Intelligent arch anchor trolley for controlling large deformation of rock mass and rapid construction method of intelligent arch anchor trolley

Abstract

The invention belongs to the technical field of tunnel equipment engineering machinery, and discloses an intelligent arch anchor trolley for controlling rock mass large deformation and a rapid construction method.The arch anchor trolley comprises a chassis, an operation unit, a power unit and a cab, the operation unit comprises a first telescopic working arm and a second telescopic working arm, and the bottom ends of the first working arm and the second working arm are both connected to a frame; the two second working arms are arranged on the two sides of the first working arm in the left-right direction correspondingly, the tail end of the first working arm is provided with a first mechanical arm used for clamping an arch frame section and conducting rock drilling operation, and the tail ends of the second working arms are both provided with second mechanical arms used for grabbing different arch frame sections and conducting anchor cable installation operation. The arch anchor trolley has the advantages that through the technical scheme, the arch anchor trolley can achieve continuous construction of soft rock geology arch frame and anchor rod / cable operation, and the installation efficiency of the arch frame and the anchor rod / cable is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel equipment engineering machinery, and particularly relates to an intelligent arch anchor trolley for controlling large deformation of rock mass and a rapid construction method thereof. Background Art

[0002] During the construction of soft rock caverns, for some geological conditions, combined support with arch frames and anchor cables is required. At present, the construction of arch frames and anchor cables is carried out in two separate processes using two different special equipment. This results in a large investment in equipment, low construction efficiency, difficult construction organization, and a long equipment transfer time, which affects the closing time of the excavation section of the soft rock cavern. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent arch anchor trolley for controlling large deformation of rock mass and a rapid construction method thereof according to the deficiencies of the above-mentioned prior art. The arch anchor trolley integrates a first arch frame installation device and a rock drilling device on the first manipulator of the first working arm to achieve the rapid installation of arch frame segments at the crown and the drilling of bolt holes and anchor cable holes; and integrates a second arch frame installation device and a cable feeding device on the second manipulator of the second working arm to achieve the rapid installation of arch frame segments at the waist and the rapid installation of anchor cables.

[0004] The purpose of the present invention is achieved by the following technical solutions: An intelligent arch anchor trolley for controlling large deformation of rock mass, comprising a chassis 1 and an operation unit 2; The chassis 1 includes a traveling device 11 and a vehicle frame 12 installed on the traveling device. A power unit 4 for providing power to the chassis 1 and the operation unit 2 is provided on the vehicle frame 12; The operation unit 2 includes a telescopic first working arm 21 and a telescopic second working arm 22. The bottom ends of the first working arm 21 and the second working arm 22 are both connected to the vehicle frame 12; the first working arm 21 is centrally arranged on the vehicle frame 12, and the number of the second working arms 22 is two and they are respectively arranged on both sides of the first working arm 21; a first manipulator 3 for grasping different crown arch frame segments 7 is arranged at the end of the first working arm 21, and second manipulators 6 for grasping different waist arch frame segments 8 are arranged at the ends of the second working arms 22; The first manipulator 3 is connected to the end of the first working arm 21 through a fixing structure. The first manipulator 3 includes a first arch frame installation device 31 for grasping the crown arch frame segment 7, a rock drilling device 32 for construction of anchor cable holes, and an arch frame rock drilling switching device 33; The second manipulator 6 is connected to the end of the second working arm 22 through a fixing structure. The second manipulator 6 includes a second arch installation device 61 for grasping the arch waist arch frame section 8, a cable feeding device 62 for pushing the anchor cable, and a hanging basket switching device 63 for manual auxiliary operation.

[0005] The first working arm 21 includes a first telescopic boom 211, a first lifting cylinder 212, a first installation structure of the first working arm 213, a first slewing device of the first working arm 214, a first leveling cylinder of the first working arm 215, and a second installation structure of the first working arm 216. The first working arm 21 is connected to the vehicle frame 12 through the first slewing device 214 of the first working arm. The second installation structure 216 of the first working arm is hinged to the first telescopic boom 211 through a pin shaft. The first lifting cylinder 212 is respectively hinged to the first installation structure 213 of the first working arm and the first telescopic boom 211 through pin shafts. The first leveling cylinder 215 of the first working arm is respectively hinged to the second installation structure 216 of the first working arm and the first telescopic boom 211 through pin shafts. The first slewing device 214 of the first working arm drives the first installation structure 213 of the first working arm to rotate around the rotation axis of the first slewing device 214 of the first working arm. The first lifting cylinder 212 drives the first telescopic boom 211 to rotate around the rotation axis of the pin shaft connecting the first telescopic boom 211 and the first installation structure 213 of the first working arm. The first leveling cylinder 215 of the first working arm drives the second installation structure 216 of the first working arm to rotate around the rotation axis of the pin shaft connecting the second installation structure 216 of the first working arm and the first telescopic boom 211.

