A parallel construction method for large-span and large-section parallel combined pipe curtains

Abstract

The present invention discloses a parallel construction method for a large-span, large-section, parallel composite pipe-roof structure, comprising: expanding a tunnel section; employing a multi-circular composite pipe-roof structure, simultaneously carrying out integrated construction of the pipe-roof support structure during pipe-roof jacking, and employing micro-reinforcement water-stopping measures between the pipe-roof structures; after a certain amount of excavation progress has been made on the upper step, synchronous parallel excavation of the upper and lower steps is carried out, with a parallel construction collaborative control system performing collaborative construction control over the excavation equipment and slag discharge equipment based on construction monitoring results; after a certain amount of excavation progress has been made on the lower step, a multifunctional parallel construction trolley is used to assist in laying supports and pouring primary support concrete; and, based on the primary support, constructing the secondary lining structure of the inverted arch. The present invention improves construction coordination efficiency through multi-process parallel construction, achieves integrated pipe-roof molding, and enhances waterproofing effectiveness.

Description

Technical Field

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

[0002] To meet the growing demand for underground space in my country, underground tunnel projects are constantly developing towards large spans and large sections. In order to avoid the pain points caused by the open-cut method, such as 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 supporting and then excavating 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 single-pipe jacking procedures, poor overall waterproofing effect, and high risk of cutting between pipes. As a result, the traditional pipe-curtain excavation method has disadvantages such as 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 improves construction coordination efficiency through parallel construction of multiple processes, realizes integrated forming of pipe curtains, and improves waterproofing effects.

[0005] Technical solution: The invention provides a method for parallel construction of a large-span, large-section parallel composite pipe curtain, comprising the following steps:

[0006] (1) Construction of the expanded section cavern;

[0007] (2) Use a multi-circle combined pipe curtain, carry out the integrated construction of the pipe curtain support structure at the same time as the pipe curtain is jacked up, and adopt micro-reinforcement water-stopping measures between the pipe curtains;

[0008] (3) After the excavation of the upper step has progressed to a certain extent, 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 progressed to a certain extent, 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 inverted arch is constructed.

[0009] Preferably, during the jacking construction of the multi-circular combined pipe roof, the pipe roof at the top of the section is injected first, and then the pipe roofs at the left and right ends are injected symmetrically.

[0010] Preferably, the integrated construction of the pipe-roof support structure includes:

[0011] 1) Reserved channels are set above and below the joints of adjacent tube-roofs in a multi-circular combined tube-roof;

[0012] 2) When the combined pipe curtain is jacked in, the segmented steel bars are placed in the reserved channels in advance;

[0013] 3) Use the internal cutting and welding device to cut and weld the pipes of the completed pipe curtain;

[0014] 4) Connect the segmented cut welded steel pipes to the reserved segmented steel bars in the circumferential and longitudinal directions;

[0015] 5) Pour waterproof concrete lining inside the pipe curtain to make the structure integrated.

[0016] Preferably, the micro-reinforcement water-stopping measure includes using a grouting method to reinforce water-stopping between multi-circular combined pipe curtains.

[0017] Preferably, soil backfilling is carried out after the excavation of the expanded section cavern is completed.

[0018] 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 several 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 excavation, slag discharge, material transportation, steel arch frame laying, and primary support spraying and mixing functions.

[0019] 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.

[0020] Preferably, while the soil of the upper step is being excavated, the soil is scanned using a face scanning robot, and while the soil of the lower step is being excavated, the soil is scanned using a sensor system provided on a 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 based on 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 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 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.

[0021] Preferably, after a certain excavation advance has been made on the lower step, the primary support arch frame is installed with the assistance of a multifunctional parallel construction trolley, and the parallel construction collaborative control system controls the spray-mixing robot to perform the primary support spray-mixing according to the established spraying path; after every two sections of the primary support of the lower step inverted arch and arch foot are completed, the construction of the secondary lining structure of the inverted arch is started simultaneously.

[0022] 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.

