Tunnel primary support construction trolley and construction method

Abstract

The invention provides a tunnel primary support construction trolley and a construction method, and relates to the field of tunnel construction equipment. The trolley is provided with a trolley body, an arch frame lifting device, an arch erecting device, a wet spraying mechanical arm and a drilling mechanical arm. The arch frame lifting device can lift, unfold and fold an arch frame. The vertical arch device is composed of a main vertical arch mechanical arm and an auxiliary vertical arch mechanical arm and can replace a vertical arch trolley to hoist an arch frame. The auxiliary vertical arch mechanical arm is provided with a hanging basket which can replace the charging trolley to install explosives. The wet spraying mechanical arm can replace a wet spraying trolley to spray concrete; the drilling mechanical arm not only can replace a drill jumbo to drill a tunneling hole, but also can replace an anchor rod jumbo to drill an anchor rod hole. The whole-process construction of the tunnel primary support can be realized only by one-time advancing and retreating of the trolley. According to the tunnel primary support construction method, firstly, the equipment advancing and retreating time and the support time are greatly shortened, and the risks of surrounding rock deformation and collapse are reduced; and secondly, cooperative operation and parallel operation among all construction procedures can be realized, and the construction period is shortened.

Description

Technical Field

[0001] The present invention specifically relates to a tunnel primary support construction trolley and a construction method, and belongs to the technical field of tunnel construction equipment. Background Art

[0002] The tunnel primary support is a support structure immediately constructed after the tunnel excavation, mainly used to maintain the stability of the surrounding rock, control deformation, and provide a safe foundation for the subsequent secondary lining. The tunnel primary support construction process includes operations such as setting up arch frames, driving bolts, advanced support, wet spraying, tunneling drilling, charging, blasting, removing hazards, and mucking, and at least tunnel construction equipment such as an arch setting trolley, a bolt trolley, a wet spraying trolley, a rock drilling trolley, and a charging trolley is required. Currently, the following main problems exist in tunnel primary support construction: 1. Various trolleys need to enter the heading face for operation in sequence, and the time-consuming for entering and leaving the site is relatively long. Especially for very long tunnels, a long time is wasted on the transfer between various trolleys. As is well known, a newly excavated tunnel needs to be supported in time, otherwise the surrounding rock will deform or even collapse.

[0003] 2. The functions of each trolley are single, and the cooperative operation and parallel operation between various processes cannot be achieved.

[0004] 3. There are many devices and large investment. Summary of the Invention

[0005] In order to overcome the deficiencies in the background art, the present invention discloses a tunnel primary support construction trolley and a construction method, and adopts the following technical solutions: A tunnel primary support construction trolley and a construction method, the trolley comprising: A vehicle body; An arch lifting device, arranged at the rear end of the vehicle body, for lifting and unfolding a folded arch frame; An arch setting device, composed of a main arch setting robotic arm and a secondary arch setting robotic arm with a hanging basket, and the arch setting device can translate the arch frame into the heading face through longitudinal flipping; A wet spraying robotic arm; A drilling robotic arm, which can longitudinally drill tunneling holes and laterally drill bolt holes; The construction method includes the following operation cycles: S1: Move forward into the heading face, and use the arch lifting device and the arch setting device to set up the arch frame; S2: Use the drilling robotic arm to laterally drill bolt holes and anchor the arch frame; S3: Conduct advanced support, and use the wet spraying robotic arm to spray concrete to form a primary support; S4: Use the drilling robotic arm to longitudinally drill tunneling holes; S5: Use the secondary arch setting robotic arm to install explosives in the tunneling holes; S6: Blast, remove hazards, and muck.

[0006] Preferred improved technical solution: The vehicle body has a crawler walking chassis.

[0007] Preferred improved technical solution: The arch lifting device includes a sliding table and a first rotating arm. The sliding table can move up and down along the column of the vehicle body. The rotating end of the first rotating arm is arranged on the sliding table, and a first crank arm is arranged at the free end of the first rotating arm.

[0008] Preferred improved technical solution: The arch lifting mechanism includes a second rotating arm with a rotating end arranged on the column of the vehicle body, and a third rotating arm with a rotating end arranged at the free end of the second rotating arm. A second crank arm is arranged at the free end of the third rotating arm.

