UHPC spray forming device and construction method thereof

Abstract

The application relates to the technical field of ultra-high performance concrete, and particularly provides a UHPC (Ultra High Performance Concrete) spraying forming device and a construction method thereof, which comprises a trimming vehicle, a spraying vehicle, an automatic mixing pump vehicle, an automatic feeding vehicle and a power vehicle arranged in sequence along the extension direction of a tunnel; the trimming vehicle is used for trimming a spraying surface; the spraying vehicle is used for realizing UHPC spraying; the automatic mixing pump vehicle comprises a UHPC mixing preparation device, a real-time observation device and an automatic feeding device; the automatic feeding vehicle is used for conveying UHPC dry mix; and the power vehicle comprises a power supply and clean water introduction device for the operation requirement of the intelligent UHPC spraying forming device. The application adopts a high-tech material spraying process to replace a traditional ordinary concrete pouring process, breaks through key technologies such as continuous feeding, automatic material preparation, intelligent spraying, uniform spraying and operation surface intelligent trimming of UHPC, and solves the problems of slow tunnel forming, cracking and water seepage, large number of personnel and many maintenance procedures.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ultrahigh performance concrete (UHPC), and relates to a UHPC jet forming device and a construction method thereof, in particular to an ultrahigh performance concrete transportation, storage, conveying, preparation, pumping, jetting and finishing technology. BACKGROUND

[0002] In the prior art, the secondary lining support of a tunnel generally adopts a C25-C35 ordinary concrete cast-in-place process, which has problems such as long construction period and restriction on tunnel forming progress, while HPC ultrahigh performance concrete, as the most innovative cement-based engineering material in nearly 30 years, is gradually applied to bridges, buildings, tunnels and special projects. The principle is to optimize the combination of active fillers and inert fillers through the principle of close packing, to form a dense and uniform material matrix. In the environment of very low water-cement ratio, the porosity caused by cement hydration is very low, forming a nearly impermeable matrix with ultrahigh durability, ultrahigh mechanical properties, ultrahigh fluidity and ultrahigh viscosity. The advantages of UHPC ultrahigh performance concrete are combined with the advantages of shotcrete, and the premixed UHPC is sprayed into fine particles by using ultrahigh pressure fluid power, and after being fully atomized and mixed with additives, it is diffused and sprayed through a special nozzle. A dense concrete support layer is formed by the continuous impact and compaction of fine particles during the spraying process. The key technologies of UHPC continuous feeding, UHPC rapid and uniform spraying, flatness control of the working surface, intelligent spraying, etc. are broken through, and a UHPC ultrahigh performance concrete spraying unit is developed to realize automatic dry mixing, conveying, storage, preparation, intelligent spraying and finishing of UHPC materials, and to ensure efficient construction of tunnel with less people, information and safety. The present application has the following advantages:

[0003] 1. Good construction quality: the intelligent spraying and finishing system is configured, and the spraying roughness can be controlled within 2 cm;

[0004] 2. High construction efficiency: double working lines are configured, which can work continuously, and the efficiency is more than 4 times that of traditional lining construction;

[0005] 3. Strong construction capacity: the customized mixing main machine and spraying system are configured to meet the construction requirements of UHPC concrete;

[0006] 4. High automation degree: automatic feeding, automatic mixing, intelligent spraying and finishing, automatic generation of construction log, etc. SUMMARY

[0007] The application provides a UHPC spray forming device for UHPC transportation, storage, conveying, preparation, pumping, spraying and trimming of various types of tunnels, and mainly solves problems such as project time urgency, difficulty in application of ultra-high performance concrete, high quality requirement of concrete spraying, difficult control of spraying rebound, multiple manual configuration, high labor intensity, high safety risk and the like.

[0008] The application provides a UHPC spray forming device, which comprises a trimming vehicle, a spraying vehicle, an automatic stirring pump vehicle, an automatic feeding vehicle and a power vehicle arranged in sequence along the extension direction of the tunnel.

[0009] The trimming vehicle comprises a first electric rail vehicle and a trimming device arranged on the first electric rail vehicle; the first electric rail vehicle is connected with the reserved tunnel track in a matched mode, and is used for driving the trimming vehicle to displace in the tunnel; the trimming device comprises a trimming manipulator and a scraping knife connected with each other, one end of the trimming manipulator is connected with the first electric rail vehicle, and the scraping knife is used for trimming the spraying surface.