[0023] Beneficial effects: Compared with the existing technology, the present invention has the following significant advantages: through the micro-disturbance construction of multi-circular 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; by optimizing the support, excavation, and structural construction processes, a parallel combined pipe curtain method multi-process parallel construction resource scheduling and organization system based on an intelligent dark excavation equipment cluster is proposed to solve the problems of cross-process and low collaborative efficiency in the traditional dark excavation method; through the parallel construction collaborative control system and the multi-functional parallel construction trolley, the problem of difficult collaborative operation of equipment clusters between processes is solved, and the equipment cluster multi-process collaborative parallel construction is realized, that is, the parallel construction of soil excavation, primary support and secondary lining is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of the method of the present invention;

[0025] Figure 2 is a cross-sectional view of an underground tunnel according to the present invention;

[0026] Figure 3 This is a schematic diagram of the multi-circular combined tube curtain structure of the present invention;

[0027] Figure 4 This is a cross-sectional diagram of the step excavation construction of the present invention;

[0028] Figure 5 This is a cross-sectional diagram of the lower step excavation construction of the present invention;

[0029] Figure 6 It is a schematic diagram of the parallel construction plan of the present invention;

[0030] 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. Muck backfill section; 8. Multifunctional parallel construction trolley; 9. Robotic arm; 10. Loader; 11. Sensor system; 12. Belt conveyor. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0032] The method for parallel construction of a large-span, large-section parallel composite pipe curtain described in the present invention comprises the following steps:

[0033] (1) Construction of the expanded section cavern.

[0034] The cross-sectional dimensions and form of the expanded tunnel section are designed based on the excavation section in complex strata (including soft soil) and the working space requirements for combined pipe curtain excavation and the initial receiving trolley. Specifically, the span and height of the expanded tunnel section should be appropriately increased based on the pipe curtain section section to provide sufficient operating space for the multi-circular combined pipe curtain machine to jack the tunnel. After excavation of the expanded tunnel section is completed, soil backfill is carried out to provide working conditions for the equipment to conduct the initial excavation of the upper step.

[0035] (2) Combined pipe curtain jacking construction, while filling the completed pipe curtain to form a pipe curtain support structure.

[0036] The positions of the multi-circular composite pipe curtain launching and receiving trolley and the multi-circular composite pipe curtain machine are adjusted according to the construction surface shape. The composite pipe curtain is then jacked in. Concrete is then filled into the already injected pipe curtain during the jacking process, making the formed pipe curtain both a permanent lining and a supporting structure. Micro-reinforcement water-stopping measures are then implemented between the pipe curtains. Grouting is preferably used for reinforcement and water-stopping.

[0037] Among them, the multi-circular combined pipe curtain starting and receiving trolley includes a support 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 and receiving trolley, and the multi-circular combined pipe curtain starting and receiving trolley adjusts the height of the support platform through the lifting device. An angle adjustment mechanism is arranged on the support 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 multiple pipe curtains, reduce the joints between pipe curtains and the construction time of pipe curtain injection, and solve the problem of easy 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 and receiving trolley has the ability to adjust 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.

[0038] Concrete pouring pipes and stress / deformation sensors are embedded within the multi-circular composite pipe curtain. Pre-reserved channels are provided at the junctions between adjacent pipe curtains, housing segmented reinforcement, or internal reinforcement. These channels are primarily used to accommodate the reinforcement within the pipe curtain, eliminating the need to install short, reconnected rebar within each individual pipe curtain, thus reducing the workload. The purpose of internal reinforcement within the multi-circular composite pipe curtain is to first install the internal reinforcement and then fill it with concrete, allowing the structure to be directly integrated into a permanent reinforced concrete structure. Grouting is also used between the pipe curtains for watertight reinforcement.

[0039] 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.

[0040] The method of pouring concrete is used between the pipe curtains to complete the integrated forming and waterproofing of the pipe curtain lining.

[0041] (3) After the excavation of the upper step soil has progressed to a certain extent, the upper and lower step soils are excavated simultaneously, and the slag removal and the pouring of the inverted arch secondary lining are carried out in parallel.

[0042] An excavator is used to excavate the soil of the upper step. After a certain amount of excavation is made on the upper step to reserve construction and operation space for the lower step equipment, the soil of the lower step is excavated simultaneously using a multifunctional parallel construction trolley.

[0043] 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 inverted 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 inverted arch frame construction system includes a spraying and mixing robot, an initial support steel frame assembly and a steel bar bundling robot. Conventional underground excavation trolleys do not achieve this functional integration. 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.