[0006] The second working arm 22 includes a second telescopic boom 221, a second lifting cylinder 222, a first installation structure of the second working arm 223, a second slewing device of the second working arm 224, a second leveling cylinder of the second working arm 225, and a second installation structure of the second working arm 226. The second working arm 22 is connected to the vehicle frame 12 through the second slewing device 224 of the second working arm. The second installation structure 226 of the second working arm is hinged to the second telescopic boom 221 through a pin shaft. The second lifting cylinder 222 is respectively hinged to the first installation structure 223 of the second working arm and the second telescopic boom 221 through pin shafts. The second leveling cylinder 225 of the second working arm is respectively hinged to the second installation structure 226 of the second working arm and the second telescopic boom 221 through pin shafts. The second working arm slewing device 224 drives the first mounting structure 223 of the second working arm to rotate about the slewing axis of the second working arm slewing device 224; the second lifting oil cylinder 222 drives the second telescopic boom 221 to rotate about the pin axis of the connection between the second telescopic boom 221 and the first mounting structure 223 of the second working arm; the second working arm leveling oil cylinder 225 drives the second mounting structure 226 of the second working arm to rotate about the pin axis of the connection between the second mounting structure 226 of the second working arm and the second telescopic boom 221.

[0007] The first arch installation device 31 includes an arch installation slewing device 311, an arch installation boom 312, an arch installation vertical swing oil cylinder 313, and an arch grasping device 314; The arch installation boom 312 is connected to the arch rock drilling switching device 33 through the arch installation slewing device 311, and the arch installation slewing device 311 drives the arch installation boom 312 to rotate about the slewing axis of the arch installation slewing device 311; The arch grasping device 314 is hinged to the arch installation boom 312 through a pin, and is provided with an arch installation vertical swing oil cylinder 313 to drive the arch grasping device 314 to rotate about the axis of the hinge between the arch grasping device 314 and the arch installation boom 312.

[0008] The arch grasping device 314 includes a clamping arm 3141, a clamping oil cylinder 3142, and a grasping connection frame 3143. The clamping arm 3141 is hinged to the grasping connection frame 3143 through a pin, and the clamping arm 3141 is hinged to the clamping oil cylinder 3142 through a pin; The clamping oil cylinder 3142 drives the clamping arm 3141 to rotate about the axis of the pin connecting the clamping arm 3141 and the grasping connection frame 3143.

[0009] The rock drilling device 32 includes a linear track mechanism 321, a rock drill and a rock drill tray 322, a drill rod clamping mechanism 323, a drill rod adding mechanism 324, a rock drill propulsion mechanism 325, and a rock drilling module slewing device 326; the linear track mechanism 321 is connected to the arch rock drilling switching device 33 through the rock drilling module slewing device 326; the drill rod adding mechanism 324 is fixedly connected to the front of the linear track mechanism 321; the drill rod clamping mechanism 323 is fixedly connected to the side of the linear track mechanism 321; the rock drill and the rock drill tray 322 are slidably assembled on the linear track mechanism 321, and at the same time, the rock drill and the rock drill tray 322 are connected to the rock drill propulsion mechanism 325 through a steel wire rope; The rock drilling module slewing device 326 drives the linear track mechanism 321 to rotate about the slewing axis of the rock drilling module slewing device 326; The rock drill propulsion mechanism 325 drives the rock drill and the rock drill tray 322 to move in the front-back direction along the linear track mechanism 321.

[0010] The arch rock drill switching device 33 includes a first horizontal slewing device 331 and an arch rock drill mounting frame 332; the arch rock drill mounting frame 332 is connected to the first working arm 21 through the first horizontal slewing device 331, and the first horizontal slewing device 331 drives the arch rock drill mounting frame 332 to rotate around the rotation axis of the first horizontal slewing device 331.

[0011] The cable feeding device 62 includes a linear cable feeding track mechanism 621, a first cable clamp mechanism 622 for the cable, a cable propulsion mechanism 623, a second cable clamp mechanism 624 for the cable, and a cable feeding slewing device 625; the linear cable feeding track mechanism 621 is connected to the hanging basket switching device 63 through the cable feeding slewing device 625; the first cable clamp mechanism 622 for the cable is slidably assembled on the linear cable feeding track mechanism 621, and at the same time, the first cable clamp mechanism 622 for the cable is hingedly connected to the cable propulsion mechanism 623 through a pin shaft; the second cable clamp mechanism 624 for the cable is fixedly connected to the linear cable feeding track mechanism 621; The cable propulsion mechanism 623 drives the first cable clamp mechanism 622 for the cable to move in the front-back direction along the linear cable feeding track mechanism 621.

[0012] The hanging basket switching device 63 includes a second horizontal slewing device 632 and an arch cable feeding switching hanging basket 631; the arch cable feeding switching hanging basket 631 is connected to the second working arm 22 through the second horizontal slewing device 632, and the second horizontal slewing device 632 drives the arch cable feeding switching hanging basket 631 to rotate around the rotation axis of the second horizontal slewing device 632.

[0013] A rapid construction method for an intelligent arch anchor trolley related to any of the above-mentioned control of large rock mass deformations, the rapid construction method includes the following steps: S1: Control the first arch frame installation device 31 on the first manipulator 3 at the end of the first working arm 21 to grab the arch top arch frame section 7, lift and position it to the installation position, and control the second arch frame installation device 61 on the second manipulator 6 at the ends of the two side second working arms 22 to grab the arch waist arch frame section 8, lift and position it to the installation position. The construction personnel in the arch cable feeding switching hanging basket 631 first perform auxiliary construction on the arch waist arch frame section 8 for connecting bolts, mesh sheets, and connecting bars, and then perform auxiliary construction on the arch top arch frame section 7 for connecting bolts, mesh sheets, and connecting bars; S2: Switch the first manipulator 3 at the end of the first working arm 21 to the construction station for installing the foot-locking anchor rod, control the rock drilling device 32 on the first manipulator 3 to drill holes for the foot-locking anchor rod, and then manually assist in installing the foot-locking anchor rod in the drilled holes. S3: After the construction operations of the arch crown arch frame section 7 and the arch waist arch frame section 8 are completed, switch the first manipulator 3 and the second manipulator 6 to the construction stations for the cable bolts respectively. Use the rock drilling device 32 on the first manipulator 3 to drill holes for the cable bolts, and use the cable feeding device 62 on the second manipulator 6 to install the cable bolts.

