A tunnel full-face tunneling anchoring integrated trolley

Abstract

The application relates to the technical field of tunnel excavation, and particularly discloses a tunnel full-face excavation anchoring integrated trolley, which comprises a rack, a driving shaft is arranged in the rack, and the driving shaft extends to the front of the rack; a first rotating structure and a second rotating structure are connected to the driving shaft, and the first rotating structure and the second rotating structure rotate along the circumference of the driving shaft; the first rotating structure is connected with a first drilling and splitting mechanism, and the second rotating structure is connected with an anchoring device. The anchoring can be simultaneously completed in the process of excavation, so that the problem that the existing excavation trolley cannot perform anchoring in the process of excavation and the working efficiency is not high can be solved.

Description

Technical Field

[0001] This invention relates to the field of tunnel excavation technology, specifically to an integrated trolley for full-section tunnel excavation and anchoring. Background Technology

[0002] Full cross-section refers to the entire cross-section during tunnel excavation, which distinguishes it from half cross-section and horseshoe cross-section.

[0003] Tunnel excavation mainly includes traditional blasting methods, as well as non-blasting methods such as borehole splitting and TBM (Tunnel Boring Machine). Traditional blasting methods are prone to causing damage to the surrounding rock, adversely affecting buildings when passing through urban areas, generating noise pollution within the blasting range, and posing construction safety hazards. TBMs, as an existing non-blasting method, have high equipment purchase and operating costs, and have high requirements for access roads and tunnel geology, thus limiting their application scope.

[0004] TBM (Tunnel Boring Machine): A full-face tunnel boring machine that integrates mechanical, electrical, hydraulic, optical, and pneumatic systems into a factory-produced, assembly-line tunnel construction system. It allows for parallel and continuous operation of tunneling, support, and muck removal processes.

[0005] This invention relates to a drilling and splitting method for tunneling. Current drilling and splitting methods require drilling holes in the rock surface first, followed by inserting a rock splitter into the hole to complete the splitting. Drilling and splitting need to be carried out in stages, requiring sufficient working space, and the efficiency is low when splitting is performed after withdrawing the machine. Furthermore, current rock splitters, due to their non-adjustable splitting arms, can only perform splitting operations at fixed angles and positions, resulting in poor adaptability to complex rock shapes or rock fissures with different orientations. Summary of the Invention

[0006] The purpose of this invention is to provide an integrated tunnel excavation and anchoring trolley that can simultaneously complete anchoring during the excavation process, thereby solving the problem that existing tunneling trolleys in the background art cannot perform anchoring during the excavation process, resulting in low work efficiency.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0008] A tunnel full-face excavation and anchoring integrated trolley includes a frame, a drive shaft installed inside the frame, and the drive shaft extending to the front of the frame; a first rotating structure and a second rotating structure are connected to the drive shaft, and both the first rotating structure and the second rotating structure rotate circumferentially along the drive shaft; the first rotating structure is connected to a first drilling and splitting mechanism, and the second rotating structure is connected to an anchoring device.

[0009] Furthermore, the first drilling and splitting mechanism includes a first central arm, within which a first slide rail is provided, extending radially along the drive shaft; a first slider and a first linear push assembly are installed within the first slide rail, the first slider being controlled by the first linear push assembly to move along the direction of the first slide rail, a first bracket connected to the first slider via a first rotary cylinder, and a drilling and splitting integrated machine mounted on the first bracket; the drilling and splitting integrated machine includes a first telescopic boom, the telescopic direction of which is radial to the drive shaft, a second rotary cylinder mounted on the output end of the first telescopic boom, a third rotary cylinder fixedly mounted on the side of the output end of the second rotary cylinder, and a drilling propulsion beam connected to the output end of the third rotary cylinder via the second telescopic boom, a first propulsion platform and a second propulsion platform respectively mounted on both sides of the drilling propulsion beam, the first propulsion platform and the second propulsion platform being pushed by the first linear cylinder and the second linear cylinder respectively, the first linear cylinder and the second linear cylinder being mounted on both sides of the drilling propulsion beam; a water-cooled drill is mounted on the first propulsion platform, and a splitting rod is mounted on the second propulsion platform.

[0010] Furthermore, the first support is an arc-shaped arm, on which multiple drilling and splitting integrated machines are mounted.

[0011] Furthermore, a rubber block is installed at the front end of the drilling propulsion beam, and a splitting clamp and a drilling clamp are respectively installed on both sides of the front end of the drilling propulsion beam. The splitting clamp is used to support the splitting rod, and the drilling clamp is used to support the water drill.

[0012] Furthermore, the anchoring device includes a fourth rotary cylinder, which is connected to a fifth rotary cylinder via the drill-anchor boom. The output end of the fifth rotary cylinder is connected to the drill-anchor arm. A third linear cylinder is installed inside the drill-anchor arm, and a drill-anchor propulsion beam is provided outside the drill-anchor arm. The third linear cylinder drives the drill-anchor propulsion beam to extend axially along the drill-anchor arm. A third linear push assembly is installed inside the drill-anchor propulsion beam, and a drill-anchor propulsion platform is installed at the rear end of the drill-anchor propulsion beam. The third linear push assembly is connected to the drill-anchor propulsion platform. A drill-anchor clamping and fixing platform is installed at the front end of the drill-anchor propulsion beam. A hydraulic drill is installed on the drill-anchor propulsion platform, and a drill rod is also included. The rear end of the drill rod is connected to the output end of the hydraulic drill, and the drill-anchor clamping and fixing platform supports the front end of the drill rod.

[0013] Furthermore, the output end of the hydraulic drill is provided with an internal thread, and the rear end of the drill rod is provided with an external thread, with the internal thread meshing with the external thread; two first robotic arms are installed on the drill anchor arm, with the two first robotic arms respectively installed at the front end and the rear end of the drill anchor arm, and the two first robotic arms can grasp and fix the drill rod and move the drill rod; two second robotic arms and a grouting pipe are also installed on the drill anchor arm, with the two second robotic arms respectively installed at the front end and the rear end of the drill anchor arm, the second robotic arm located at the front end of the drill anchor arm fixing the front end of the grouting pipe, and the second robotic arm located at the rear end of the drill anchor arm fixing the rear end of the grouting pipe, the two sets of second robotic arms are used to move the grouting pipe.

[0014] Furthermore, two third robotic arms are installed on the drill-anchor arm, one at the front end and the other at the rear end. Each third robotic arm includes a base connected to the drill-anchor arm via a connecting bracket. A fourth linear cylinder is mounted on the base, and a U-shaped clamp is installed on the output end of the fourth linear cylinder. The opening of the U-shaped clamp faces the drill rod, and multiple anchor rods are arranged side-by-side on the U-shaped clamp. The lower end face of the U-shaped clamp is longer than the upper end face, and a first and second fixed robotic claws are arranged side-by-side on the upper end face of the U-shaped clamp. The first fixed robotic claw has a forward clamping position, and the second fixed robotic claw has a rearward clamping position, such that when the first fixed robotic claw clamps the first anchor rod, the second anchor rod... Two fixed mechanical claws can clamp the second anchor rod at the front; a fifth linear cylinder is installed on the U-shaped clamp, the output end of which is located inside the U-shaped clamp. The fifth linear cylinder is used to push the anchor rod to move towards the opening of the U-shaped clamp; a limiting box is also included, which is a cuboid box-shaped structure with openings on the front and right sides; the limiting box is fixedly installed at the rear end of the drill-anchor arm, and one end of each of the multiple anchor rods inside the U-shaped clamp is placed inside the limiting box, with one end of each anchor rod abutting against the left inner wall of the limiting box, for limiting and aligning the anchor rods; a movable clamp is installed on the anchoring propulsion platform and the drill-anchor clamping and fixing platform, which can open or close to loosen or clamp the anchor rod.