[0009] Preferred improved technical solution: The main vertical arch manipulator includes a slide rail, a slide seat, a flipping member, a telescopic arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder and a mechanical claw; The slide rail is arranged on the trolley, and the slide seat can move along the slide rail; One end of the flipping member and the slide seat form a first rotating mechanism driven by the first oil cylinder for realizing the rotation of the flipping member, and the other end of the flipping member and the telescopic arm, the first connecting rod and the second connecting rod form a second rotating mechanism driven by the second oil cylinder for realizing the rotation of the telescopic arm; The third oil cylinder and the mechanical claw are hinged at the telescopic end of the telescopic arm to form a third rotating mechanism for realizing the pitching rotation of the mechanical claw.

[0010] Preferred improved technical solution: The mechanical claw mainly consists of a base, a hydraulic slewing motor, a support, a rocker arm, a fourth oil cylinder and a hydraulic chuck. The base is hinged at the telescopic end of the telescopic arm. The hydraulic slewing motor is installed between the base and the support for driving the horizontal rotation of the support; The fourth oil cylinder is hinged between the support and the rocker arm for driving the transverse swing of the rocker arm; The hydraulic chuck is arranged on the rocker arm for clamping the arch.

[0011] Preferred improved technical solution: The auxiliary vertical arch manipulator has a hanging basket, and the hanging basket has an independently adjustable flipping mechanism.

[0012] Preferred improved technical solution: The wet shotcreting manipulator includes a telescopic boom, a boom angle adjustment oil cylinder, a first rotating disk, a telescopic small arm, a small arm angle adjustment oil cylinder, a second rotating disk, a flipping mechanism and a nozzle. The boom angle adjustment oil cylinder is hinged between the slide seat and the telescopic boom for adjusting the rotation angle of the telescopic boom in the horizontal plane; The first rotating disk is installed at the telescopic end of the telescopic boom, the telescopic small arm is hinged at the rotating end of the first rotating disk, and the small arm angle adjustment oil cylinder is hinged between the first rotating disk and the telescopic small arm for adjusting the rotation angle of the telescopic small arm; The second rotating disk is installed at the telescopic end of the telescopic small arm, the flipping mechanism is installed at the rotating end of the second rotating disk, and it has a flipping frame that rotates eccentrically and obliquely; The nozzle is installed on the flipping frame.

[0013] Preferred improved technical solution: The main vertical arch manipulator is longitudinally arranged on the top of the vehicle body, and the wet shotcreting manipulator is longitudinally arranged below the main vertical arch manipulator; there are two auxiliary vertical arch manipulators, which are respectively longitudinally arranged on both sides of the vehicle body; there are three drilling manipulators, which are respectively longitudinally arranged in the middle and on both sides of the vehicle body.

[0014] Preferred improved technical solution: The operation of the wet shotcreting manipulator for spraying concrete and the operation of the drilling manipulator for longitudinally drilling holes are carried out simultaneously.

[0015] After implementing the above technical solutions, compared with the background technology, the beneficial effects of the present invention are as follows: 1. The jumbo of the present invention combines the functions of tunnel construction equipment such as vertical arch jumbo, bolt jumbo, wet shotcreting jumbo, rock drilling jumbo, and charging jumbo, and the whole process construction of the initial support of the tunnel can be realized only by entering and exiting the site once.

[0016] 2. The jumbo of the present invention has multiple functions in one machine, low cost and strong applicability.

[0017] 3. The tunnel initial support construction method of the present invention greatly shortens the time for equipment to enter and exit the site, can realize timely support for newly excavated tunnels, and reduces the risks of surrounding rock deformation and collapse.

[0018] 4. The tunnel initial support construction method of the present invention is applicable to the excavation of tunnels such as long benches, micro benches, and full sections, and can realize the cooperation and parallel operation between various construction processes, shortening the construction period. Description of the Drawings

[0019] Attached Figure 1 Fig. shows the front view of the tunnel initial support construction jumbo.

[0020] Attached Figure 2 Fig. shows the three-dimensional view of the tunnel initial support construction jumbo.

[0021] Attached Figure 3 Fig. shows a schematic structural diagram of an implementation of the arch lifting device.

[0022] Attached Figures 4 - 8 Fig. shows the schematic working principle diagram of the arch lifting device.

[0023] Attached Figure 9 Fig. shows another schematic structural diagram of an implementation of the arch lifting device.

