Hydraulic crawler-type tunnel excavation trolley

Abstract

The invention belongs to the technical field of tunnel excavation trolleys, and particularly relates to a hydraulic crawler-type tunnel excavation trolley which comprises a base, crawler transmission mechanisms are arranged at the two ends of the base, a trolley body and a maintenance stair are installed at the top of the base, and the top end of the maintenance stair and the top surface of the trolley body are fixedly installed. And the track transmission mechanism realizes the action that the trolley automatically walks in the tunnel. According to the hydraulic crawler-type tunnel excavation trolley, the design is exquisite, various adjusting and driving mechanisms are comprehensively applied, and the remarkable beneficial effects are achieved. Firstly, the crawler-type walking mechanism provides strong traction force and good ground adaptability, it is ensured that the trolley can stably and flexibly move in the complex tunnel environment, and accurate steering is achieved. Secondly, the integrated multi-degree-of-freedom adjusting system has the core advantage that the excavation drill bit can cover a large-range area through the circumferential rotating mechanism, and efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel excavation trolleys, and in particular to a hydraulic crawler-type tunnel excavation trolley. Background Art

[0002] Excavation is a crucial and arduous process in tunnel engineering. Traditional tunnel excavation methods, such as manual labor with simple tools or the use of large shield machines, each have their pros and cons. For small and medium-sized tunnels or those in complex geological conditions, large shield machines may be difficult to use due to their high cost, poor adaptability, and significant impact on the surrounding environment. Manual excavation, on the other hand, is inefficient, labor-intensive, and unsafe.

[0003] Some existing tunnel excavation equipment, such as wheeled ones equipped with breakers or drill bits, have a certain degree of maneuverability, but their operating efficiency and flexibility are often limited in the narrow, low-light, and space-constrained environment of the tunnel. These devices usually lack the ability to accurately control the excavation trajectory and adapt to complex cross-sectional shapes, making it difficult to achieve automated or semi-automated continuous excavation operations. Especially when it is necessary to excavate specific curved or circular sections, or when encountering uneven tunnel floors, the mobile stability, steering accuracy, and flexibility of adjusting the excavation path of traditional equipment are often insufficient, resulting in low excavation efficiency, difficulty in ensuring accuracy, and even possible additional disturbances to the tunnel structure. Therefore, a hydraulic crawler tunnel excavation trolley is needed. Summary of the Invention

[0004] Based on the existing technical problems, the present invention proposes a hydraulic crawler tunnel excavation trolley.

[0005] The present invention proposes a hydraulic crawler tunnel excavation trolley, which includes a base, both ends of which are provided with crawler transmission mechanisms, the top of the base is respectively installed with a trolley and an inspection staircase, the top of the inspection staircase is fixedly installed on the top surface of the trolley, and the crawler transmission mechanism enables the trolley to automatically move in the tunnel.

[0006] The top of the trolley is respectively provided with an excavation circle rotation adjustment mechanism, an excavation swing adjustment mechanism, an excavation trajectory adjustment mechanism and a rotary excavation mechanism, and the rotary excavation mechanism includes an excavation drill bit.

[0007] The excavation circular rotation adjustment mechanism enables the excavation drill bit to perform circular rotation adjustment with the axis of the excavation circular rotation adjustment mechanism as the center of the circle.

[0008] The excavation swing adjustment mechanism realizes the arc-shaped swing adjustment of the excavation drill bit with the direction of travel of the crawler transmission mechanism as the plane.

[0009] The excavation trajectory adjustment mechanism realizes the action of adjusting the excavation trajectory of the excavation drill bit on the tunnel excavation surface.

[0010] The rotary excavation mechanism realizes the rotary excavation action of the excavation drill bit.

[0011] The two wheels are connected at the same time to the driving mechanism, and the driving mechanism is connected with the driving mechanism by the support frame, and the driving mechanism can be turned by the support frame, thereby the driving mechanism can be turned by the support frame.

[0012] Preferably, the excavation circular rotation adjustment mechanism includes a chassis, which is installed at the top center of the trolley. A rotating motor is fixedly installed at the bottom of the chassis, and a rotating shaft is fixedly installed at the output end of the rotating motor through a coupling. The top end of the rotating shaft passes through and extends to the top of the chassis, and a rotating disk is fixedly installed.