[0015] Furthermore, a third rotating structure is also installed on the drive shaft, and a second drilling and splitting mechanism is connected to the third rotating structure; the second drilling and splitting mechanism includes a second central arm, and a second slide rail is provided inside the second central arm, the second slide rail extending radially along the drive shaft; a second slider and a fourth linear push assembly are installed inside the second slide rail, and the second slider is controlled to move along the direction of the second slide rail by the fourth linear push assembly; a sixth rotary cylinder is installed on the second slider, and a straight arm is installed at the output end of the sixth rotary cylinder, and multiple drilling and splitting integrated machines are installed at equal intervals on the straight arm.

[0016] Furthermore, a fourth rotating structure is also installed on the drive shaft, and a first gripper arm rotating cylinder is installed on the fourth rotating structure. The output end of the first gripper arm rotating cylinder is connected to the large arm of the net-catching spray guard. Inside the large arm of the net-catching spray guard, a second gripper arm rotating cylinder is connected via a sixth linear cylinder. The output end of the second gripper arm rotating cylinder is connected to the small arm of the net-catching spray guard. The small arm of the net-catching spray guard is connected to a third gripper arm rotating cylinder. The output end of the third gripper arm rotating cylinder is connected to a rotating seat. A branch arm mounting seat is connected to the rotating seat via a normal rotation motor. First claws are respectively installed on both sides of the branch arm mounting seat. The device includes a root rotating cylinder and a second claw root rotating cylinder; the first claw root rotating cylinder is connected to a first branch arm, and the end of the first branch arm is provided with a first claw hook; the second claw root rotating cylinder is connected to a second branch arm, and the end of the second branch arm is provided with two second claw hooks, which are symmetrically arranged along the second branch arm; when the first branch arm and the second branch arm are closed, the first claw hook and the second claw hook are staggered; the inner walls of the first branch arm and the second branch arm are both equipped with arc-shaped clamps, so that when the first branch arm and the second branch arm are closed, the two arc-shaped clamps also close, which can be used to clamp the nozzle.

[0017] Furthermore, four sets of traveling structures are installed at the bottom of the frame, located at the left front end, right front end, left rear end, and right rear end of the frame, respectively. The traveling structure includes a first traveling frame and a second traveling frame. The first traveling frame is connected to a forward piston frame via two seventh linear cylinders. A first telescopic piston is installed inside the forward piston frame. The first telescopic piston is connected to a forward support arm. The telescopic direction of the seventh linear cylinders is radial to the drive shaft, and the telescopic direction of the first telescopic piston is axial to the drive shaft. The second traveling frame is connected to a rotary piston frame via two eighth linear cylinders. A second telescopic piston is installed inside the rotary piston frame. The second telescopic piston is connected to a rotary support arm. The telescopic direction of the eighth linear cylinders is radial to the drive shaft, and the telescopic direction of the second telescopic piston is tangential to the frame cross-section. The telescopic directions of the first and second telescopic pistons are perpendicular to each other.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] 1. This invention utilizes a drive shaft to rotate the first drilling and splitting mechanism and the anchoring device, adjusting their circumferential angles. This allows for seamless position adjustment in both horseshoe-shaped and full-section tunnels. Since the first drilling and splitting mechanism and the anchoring device are driven by separate drive shafts, anchoring can be performed during tunneling, integrating tunneling and anchoring operations. This eliminates the need for the tunneling trolley to retract after drilling before anchoring, thus resulting in higher work efficiency.

[0020] 2. The first drilling and splitting mechanism of the present invention is connected to the first rotating structure of the drive shaft. The first drilling and splitting mechanism rotates circumferentially along the drive shaft to complete the circumferential angle adjustment, which can cover both horseshoe-shaped and full-section tunnels. The first central arm and the first slide rail of the first drilling and splitting mechanism enable the drilling and splitting integrated machine on the first support to be adjusted radially on the frame. Radial adjustment allows the same set of drilling and splitting integrated machines to drill both peripheral holes and central holes.

[0021] 3. After drilling is completed, the front end of the drilling propulsion beam remains pressed against the rock surface to determine the drilling position. The third rotary cylinder rotates 180° to rotate the splitting rod to the drilling position and then penetrates deeper into the drilling hole for splitting. Therefore, it is not necessary to re-determine the drilling position before splitting, which ensures the accuracy and efficiency of the splitting work.

[0022] 4. The second rotary cylinder is mainly used to adjust the pitch angle of the drilling propulsion beam. Firstly, it can drill inclined holes to meet different drilling conditions; secondly, it can finely adjust the direction to return to the correct direction when the drilling direction deviates during the tunneling process.

[0023] 5. The anchoring device of the present invention automatically connects the three steps of the anchoring process. Except for a few steps that are handled manually, most of the rest are mechanically controlled, which is highly efficient and has a wide adjustment range. Anchoring can be completed before or after the first drilling and splitting mechanism, which is convenient for application in practical scenarios.

[0024] 6. After the first and second branch arms are closed, the two arc-shaped clamps also close, which can be used to clamp the nozzle. Then, by using the rotation and extension of the first gripper arm rotating cylinder, the second gripper arm rotating cylinder, the third gripper arm rotating cylinder and the sixth linear cylinder, the nozzle is pushed outward and close to the rock wall, thus completing the spraying. The fourth rotating structure rotates to complete the circumferential spraying, covering the entire netting.

[0025] 7. The second telescopic piston controls the movement of the rotating support palm, which can adjust the circumferential angle of the frame, so that the four sets of walking structures at the bottom are always in a position that is easy to bear force, thus solving the problem that the circumferential angle of the frame gradually shifts due to the unevenness of the rock wall during the frame's forward movement. Attached Figure Description

[0026] Figure 1 This is a perspective view of the entire invention.

[0027] Figure 2 This is a front view of the entire invention.

[0028] Figure 3 This is a side view of the entire invention.

[0029] Figure 4This is a front view of the first drilling and splitting mechanism.

[0030] Figure 5 This is a three-dimensional view of the first drilling and splitting mechanism.

[0031] Figure 6 This is a side view of the first drilling and splitting mechanism.

[0032] Figure 7 This is a side view of the drilling and splitting machine.

[0033] Figure 8 This is a 3D view of a drilling and splitting machine.

[0034] Figure 9 This is a side view of the second drilling and splitting mechanism.