[0014] The advantages of the present invention are as follows: (1) The arch-anchor trolley can realize continuous construction of arch frames and cable bolts in soft rock geology, improving the installation efficiency of arch frames and cable bolts. (2) Compared with the situation where a separate arch frame installation trolley and a rock drilling trolley are required for installing steel arch frames and rock drilling in the traditional method, the intelligent arch-anchor trolley of the present invention can simultaneously realize arch frame installation, rock drilling, and cable bolt installation. The intelligent arch-anchor trolley grabs the arch crown arch frame section with the first arch frame installation device on the first manipulator of the first working arm, and grabs the arch waist arch frame section with the second arch frame installation device on the second manipulator of the second working arm to realize the installation of the arch frame. In addition, the intelligent arch-anchor trolley realizes the drilling construction of the cable bolt holes by switching the use of the rock drilling device on the first manipulator, and realizes the pushing of the cable bolt into the cable bolt hole by switching the use of the cable feeding device, so as to realize multi-task construction of a single trolley and reduce the access time for replacing the trolley. (3) Compared with the current trolleys that can simultaneously perform arch frame installation and rock drilling, on the basis of arch frame installation and rock drilling, the intelligent arch-anchor trolley of the present invention can further realize the pushing of the cable bolt into the cable bolt hole through the cable feeding device, realizing one-time construction of rock drilling and cable bolt installation. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the overall structure of the arch-anchor trolley in the present invention; Figure 2 For the present invention Figure 1 Schematic diagram of the structure of the first working arm; Figure 3 For the present invention Figure 1 Schematic diagram of the structure of the second working arm; Figure 4 For the present invention Figure 1 Schematic diagram of the structure of the first manipulator; Figure 5 For the present invention Figure 4 Schematic diagram of the structure of the arch frame installation device; Figure 6 For the present invention Figure 5 Schematic diagram of the structure of the arch frame grabbing device Figure 7 For the present invention Figure 4 Schematic structural diagram of the rock drilling device in it; Figure 8 For the present invention Figure 4 Schematic structural diagram of the arch frame rock drilling switching device in it; Figure 9 For the present invention Figure 1 Schematic structural diagram of the second manipulator in it; Figure 10 For the present invention Figure 9 Schematic structural diagram of the cable feeding device in it; Figure 11 For the present invention Figure 9 Schematic structural diagram of the hanging basket switching device in it; Figure 12 Schematic diagram of the arch frame construction operation in the present invention; Figure 13 Schematic diagram of the bolt and cable construction operations in the present invention.

[0016] As Figures 1 - 13 shown, each reference numeral is respectively: Chassis 1, traveling device 11, vehicle frame 12; Operation unit 2, first working arm 21, second working arm 22; First telescopic boom 211, first lifting oil cylinder 212, first installation structure of the first working arm 213, first working arm slewing device 214, first working arm leveling oil cylinder 215, second installation structure of the first working arm 216, second telescopic boom 221, second lifting oil cylinder 222, first installation structure of the second working arm 223, second working arm slewing device 224, second working arm leveling oil cylinder 225, second installation structure of the second working arm 226; First manipulator 3, first arch frame installation device 31, rock drilling device 32, arch frame rock drilling switching device 33; Arch frame installation slewing device 311, arch frame installation boom 312, arch frame installation vertical swing oil cylinder 313, arch frame grasping device 314, clamping arm 3141, clamping oil cylinder 3142, grasping connecting frame 3143, linear track mechanism 321, rock drill and rock drill tray 322, drill rod clamping mechanism 323, rod adding mechanism 324, rock drill propulsion mechanism 325, rock drill module slewing device 326, tool joint sleeve 327, drill rod 328, first horizontal slewing device 331, arch frame rock drilling installation frame 332; Power unit 4; Driver's cab 5; The second manipulator 6, the second arch installation device 61, the cable feeding device 62, the hanging basket switching device 63; the linear cable feeding track mechanism 621, the first cable clamping mechanism 622, the cable pushing mechanism 623, the second cable clamping mechanism 624, the cable feeding rotary device 625, the arch cable feeding switching hanging basket 631, the second horizontal rotary device 632; The crown arch segment 7; the arch waist arch segment 8. Specific embodiments

[0017] The features of the present invention and other related features are further described in detail below through embodiments in conjunction with the accompanying drawings for the understanding of those skilled in the same industry: Embodiment: The orientation terms such as "up", "down", "inside", "outside", "front" and "rear" mentioned in this article are Figure 1 used as a reference for orientation. Define the direction of the second manipulator 6 of the middle arch and anchor trolley body as "front", and the opposite direction as "rear"; Figure 1 Define the boom installation direction of the middle arch and anchor trolley body as "up" and the wheel direction as "down"; Figure 1 When standing on the plane flush with the lower edge of the wheel and observing from the rear to the front, if the middle arch and anchor trolley body is in the position of the right arm of the human body, it is "right", and if the middle arch and anchor trolley body is in the position of the left arm of the human body, it is "left". Figure 1

[0018] As Figures 1 - 13 shown, this embodiment specifically relates to an intelligent arch and anchor trolley for controlling large rock mass deformation and its rapid construction method. The intelligent arch and anchor trolley includes a chassis 1 and an operation unit 2.