[0013] Preferably, the excavation swing adjustment mechanism includes columns, and multiple columns are fixedly installed on the top of the rotating disk. The six columns are respectively divided into two groups of two columns and four columns, and the two groups of columns are distributed in high and low positions. The relative surfaces of the two columns located at the lower position are rotatably connected to the transfer pins through bearings, and the arc surface of the transfer pins is fixedly installed with a swing seat. The surfaces of the four columns located at the higher position are rotatably connected to the swing pins through bearings, and the first telescopic cylinders are fixedly installed at both ends of the arc surface of the swing pins. The telescopic ends of the two first telescopic cylinders are respectively hinged to the two side surfaces of the top of the swing seat, and the first telescopic cylinder is driven by an air pump.

[0014] Preferably, the excavation trajectory adjustment mechanism includes a vertical slider, and the two vertical sliders are respectively slidably plugged into the two side surfaces of the right end of the pendulum seat, and the top and bottom ends of the pendulum seat are rotatably connected to the threaded rod through bearings. The top of the pendulum seat is also fixedly installed with an adjustment motor, and the output end of the adjustment motor is fixedly installed with the top of the threaded rod through a coupling. The arc surface of the threaded rod is threadedly connected with a threaded sleeve, and one end of the threaded sleeve is fixedly installed with a connecting base plate, and the two ends of the connecting base plate are respectively fixedly installed with the surfaces of the two vertical sliders.

[0015] Preferably, a sliding sleeve and a second telescopic cylinder are fixedly mounted on the surface of the connecting base plate, the second telescopic cylinder is mounted on the central surface of the connecting base plate, the four sliding sleeves are distributed in a circular array with the second telescopic cylinder as the axis, a connecting disk is fixedly mounted on the telescopic top end of the second telescopic cylinder, a sliding rod is slidably inserted into the inner wall of the sliding sleeve, and one end of the four sliding rods is fixedly mounted on the surface of the connecting disk.

[0016] Preferably, a driving motor is fixedly mounted on the central surface of the connecting disk, and a protective cover is also fixedly mounted on one end surface of the connecting disk. The driving motor is located inside the protective cover, and a driving shaft is fixedly mounted on the output end of the driving motor through a coupling. One end of the driving shaft passes through and extends to the outside of the protective cover, and a turntable seat is fixedly mounted on one end of the driving shaft.

[0017] Preferably, a vertical slide groove is opened on one side of the turntable seat, and the inner walls of the two vertical slide grooves are slidably plugged with sliding plates, and the sliding plates are located between the two vertical slide grooves. A solenoid valve is also fixedly installed on one side of the turntable seat, and the solenoid valve is connected to the air pump through an air pipe.

[0018] Preferably, a third telescopic cylinder is hingedly installed on the top inner wall of the turntable seat through a pin shaft, and the third telescopic cylinder is connected to the solenoid valve through an air pipe. The telescopic bottom end of the third telescopic cylinder is hinged to the bottom end of the sliding plate through a pin shaft.

[0019] Preferably, the rotary excavation mechanism includes a rotary excavation motor mounted on the bottom surface of the turntable seat, the output end of the rotary excavation motor is fixedly mounted with a rotary excavation shaft through a coupling, and one end of the rotary excavation shaft is fixedly mounted to the mounting surface of the excavation drill bit.

[0020] The beneficial effects of the present invention are:

[0021] This hydraulic crawler tunnel excavation trolley boasts a sophisticated design, incorporating a variety of adjustment and drive mechanisms, resulting in significant benefits. First, its crawler-type travel mechanism provides strong traction and excellent ground adaptability, ensuring stable and flexible movement and precise steering in complex tunnel environments. Second, its integrated multi-degree-of-freedom adjustment system is a key advantage: a circular rotation mechanism enables the excavation drill bit to cover a wide area, improving efficiency; an oscillation mechanism creates an arc-shaped working area within the travel plane, adapting to irregular cross-sections; and vertical trajectory adjustment and telescopic cylinders enable precise control of the drill bit's height and distance, further enhancing operational accuracy and flexibility. Furthermore, vertical fine-tuning on the turntable base, using a sliding plate and telescopic cylinders, allows for fine adjustments to the drill bit's trajectory, enhancing the equipment's ability to cope with complex geology and excavation requirements. These combined features enable the trolley to efficiently, accurately, and flexibly complete tunnel excavation tasks, offering strong adaptability and high operational efficiency, significantly improving tunnel construction standards. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of a hydraulic crawler tunnel excavation trolley;