[0035] Figure 10 This is a three-dimensional view of the second drilling and splitting mechanism.

[0036] Figure 11 This is a front view of the second drilling and splitting mechanism.

[0037] Figure 12 This is a three-dimensional view of the anchoring device.

[0038] Figure 13 This is a side view of the anchoring device.

[0039] Figure 14 This is a top view of the anchoring device from another angle.

[0040] Figure 15 This is a structural diagram of the second robotic arm gripping the grouting pipe.

[0041] Figure 16 This is a structural diagram of a third robotic arm gripping an anchor bolt.

[0042] Figure 17 This is a 3D structural diagram of the third robotic arm.

[0043] Figure 18 This is a side view of the third robotic arm.

[0044] Figure 19 This is the connection diagram for the fourth rotating structure.

[0045] Figure 20 for Figure 19 Enlarged view of point A.

[0046] Figure 21 for Figure 19 Side view.

[0047] Figure 22 for Figure 21 The unfolded structure diagram.

[0048] Figure 23 This is a 3D diagram of the walking structure.

[0049] Figure 24 This is a front view of the walking structure.

[0050] Figure 25 This is a three-dimensional view of the ninth linear cylinder and the top pressure plate.

[0051] Figure 26 This is a front view of the ninth linear cylinder and the top pressure plate.

[0052] The meanings of the labels in the diagram are as follows:

[0053] 1-Frame, 2-Drive shaft, 3-First rotating structure, 4-Second rotating structure, 5-Third rotating structure

[0054] 6-First drilling and splitting mechanism, 601-First central arm, 602-First slide rail, 603-First slider, 604-First rotary cylinder, 605-Arc-shaped arm,

[0055] 7-Second drilling and splitting mechanism, 701-Second central arm, 702-Second slide rail, 703-Second slider, 704-Sixth rotary cylinder, 705-Straight arm,

[0056] 8-Anchoring device; 801-Fourth rotary cylinder; 802-Drilling and anchoring boom; 803-Fifth rotary cylinder; 804-Drilling and anchoring forearm; 805-Drilling and anchoring propulsion beam; 806-Drilling and anchoring propulsion platform; 807-Drilling and anchoring clamping and fixing platform; 808-Hydraulic drill; 809-Drill rod; 810-First robotic arm; 811-Second robotic arm; 812-Grouting pipe; 813-Base; 814-Connecting bracket; 815-Fourth linear cylinder; 816-U-shaped clamp; 817-Anchor bolt; 818-First fixed robotic claw; 819-Second fixed robotic claw; 820-Fifth linear cylinder; 821-Limit box; 822-Modible clamp.

[0057] 9-Traveling structure; 901-Seventh linear cylinder; 902-First telescopic piston; 903-Forward support palm; 904-Eighth linear cylinder; 905-Second telescopic piston; 906-Rotary support palm; 907-Ninth linear cylinder; 908-Top pressure plate.

[0058] 10-Fourth rotating structure; 1001-First gripper arm rotating cylinder; 1002-Grab net spraying guard main arm; 1003-Sixth linear cylinder; 1004-Second gripper arm rotating cylinder; 1005-Grab net spraying guard secondary arm; 1006-Third gripper arm rotating cylinder; 1007-Normal rotary motor; 1008-Branch arm mounting base; 1009-First claw root rotating cylinder; 1010-Second claw root rotating cylinder; 1011-First branch arm; 1012-Second branch arm; 1013-First claw hook; 1014-Second claw hook; 1015-Arc-shaped clamping plate.

[0059] 11-Maintenance access road

[0060] 12- Drilling and splitting integrated machine, 1201- First telescopic boom, 1202- Second rotary cylinder, 1203- Third rotary cylinder, 1204- Second telescopic boom, 1205- Drilling push beam, 1206- First push platform, 1207- Second push platform, 1208- First linear cylinder, 1209- Second linear cylinder, 1210- Water drill, 1211- Splitting rod, 1212- Rubber block. Detailed Implementation

[0061] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, so as to provide a better understanding of the concept of the present invention, the technical problem solved, the technical features constituting the technical solution, and the technical effects brought about.

[0062] like Figures 1-3 As shown, a tunnel full-section excavation and anchoring integrated trolley includes a frame 1, a drive shaft 2 installed inside the frame 1, and the drive shaft 2 extending to the front of the frame 1; a first rotating structure 3 and a second rotating structure 4 are connected to the drive shaft 2, and both the first rotating structure 3 and the second rotating structure 4 rotate circumferentially along the drive shaft 2; the first rotating structure 3 is connected to a first drilling and splitting mechanism 6, and the second rotating structure 4 is connected to an anchoring device 8.

[0063] The application environment of this invention is the borehole splitting method in tunnel excavation. During the borehole splitting process, anchoring of the rock wall is required depending on the rock conditions. Currently, anchoring requires anchoring the rock wall behind the tunneling trolley, or anchoring the rock wall near the rock surface after the tunneling trolley has withdrawn after excavating a certain distance. These two anchoring methods depend on the firmness of the rock surface. This invention utilizes a drive shaft 2 to rotate the first borehole splitting mechanism 6 and the anchoring device 8, adjusting their circumferential angles. This allows for seamless position adjustment when facing horseshoe-shaped or full-section tunnels. Since the first borehole splitting mechanism 6 and the anchoring device 8 are driven by the drive shaft 2, anchoring can be performed during excavation without requiring the tunneling trolley to withdraw after drilling, thus increasing work efficiency.

[0064] It should be noted that the structure in which the drive shaft 2 drives the first rotating structure 3 and the second rotating structure 4 to rotate is quite common in the art. In this invention, the drive shaft 2 can be a power supply shaft, which connects the first and second connecting structures via a slip ring. The first and second connecting structures themselves contain an electric motor, and the rotation of the electric motor causes the first rotating structure 3 to rotate along the power supply shaft. For example, a gear can be installed at the output end of the electric motor, and a geared ring can be circumferentially mounted on the power supply shaft. The gear meshes with the geared ring to complete the rotation. Another driving method is that the drive shaft 2 is a hydraulic shaft, and the first and second connecting structures themselves contain a hydraulic motor. The rotation of the hydraulic motor causes the first rotating structure 3 to rotate along the hydraulic shaft. Power is supplied by a hose pulled from the hydraulic shaft and connected to the hydraulic motor. The disadvantage is that the first rotating structure 3 and the second rotating structure 4 cannot rotate too much in one direction. Considering the function to be achieved in this invention, one revolution is sufficient to meet the requirements of this invention, and further rotation can be completed by the first rotating structure 3 and the second rotating structure 4 rotating backwards.