[0019] As Figure 1 shown, the chassis 1 includes a traveling device 11 and a vehicle frame 12 installed on the traveling device. The traveling device 11 is a wheel. A power unit 4 for providing power to the chassis 1 and the operation unit 2 is provided on the vehicle frame 12. The power unit 4 includes an engine for driving the chassis 1 to travel and a hydraulic power system for the operation unit 2. In addition, a cab 5 is provided on the vehicle frame 12.

[0020] Figures 1 - 13 As , the operation unit 2 includes a telescopic first working arm 21 and a telescopic second working arm 22. The bottom ends of the first working arm 21 and the second working arm 22 are both connected to the vehicle frame 12; the first working arm 21 is centrally arranged on the vehicle frame 12, and the number of the second working arms 22 is two and they are respectively arranged on both sides of the first working arm 21; a first manipulator 3 for grasping different crown arch segments 7 is provided at the end of the first working arm 21, and second manipulators 6 for grasping different arch waist arch segments 8 are provided at the ends of the second working arms 22.

[0021] As Figure 1 , 2, as shown in Figures 12 and 13, the first working arm 21 includes a first telescopic boom 211, a first lifting cylinder 212, a first mounting structure 213 of the first working arm, a first slewing device 214 of the first working arm, a first leveling cylinder 215 of the first working arm, and a second mounting structure 216 of the first working arm; the first working arm 21 is connected to the vehicle frame 12 through the first slewing device 214 of the first working arm; the second mounting structure 216 of the first working arm is hinged to the first telescopic boom 211 through a pin shaft; the first lifting cylinder 212 is hinged to the first mounting structure 213 of the first working arm and the first telescopic boom 211 respectively through pin shafts; the first leveling cylinder 215 of the first working arm is hinged to the second mounting structure 216 of the first working arm and the first telescopic boom 211 respectively through pin shafts. The first slewing device 214 of the first working arm drives the first mounting structure 213 of the first working arm to rotate around the rotation axis of the first slewing device 214 of the first working arm; the first lifting cylinder 212 drives the first telescopic boom 211 to rotate around the rotation axis of the pin shaft connecting the first telescopic boom 211 and the first mounting structure 213 of the first working arm; the first leveling cylinder 215 of the first working arm drives the second mounting structure 216 of the first working arm to rotate around the rotation axis of the pin shaft connecting the second mounting structure 216 of the first working arm and the first telescopic boom 211.

[0022] As Figure 1 , 2 , Figures 4, 5, 6, 7, 8, 12, and 13 show that the first manipulator 3 is connected to the end of the first working arm 21 through a fixing structure. The first manipulator 3 includes a first arch installation device 31 for grasping the arch top arch frame section 7, a rock drilling device 32 for drilling the anchor cable hole, and an arch rock drilling switching device 33. Among them, the first arch installation device 31 includes an arch installation slewing device 311, an arch installation boom 312, an arch installation vertical swing cylinder 313, and an arch grasping device 314; the arch installation boom 312 is connected to the arch rock drilling switching device 33 through the arch installation slewing device 311, and the arch installation slewing device 311 drives the arch installation boom 312 to rotate around the rotation axis of the arch installation slewing device 311; the arch grasping device 314 is hinged to the arch installation boom 312 through a pin shaft, and is provided with an arch installation vertical swing cylinder 313 to drive the arch grasping device 314 to rotate around the rotation axis of the hinge shaft between the arch grasping device 314 and the arch installation boom 312.

[0023] As Figure 1 , 2As shown in Figures 4, 5, and 6, the arch frame grabbing device 314 includes a clamping arm 3141, a clamping oil cylinder 3142, and a grabbing connecting frame 3143. The clamping arm 3141 is hinged to the grabbing connecting frame 3143 through a pin shaft, and the clamping arm 3141 is hinged to the clamping oil cylinder 3142 through a pin shaft. The clamping oil cylinder 3142 drives the clamping arm 3141 to rotate around the pin shaft rotation axis where the clamping arm 3141 is connected to the grabbing connecting frame 3143.