[0023] Figure 2 This is a three-dimensional exploded view of the crawler drive mechanism of a hydraulic crawler tunnel excavation trolley;

[0024] Figure 3 A three-dimensional diagram of the crawler drive mechanism of a hydraulic crawler tunnel excavation trolley;

[0025] Figure 4 A three-dimensional diagram of the structure of a hydraulic crawler tunnel excavation trolley;

[0026] Figure 5 A three-dimensional diagram of the excavation trajectory adjustment mechanism of a hydraulic crawler tunnel excavation trolley;

[0027] Figure 6 This is a three-dimensional exploded view of the excavation trajectory adjustment mechanism of a hydraulic crawler tunnel excavation trolley;

[0028] Figure 7 A three-dimensional diagram of the excavation swing adjustment mechanism of a hydraulic crawler tunnel excavation trolley.

[0029] In the figure: 1. Base; 2. Crawler transmission mechanism; 21. Connecting vertical plate; 22. Auxiliary rotating shaft; 23. Auxiliary rotating wheel; 24. Travel rotating wheel; 25. Driving frame; 26. Crawler motor; 27. Crawler power shaft; 28. Crawler gear; 29. ​​Transmission crawler; 3. Trolley; 4. Maintenance stairs; 5. Excavation circular rotation adjustment mechanism; 51. Chassis; 52. Rotating motor; 53. Rotating shaft; 54. Rotating disk; 6. Excavation swing adjustment mechanism; 61. Column; 62. Transfer pin; 63. Swing seat; 64. Swing pin; 65. First extension Retractable cylinder; 7. Excavation trajectory adjustment mechanism; 71. Vertical slider; 72. Threaded rod; 73. Adjustment motor; 74. Threaded sleeve; 75. Connecting base plate; 76. Sliding sleeve; 77. Second telescopic cylinder; 78. Connecting plate; 79. Sliding rod; 710. Drive motor; 711. Protective cover; 712. Drive shaft; 713. Turntable seat; 714. Vertical slide; 715. Sliding plate; 716. Solenoid valve; 717. Third telescopic cylinder; 8. Rotary excavation mechanism; 81. Excavation drill bit; 82. Rotary excavation motor; 83. Rotary excavation shaft. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] Reference Figure 1-Figure 7 A hydraulic crawler tunnel excavation trolley includes a base 1, both ends of the base 1 are provided with a crawler transmission mechanism 2, the top of the base 1 is respectively installed with a trolley 3 and an inspection staircase 4, and the top of the inspection staircase 4 is fixedly installed with the top surface of the trolley 3.

[0032] In order to realize the automatic walking action of the trolley 3 in the tunnel, two crawler transmission mechanisms 2 are set respectively on both sides of the base 1 and are arranged in parallel. The crawler transmission mechanism 2 includes a connecting vertical plate 21. The opposite surfaces of the two connecting vertical plates 21 are fixedly installed with the two ends of the base 1. The inner wall of the top groove of the connecting vertical plate 21 is rotatably connected to the auxiliary shaft 22 through the bearing. The multiple auxiliary shafts 22 are linearly arranged and distributed. The arc surface of the auxiliary shaft 22 is fixedly installed with an auxiliary runner 23. The front end groove of the connecting vertical plate 21 is fixedly installed with the auxiliary runner 23. The mounting shaft on the inner wall of the groove is rotatably connected to the walking wheel 24 through a bearing, and a driving frame 25 is fixedly installed on the rear end of the connecting vertical plate 21. A track motor 26 is installed inside the driving frame 25, and a track power shaft 27 is fixedly installed on the output end of the track motor 26 through a coupling. A track gear 28 is fixedly installed on the surface of the track power shaft 27. The tooth grooves of the track gear 28 and the grooves of the walking wheel 24 are both transmission-connected with a transmission track 29, and the arc surfaces of multiple auxiliary wheels 23 are slidably plugged into the inner wall of the transmission track 29.

[0033] Specifically, the two tracks are located on either side of the base 1, providing a larger contact area and higher weight distribution. This means that the trolley 3 can generate greater traction, sufficient to overcome the slopes, slippery surfaces such as water, mud, or slightly uneven surfaces that may exist in the tunnel, ensuring stable travel under various complex working conditions. Compared with tires, tracks have better grip and adaptability to irregular surfaces, are less likely to slip, and can smoothly pass through gravel, potholes, etc. that may exist in the tunnel. By controlling the tracks on both sides to rotate at different speeds, it is possible to achieve in-situ turning or small-radius turns, which is crucial for position adjustment or obstacle avoidance in narrow tunnels.