[0065] like Figures 4-8As shown, further, the first drilling and splitting mechanism 6 includes a first central arm 601, within which a first slide rail 602 is provided, extending radially along the drive shaft 2; a first slider 603 and a first linear push assembly are installed within the first slide rail 602, the first slider 603 is controlled to move along the direction of the first slide rail 602 by the first linear push assembly, a first bracket is connected to the first slider 603 via a first rotary cylinder 604, and a drilling and splitting integrated machine 12 is mounted on the first bracket; the drilling and splitting integrated machine 12 includes a first telescopic boom 1201, the telescopic direction of the first telescopic boom 1201 being radially opposite to the drive shaft 2, and a drilling and splitting integrated machine 12 is mounted on the output end of the first telescopic boom 1201. There is a second rotary cylinder 1202, and a third rotary cylinder 1203 is fixedly installed on the side of the output end of the second rotary cylinder 1202. The output end of the third rotary cylinder 1203 is connected to a drilling propulsion beam 1205 through a second telescopic boom 1204. A first propulsion platform 1206 and a second propulsion platform 1207 are respectively installed on both sides of the drilling propulsion beam 1205. The first propulsion platform 1206 and the second propulsion platform 1207 are respectively driven by a first linear cylinder 1208 and a second linear cylinder 1209. The first linear cylinder 1208 and the second linear cylinder 1209 are respectively installed on both sides of the drilling propulsion beam 1205. A water drill 1210 is installed on the first propulsion platform 1206, and a splitting rod 1211 is installed on the second propulsion platform 1207.

[0066] The first borehole splitting mechanism 6 is responsible for performing the borehole splitting function of this invention. Existing tunneling trolleys have the following problems:

[0067] ① Since drilling and splitting have a sequential order, they need to be carried out in sequence. Therefore, when splitting, the drilling position needs to be repositioned. Only after the drilling position is accurately located can the splitting rod 1211 be inserted into the drilling hole for splitting.

[0068] ② The drilling and splitting positions are not easy to adjust and the coverage area is small. Drilling machinery needs to be arranged in advance, resulting in low work efficiency.

[0069] The first drilling and splitting mechanism 6 of this invention is connected to the first rotating structure 3 of the drive shaft 2. The first drilling and splitting mechanism 6 rotates circumferentially along the drive shaft 2 to complete circumferential angle adjustment, covering both horseshoe-shaped and full-section tunnels. The first central arm 601 and the first slide rail 602 of the first drilling and splitting mechanism 6 enable the drilling and splitting integrated machine 12 on the first support to be adjusted radially on the frame 1. Radial adjustment allows the same set of drilling and splitting integrated machines 12 to drill both peripheral holes and central holes. The first rotary cylinder 604 can rotate the first support circumferentially for fine-tuning of the angle. The drilling and splitting integrated machine 12 includes a first telescopic boom 1201, the telescopic direction of which is radial to the drive shaft 2. This adjustment is auxiliary to the radial adjustment of the first slide rail 602, which is the main adjustment, while the adjustment of the first telescopic boom 1201 is a fine-tuning. The second telescopic boom 1204 is used to axially push the drilling advance beam 1205, so that during drilling and splitting, the front end of the drilling advance beam 1205 can press against the rock surface, providing stable support for the work of the water drill 1210 and the splitting rod 1211. The first linear cylinder 1208 and the second linear cylinder 1209 respectively push the splitting rod 1211 and the water drill 1210 to work. The water drill 1210 is existing technology. The water drill 1210 rotates itself, and the first linear cylinder 1208 pushes the water drill 1210 towards the rock surface to complete the drilling. After drilling is completed, the front end of the drilling advance beam 1205 still presses against the rock surface to determine the drilling position. The third rotary cylinder 1203 rotates 180° to rotate the splitting rod 1211 to the drilling position, and then penetrates into the drilling hole for splitting. Therefore, it is not necessary to redetermine the drilling position before splitting, ensuring the accuracy and efficiency of the splitting work. The second rotary cylinder 1202 is mainly used to adjust the pitch angle of the drilling propulsion beam 1205. Firstly, it can drill angled holes to meet different drilling conditions; secondly, it can fine-tune the direction to correct deviations during the tunneling process. Deviations in the tunneling direction are usually not significant, so the adjustment of the pitch angle of the drilling propulsion beam 1205 will not be substantial and will not affect the stability of drilling and splitting.

[0070] Furthermore, the first support is an arc-shaped arm 605, on which multiple drilling and splitting machines 12 are mounted. By mounting multiple drilling and splitting machines 12 on the arc-shaped arm 605 and driving and adjusting them together, drilling and splitting can be completed in batches. Although the radius of the arc-shaped arm 605 is fixed, and the radius of the arc surface of the arc-shaped arm 605 cannot be adjusted after the radial distance of the arc-shaped arm 605 is adjusted by the first slide rail 602, it can still cover the rock surface. The radius of the arc-shaped arm 605 is usually the radius of the outer ring of the rock surface, mainly so that when drilling peripheral holes in the rock surface, the drilling and splitting machines 12 on the arc-shaped arm 605 can precisely cover the outer ring of the rock surface.

[0071] Furthermore, a rubber block 1212 is installed at the front end of the drilling propulsion beam 1205. A splitting clamp and a drilling clamp are respectively installed on both sides of the front end of the drilling propulsion beam 1205. The splitting clamp supports the splitting rod 1211, and the drilling clamp supports the water-cooled drill 1210. The rubber block 1212 is designed for uneven rock surfaces. When the rock surface is uneven, multiple drilling and splitting machines 12 cannot simultaneously press against the rock surface. The rubber block 1212 ensures that multiple drilling and splitting machines 12 can press against the rock surface and prevents the drilling propulsion beam 1205 from sliding.

[0072] like Figures 12-14 As shown, further, the anchoring device 8 includes a fourth rotary cylinder 801, which is connected to a fifth rotary cylinder 803 via the drill-anchor arm 802. The output end of the fifth rotary cylinder 803 is connected to the drill-anchor arm 804. A third linear cylinder is installed inside the drill-anchor arm 804, and a drill-anchor propulsion beam 805 is provided outside the drill-anchor arm 804. The third linear cylinder drives the drill-anchor propulsion beam 805 to extend along the axial direction of the drill-anchor arm 804. The third linear push assembly is installed inside the drill-anchor push beam 805. The drill-anchor push platform 806 is installed at the rear end of the drill-anchor push beam 805. The third linear push assembly is connected to the drill-anchor push platform 806. The drill-anchor clamping and fixing platform 807 is installed at the front end of the drill-anchor push beam 805. The hydraulic drill 808 is installed on the drill-anchor push platform 806. The drill rod 809 is also included. The rear end of the drill rod 809 is connected to the output end of the hydraulic drill 808. The drill-anchor clamping and fixing platform 807 supports the front end of the drill rod 809.

