipe curtain is being jacked up; (3) After the excavation of the upper step has reached a certain length, the upper and lower step soils are excavated synchronously and in parallel based on the multifunctional parallel construction trolley, and the parallel construction collaborative control system performs collaborative construction control on the excavation equipment and slag discharge equipment according to the construction monitoring results; after the excavation of the lower step has reached a certain length, the multifunctional parallel construction trolley is used to assist in laying the support and pouring the initial support concrete; on the basis of the initial support, the secondary lining structure of the invert is constructed.

2. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: In the jacking construction of multi-circular combined pipe curtains, the pipe curtain at the top of the section is injected first, and then the pipe curtains at the left and right ends are injected symmetrically.

3. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: The integrated construction of the pipe-roof support structure includes: 1) A reserved channel is set at the joint of adjacent pipe-roofs in a multi-circle combined pipe-roof; 2) When the combined pipe curtain is pushed forward, the segmented steel bars are placed in the reserved channels in advance; 3) Cut and weld the steel pipes of the pipe curtain after jacking; 4) Connect the segmented cut welded steel pipes to the reserved segmented steel bars in the annular direction and longitudinal direction; 5) Pour waterproof concrete lining inside the pipe curtain to make the structure integrated.

4. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: When carrying out the integrated construction of the pipe-roof support structure, the grouting method is used to reinforce and stop water between the multi-circular combined pipe-roofs.

5. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: After the excavation of the expanded section cavern is completed, the slag backfill is carried out.

6. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: The multifunctional parallel construction trolley includes excavation equipment, slag discharge equipment, walking system, transportation equipment, and arch frame construction equipment; the excavation equipment includes a number of mechanical arms, the slag discharge equipment is connected to the excavation equipment, and the slag discharge equipment includes a loader for discharging materials and a belt conveyor for transportation; the arch frame construction system includes a spraying and mixing robot, a primary support steel frame assembly and a steel bar bundling robot; the multifunctional parallel construction trolley integrates the functions of excavation, slag discharge, material transportation, steel arch frame laying, and primary support spraying and mixing.

7. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: The parallel construction collaborative control system includes an equipment status monitoring module, a data acquisition and processing module, a task decision and allocation module, and a process parallel and process integration module, thereby performing intelligent collaborative control of the dark mining equipment cluster.

8. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1 is characterized in that: While excavating the soil of the upper step, the soil is scanned by a face scanning robot, and when excavating the soil of the lower step, the soil is scanned by a sensor system provided on the multifunctional parallel construction trolley, and the scan is transmitted in real time to the parallel construction collaborative control system; the parallel construction collaborative control system controls the upper step excavator to optimize the over-excavation and under-excavation of the face according to the results of the face soil scanning and evaluation by the face scanning robot; the parallel construction collaborative control system automatically calculates the excavation position and movement layout route of the multifunctional parallel construction trolley according to the real-time construction monitoring results, formulates a slag shoveling control plan, and transmits the results in real time to the data receiving modules of the excavation equipment and the slag discharge equipment, so as to perform collaborative construction control of the excavation equipment and the slag discharge equipment.

9. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 1, characterized in that: After a certain excavation depth of the lower step, the multifunctional parallel construction trolley will install the initial support arch frame, and the parallel construction collaborative control system will control the spraying and mixing robot to carry out the initial support spraying and mixing according to the established spraying path; after every two sections of the initial support of the lower step invert and arch foot are completed, the construction of the secondary lining structure of the invert will be started simultaneously.

10. The method for parallel construction of large-span and large-section parallel combined pipe-roofs according to claim 9, characterized in that: The installation of the primary support arch and the spraying of concrete are carried out under the support of the multifunctional parallel construction trolley baffle.

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