[0034] The top of the trolley 3 is respectively provided with an excavation circular rotation adjustment mechanism 5 , an excavation swing adjustment mechanism 6 , an excavation trajectory adjustment mechanism 7 and a rotary excavation mechanism 8 , and the rotary excavation mechanism 8 includes an excavation drill bit 81 .

[0035] In order to realize the circular rotation adjustment action of the excavation drill bit 81 with the axis of the excavation circular rotation adjustment mechanism 5 as the center of the circle, the excavation circular rotation adjustment mechanism 5 is provided to include a chassis 51, the chassis 51 is installed at the top center of the trolley 3, and a rotating motor 52 is fixedly installed at the bottom of the chassis 51. The output end of the rotating motor 52 is fixedly installed with a rotating shaft 53 through a coupling. The top end of the rotating shaft 53 passes through and extends to the top of the chassis 51, and a rotating disk 54 is fixedly installed.

[0036] Specifically implemented in this way, the excavation drill bit 81 can rotate 360 ​​degrees on a horizontal plane by rotating the rotating disk 54. This means that the excavation drill bit 81 can cover a larger annular area around the chassis 51 without the need for the entire trolley 3 to move or perform complex swinging. This is very useful for scenarios where it is necessary to excavate pilot tunnels in different directions, expand cross-sections, or perform multi-angle operations; within a certain range, by rotating the excavation drill bit 81 instead of moving the entire trolley 3, the overall displacement of the trolley 3 can be reduced, and operational efficiency can be improved, especially in a tunnel environment with limited space; when faced with different geological conditions or when it is necessary to avoid specific obstacles, the excavation direction can be changed by rotating the excavation drill bit 81, and the excavation strategy can be flexibly adjusted, rather than being passively restricted to the fixed position of the trolley 3.

[0037] The circular rotation can be considered as dividing the excavation area into several sectors. The excavation drill bit 81 can first complete the excavation of one sector and then rotate to the next sector to continue the operation. This modular operation method helps to plan and manage the excavation process and improve overall efficiency.

[0038] In order to realize the arc-shaped swing adjustment action of the excavation drill bit 81 in the plane with the direction of travel of the crawler transmission mechanism 2 as the plane; an excavation swing adjustment mechanism 6 is set to include a column 61, and multiple columns 61 are fixedly installed on the top of the rotating disk 54. The six columns 61 are respectively divided into two columns 61 as a group and four columns 61 as a group, and the two groups of columns 61 are distributed in high and low positions. The relative surfaces of the two lower columns 61 are rotatably connected to the transfer pin 62 through bearings, and the arc surface of the transfer pin 62 is fixedly installed with a swing seat 63. The surfaces of the four higher columns 61 are rotatably connected to the swing pin 64 through bearings, and the first telescopic cylinder 65 is fixedly installed at both ends of the arc surface of the swing pin 64. The telescopic ends of the two first telescopic cylinders 65 are respectively hinged to the two side surfaces of the top of the swing seat 63, and the first telescopic cylinder 65 is driven by an air pump.

[0039] Specifically, by controlling the extension and retraction of the first telescopic cylinder 65, the swing seat 63 can be driven to swing in an arc about the adapter pin 62. This means that the excavation drill bit 81 can excavate a sector-shaped area within a plane perpendicular to the direction of track travel, without having to frequently move the entire trolley 3 or rely solely on circular rotation. This significantly expands the range within which the excavation drill bit 81 can effectively operate in a given location; tunnel cross-sections are often not perfectly circular or rectangular and may contain bumps, depressions, or irregularities. The swing mechanism allows the excavation drill bit 81 to more flexibly adapt to these irregular shapes, allowing for targeted excavation or reinforcement.

[0040] The swing adjustment is combined with the excavation circular rotation adjustment mechanism 5, so that the excavation drill bit 81 can perform more complex movements in space. For example, it can first perform circular rotation to locate a large area, and then perform fine adjustments or excavation at different angles within the area by swinging.