[0073] Anchoring device 8 is a device for anchoring the rock wall on the side of the frame 1. Anchoring refers to the process where reinforcing steel bars are encased in concrete, strengthening the connection between the concrete and the reinforcing steel bars, making the structure more robust. The purpose is to enable both to work together to bear various stresses (cooperatively bearing pressure, tension, bending moment, torque, etc. generated by various loads). This is to make the rock wall more robust and prevent rock fragments from falling off the rock wall during excavation. The anchoring device 8 of this invention uses the drive shaft 2 and the second rotating structure 4 to rotate circumferentially and adjust the angle in the circumferential direction to anchor the rock wall. Current anchoring methods are divided into two situations: if the rock wall is relatively solid, it needs to be anchored behind the excavation trolley; if the rock wall is relatively loose, after excavating a certain distance, the excavation trolley withdraws, and the rock wall is anchored near the rock surface. The two anchoring methods depend on the solidity of the rock surface. For relatively solid rock walls, this invention uses anchoring device 8 to anchor behind the first drilling and splitting mechanism 6 while drilling and splitting. For situations where the rock face is relatively loose, the anchoring device 8 should be placed as close as possible to the rock face, i.e., the rock face at the drilling location, for early anchoring. In this invention, the anchoring device 8 is connected to the drill-anchor arm 802 via a fourth rotary cylinder 801, which in turn connects to a fifth rotary cylinder 803. The rotation directions of the fourth and fifth rotary cylinders 801 and 803 are the same. When the fourth and fifth rotary cylinders 801 and 803 are adjusted simultaneously, with the fourth rotary cylinder 801 rotating a certain angle and the fifth rotary cylinder 803 rotating in the opposite direction by the same angle, the drill-anchor arm 804 remains vertical, but its horizontal position is adjusted, bringing it closer to the rock face. After the horizontal position is adjusted, the anchoring device 8 is further away from the rock face, allowing the drill-anchor advance beam 805 to be pushed outward using the third linear cylinder, bringing the drill rod 809 closer to the rock face.

[0074] The anchoring process mainly consists of three steps: ① Drilling anchoring holes in the rock face and withdrawing drill rod 809; ② Grouting the anchoring holes by injecting concrete into them; ③ Before the concrete has fully hardened, injecting anchor rod 817 into the anchoring holes and waiting for the concrete to solidify. The above structure mainly completes the first step of the anchoring process. Drill rod 809 rotates via hydraulic drill 808. During rotation, the third linear push assembly propels the drill-anchor push platform 806 and hydraulic drill 808 together towards the rock face to drill the anchoring holes. After drilling, it withdraws without moving the drill-anchor arm 804, so subsequent grouting and anchor rod 817 installation do not require repositioning. The third linear assembly can be a linear cylinder or a screw drive, as long as it can perform linear propulsion. The advantage of a screw drive is its wider range of motion. With a linear cylinder, the driving end occupies half the stroke, while the screw drive is unaffected by this limitation.

[0075] like Figures 15-18As shown, furthermore, the output end of the hydraulic drill 808 is provided with an internal thread, and the rear end of the drill rod 809 is provided with an external thread, with the internal thread meshing with the external thread; two first robotic arms 810 are installed on the drill anchor arm 804, with the two first robotic arms 810 respectively installed at the front end and rear end of the drill anchor arm 804, and the two first robotic arms 810 can grasp and fix the drill rod 809 and move the drill rod 809; two second robotic arms 811 and a grouting pipe 812 are also installed on the drill anchor arm 804, with the two second robotic arms 811 respectively installed at the front end and rear end of the drill anchor arm 804, the second robotic arm 811 at the front end of the drill anchor arm 804 fixing the front end of the grouting pipe 812, and the second robotic arm 811 at the rear end of the drill anchor arm 804 fixing the rear end of the grouting pipe 812, and the two sets of second robotic arms 811 are used to move the grouting pipe 812. The above structure is used to complete the second step of the anchoring process. After drilling the anchoring hole, the drill-anchor pusher 806 and drill rod 809 are withdrawn, the drill-anchor arm 804 remains stationary, and the two first robotic arms 810 grab the drill rod 809 and fix it. Since the drill rod 809 and the hydraulic drill 808 are connected by internal and external threads, after the drill rod 809 is fixed, the hydraulic drill 808 is driven to reverse and slightly retract during the reversal process, which can separate the drill rod 809 from the hydraulic rod. After removing the drill rod 809, two first robotic arms 810 move the drill rod 809 to the side to create space. Two second robotic arms 811 move the grouting pipe 812 to the original position of the drill rod 809, aligning the grouting pipe 812 with the output end of the hydraulic drill 808. The third linear assembly then pushes the drill-anchor advance platform 806 and the hydraulic drill 808 inward. The hydraulic drill 808 abuts against the grouting pipe 812, pushing it into the anchor hole. Grouting is then performed using the grouting pipe 812. The grouting pipe 812 is a rigid pipe that can be gripped and pushed by the second robotic arms 811. The front end of the grouting pipe 812 is open, and the rear end is closed. A flexible hose connects to the side of the rear end of the grouting pipe 812, and the hose works with the subsequent grouting equipment to complete the grouting process. The second robotic arm 811 grasps the grouting pipe 812, but it is slidably connected in the axial direction and can be driven. The grouting pipe 812 is mainly removed manually, or the hose is pulled outward from the rear to remove the grouting pipe 812.

[0076] Furthermore, two third robotic arms are installed on the drilling and anchoring arm 804, respectively at the front and rear ends. Each third robotic arm includes a base 813 connected to the drilling and anchoring arm 804 via a connecting bracket 814. A fourth linear cylinder 815 is installed on the base 813, and a U-shaped clamp 816 is installed on the output end of the fourth linear cylinder 815. The opening of the U-shaped clamp 816 faces the drill rod 809, and multiple anchor rods 817 are arranged side-by-side on the U-shaped clamp 816. The lower end face of the U-shaped clamp 816 is longer than the upper end face. A first fixing claw 818 and a second fixing claw 819 are arranged side-by-side on the upper end face of the U-shaped clamp 816. The first fixing claw 818 is positioned forward, and the second fixing claw 819 is positioned backward, such that when the first fixing claw 818 clamps the forward anchor rod 817, the second fixing claw 819... The mechanical claw 819 can clamp the second anchor rod 817 at the front; a fifth linear cylinder 820 is installed on the U-shaped clamp 816, the output end of the fifth linear cylinder 820 is located inside the U-shaped clamp 816, and the fifth linear cylinder 820 is used to push the anchor rod 817 to move towards the opening of the U-shaped clamp 816; it also includes a limiting box 821, which is a cuboid box structure with openings on the front and right sides; the limiting box 821 is fixedly installed at the rear end of the drill-anchor arm 804, and one end of each of the multiple anchor rods 817 in the U-shaped clamp 816 is placed inside the limiting box 821, and one end of each of the multiple anchor rods 817 abuts against the left inner wall of the limiting box 821, for limiting and aligning the anchor rods 817; a movable clamp 822 is installed on the anchoring propulsion platform and the drill-anchor clamping and fixing platform 807, and the movable clamp 822 can open or close to loosen or clamp the anchor rod 817. The above structure is used to complete the third step of the anchoring process. After the anchoring hole is drilled, the drilling arm 804 remains stationary. The two second robotic arms 811 move the grouting pipe 812 to the side to make room. The fourth linear cylinder 815 is used to push the U-shaped clamp 816 back to the original position of the drill rod 809. The clamp stops when it is close to the original position of the drill rod 809. The upper end face of the U-shaped clamp 816 is provided with a first fixed mechanical claw 818 and a second fixed mechanical claw 819 arranged side by side. The first fixed mechanical claw 818 is positioned forward, and the second fixed mechanical claw 819 is positioned backward. The fifth linear cylinder 820 at the rear end of the U-shaped clamp 816 pushes the anchor rod 817 forward as a whole and opens the movable clamp 822 on the anchoring advancement platform and the drill-anchor clamping fixing platform 807, so that the front and rear ends of the foremost anchor rod 817 fall into the two movable clamps 822 respectively. At this time, the two movable clamps 822 clamp together, aligning the anchor rod 817 with the hydraulic drill 808 and the anchoring hole, and pushing the anchor rod 817 into the anchoring hole to complete the anchoring. At the same time as the foremost anchor rod 817 is pushed into the movable clamp 822, the first fixed mechanical claw 818 and the second fixed mechanical claw 819 simultaneously close, fixing the first and second foremost anchor rods 817 of the remaining anchor rods 817, preventing too many anchor rods 817 from being pushed out.The movable clamp 822 here is electrically driven. The movable clamp 822 can be connected to a bidirectional lead screw and a small motor to open or close the movable clamp 822.