[0024] As shown in Figure 1 , 2 Figures 4, 5, 6, 7, 8, 12, and 13, the rock drilling device 32 includes a linear track mechanism 321, a rock drill and a rock drill tray 322, a drill rod clamping mechanism 323, a drill rod adding mechanism 324, a rock drill propulsion mechanism 325, and a rock drilling module slewing device 326. The linear track mechanism 321 is connected to the arch frame rock drilling switching device 33 through the rock drilling module slewing device 326. The drill rod adding mechanism 324 is fixedly connected to the front of the linear track mechanism 321 and is mainly responsible for the installation of the drill rod 328. The drill rod clamping mechanism 323 is fixedly connected to the side of the linear track mechanism 321. The drill rod tail connecting sleeve 327 is arranged on the rock drill and the rock drill tray 322 and jointly clamps the drill rod 328 with the drill rod clamping mechanism 323. The rock drill and the rock drill tray 322 are slidably assembled on the linear track mechanism 321, and at the same time, the rock drill and the rock drill tray 322 are connected to the rock drill propulsion mechanism 325 through a steel wire rope. The rock drilling module slewing device 326 drives the linear track mechanism 321 to rotate around the rotation axis of the rock drilling module slewing device 326. The rock drill propulsion mechanism 325 drives the rock drill and the rock drill tray 322 to move in the front and back directions along the linear track mechanism 321. The arch frame rock drilling switching device 33 includes a first horizontal slewing device 331 and an arch frame rock drilling mounting frame 332. The arch frame rock drilling mounting frame 332 is connected to the second mounting structure 216 of the first working arm 21 on the first working arm 21 through the first horizontal slewing device 331, and the first horizontal slewing device 331 drives the arch frame rock drilling mounting frame 332 to rotate around the rotation axis of the first horizontal slewing device 331.

[0025] As shown in Figure 1 , 3As shown, the second working arm 22 includes a second telescopic arm frame 221, a second lifting cylinder 222, a second working arm first mounting structure 223, a second working arm rotating device 224, a second working arm leveling cylinder 225, and a second working arm second mounting structure 226; the second working arm 22 is connected to the frame 12 via the second working arm rotating device 224; the second working arm second mounting structure 226 is hingedly connected to the second telescopic arm frame 221 via a pin; the second lifting cylinder 222 is hingedly connected to the second working arm first mounting structure 223 and the second telescopic arm frame 221 via a pin; the second working arm leveling cylinder 225 is connected to the second working arm first mounting structure 223 and the second telescopic arm frame 221 via a pin; 25 is respectively hingedly connected to the second mounting structure 226 of the second working arm and the second telescopic arm frame 221 through the pin shaft; the second working arm rotating device 224 drives the first mounting structure 223 of the second working arm to rotate around the rotation axis of the second working arm rotating device 224; the second lifting cylinder 222 drives the second telescopic arm frame 221 to rotate around the rotation axis of the pin shaft connecting the second telescopic arm frame 221 and the first mounting structure 223 of the second working arm; the second working arm leveling cylinder 225 drives the second working arm second mounting structure 226 to rotate around the rotation axis of the pin shaft connecting the second working arm second mounting structure 226 and the second telescopic arm frame 221.

[0026] like Figure 1 , 3 , 4, 5, 9, 10, 11, 12, and 13, the second manipulator 6 is connected to the end of the second working arm 22 through a fixed structure, and the second manipulator 6 includes a second arch frame installation device 61 for grabbing the arch waist arch frame section 8, a cable feeding device 62 for pushing the anchor cable, and a hanging basket switching device 63 for manual auxiliary operation. It should be noted that the structure of the second arch frame installation device 61 is the same as that of the first arch frame installation device 31 mentioned above, so the specific structural composition of the second arch frame installation device 61 is not repeated here, and the arch frame installation rotating device on the second arch frame installation device 61 is connected to the hanging basket switching device 63. The cable feeding device 62 includes a linear cable feeding track mechanism 621, a first anchor cable clamping mechanism 622, an anchor cable propulsion mechanism 623, a second anchor cable clamping mechanism 624, and a cable feeding rotating device 625; the linear cable feeding track mechanism 621 is connected to the hanging basket switching device 63 through the cable feeding rotating device 625; the first anchor cable clamping mechanism 622 is slidably assembled on the linear cable feeding track mechanism 621, and the first anchor cable clamping mechanism 622 is hingedly connected to the anchor cable propulsion mechanism 623 through a pin shaft; the second anchor cable clamping mechanism 624 is fixedly connected to the linear cable feeding track mechanism 621. The anchor cable propulsion mechanism 623 drives the first anchor cable clamping mechanism 622 to move along the linear cable feeding track mechanism 621 in the front-rear direction.

[0027] like Figure 1 , 9As shown in Figures 10, 11, 12, and 13, the hanging basket switching device 63 includes a second horizontal slewing device 632 and an arch cable feeding switching hanging basket 631; the arch cable feeding switching hanging basket 631 is connected to the second working arm 22 through a first horizontal slewing device 331, specifically connected to the second working arm second mounting structure 226 on the second working arm 22; the second horizontal slewing device 632 drives the arch cable feeding switching hanging basket 631 to rotate around the rotation axis of the second horizontal slewing device 632.

[0028] As Figures 1 - 13 shown, in this embodiment, the rapid construction method of the intelligent arch anchor trolley for controlling large rock mass deformation is as follows: S1: Control the first arch frame installation device 31 on the first manipulator 3 at the end of the first working arm 21 to grab the arch top arch frame section 7, lift and position it to the installation position, and control the second arch frame installation devices 61 on the second manipulators 6 at the ends of the two side second working arms 22 to grab the arch waist arch frame sections 8, lift and position them to the installation position. The construction workers in the arch cable feeding switching hanging basket 631 first perform auxiliary construction on the connecting bolts, mesh sheets, and connecting bars of the arch waist arch frame section 8, and then perform auxiliary construction on the connecting bolts, mesh sheets, and connecting bars of the arch top arch frame section 7.