[0041] In order to realize the action of adjusting the excavation drill bit 81 in the excavation trajectory on the tunnel excavation surface, an excavation trajectory adjustment mechanism 7 is provided, including a vertical slider 71. The two vertical sliders 71 are respectively slidably plugged into the surfaces on both sides of the right end of the swing seat 63. The top and bottom ends of the swing seat 63 are rotatably connected to the threaded rod 72 through bearings. The top of the swing seat 63 is also fixedly installed with an adjustment motor 73. The output end of the adjustment motor 73 is fixedly installed with the top of the threaded rod 72 through a coupling. The arc surface of the threaded rod 72 is threadedly connected with a threaded sleeve 74. One end of the threaded sleeve 74 is fixedly installed with a connecting base plate 75. The two ends of the connecting base plate 75 are respectively fixedly installed with the surfaces of the two vertical sliders 71.

[0042] Specifically, the motor 73 drives the threaded rod 72 to rotate, which in turn drives the threaded sleeve 74, its connected connecting base plate 75, and the excavation drill bit 81 to move up and down along the vertical slider 71. This allows the excavation drill bit 81 to precisely adjust its height relative to the tunnel excavation surface. The trajectory adjustment mechanism is integrated into the pendulum base 63 and is compact in structure. It works in conjunction with the swing mechanism to form a multi-degree-of-freedom adjustment system for the excavation drill bit 81.

[0043] The surface of the connecting base plate 75 is fixedly mounted with a sliding sleeve 76 and a second telescopic cylinder 77. The second telescopic cylinder 77 is mounted on the central surface of the connecting base plate 75. The four sliding sleeves 76 are distributed in a circular array with the second telescopic cylinder 77 as the axis. The telescopic top end of the second telescopic cylinder 77 is fixedly mounted with a connecting disk 78. A sliding rod 79 is slidably inserted into the inner wall of the sliding sleeve 76. One end of the four sliding rods 79 is fixedly mounted to the surface of the connecting disk 78.

[0044] Specifically implemented in this way, the four sliding sleeves 76 and the sliding rods 79 form a stable guiding system. When the connecting plate 78 moves or is subjected to force, the four sliding rods 79 slide along the sliding sleeves 76 respectively. This multi-point constraint method is more resistant to torsion and lateral forces than a single-point connection, ensuring that the position of the connecting plate 78 and the excavation drill bit 81 thereon is more stable relative to the connecting base plate 75, reducing shaking; the second telescopic cylinder 77 is located in the center, and its extension and contraction can directly push the connecting plate 78 and the excavation drill bit 81 thereon to move horizontally.

[0045] A wide range of movement is achieved by coordinating with the adjustment motor 73 and the threaded rod 72. The excavation drill bit 81 can be roughly adjusted to the target height by the threaded rod 72, and then fine positioning can be performed using the second telescopic cylinder 77 to achieve more accurate excavation control.

[0046] A drive motor 710 is fixedly mounted on the central surface of the connecting disk 78, and a protective cover 711 is also fixedly mounted on one end surface of the connecting disk 78. The drive motor 710 is located inside the protective cover 711, and a drive shaft 712 is fixedly mounted on the output end of the drive motor 710 through a coupling. One end of the drive shaft 712 passes through and extends to the outside of the protective cover 711, and a turntable seat 713 is fixedly mounted on one end of the drive shaft 712.

[0047] Specifically, the drive motor 710 is directly installed in the center of the connecting disk 78, and its output end is connected to the drive shaft 712 through a coupling, and then connected to the turntable seat 713. When the drive motor 710 rotates and adjusts, it controls the turntable seat 713 to achieve circumferential adjustment, and then controls the excavation drill bit 81 to achieve circumferential excavation operation of the excavation plane. The drive motor 710 is used for angle adjustment in the circumferential direction and does not perform circumferential rotational motion.

[0048] A vertical slide groove 714 is provided on one side of the turntable seat 713, and a sliding plate 715 is slidably inserted into the inner walls of the two vertical slide grooves 714. The sliding plate 715 is located between the two vertical slide grooves 714. A solenoid valve 716 is also fixedly installed on one side of the turntable seat 713, and the solenoid valve 716 is connected to the air pump through an air pipe.

[0049] Specifically implemented in this way, by controlling the movement of the sliding plate 715 in the vertical slide groove 714, the trajectory of the excavation rotation can be accurately adjusted, thereby achieving automatic adjustment of large circular excavation or small circular excavation, and realizing a more complex and multi-dimensional motion trajectory.

[0050] The top inner wall of the turntable seat 713 is hingedly installed with a third telescopic cylinder 717 through a pin shaft. The third telescopic cylinder 717 is connected to the solenoid valve 716 through an air pipe. The telescopic bottom end of the third telescopic cylinder 717 is hinged to the bottom end of the sliding plate 715 through a pin shaft.