[0024] Attached Figure 10 Fig. shows the front view of the main vertical arch manipulator.

[0025] Attached Figure 11 Fig. shows the three-dimensional view of the main vertical arch manipulator.

[0026] Attached Figure 12The schematic structural diagram of the mechanical claw is shown.

[0027] Attached Figure 13 The schematic structural diagram of the secondary vertical arch manipulator is shown.

[0028] Attached Figures 14 - 18 The schematic diagram of the working principle of the main vertical arch manipulator is shown.

[0029] Attached Figure 19 The schematic structural diagram of the wet shotcreting manipulator is shown.

[0030] Attached Figure 20 The schematic structural diagram of the flipping mechanism is shown.

[0031] Attached Figure 21 The schematic structural diagram of the drilling manipulator is shown. Attached drawings

[0032] 10. Vehicle body; 11. Crawler walking chassis; 12. Column; 13. Slide rail; 20. Arch lifting device; 21. Slide table; 22. First rotating arm; 23. First elbow arm; 24. Second rotating arm; 25. Third rotating arm; 26. Second elbow arm; 30. Main vertical arch manipulator; 31. Slide base; 32. Flipping part; 33. Telescopic arm; 34. First connecting rod; 35. Second connecting rod; 36. First oil cylinder; 37. Second oil cylinder; 38. Third oil cylinder; 39. Mechanical claw; 391. Third connecting rod; 392. Base; 393. Hydraulic slewing motor; 394. Support; 395. Rocker arm; 396. Fourth oil cylinder; 397. Hydraulic claw; 40. Secondary vertical arch manipulator; 41. Suspended platform; 50. Wet shotcreting manipulator; 51. Telescopic boom; 52. Boom angle adjusting oil cylinder; 53. First hydraulic slewing disc; 54. Telescopic forearm; 55. Forearm angle adjusting oil cylinder; 56. Second hydraulic slewing disc; 57. Flipping mechanism; 571. Frame body; 572. Hydraulic motor; 573. Eccentric disc; 574. Universal joint; 575. Flipping frame; 58. Nozzle; 60. Drilling manipulator; 61. Telescopic drill arm; 62. Drill; 70. Arch. Specific embodiments

[0033] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these preferred embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention. It should be noted that in the description of the present invention, the terms "front", "rear", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation and positional relationship. Therefore, it should not be construed as a limitation of the present invention. It should also be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0034] A tunnel primary support construction trolley relates to the field of tunnel construction equipment and is mainly used to solve the problems of single function and long entry and exit time in the prior art. The composition structure and working principle of this tunnel primary support construction trolley will be specifically described below.

[0035] Refer to the attached Figure 1 and the attached Figure 2 This tunnel primary support construction trolley mainly consists of a vehicle body 10, an arch frame lifting device 20, an arch erecting device, a wet shotcreting robotic arm 50, and a drilling robotic arm 60.

[0036] The vehicle body 10 has a crawler walking chassis 11. The crawler walking chassis 11 has strong adaptability and can travel on uphill and downhill roads. Multiple groups of slide rails 13 and driving devices are arranged longitudinally on the vehicle body 10. The arch erecting device, the wet shotcreting robotic arm 50, and the drilling robotic arm 60 can all move back and forth along the slide rails 13.

[0037] The arch frame lifting device 20 is arranged at the rear end of the vehicle body 10 (the end of the vehicle body 10 facing the heading face is the front end) and is used to lift the arch frame 70. In this embodiment, the arch frame 70 is a folding arch frame, and the folding arch frame is formed by hinging one middle section and two side sections. The function of this arch frame lifting device 20 is to lift and unfold the folding arch frame, facilitating the staff to connect the folding arch frame into a complete rigid arch frame with bolts. The arch frame lifting device has the following two implementation manners.

[0038] Refer to the attached Figure 3One of the arch lifting devices includes a second rotating arm 24 with its rotating end set on the vehicle body column 12, and a third rotating arm 25 with its rotating end set on the free end of the second rotating arm 24. A second crank arm 26 is provided at the free end of the third rotating arm 25, and the second crank arm 26 is rotatably hinged to the free end of the second rotating arm 24. Both the second rotating arm 24 and the third rotating arm 25 are driven to rotate by a hydraulic slewing disc, and the length of the third rotating arm 25 is greater than that of the second rotating arm 24.