[0029] Specifically: Prefabrication of the arch frame: Divide the arch frame for supporting the inner side wall of the mine tunnel into three sections, namely the arch top arch frame section 7 and the arch waist arch frame sections 8 on both sides of the arch top arch frame section 7; each arch section is prefabricated outside the mine cave. Transport the arch top arch frame section 7 and the arch waist arch frame sections 8, and use transportation equipment to transport them into the cave respectively and place them at the designated position on the heading face, with the outer chord side of the arch frame on the ground and the connecting flange facing up.

[0030] The power unit 4 provides power to drive the chassis 1 to travel to the heading face; the power unit 4 drives the legs of the chassis 1 to extend and support, so that the whole machine is level.

[0031] The power unit 4 drives the operation unit 2 to unfold, and the first manipulator 3 and the second manipulator 6 to the corresponding positions for grabbing the arch frame. The power unit 4 drives the first working arm slewing device 214 to rotate, so that the first arch frame installation device 31 of the first manipulator 3 rotates to the front. In addition, the power unit 4 drives the second working arm slewing device 224, so that the second arch frame installation device 61 of the second manipulator 6 rotates to the front.

[0032] The power unit 4 drives the arch frame installation slewing device 311 of the first manipulator 3, so that the arch frame grabbing device 314 of the first arch frame installation device 31 rotates to the lower side.

[0033] The power unit 4 drives the arch frame installation slewing device of the second manipulator 6, so that the arch frame grabbing device of the second arch frame installation device 61 rotates to the lower side.

[0034] The power unit 4 drives the first telescopic boom 211 of the first working arm 21, the first lifting cylinder 212, the first working arm slewing device 214, the first working arm leveling cylinder 215, and the clamping cylinder 3142 of the arch grabbing device 314, so that the first arch installing device 31 can effectively grab the arch top arch section 7.

[0035] The power unit 4 drives the first telescopic boom 211 of the first working arm 21, the first lifting cylinder 212, the first working arm slewing device 214, the first working arm leveling cylinder 215, the clamping cylinder 3142 of the arch grabbing device 314, and the arch installing slewing device, so that the first arch installing device 31 can lift, yaw, and slew, and move the arch top arch section 7 to the position to be installed.

[0036] The power unit 4 drives the second telescopic boom 221 of the second working arm 22, the second lifting cylinder 222, the second working arm slewing device 224, the second working arm leveling cylinder 225, the clamping cylinder of the arch grabbing device, and the arch installing slewing device, so that the second arch installing device 61 can lift, yaw, and slew, and move the arch waist arch section 8 to the position to be installed.

[0037] The auxiliary operator performs the construction operations of connecting bolts, mesh sheets, and connecting bars in the hanging basket of the hanging basket switching device 63 to preliminarily fix the arch top arch section 7 and the arch waist arch section 8; after the construction of the connecting bolts, mesh sheets, and connecting bars is completed, the power unit 4 drives the first horizontal slewing device 331 of the first manipulator 3 to move the rock drilling device 32 in front of the first manipulator 3.

[0038] S2: Switch the first manipulator 3 at the end of the first working arm 21 to the construction station of the locking foot bolt, control the rock drilling device 32 on the first manipulator 3 to perform the drilling construction of the locking foot bolt, and then manually assist in installing the locking foot bolt in the drilled hole.

[0039] Specifically: The power unit 4 drives the first telescopic boom 211 of the first working arm 21, the first lifting cylinder 212, the first working arm slewing device 214, the first working arm leveling cylinder 215, and the rock drilling module slewing device 326, so that the rock drill and the rock drill tray 322 are aligned with the position of the hole to be constructed.

[0040] The power unit 4 drives the rock drill feeding mechanism 325, the rock drill and the rock drill tray 322 to perform the drilling construction. When a single drill rod 328 reaches the deepest drilled hole, the drill rod clamping mechanism 323 is driven to clamp the drill rod, the rock drill recoils, the connection thread between the drill rod 328 and the tool shank connecting sleeve 327 is removed, and the rock drill retracts to the end.

[0041] After the construction of the locking-foot bolt holes is completed, the auxiliary operator drives the second working arm 22 in the hanging basket to the drilling position to assist in the installation and tensioning of the bolts.

[0042] S3: After the construction operations of the arch crown arch frame section 7 and the arch waist arch frame section 8 are completed, the first manipulator 3 and the second manipulator 6 are respectively switched to the cable anchor construction workstations. The cable anchor drilling construction is carried out through the rock drilling device 32 on the first manipulator 3, and the cable anchor installation operation is carried out through the cable feeding device 62 on the second manipulator 6.

[0043] Drive the first cable anchor clamping mechanism 622 of the second manipulator 6 under the cable feeding device. The operator assists to pass the cable anchor through the first cable anchor clamping mechanism 622 to the second cable anchor clamping mechanism 624, and drive the second cable anchor clamping mechanism 624 to clamp the cable anchor.

[0044] The power unit 4 drives the second working arm 22 and the second manipulator 6 to align the cable anchor pushing mechanism 623 with the cable anchor hole to be installed. Drive the cable anchor pushing mechanism 623 to drive the second cable anchor clamping mechanism 624 to move along the linear cable feeding track mechanism 621 to the front end of the cable feeding device 62. Drive the first cable anchor clamping mechanism 622 to clamp the cable anchor. Drive the second cable anchor clamping mechanism 624 to release the cable anchor. Drive the cable anchor pushing mechanism 623 to drive the second cable anchor clamping mechanism 624 to move along the linear cable feeding track mechanism 621 to the tail end of the cable feeding device 62. Drive the first cable anchor clamping mechanism 622 to release the cable anchor. Drive the second cable anchor clamping mechanism 624 to clamp the cable anchor. Repeat the above steps to complete the pushing construction of this cable anchor.