[0044] Specifically, while the core soil of the upper bench is being excavated, the soil is scanned using a face scanning robot. The lower bench is scanned using a sensor system installed on a multifunctional parallel construction trolley, and the data is transmitted in real time to the parallel construction collaborative control system. Based on the face scanning robot's soil scanning and assessment results, the parallel construction collaborative control system controls the upper bench excavator to optimize over-excavation and under-excavation of the face. Based on real-time construction monitoring results, the parallel construction collaborative control system automatically calculates the excavation points and movement layout of the multifunctional parallel construction trolley's robotic arm, develops a control plan for slag shoveling, and transmits the results in real time to the data receiving modules of the excavator and slag discharge equipment, enabling coordinated construction control of the excavator, robotic arm, and slag discharge equipment.

[0045] After part of the space is excavated on the lower steps, 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 inverted arch steel bars, erection of formwork and concrete pouring are carried out to realize the construction of the secondary lining structure of the inverted arch.

[0046] 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 the dark mining equipment cluster.

[0047] 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, and slag discharge equipment in real time. It dynamically adjusts construction plans and equipment operating parameters based on construction progress and changes in site conditions. The module's core functions include real-time monitoring of equipment operating status, excavation locations, excavation trajectories, and travel locations. It also communicates data and executes commands with on-site soil pressure, stress, and visual sensors and actuators via wireless or wired networks, enabling interactive and parallel operation between devices.

[0048] 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 tunnel face, walking posture of each underground 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 underground excavation construction status is formed, providing decision support for the parallel construction of collaborative control systems in the underground excavation integrated control center.

[0049] 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 based on 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 also adjusts 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 deal with emergencies that occur during the construction process, such as equipment failure, changes in construction strata, etc.

[0050] The parallel process and process integration module is designed to ensure effective connection and coordination between the various support, excavation, and structural construction processes, improving construction efficiency and quality. This module should be able to achieve parallel control of upper and lower step excavation. Based on equipment monitoring information and data collection information, it should be able to adjust the construction progress of the upper and lower steps in real time, control the excavation footage and spacing of the upper and lower steps, coordinate the parallel operation of lower step excavation and invert construction, and achieve synchronous excavation of different areas of the lower step and invert construction. This module should also control the dynamic switching and utilization of general-purpose underground excavation equipment between different processes.

[0051] The method of the present invention is further described below with reference to a specific embodiment.

[0052] The invention discloses a parallel construction method for a large-span and large-section parallel combined pipe curtain method, such as Figure 1 As shown, the following steps are included:

[0053] (1) Construction of the expanded section cavern

[0054] According to the excavation section and the construction space requirements of the multi-circular combined pipe curtain jacking and the starting and 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 and receiving trolley to carry out pipe curtain injection.

[0055] 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 can be carried out 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), forming a soil backfill section 7. Figure 4 shown.

[0056] (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.

[0057] After the construction of the expanded cavern 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 support 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 support 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.

[0058] 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. The parallel construction collaborative control system solves the error between the current theoretical and actual curves 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.

[0059] During the process of jacking in other combined pipe roofs, the completed combined pipe roofs are subjected to integrated construction including cutting, welding, and pouring at the connection points. The integrated formation of the pipe roof support structure is completed as the pipe roof is jacked in.

[0060] The integrated construction of the pipe-roof support structure includes:

[0061] 1) In the multi-circle combined pipe roof, reserved channels 3 are set above and below the joints of adjacent pipe roofs, such as Figure 3 As shown;

[0062] 2) When the combined pipe curtain is jacked in, the segmented steel bars 4 are placed in the upper and lower reserved channels in advance;

[0063] 3) After the pipe roof is jacked in, use the cutting and welding device inside the pipe roof to cut and weld the steel pipes;

[0064] 4) Connect the segmented cut welded steel pipes to the reserved segmented steel bars in the circumferential and longitudinal directions;

[0065] 5) Concrete lining 5 is poured inside the pipe roof, 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 roofs to reinforce and stop water.

[0066] (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 inverted arch secondary lining are carried out in parallel.

[0067] 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.

[0068] The excavator 6 excavates the soil of the upper step face by expanding the 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.

[0069] After the upper step excavation construction length H, the expanded cavern is cleared to prepare the upper step equipment for operation. 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. 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 sensing system 11 equipped with the multifunctional parallel construction trolley is used to scan and evaluate the face soil. 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 face scanning results. In the excavation process of such a large cross-section, the traditional upper and lower step construction can only be completed 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 composite 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. There is no cross-interference and interference between the processes, thus realizing the parallel construction of the upper and lower step excavation.