[0077] The anchoring device 8 of the present invention automatically connects the three steps of the anchoring process. Except for a few steps that are handled manually, most of the rest are mechanically controlled, which is highly efficient and has a wide adjustment range. Anchoring can be completed before or after the first drilling and splitting mechanism 6, which is convenient for application in practical scenarios.

[0078] like Figures 9-11 As shown, furthermore, a third rotating structure 5 is also installed on the drive shaft 2, and a second drilling and splitting mechanism 7 is connected to the third rotating structure 5; the second drilling and splitting mechanism 7 includes a second central arm 701, and a second slide rail 702 is provided inside the second central arm 701, extending radially along the drive shaft 2; a second slider 703 and a fourth linear push assembly are installed inside the second slide rail 702, and the second slider 703 is controlled to move along the direction of the second slide rail 702 by the fourth linear push assembly; a sixth rotary cylinder 704 is installed on the second slider 703, and a straight arm 705 is installed at the output end of the sixth rotary cylinder 704, with multiple drilling and splitting integrated machines 12 installed at equal intervals on the straight arm 705. The third rotating structure 5 is the same as the first rotating structure 3 and the second rotating structure 4, all of which complete the circumferential rotation of the drive shaft 2. The second drilling and splitting mechanism 7 and the first drilling and splitting mechanism 6 are similar in function, both equipped with multiple integrated drilling and splitting machines 12 to complete drilling and splitting. Structurally, the first drilling and splitting mechanism 6 has an arc-shaped arm 605, which is more suitable for drilling peripheral holes, while the second drilling and splitting mechanism 7 has a straight arm 705, which is more suitable for drilling center holes. Both the first drilling and splitting mechanism 6 and the second drilling and splitting mechanism 7 can complete drilling and splitting work independently, and setting up both mechanisms simultaneously can improve efficiency.

[0079] like Figures 19-22As shown, furthermore, a fourth rotating structure 10 is also installed on the drive shaft 2. A first gripper rotating cylinder 1001 is installed on the fourth rotating structure 10. The output end of the first gripper rotating cylinder 1001 is connected to the large arm 1002 for netting spray protection. The inside of the large arm 1002 is connected to a second gripper rotating cylinder 1004 via a sixth linear cylinder 1003. The output end of the second gripper rotating cylinder 1004 is connected to a small arm 1005 for netting spray protection. The small arm 1005 is connected to a third gripper rotating cylinder 1006. The output end of the third gripper rotating cylinder 1006 is connected to a rotating seat. A branch arm mounting seat 1008 is connected to the rotating seat via a normal rotation motor 1007. A first claw root rotating cylinder 1009 and a second claw are respectively installed on both sides of the branch arm mounting seat 1008. The first claw root rotating cylinder 1010 is connected to a first branch arm 1011, with a first claw hook 1013 at the end of the first branch arm 1011. The second claw root rotating cylinder 1010 is connected to a second branch arm 1012, with two second claw hooks 1014 at the end of the second branch arm 1012, symmetrically arranged along the second branch arm 1012. When the first branch arm 1011 and the second branch arm 1012 are closed, the first claw hook 1013 and the second claw hook 1014 are staggered. Arc-shaped clamping plates 1015 are installed on the inner walls of both the first branch arm 1011 and the second branch arm 1012, so that when the first branch arm 1011 and the second branch arm 1012 are closed, the two arc-shaped clamping plates 1015 also close, which can be used to clamp the nozzle. The fourth rotating structure 10 is the same as the first rotating structure 3 and the second rotating structure 4, both completing the circumferential rotation of the drive shaft 2. The fourth rotating structure 10 is installed at the rear end of the drive shaft 2. This structure is used for the post-anchoring mesh spraying process. The functions of this structure are: the fourth rotating structure 10 performs circumferential position adjustment, facilitating mesh hanging operations in different directions; the mesh-holding and spraying arm 1002, driven by the first gripping arm rotating cylinder 1001, the second gripping arm rotating cylinder 1004, the third gripping arm rotating cylinder 1006, and the sixth linear cylinder 1003, is used to retract inward and extend outward as a whole, consisting of the first branch arm 1011 and the second branch arm 1012. The normal rotation motor 1007 controls the rotation of the branch arm mounting base 1008 for angle adjustment, while the first claw root rotating cylinder 1009 and the second claw root rotating cylinder 1010 are used to retract and extend the first branch arm 1011 and the second branch arm 1012.The netting installation process is as follows: First branch arm 1011 and second branch arm 1012 are initially in a retracted state. They are then inserted into the mesh of the netting installation. Next, the first claw root rotating cylinder 1009 and the second claw root are driven to rotate, unfolding the first branch arm 1011 and the second branch arm 1012. After unfolding, the first claw hook 1013 and the second claw hook 1014 engage with the mesh, tensioning and securing the netting. Then, the rotation and extension of the first claw arm rotating cylinder 1001, the second claw arm rotating cylinder 1004, the third claw arm rotating cylinder 1006, and the sixth linear cylinder 1003 push the netting onto the rock face. In the current netting installation process, hooks need to be pre-installed on the rock face before the netting is installed. The above structure allows the netting to be hooked onto the hooks on the rock face, completing the netting installation. After the mesh is installed, shotcrete is needed to fix it in place. When the first branch arm 1011 and the second branch arm 1012 of the aforementioned structure are closed, the two arc-shaped clamping plates 1015 also close, which can be used to clamp the nozzle. Then, the rotation and extension of the first gripping arm rotating cylinder 1001, the second gripping arm rotating cylinder 1004, the third gripping arm rotating cylinder 1006, and the sixth linear cylinder 1003 push the nozzle outwards towards the rock wall, thus completing the shotcrete. The fourth rotating structure 10 rotates to complete the circumferential shotcrete, covering the entire mesh. During the rotation, if there is interference between the nozzle and the frame 1, the nozzle can be retracted first, rotated to a position without interference, and then pushed outwards.

[0080] The third rotating structure 5 and the fourth rotating structure 10 are the same as the first transmission structure and the second transmission structure, and are driven by either a power supply shaft or a hydraulic shaft.