[0045] The beneficial effect of this embodiment is that the arch and cable anchor trolley can realize continuous construction of the arch frame and cable anchor operations in soft rock geology, and improve the installation efficiency of the arch frame and cable anchor.

Claims

1. An intelligent arch-anchor trolley for controlling large deformation of rock mass, characterized in that The intelligent arch anchor trolley comprises a chassis (1) and an operating unit (2); The chassis (1) comprises a running device (11) and a frame (12) mounted on the running device, and the frame (12) is provided with a power unit (4) for providing power to the chassis (1) and the operating unit (2); The working unit (2) comprises a telescopic first working arm (21) and a telescopic second working arm (22), the bottom ends of the first working arm (21) and the bottom ends of the second working arm (22) are both connected to the vehicle frame (12); the first working arm (21) is centrally arranged on the vehicle frame (12), and the number of the second working arms (22) is two and they are arranged on both sides of the first working arm (21); the end of the first working arm (21) is provided with a first manipulator (3) for grasping different arch frame segments (7), and the end of the second working arm (22) is provided with a second manipulator (6) for grasping different arch frame segments (8); The first manipulator (3) is connected to the end of the first working arm (21) via a fixed structure, and the first manipulator (3) comprises a first arch frame mounting device (31) for grabbing the arch frame section (7), a rock drilling device (32) for anchor cable hole drilling construction, and an arch frame rock drilling switching device (33); The second manipulator (6) is connected to the end of the second working arm (22) via a fixed structure, and the second manipulator (6) comprises a second arch frame mounting device (61) for grasping the arch waist arch frame section (8), a cable feeding device (62) for pushing the anchor cable, and a hanging basket switching device (63) for manual auxiliary operation.

2. The intelligent arch-anchor trolley for controlling large deformation of rock mass according to claim 1, characterized in that The first working arm (21) comprises a first telescopic arm frame (211), a first lifting cylinder (212), a first working arm first mounting structure (213), a first working arm rotating device (214), a first working arm leveling cylinder (215), and a first working arm second mounting structure (216); the first working arm (21) is connected to the vehicle frame (12) via the first working arm rotating device (214); the first working arm second mounting structure (216) is hingedly connected to the first telescopic arm frame (211) via a pin shaft; the first lifting cylinder (212) is hingedly connected to the first working arm first mounting structure (213) and the first telescopic arm frame (211) via a pin shaft; the first working arm leveling cylinder (215) is hingedly connected to the first working arm second mounting structure (216) and the first telescopic arm frame (211) via a pin shaft; The first working arm rotating device (214) drives the first working arm first mounting structure (213) to rotate around the rotating axis of the first working arm rotating device (214); the first lifting cylinder (212) drives the first telescopic arm frame (211) to rotate around the rotating axis of the pin shaft connecting the first telescopic arm frame (211) and the first working arm first mounting structure (213); the first working arm leveling cylinder (215) drives the first working arm second mounting structure (216) to rotate around the rotating axis of the pin shaft connecting the first working arm second mounting structure (216) and the first telescopic arm frame (211).

3. The intelligent arch-anchor trolley for controlling large deformation of rock mass according to claim 2, characterized in that The second working arm (22) comprises a second telescopic arm frame (221), a second lifting cylinder (222), a second working arm first mounting structure (223), a second working arm rotating device (224), a second working arm leveling cylinder (225), and a second working arm second mounting structure (226); the second working arm (22) is connected to the vehicle frame (12) via the second working arm rotating device (224); the second working arm second mounting structure (226) is hingedly connected to the second telescopic arm frame (221) via a pin shaft; the second lifting cylinder (222) is hingedly connected to the second working arm first mounting structure (223) and the second telescopic arm frame (221) via a pin shaft; the second working arm leveling cylinder (225) is hingedly connected to the second working arm second mounting structure (226) and the second telescopic arm frame (221) via a pin shaft; The second working arm rotating device (224) drives the second working arm first mounting structure (223) to rotate around the rotating axis of the second working arm rotating device (224); the second lifting cylinder (222) drives the second telescopic arm frame (221) to rotate around the rotating axis of the pin shaft connecting the second telescopic arm frame (221) and the second working arm first mounting structure (223); the second working arm leveling cylinder (225) drives the second working arm second mounting structure (226) to rotate around the rotating axis of the pin shaft connecting the second working arm second mounting structure (226) and the second telescopic arm frame (221).

4. The intelligent arch-anchor trolley for controlling large deformation of rock mass according to claim 3, characterized in that The first arch mounting device (31) comprises an arch mounting rotating device (311), an arch mounting arm (312), an arch mounting vertical deflection oil cylinder (313), and an arch mounting grasping device (314); The arch frame mounting arm (312) is connected to the arch frame rock drilling switching device (33) via the arch frame mounting rotating device (311), and the arch frame mounting rotating device (311) drives the arch frame mounting arm (312) to rotate around the rotating axis of the arch frame mounting rotating device (311); The arch frame grabbing device (314) is hingedly connected to the arch frame mounting arm (312) via a pin shaft, and is provided with an arch frame mounting vertical deflection oil cylinder (313) for driving the arch frame grabbing device (314) to rotate around the rotation axis of the hinge shaft between the arch frame grabbing device (314) and the arch frame mounting arm (312).