[0070] 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 point of the excavator according to the real-time excavation data, and controls the excavation volume, excavation depth and excavation distance of the excavator.

[0071] 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 based on the scanning results. The parallel construction collaborative control system automatically calculates the excavation points and arranges the movement 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 based on 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 based on the monitoring results.

[0072] The plan of parallel construction collaboration is as follows Figure 6As 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. The loader 10 puts the excavated soil on the belt conveyors 12 on both sides. The belt conveyors are connected to 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 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.

[0073] When the lower bench excavation reaches a certain depth, the installation of the primary arch support begins with the assistance of a multifunctional parallel construction trolley. For example, this involves laying a single layer of 150×150 mm Ø10 bottom-level reinforcement mesh, a 122b I-beam (500 mm longitudinal spacing) frame, and the installation of the upper layer of reinforcement mesh. Each installation of the primary arch support consists of five sections, while a shotcrete manipulator simultaneously sprays concrete in one section. A parallel construction collaborative control system controls the shotcrete manipulator, applying the primary arch support and shotcrete according to a defined spraying path. The primary arch support and shotcrete installation are carried out under the support of the multifunctional parallel construction trolley's baffles, enhancing construction safety. While the primary arch support is being installed, excavation of the lower bench continues, enabling parallel operation of the processes.

[0074] After completing every two sections of the lower step inverted arch and primary support at the arch foot, construction of the inverted arch secondary lining began simultaneously. Specifically, a single layer of 150×150 mm Ø10 inverted arch reinforcement mesh was laid. The parallel construction collaborative control system controlled the multifunctional parallel construction trolley, controlling the movement of the inverted arch formwork and issuing commands to connect to the concrete pump truck, which pumped concrete for the inverted arch. Embedded sensors transmitted real-time pouring data to the collaborative system, completing the concrete pour and carrying out concrete curing.

Claims

1. A method for parallel construction of large-span and large-section parallel composite 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. During the jacking construction of the multi-circle combined pipe curtain, first inject the pipe curtain at the top of the section, and then inject the pipe curtains at the left and right ends symmetrically; During the jacking of the pipe roof, the integrated construction of the pipe roof support structure is carried out. 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-circular combined pipe-roof; 2) When the combined pipe curtain is jacked in, the segmented steel bars are placed in the reserved channels in advance; 3) Cut and weld the steel pipes of the pipe roof after jacking; 4) Connect the segmented cut welded steel pipes to the reserved segmented steel bars in the circumferential and longitudinal directions; 5) Pour waterproof concrete lining inside the pipe curtain to form an integrated structure; (3) After the upper step soil excavation construction reaches a certain length, the upper and lower step soils are excavated synchronously and in parallel based on the multifunctional parallel construction trolley, the multifunctional parallel construction trolley includes excavation equipment, slag discharge equipment, walking system, transportation equipment, and arch frame construction equipment; the excavation equipment includes several 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 transporting; the arch frame construction equipment includes a spraying and mixing manipulator, a primary support steel frame assembly and a steel bar bundling manipulator, and the multifunctional parallel construction trolley integrates the functions of excavation, slag discharge, material transportation, steel arch frame laying, and primary support spraying and mixing; 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 lower step excavation reaches a certain length, the multifunctional parallel construction trolley is used to assist in laying the support and pouring the primary support concrete; the arch secondary lining structure is constructed on the basis of the primary support.

2. The method for parallel construction of large-span and large-section parallel combined pipe roofs according to claim 1 is characterized in that: During 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.

3. 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 soil is backfilled.

4. 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.

5. The method for parallel construction of large-span and large-section parallel combined pipe roofs according to claim 1 is characterized in that: While the upper step soil is being excavated, the soil is scanned using a face scanning robot. When the lower step soil is being excavated, the soil is scanned using a sensor system installed on a multifunctional parallel construction trolley, and the information 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 based on the results of the face soil scanning and evaluation by the face scanning robot. The parallel construction collaborative control system automatically calculates the excavation points and movement layout routes of the multifunctional parallel construction trolley 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 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.

6. 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 lower step excavation has advanced a certain distance, 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 inverted arch and arch foot are completed, the construction of the inverted arch secondary lining structure will be started simultaneously.

7. The method for parallel construction of large-span and large-section parallel combined pipe roofs according to claim 6, 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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