[0051] Specifically, the movement of the third telescopic cylinder 717 is completely controlled by the solenoid valve 716, a common control element in modern automation systems. This allows the entire vertical fine-tuning process to be conveniently controlled via a PLC or industrial computer, integrating it into the automated operation flow of the trolley 3. When a large circular excavation operation is required, the third telescopic cylinder 717 is controlled to extend, driving the sliding plate 715 to slide, thereby adjusting the diameter of the excavation drill bit 81 and the drive shaft 712, thereby changing the excavation arc trajectory.

[0052] And it cooperates with the excavation swing adjustment mechanism 6 to achieve arc-shaped and circular arc-shaped excavation coordination, thereby achieving a more complex and multi-dimensional motion trajectory to meet the excavation adjustment of different conditions inside the tunnel.

[0053] In order to realize the rotating excavation action of the excavation drill bit 81, a rotary excavation mechanism 8 is provided, which includes a rotary excavation motor 82 installed on the bottom surface of the turntable seat 713, and the output end of the rotary excavation motor 82 is fixedly installed with a rotary excavation shaft 83 through a coupling, and one end of the rotary excavation shaft 83 is fixedly installed on the mounting surface of the excavation drill bit 81.

[0054] Specifically, the rotary excavation motor 82 is directly mounted on the turntable seat 713, and transmits power to the excavation drill bit 81 through the rotating excavation shaft 83, causing it to rotate at high speed, generating sufficient impact force and shear force to break the rock or soil in front of the tunnel.

[0055] This hydraulic crawler tunnel excavation trolley boasts a sophisticated design, incorporating multiple adjustment and drive mechanisms, resulting in significant benefits. First, its crawler-type travel mechanism provides strong traction and excellent ground adaptability, ensuring stable and flexible movement and precise steering in complex tunnel environments. Second, its integrated multi-degree-of-freedom adjustment system is a key advantage: a circular rotation mechanism enables the excavation drill bit 81 to cover a wide area, improving efficiency; an oscillation mechanism creates an arc-shaped operating area within the travel plane, adapting to irregular cross-sections; and vertical trajectory adjustment and a telescopic cylinder enable precise control of the height and distance of the excavation drill bit 81, further enhancing operational precision and flexibility. Furthermore, the vertical fine-tuning function on the turntable base 713, using a sliding plate 715 and telescopic cylinder, allows for precise correction of the trajectory of the excavation drill bit 81, enhancing the equipment's ability to cope with complex geology and excavation requirements. These combined designs enable the trolley 3 to efficiently, accurately, and flexibly complete tunnel excavation tasks, offering strong adaptability and high operational efficiency, significantly improving the level of tunnel construction.

[0056] Working Principle: Trolley 3 moves via track drive mechanisms 2 on either side of base 1. Rotating motors 52 in track drive mechanisms 2 drive track gears 28, which in turn rotate transmission tracks 29 and travel wheels 24. Auxiliary wheels 23 simultaneously ensure track tension and smooth operation. By controlling the speed difference between the two tracks—accelerating one side while slowing down or stopping the other—trolley 3 can move forward, backward, turn in place, and travel in curves, adapting to complex paths within tunnels.

[0057] After the trolley 3 reaches the predetermined excavation area, the excavation drill bit 81 is precisely positioned through a multi-stage adjustment mechanism.

[0058] Circular rotation adjustment: The rotating motor 52 drives the chassis 51 and the rotating shaft 53 and the rotating disk 54 thereon to rotate, so that the entire superstructure including the subsequent swing mechanism and the excavation drill bit 81 moves in a circular motion around the central axis of the trolley 3, thereby expanding the excavation coverage.

[0059] Swing adjustment: The columns 61 on the rotating disk 54 support the swing seat 63. By controlling the expansion and contraction of the first telescopic cylinders 65 on both sides, the swing seat 63 is pushed to swing in the plane of the crawler track with the columns 61 as the fulcrum, so that the arc trajectory of the excavation drill bit 81 in this plane can be adjusted.

[0060] Vertical Track Adjustment: A vertical slider 71 on the pendulum base 63 slides on a threaded rod 72. An adjustment motor 73 rotates the threaded rod 72, driving the threaded sleeve 74 and connecting base plate 75 up and down, adjusting the overall height of the excavation drill bit 81. A second telescopic cylinder 77, a sliding sleeve 76, and a sliding rod 79 system on the connecting base plate 75 further stabilize the connecting base plate 75 and provide subtle adjustments to its posture.