[0039] Refer to the appendix Figures 4 - 8 Before lifting, use a forklift to place three folded arch frames on the second crank arm 26, and then lift the folded arch frames upward through the coordinated rotation of the second rotating arm 24 and the third rotating arm 25. When lifted to the specified height, the mechanical claw 39 on the main vertical arch manipulator 30 grabs the middle section of the folded arch frame, and then through the coordinated rotation of the second rotating arm 24 and the third rotating arm 25, the side section of the folded arch frame is rotated outward until the folded arch frame is fully unfolded. Finally, use bolts to connect the side section of the arch frame to the middle section to form a complete arch frame 70.

[0040] Refer to the appendix Figure 9 Another arch lifting device includes a sliding table 21 and a first rotating arm 22. The sliding table 21 can move up and down along the column 12 of the vehicle body 10 under the drive of power. The rotating end of the first rotating arm 22 is set on the sliding table 21 and is driven to rotate by a hydraulic slewing disc. A first crank arm 23 for lifting the folded arch frame is provided at the free end of the first rotating arm 22, and the first crank arm 23 is rotatably hinged to the free end of the second rotating arm 24.

[0041] Compared with the previous arch lifting device, the sliding table 21 can move up and down along the column 12, and its function is equivalent to the rotation of the first rotating arm 22. Therefore, the latter arch lifting device can also lift the folded arch frame and unfold the folded arch frame.

[0042] The vertical arch device consists of a main vertical arch manipulator 30 and two auxiliary vertical arch manipulators 40. Its main function is to replace the vertical arch trolley to realize the hoisting of the arch frame 70. In this embodiment, the main vertical arch manipulator 30 is longitudinally arranged on the top of the vehicle body 10, and the two auxiliary vertical arch manipulators 40 are longitudinally arranged on both sides of the vehicle body 10.

[0043] Refer to the appendix Figure 10 and the appendix Figure 11 The main vertical arch manipulator 30 mainly consists of a sliding seat 31, a flipping member 32, a telescopic arm 33, a first connecting rod 34, a second connecting rod 35, a first oil cylinder 36, a second oil cylinder 37, a third oil cylinder 38 and a mechanical claw 39. Among them, the sliding seat 31 can move back and forth along the slide rail 13. The main vertical arch manipulator 30 has a flipping structure with degrees of freedom, and its function is to translate the arch frame 70 into the tunnel face through longitudinal flipping within a limited space.

[0044] Specifically, the flipping member 32 is arranged below the telescopic arm 33. One end of the flipping member 32 is hinged to the sliding seat 31, thus forming a first rotating mechanism, which is driven by the first oil cylinder 36 to realize the rotation of the flipping member 32. The other end of the flipping member 32 is hinged to the telescopic arm 33, the first connecting rod 34 and the second connecting rod 35, thus forming a second rotating mechanism. The second rotating mechanism is a four-bar linkage mechanism, which is driven by the second oil cylinder 37 to realize the rotation of the telescopic arm 33.

[0045] In this embodiment, the telescopic arm 33 is a three-stage hydraulic telescopic arm 33. The third oil cylinder 38, the third connecting rod 391 and the mechanical claw 39 are hinged to the telescopic end of the telescopic arm 33, thus forming a third rotating mechanism for realizing the pitching rotation of the mechanical claw 39.

[0046] Refer to the appendix Figure 12 . The mechanical claw 39 mainly consists of a base 392, a hydraulic slewing motor 393, a support 394, a rocker arm 395, a fourth oil cylinder 396 and a hydraulic claw 397. Among them, the base 392 is hinged to the telescopic end of the telescopic arm 33, and the hydraulic slewing motor 393 is installed between the base 392 and the support 394 to drive the horizontal rotation of the support 394. The fourth oil cylinder 396 is hinged between the support 394 and the rocker arm 395 to drive the lateral swing of the rocker arm 395. There are two hydraulic claws 397, which are respectively arranged at both ends of the rocker arm 395 for clamping the arch support 70.

[0047] Refer to the appendix Figure 13 . The secondary arch mechanical arm 40 also has a telescopic and flipping structure and a mechanical claw 39 for grasping the arch support 70. Due to the relatively abundant space, the secondary arch mechanical arm 40 can directly flip the arch support 70 into the heading face. In addition, the secondary arch mechanical arm 40 has a hanging basket 41 for carrying workers to work at heights. The hanging basket 41 has an independently adjustable movement mechanism. When working, the secondary arch mechanical arm 40 can lift the workers to any position. Therefore, in addition to assisting the main arch mechanical arm 30 in installing the arch support 70, the secondary arch mechanical arm 40 can also replace the charging trolley to install explosives in the driving holes.