[0081] like Figure 23 , Figure 24As shown, further, four sets of walking structures 9 are installed at the bottom of the frame 1, located at the left front end, right front end, left rear end, and right rear end of the frame 1 respectively; the walking structure 9 includes a first walking frame and a second walking frame; the first walking frame is connected to a forward piston frame via two seventh linear cylinders 901, and a first telescopic piston 902 is installed inside the forward piston frame, and the first telescopic piston 902 is connected to a forward support palm 903. The telescopic direction of the seventh linear cylinders 901 is radial to the drive shaft 2, and the telescopic direction of the first telescopic piston 902 is in the same direction as the axial direction of the drive shaft 2; the second walking frame is connected to a rotating piston frame via two eighth linear cylinders 904, and a second telescopic piston 905 is installed inside the rotating piston frame, and the second telescopic piston 905 is connected to a rotating support palm 906. The telescopic direction of the eighth linear cylinders 904 is radial to the drive shaft 2, and the telescopic direction of the second telescopic piston 905 is tangential to the cross section of the frame 1. The telescopic directions of the first telescopic piston 902 and the second telescopic piston 905 are perpendicular to each other. The four sets of walking structures 9 are identical and are driven synchronously during walking to distribute the force. The walking process is as follows: all the eighth linear cylinders 904 of the four sets of second walking frames are pushed outward, so that the rotating support palms 906 are all in contact with the rock wall, thus completing the support of the frame 1. After the support is completed, the seventh linear cylinders 901 of the four sets of first walking frames can be retracted inward. After retraction, the forward piston frame uses the first telescopic piston 902 to drive the forward support palms 903 to move forward, so that the forward support palms 903 are moved to a position near the bottom of the first walking frame. Then, the seventh linear cylinders 901 are pushed outward, so that the forward support palms 903 are in contact with the rock wall. The four sets of first walking frames complete the support of the frame 1. After the first traveling frame is set up, the eighth linear cylinder 904 of the second traveling frame is retracted inward. The second traveling frame no longer supports the frame 1. With the first traveling frame supporting the frame 1, it drives the first telescopic piston 902. The forward support arm 903 cannot move while pressed against the rock wall, allowing the frame 1 to move forward as a whole. This changes the relative position of the first traveling frame and the forward support arm 903 to the rear end of the bottom of the first traveling frame. Then, the eighth linear cylinder 904 of the second traveling frame is pushed outward again to support the rock wall. Repeating the above actions completes the forward movement of the frame 1. Reversing the drive completes the backward movement of the frame 1. In this structure, a second telescopic piston 905 is installed inside the rotating piston frame. The second telescopic piston 905 is connected to the rotating support arm 906. The telescopic direction of the second telescopic piston 905 is tangential to the cross-section of the frame 1. The telescopic directions of the first telescopic piston 902 and the second telescopic piston 905 are perpendicular to each other. The second telescopic piston 905 controls the movement of the rotary support palm 906, which can adjust the circumferential angle of the frame 1, so that the four sets of walking structures 9 at the bottom are always in a position that is easy to bear force, thus solving the problem that the circumferential angle of the frame 1 gradually shifts due to the unevenness of the rock wall during the forward movement of the frame 1.

[0082] like Figure 25 , Figure 26 As shown, in order to cooperate with the first traveling frame and the second traveling frame, a top pressure plate 908 connected by the ninth linear cylinder 907 is also provided, which presses against the top of the tunnel when the frame 1 stops moving, increasing the support force points.

[0083] Multiple maintenance access channels 11 are installed on the frame 1.

[0084] The terms "connection" and "fixing" appearing in the description of this invention can refer to fixed connection, processing and forming, welding, or mechanical connection. The specific meaning of the above terms in this invention should be understood according to the specific circumstances.