[0061] Vertical fine-tuning principle: A third telescopic cylinder 717 on the turntable seat 713 is hinged to the sliding plate 715 via a pin. When the third telescopic cylinder 717 extends and retracts, it drives the sliding plate 715 up and down within the vertical slot 714 of the turntable seat 713, thereby enabling finer vertical position adjustments for the excavation drill bit 81 connected to the sliding plate 715. A solenoid valve 716 controls the air pump to supply air to the third telescopic cylinder 717, enabling the telescopic movement.

[0062] Principle of rotary excavation: After the excavation drill bit 81 is precisely adjusted into position, the rotary excavation motor 82, mounted at the bottom of the turntable 713, is activated. The motor's output power is transmitted via a coupling to the rotary excavation shaft 83, which in turn drives the excavation drill bit 81 in high-speed rotation. The powerful torque and impact force generated by the rotation of the excavation drill bit 81 acts on the tunnel excavation surface, breaking up the rock or soil and completing the tunnel excavation operation.

[0063] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A hydraulic crawler tunnel excavation trolley, comprising a base (1), characterized in that: Both ends of the base (1) are provided with crawler transmission mechanisms (2), and a trolley (3) and an inspection staircase (4) are respectively installed on the top of the base (1). The top of the inspection staircase (4) is fixedly installed on the top surface of the trolley (3), and the crawler transmission mechanism (2) enables the trolley (3) to automatically move in the tunnel; The top of the trolley (3) is respectively provided with an excavation circumferential rotation adjustment mechanism (5), an excavation swing adjustment mechanism (6), an excavation trajectory adjustment mechanism (7) and a rotary excavation mechanism (8), wherein the rotary excavation mechanism (8) includes an excavation drill bit (81); The excavation circular rotation adjustment mechanism (5) enables the excavation drill bit (81) to perform circular rotation adjustment with the axis of the excavation circular rotation adjustment mechanism (5) as the center of the circle; The excavation swing adjustment mechanism (6) enables the excavation drill bit (81) to swing in an arc shape with the direction of travel of the crawler transmission mechanism (2) as a plane; The excavation trajectory adjustment mechanism (7) enables the excavation drill bit (81) to adjust the excavation trajectory on the tunnel excavation surface; The rotary excavation mechanism (8) realizes the rotary excavation action of the excavation drill bit (81).

2. The hydraulic crawler tunnel excavation trolley according to claim 1, characterized in that: The two crawler transmission mechanisms (2) are respectively arranged on both sides of the base (1) and are arranged in parallel. The crawler transmission mechanism (2) includes a connecting vertical plate (21). The opposite surfaces of the two connecting vertical plates (21) are fixedly installed with the two ends of the base (1). The inner walls of the top grooves of the connecting vertical plates (21) are rotatably connected to auxiliary rotating shafts (22) through bearings. The multiple auxiliary rotating shafts (22) are linearly arranged and distributed. The arc surface of the auxiliary rotating shaft (22) is fixedly installed with an auxiliary rotating wheel (23). The installation shaft of the inner wall of the front end groove of the connecting vertical plate (21) is rotatably connected to the auxiliary rotating shaft (22) through bearings. A travel wheel (24) is dynamically connected to the connecting vertical plate (21); a driving frame (25) is fixedly installed at the rear end of the connecting vertical plate (21); a crawler motor (26) is installed inside the driving frame (25); an output end of the crawler motor (26) is fixedly installed with a crawler power shaft (27) through a coupling; a crawler gear (28) is fixedly installed on the surface of the crawler power shaft (27); the tooth groove of the crawler gear (28) and the groove of the travel wheel (24) are both transmission-connected with a transmission crawler (29); the arc surfaces of the plurality of auxiliary wheels (23) are all slidably plugged into the inner wall of the transmission crawler (29).

3. The hydraulic crawler tunnel excavation trolley according to claim 1, characterized in that: The excavation circular rotation adjustment mechanism (5) includes a chassis (51), which is installed at the top center of the trolley (3). A rotating motor (52) is fixedly installed at the bottom of the chassis (51), and a rotating shaft (53) is fixedly installed at the output end of the rotating motor (52) through a coupling. The top end of the rotating shaft (53) passes through and extends to the top of the chassis (51) and is fixedly installed with a rotating disk (54).