[0048] In the prior art, the distance between the arch mechanical arm located at the top of the trolley and the arch crown is limited, and it is difficult to realize flipping and turning around. This main arch mechanical arm 30 can realize flipping and turning around.

[0049] Refer to the appendix Figures 14 - 18First, move the main vertical arch manipulator 30 and two pairs of auxiliary vertical arch manipulators 40 (not shown in the figure) to the rear end of the trolley, so that the mechanical claw 39 grabs three sets of arch frames 70 lifted by the arch frame lifting mechanism 20, and then move the arch frames 70 to the rear end of the trolley. Through the mutual cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm 33, the telescopic arm 33 can be flipped and turned around within a limited space. After flipping and turning around, through the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm 33, the arch frame 70 is moved into the tunnel face, and the position of the arch frame 70 is adjusted in the longitudinal and height directions. Since the mechanical claw 39 has three degrees of freedom for adjustment in three directions, the installation position of the arch frame 70 can be accurately adjusted within a small range.

[0050] Refer to the appendix Figure 19 The wet shotcreting manipulator 50 is longitudinally arranged below the main vertical arch manipulator 30. The wet shotcreting manipulator 50 has nine degrees of freedom and can replace the wet shotcreting trolley to spray concrete on the tunnel arch surface. The wet shotcreting manipulator 50 mainly consists of a telescopic boom 51, a boom angle adjustment oil cylinder 52, a first hydraulic slewing disc 53, a telescopic forearm 54, a forearm angle adjustment oil cylinder 55, a second hydraulic slewing disc 56, a flipping mechanism 57, and a nozzle 58. The boom angle adjustment oil cylinder 52 is hinged between the sliding seat 31 and the telescopic boom 51 and is used to adjust the rotation angle of the telescopic boom 51 in the horizontal plane. The first hydraulic slewing disc 53 is coaxially installed at the telescopic end of the telescopic boom 51. The telescopic forearm 54 is hinged at the rotating end of the first hydraulic slewing disc 53. The forearm angle adjustment oil cylinder 55 is hinged between the first hydraulic slewing disc 53 and the telescopic forearm 54 and is used to adjust the rotation angle of the telescopic forearm 54. The second hydraulic slewing disc 56 is vertically installed at the telescopic end of the telescopic forearm 54. The flipping mechanism 57 is installed at the rotating end of the second hydraulic slewing disc 56. The flipping mechanism 57 has a flipping frame 575 that rotates eccentrically and obliquely. The nozzle 58 is installed on the flipping frame 575 and is used to spray concrete.

[0051] Refer to the appendix Figure 20。The flipping mechanism 57 mainly consists of a frame body 571, a hydraulic motor 572, an eccentric disc 573, a universal joint 574, and a flipping frame 575. The frame body 571 is installed at the rotating end of the second hydraulic slewing disc 56. The hydraulic motor 572 and the universal joint 574 are installed on the frame body 571. The eccentric disc 573 is installed on the output shaft of the hydraulic motor 572. One end of the flipping frame 575 is hinged to the eccentric disc 573, and the other end is hinged to the universal joint 574. A nozzle 58 is installed on the flipping frame 575. Relative to the rotation axis of the output shaft of the hydraulic motor 572, the tilting rotation angle of the flipping frame 575 is 5-10°. Since the flipping frame 575 can perform eccentric tilting rotation with a conical trajectory around the rotation axis of the hydraulic motor 572, the nozzle 58 has a degree of freedom of eccentric tilting rotation around the rotation axis of the hydraulic motor 572. Due to the above structure, the nozzle 58 can have sufficient degrees of freedom, which can ensure that the nozzle 58 has the best spraying angle and reduce the rebound rate of concrete.

[0052] Refer to the appendix Figure 21 。There are three drilling robotic arms 60, which are longitudinally arranged in the middle and on both sides of the vehicle body 10 respectively. The drilling robotic arm 60 has a telescopic drill arm 61 with multiple degrees of freedom and a drill rig 62 that can automatically feed. The drill rig 62 can drill holes longitudinally and laterally. Therefore, the drilling robotic arm 60 can not only replace a rock drilling jumbo to drill driving holes, but also replace a bolter to drill bolt holes.