[0085] In the description of this invention, the terms "center," "upper," "lower," "horizontal," "inner," and "outer," etc., are used only to indicate the orientation or positional relationship for the convenience of describing this invention and to simplify the description, and do not indicate or imply a specific orientation that the device or element referred to must have, and therefore should not be construed as a limitation of this invention.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tunnel full-section excavation and anchoring integrated trolley, characterized in that: Includes a frame (1), in which a drive shaft (2) is installed, and the drive shaft (2) extends to the front of the frame (1); A first rotating structure (3) and a second rotating structure (4) are connected to the drive shaft (2). Both the first rotating structure (3) and the second rotating structure (4) rotate around the drive shaft (2). The first rotating structure (3) is connected to the first drilling and splitting mechanism (6), and the second rotating structure (4) is connected to the anchoring device (8). The first drilling and splitting mechanism (6) includes a first central arm (601), and a first slide rail (602) is provided inside the first central arm (601). The first slide rail (602) extends radially along the drive shaft (2). The first slide rail (602) is equipped with a first slider (603) and a first linear push assembly. The first slider (603) is controlled by the first linear push assembly to move along the direction of the first slide rail (602). The first slider (603) is connected to a first bracket through a first rotary cylinder (604). A drilling and splitting machine (12) is installed on the first bracket. The drilling and splitting machine (12) includes a first telescopic boom (1201), the telescopic direction of which is radial to the drive shaft (2), a second rotary cylinder (1202) is mounted on the output end of the first telescopic boom (1201), a third rotary cylinder (1203) is fixedly mounted on the side of the output end of the second rotary cylinder (1202), and the output end of the third rotary cylinder (1203) is connected to the second telescopic boom (1204). A drilling propulsion beam (1205) is connected, and a first propulsion platform (1206) and a second propulsion platform (1207) are respectively installed on both sides of the drilling propulsion beam (1205). The first propulsion platform (1206) and the second propulsion platform (1207) are respectively driven by a first linear cylinder (1208) and a second linear cylinder (1209). The first linear cylinder (1208) and the second linear cylinder (1209) are respectively installed on both sides of the drilling propulsion beam (1205). A water drill (1210) is installed on the first propulsion platform (1206), and a splitting rod (1211) is installed on the second propulsion platform (1207). The first support is an arc-shaped arm (605), and multiple drilling and splitting integrated machines (12) are installed on the arc-shaped arm (605). A rubber block (1212) is installed at the front end of the drilling propulsion beam (1205). A splitting clamp and a drilling clamp are respectively installed on both sides of the front end of the drilling propulsion beam (1205). The splitting clamp is used to support the splitting rod (1211), and the drilling clamp is used to support the water drill (1210). The anchoring device (8) includes a fourth rotary cylinder (801), which is connected to a fifth rotary cylinder (803) via the drilling and anchoring arm (802). The output end of the fifth rotary cylinder (803) is connected to the drilling and anchoring arm (804). A third linear cylinder is installed inside the drilling and anchoring arm (804), and a drilling and anchoring propulsion beam (805) is provided outside the drilling and anchoring arm (804). The third linear cylinder drives the drilling and anchoring propulsion beam (805) to extend along the axial direction of the drilling and anchoring arm (804). The drill-anchor propulsion beam (805) is equipped with a third linear propulsion assembly, and the drill-anchor propulsion platform (806) is installed at the rear end of the drill-anchor propulsion beam (805). The third linear propulsion assembly is connected to the drill-anchor propulsion platform (806). The front end of the drill-anchor push beam (805) is equipped with a drill-anchor clamping and fixing platform (807), and a hydraulic drill (808) is installed on the drill-anchor push platform (806). It also includes a drill rod (809), the rear end of the drill rod (809) is connected to the output end of the hydraulic drill (808), and the drill-anchor clamping and fixing platform (807) supports the front end of the drill rod (809). The output end of the hydraulic drill (808) is provided with an internal thread, and the rear end of the drill rod (809) is provided with an external thread, with the internal thread meshing with the external thread; Two first robotic arms (810) are installed on the drilling and anchoring arm (804). The two first robotic arms (810) are respectively installed at the front end and the rear end of the drilling and anchoring arm (804). The two first robotic arms (810) can grasp and fix the drill rod (809) and move the drill rod (809). Two second robotic arms (811) and a grouting pipe (812) are also installed on the drilling and anchoring boom (804). The two second robotic arms (811) are respectively installed at the front end and the rear end of the drilling and anchoring boom (804). The second robotic arm (811) located at the front end of the drilling and anchoring boom (804) fixes the front end of the grouting pipe (812), and the second robotic arm (811) located at the rear end of the drilling and anchoring boom (804) fixes the rear end of the grouting pipe (812). The two sets of second robotic arms (811) are used to move the grouting pipe (812). Two third robotic arms are installed on the drilling and anchoring boom (804), with the two third robotic arms respectively installed at the front end and rear end of the drilling and anchoring boom (804). The third robotic arm includes a base (813), which is connected to the drill anchor arm (804) via a connecting bracket (814). A fourth linear cylinder (815) is mounted on the base (813), and a U-shaped clamp (816) is mounted on the output end of the fourth linear cylinder (815). The opening of the U-shaped clamp (816) faces the drill rod (809), and the U-shaped clamp (816) is provided with multiple anchor rods (817) placed side by side. The lower end face of the U-shaped clamp (816) is longer than the upper end face. The upper end face of the U-shaped clamp (816) is provided with a first fixed mechanical claw (818) and a second fixed mechanical claw (819) arranged side by side. The first fixed mechanical claw (818) is positioned forward and the second fixed mechanical claw (819) is positioned backward, so that when the first fixed mechanical claw (818) is pressing the first anchor rod (817) which is forward, the second fixed mechanical claw (819) can press the second anchor rod (817) which is forward. A fifth linear cylinder (820) is installed on the U-shaped clamp (816). The output end of the fifth linear cylinder (820) is located inside the U-shaped clamp (816). The fifth linear cylinder (820) is used to push the anchor rod (817) to move in the direction of the opening of the U-shaped clamp (816). It also includes a limiting box (821), which is a rectangular box structure with openings on the front and right sides. The limiting box (821) is fixedly installed at the rear end of the drilling and anchoring arm (804). One end of multiple anchor rods (817) in the U-shaped clamp (816) is placed inside the limiting box (821), and one end of multiple anchor rods (817) abuts against the left inner wall of the limiting box (821) to limit and align the anchor rods (817). A movable clamp (822) is installed on the drilling and anchoring advance platform (806) and the drilling and anchoring clamping and fixing platform (807). The movable clamp (822) can open or close to loosen or clamp the anchor rod (817).

2. The tunnel full-section excavation and anchoring integrated trolley according to claim 1, characterized in that: A third rotating structure (5) is also installed on the drive shaft (2), and the third rotating structure (5) is connected to the second drilling and splitting mechanism (7). The second drilling and splitting mechanism (7) includes a second central arm (701), a second slide rail (702) is provided inside the second central arm (701), the second slide rail (702) extends radially along the drive shaft (2); a second slider (703) and a fourth linear push assembly are installed inside the second slide rail (702), the second slider (703) is controlled by the fourth linear push assembly to move along the direction of the second slide rail (702); The sixth rotary cylinder (704) is installed on the second slider (703). A straight arm (705) is installed at the output end of the sixth rotary cylinder (704). Multiple drilling and splitting machines (12) are installed on the straight arm (705) at equal intervals.

3. The tunnel full-section excavation and anchoring integrated trolley according to claim 1, characterized in that: The drive shaft (2) is also equipped with a fourth rotating structure (10), and the fourth rotating structure (10) is equipped with a first grab arm rotating cylinder (1001). The output end of the first grab arm rotating cylinder (1001) is connected to the grab net spraying arm (1002). The inside of the large arm (1002) of the netting spray guard is connected to the second arm rotating cylinder (1004) through the sixth linear cylinder (1003). The output end of the second arm rotating cylinder (1004) is connected to the small arm (1005) of the netting spray guard. The small arm (1005) of the netting spray guard is connected to the third arm rotating cylinder (1006). The output end of the third arm rotating cylinder (1006) is connected to the rotating seat. The rotating seat is connected to the branch arm mounting seat (1008) through the normal rotation motor (1007). The first claw root rotary cylinder (1009) and the second claw root rotary cylinder (1010) are respectively installed on both sides of the branch arm mounting base (1008). The first claw root rotary cylinder (1009) is connected to the first branch arm (1011), and the end of the first branch arm (1011) is provided with the first claw hook (1013). The second claw root rotary cylinder (1010) is connected to the second branch arm (1012), and the end of the second branch arm (1012) is provided with two second claw hooks (1014). The two second claw hooks (1014) are arranged symmetrically on the left and right sides along the second branch arm (1012). When the first branch arm (1011) and the second branch arm (1012) are closed, the first claw hook (1013) and the second claw hook (1014) are staggered. The inner walls of the first branch arm (1011) and the second branch arm (1012) are equipped with arc-shaped clamps (1015), so that when the first branch arm (1011) and the second branch arm (1012) are closed, the two arc-shaped clamps (1015) also close to clamp the nozzle.

4. The tunnel full-section excavation and anchoring integrated trolley according to claim 1, characterized in that: The frame (1) is equipped with four sets of walking structures (9) at the bottom, which are located at the left front end, right front end, left rear end and right rear end of the frame (1) respectively; The walking structure (9) includes a first walking frame and a second walking frame; The first traveling frame is connected to the forward piston frame via two seventh linear cylinders (901). The forward piston frame is equipped with a first telescopic piston (902). The first telescopic piston (902) is connected to the forward support palm (903). The telescopic direction of the seventh linear cylinder (901) is the radial direction of the drive shaft (2), and the telescopic direction of the first telescopic piston (902) is the same as the axial direction of the drive shaft (2). The second traveling frame is connected to a rotating piston frame via two eighth linear cylinders (904). The rotating piston frame houses a second telescopic piston (905), which is connected to a rotating support palm (906). The telescopic direction of the eighth linear cylinder (904) is radial to the drive shaft (2), and the telescopic direction of the second telescopic piston (905) is tangential to the cross section of the frame (1). The telescopic directions of the first telescopic piston (902) and the second telescopic piston (905) are perpendicular to each other.

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