5. The intelligent arch-anchor trolley for controlling large rock deformation according to claim 4, characterized in that The arch frame grabbing device (314) comprises a clamping arm (3141), a clamping oil cylinder (3142), and a grabbing connecting frame (3143); the clamping arm (3141) is hingedly connected to the grabbing connecting frame (3143) via a pin shaft, and the clamping arm (3141) is hingedly connected to the clamping oil cylinder (3142) via a pin shaft; The clamping oil cylinder (3142) drives the clamping arm (3141) to rotate around the rotation axis of the pin connecting the clamping arm (3141) and the grabbing connecting frame (3143).

6. The intelligent arch-anchor trolley for controlling large deformation of rock mass according to claim 5, characterized in that The rock drilling device (32) comprises a linear track mechanism (321), a rock drill and a rock drill tray (322), a drill clamping mechanism (323), a rod adding mechanism (324), a rock drill propulsion mechanism (325), and a rock drilling module rotating device (326); the linear track mechanism (321) is connected to the arch frame rock drilling switching device (33) via the rock drilling module rotating device (326); the rod adding mechanism (324) is fixedly connected to the front of the linear track mechanism (321); the drill clamping mechanism (323) is fixedly connected to the side of the linear track mechanism (321); the rock drill and the rock drill tray (322) are slidably mounted on the linear track mechanism (321), and the rock drill and the rock drill tray (322) are connected to the rock drill propulsion mechanism (325) via a steel wire rope; The rock drilling module rotating device (326) drives the linear track mechanism (321) to rotate around the rotating axis of the rock drilling module rotating device (326); The rock drill propulsion mechanism (325) drives the rock drill and the rock drill tray (322) to move in the front-rear direction along the linear track mechanism (321).

7. The intelligent arch-anchor trolley for controlling large deformation of rock mass according to claim 6, characterized in that The arch frame rock drilling switching device (33) comprises a first horizontal rotating device (331) and an arch frame rock drilling mounting frame (332); the arch frame rock drilling mounting frame (332) is connected to the first working arm (21) via the first horizontal rotating device (331), and the first horizontal rotating device (331) drives the arch frame rock drilling mounting frame (332) to rotate around a rotating axis of the first horizontal rotating device (331).

8. The intelligent arch-anchor trolley for controlling large rock deformation according to claim 7, characterized in that The cable feeding device (62) comprises a linear cable feeding track mechanism (621), a first anchor cable clamping mechanism (622), an anchor cable propulsion mechanism (623), a second anchor cable clamping mechanism (624), and a cable feeding rotating device (625); the linear cable feeding track mechanism (621) is connected to the hanging basket switching device (63) via the cable feeding rotating device (625); the first anchor cable clamping mechanism (622) is slidably mounted on the linear cable feeding track mechanism (621), and the first anchor cable clamping mechanism (622) is hingedly connected to the anchor cable propulsion mechanism (623) via a pin shaft; the second anchor cable clamping mechanism (624) is fixedly connected to the linear cable feeding track mechanism (621); The anchor cable propulsion mechanism (623) drives the anchor cable first clamping mechanism (622) to move in the front-rear direction along the linear cable feeding track mechanism (621).

9. The intelligent arch-anchor trolley for controlling large rock deformation according to claim 8, characterized in that The hanging basket switching device (63) comprises a second horizontal rotating device (632) and an arch frame cable feeding switching hanging basket (631); the arch frame cable feeding switching hanging basket (631) is connected to the second working arm (22) via the second horizontal rotating device (632), and the second horizontal rotating device (632) drives the arch frame cable feeding switching hanging basket (631) to rotate around the rotation axis of the second horizontal rotating device (632).

10. A rapid construction method for the intelligent arch-anchor trolley for controlling large rock deformation according to any one of claims 1 to 9, characterized in that The rapid construction method comprises the following steps: S1: Controlling the first arch frame installation device (31) on the first manipulator (3) at the end of the first working arm (21) to grab the arch frame segment (7), lift it, and position it to the installation position, and controlling the second arch frame installation device (61) on the second manipulator (6) at the end of the second working arms (22) on both sides to grab the waist arch frame segment (8), lift it, and position it to the installation position, and the construction personnel located in the arch frame cable switching hanging basket (631) first perform auxiliary construction on the waist arch frame segment (8), and then perform auxiliary construction on the arch frame segment (7), and perform auxiliary construction on the connecting bolts, mesh, and connecting reinforcement; S2: switching the first manipulator (3) at the end of the first working arm (21) to the anchor cable construction station, controlling the rock drilling device (32) on the first manipulator (3) to perform drilling construction of the locking foot anchor rod, and then manually assisting in the installation of the locking foot anchor rod in the drilled hole; S3: After the construction work of the arch crown frame section (7) and the arch waist frame section (8) is completed, the first manipulator (3) and the second manipulator (6) are respectively switched to the anchor cable construction station, and the anchor cable drilling construction is carried out by the rock drilling device (32) on the first manipulator (3), and the anchor cable installation operation is carried out by the cable feeding device (62) on the second manipulator (6).

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