[0053] To further illustrate the usage method of this trolley, the present invention also discloses a tunnel initial support construction method, which includes the following operation cycles: S1: Move forward into the heading face, and use the arch frame lifting device and the arch erecting device to erect the arch frame.

[0054] After three folded arch frames are fabricated, they are transported to the rear end of the trolley by a forklift, and the arch frame lifting device 20 is used to lift the folded arch frames. When the manipulator on the main arch erecting robotic arm 30 grabs the middle section of the folded arch frame, the arch frame lifting device 20 unfolds the side sections of the folded arch frame to both sides. Then, the manipulators on a pair of auxiliary arch erecting robotic arms 40 respectively grab the side sections of the folded arch frame. Then, the staff in the hanging basket 41 use bolts to rigidly connect the hinged joints of the folded arch frame, and then weld the connecting bars and mesh sheets to connect the three arch frames 70 into one body. Finally, through the longitudinal reverse rotation of the main arch erecting robotic arm 30 and the auxiliary arch erecting robotic arm 40, the three arch frames 70 are translated into place in the heading face.

[0055] S2: Use the drilling robotic arm to drill bolt holes laterally and anchor the arch frame.

[0056] When the main arch erecting robotic arm 30 and the auxiliary arch erecting robotic arm 40 clamp the arch frame 70, three drilling robotic arms 60 simultaneously drill bolt holes and footlocker bolt holes, and then use bolts to fix the arch frame 70 to the newly excavated tunnel.

[0057] S3: Advance support is carried out, and a wet shotcreting robotic arm is used to spray concrete to form the primary support.

[0058] Advance support and forming the primary support can effectively prevent the deformation of the surrounding rock and thus the risk of collapse. The advance support includes advance small ducts and advance pipe roofs. For both the advance small ducts and the advance pipe roofs, a drilling robotic arm 60 is required to drill lateral holes, then steel pipes are inserted, and then a wet shotcreting robotic arm 50 is used to grout into the steel pipes to consolidate the strength of the surrounding rock. All these operations need to be completed by the staff sitting in the hanging basket 41 with the support of the secondary arch robotic arm 40.

[0059] S4: Use the drilling robotic arm to longitudinally drill the driving holes.

[0060] Three drilling robotic arms 60 drill the driving holes simultaneously. The driving holes include cut holes, perimeter holes, and auxiliary holes.

[0061] It takes a relatively long time for the wet shotcreting robotic arm to spray concrete and for the concrete to form strength. Therefore, the wet shotcreting robotic arm spraying concrete and the drilling robotic arm drilling the driving holes can be carried out in parallel and simultaneously, which can significantly shorten the construction period.

[0062] S5: Use the secondary arch robotic arm to install explosives in the driving holes.

[0063] The secondary arch robotic arm 40 has a hanging basket 41 that can move arbitrarily, which can carry the staff to install explosives in the driving holes.

[0064] S6: Blast, remove hazards, and remove muck.

[0065] Before blasting, the jumbo is moved back 40 meters to the tunnel face. After blasting, the muck is loaded by a loader and transported out from the jumbo. After muck removal, the jumbo is moved forward into the new tunnel face to continue the above cyclic operations.

[0066] The construction method for the primary support of this tunnel is applicable to the excavation of long bench, micro bench, and full face tunnels. The jumbo only needs to enter and exit once to complete the whole process construction of the tunnel primary support.

[0067] It should be noted that the content not described in detail in the above embodiments is the prior art. It should also be noted that for those skilled in the art, any increase, decrease, replacement, and improvement made under the structure and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A tunnel primary support construction trolley and a construction method, characterized in that: The trolley includes: A car body; An arch lifting device, arranged at the rear end of the car body, for lifting and unfolding a folded arch; An arch erecting device, composed of a main arch erecting robotic arm and a secondary arch erecting robotic arm with a hanging basket. The arch erecting device can translate the arch into the tunnel face through longitudinal flipping; A wet shotcreting robotic arm; A drilling robotic arm, which can longitudinally drill a tunneling hole and laterally drill a bolt hole; The construction method includes the following operation cycles: S1: Move forward into the tunnel face, and use the arch lifting device and the arch erecting device to erect the arch; S2: Use the drilling robotic arm to laterally drill a bolt hole and anchor the arch; S3: Carry out advanced support, and use the wet shotcreting robotic arm to spray concrete to form the primary support; S4: Use the drilling robotic arm to longitudinally drill a tunneling hole; S5: Use the secondary arch erecting robotic arm to install explosives in the tunneling hole; S6: Blast, remove hazards, and remove muck.