4. The hydraulic crawler tunnel excavation trolley according to claim 3, characterized in that: The excavation swing adjustment mechanism (6) includes columns (61), and multiple columns (61) are fixedly installed on the top of the rotating disk (54). The six columns (61) are respectively divided into two groups of two columns (61) and four columns (61), and the two groups of columns (61) are distributed in high and low positions. The relative surfaces of the two columns (61) located at the lower position are rotatably connected to the transfer pin shaft (62) through bearings, and the arc surface of the transfer pin shaft (62) is fixedly installed with a swing seat (63). The surfaces of the four columns (61) located at the higher position are rotatably connected to the swing pin shaft (64) through bearings, and the first telescopic cylinder (65) is fixedly installed at both ends of the arc surface of the swing pin shaft (64). The telescopic ends of the two first telescopic cylinders (65) are respectively hinged to the two side surfaces of the top of the swing seat (63), and the first telescopic cylinder (65) is driven by an air pump.

5. The hydraulic crawler tunnel excavation trolley according to claim 4, characterized in that: The excavation trajectory adjustment mechanism (7) includes a vertical slider (71), and the two vertical sliders (71) are respectively slidably plugged into the surfaces of both sides of the right end of the pendulum seat (63), and the top and bottom ends of the pendulum seat (63) are rotatably connected to the threaded rod (72) through bearings. The top of the pendulum seat (63) is also fixedly installed with an adjustment motor (73), and the output end of the adjustment motor (73) is fixedly installed with the top of the threaded rod (72) through a coupling. The arc surface of the threaded rod (72) is threadedly connected with a threaded sleeve (74), and one end of the threaded sleeve (74) is fixedly installed with a connecting base plate (75), and the two ends of the connecting base plate (75) are respectively fixedly installed with the surfaces of the two vertical sliders (71).

6. The hydraulic crawler tunnel excavation trolley according to claim 5, characterized in that: The surface of the connecting base plate (75) is fixedly mounted with a sliding sleeve (76) and a second telescopic cylinder (77), the second telescopic cylinder (77) is mounted on the central surface of the connecting base plate (75), the four sliding sleeves (76) are distributed in a circular array with the second telescopic cylinder (77) as the axis, the telescopic top end of the second telescopic cylinder (77) is fixedly mounted with a connecting disk (78), the inner wall of the sliding sleeve (76) is slidably plugged with a sliding rod (79), and one end of the four sliding rods (79) is fixedly mounted on the surface of the connecting disk (78).

7. The hydraulic crawler tunnel excavation trolley according to claim 6, characterized in that: A driving motor (710) is fixedly mounted on the central surface of the connecting disk (78), and a protective cover (711) is also fixedly mounted on one end surface of the connecting disk (78). The driving motor (710) is located inside the protective cover (711), and a driving shaft (712) is fixedly mounted on the output end of the driving motor (710) via a coupling. One end of the driving shaft (712) passes through and extends to the outside of the protective cover (711), and a turntable seat (713) is fixedly mounted on one end of the driving shaft (712).

8. The hydraulic crawler tunnel excavation trolley according to claim 7, characterized in that: A vertical slide groove (714) is provided on one side of the turntable seat (713), and a sliding plate (715) is slidably inserted into the inner walls of the two vertical slide grooves (714), and the sliding plate (715) is located between the two vertical slide grooves (714). A solenoid valve (716) is also fixedly installed on one side of the turntable seat (713), and the solenoid valve (716) is connected to the air pump through an air pipe.

9. The hydraulic crawler tunnel excavation trolley according to claim 8, characterized in that: A third telescopic cylinder (717) is hingedly mounted on the inner wall of the top end of the turntable seat (713) via a pin shaft. The third telescopic cylinder (717) is connected to the solenoid valve (716) via an air pipe. The telescopic bottom end of the third telescopic cylinder (717) is hingedly mounted to the bottom end of the sliding plate (715) via a pin shaft.

10. The hydraulic crawler tunnel excavation trolley according to claim 8, characterized in that: The rotary excavation mechanism (8) comprises a rotary excavation motor (82) mounted on the bottom surface of the turntable seat (713); an output end of the rotary excavation motor (82) is fixedly mounted with a rotary excavation shaft (83) via a coupling; one end of the rotary excavation shaft (83) is fixedly mounted to the mounting surface of the excavation drill bit (81).

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