2. The tunnel initial support construction trolley and construction method according to claim 1, characterized in that: The car body has a crawler walking chassis.

3. The tunnel initial support construction trolley and construction method according to claim 2, characterized in that: The arch lifting device includes a sliding table and a first rotating arm. The sliding table can move up and down along the column of the car body. The rotating end of the first rotating arm is arranged on the sliding table, and a first crank arm is arranged at the free end of the first rotating arm.

4. A tunnel primary support construction trolley and construction method according to claim 2, characterized in that: The arch lifting mechanism includes a second rotating arm with a rotating end arranged on the column of the car body, and a third rotating arm with a rotating end arranged at the free end of the second rotating arm. A second crank arm is arranged at the free end of the third rotating arm.

5. The tunnel primary support construction trolley and construction method according to claim 1, characterized in that: The main arch erecting robotic arm includes a slide rail, a sliding seat, a flipping member, a telescopic arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder, and a mechanical claw; the slide rail is arranged on the trolley, and the sliding seat can move along the slide rail; one end of the flipping member and the sliding seat form a first rotating mechanism driven by the first oil cylinder for realizing the rotation of the flipping member, and the other end of the flipping member, the telescopic arm, the first connecting rod, and the second connecting rod form a second rotating mechanism driven by the second oil cylinder for realizing the rotation of the telescopic arm; the third oil cylinder and the mechanical claw are hinged at the telescopic end of the telescopic arm to form a third rotating mechanism for realizing the pitching rotation of the mechanical claw.

6. The tunnel primary support construction trolley and construction method according to claim 5, characterized in that: The mechanical claw mainly consists of a base, a hydraulic slewing motor, a support, a rocker arm, a fourth oil cylinder, and a hydraulic chuck. The base is hinged at the telescopic end of the telescopic arm. The hydraulic slewing motor is installed between the base and the support for driving the support to rotate horizontally; the fourth oil cylinder is hinged between the support and the rocker arm for driving the rocker arm to swing laterally; the hydraulic chuck is arranged on the rocker arm for clamping the arch.

7. The tunnel primary support construction trolley and construction method according to claim 1, characterized in that: The secondary arch erecting robotic arm has a hanging basket, and the hanging basket has an independently adjustable flipping mechanism.

8. The tunnel primary support construction trolley and construction method according to claim 1, characterized in that: The wet shotcreting robotic arm includes a telescopic boom, a boom angle adjustment oil cylinder, a first turntable, a telescopic forearm, a forearm angle adjustment oil cylinder, a second turntable, a flipping mechanism, and a nozzle. The boom angle adjustment oil cylinder is hinged between the sliding seat and the telescopic boom for adjusting the rotation angle of the telescopic boom in the horizontal plane; the first turntable is installed at the telescopic end of the telescopic boom, the telescopic forearm is hinged at the rotating end of the first turntable, and the forearm angle adjustment oil cylinder is hinged between the first turntable and the telescopic forearm for adjusting the rotation angle of the telescopic forearm; the second turntable is installed at the telescopic end of the telescopic forearm, the flipping mechanism is installed at the rotating end of the second turntable, and it has a flipping frame that rotates eccentrically and obliquely; the nozzle is installed on the flipping frame.

9. A tunnel primary support construction trolley and construction method according to claim 1, characterized in that: The main vertical arch manipulator is longitudinally arranged on the top of the vehicle body, and the wet shotcreting manipulator is longitudinally arranged below the main vertical arch manipulator; there are two auxiliary vertical arch manipulators, which are respectively longitudinally arranged on both sides of the vehicle body; there are three drilling manipulators, which are respectively longitudinally arranged in the middle and on both sides of the vehicle body.

10. A tunnel initial support construction trolley and construction method according to claim 1, characterized in that: The operation of the wet shotcreting manipulator for spraying concrete and the operation of the drilling manipulator for longitudinally drilling and forming holes are carried out simultaneously.

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