[0010] The spraying vehicle comprises a second electric rail vehicle and a UHPC spraying head device arranged on the second electric rail vehicle; the second electric rail vehicle is connected with the reserved tunnel track in a matched mode, and is used for driving the spraying vehicle to displace in the tunnel; the UHPC spraying head device is used for realizing UHPC spraying.

[0011] The automatic stirring pump vehicle comprises a third electric rail vehicle and a UHPC stirring main machine and a UHPC pumping system arranged on the third electric rail vehicle; the third electric rail vehicle is connected with the reserved tunnel track in a matched mode, and is used for driving the automatic stirring pump vehicle to displace in the tunnel; the UHPC stirring main machine is used for UHPC stirring preparation, real-time observation and automatic discharge; the UHPC pumping system is connected with the UHPC stirring main machine, and is used for containing and pumping out the UHPC finished product after the UHPC stirring main machine stirs the UHPC finished product.

[0012] The automatic feeding vehicle comprises a fourth electric rail vehicle and a screw conveyor arranged on the fourth electric rail vehicle; the fourth electric rail vehicle is connected with the reserved tunnel track in a matched mode, and is used for driving the automatic feeding vehicle to displace in the tunnel; the screw conveyor is used for conveying the UHPC dry-mixed material.

[0013] The power vehicle comprises a fifth electric rail vehicle and a power source introduction structure and a clean water introduction structure arranged on the fifth electric rail vehicle; the power source introduction structure and the clean water introduction structure are used for introducing the power source and the clean water from external equipment, so as to meet the operation requirement of the UHPC spray forming device; the fifth electric rail vehicle is connected with the reserved tunnel track in a matched mode, and is used for driving the power vehicle to displace on the tunnel track.

[0014] Further, the trimming vehicle further comprises a sliding wind storage cylinder arranged on the frame of the first electric rail vehicle;

[0015] The sliding wind storage cylinder comprises a variable-diameter wind cylinder, a wind storage cylinder and a sliding wind cylinder;

[0016] One end of the variable-diameter wind cylinder is connected with one end of the wind storage cylinder, and the other end of the variable-diameter wind cylinder is connected with an external small wind pipe;

[0017] The other end of the wind storage cylinder is slidingly connected with one end of the sliding wind cylinder;

[0018] The other end of the sliding wind cylinder is connected with a tunnel soft wind pipe, for guiding the tunnel soft wind pipe to slide into the wind storage cylinder when the trimming vehicle is running.

[0019] Further, the trimming vehicle further comprises a rotary frame system for connecting the trimming device and the first electric rail vehicle;

[0020] The rotary frame system comprises a rotary frame and an extension sliding mechanism; the rotary frame is assembled to the extension sliding mechanism in a sleeve block manner, for carrying the spraying vehicle; the extension sliding mechanism is fixed on the frame of the first electric rail vehicle by bolts, for driving the rotary frame to extend and slide in the radial direction with two degrees of freedom.

[0021] Further, the rotary frame comprises a first extension section, a connecting section and a second extension section connected in sequence, the first extension section and the second extension section are arranged symmetrically along the connecting section, and at least one set of extension sliding mechanisms are arranged on the first extension section and the second extension section, for driving the first extension section and the second extension section to extend and slide in the radial direction relative to the connecting section;

[0022] The extension sliding mechanism comprises a first sleeve, a second sleeve and a first oil cylinder for driving the first sleeve and the second sleeve to extend and contract relative to each other, the first sleeve and the second sleeve are sleeved with each other, one end of the first oil cylinder is connected with the first sleeve, the other end of the first oil cylinder is connected with the second sleeve, one end of the first sleeve away from the second sleeve is connected with the rotary frame, and the other end of the second sleeve away from the first sleeve is connected with the frame of the first electric rail vehicle.

[0023] Further, the trimming vehicle further comprises a first blocking device;

[0024] The first blocking device comprises a blocking rod and an electric hoist arranged on the blocking rod;

[0025] One end of the blocking rod is rotatably connected with the first electric rail vehicle, and the other end of the blocking rod is connected with a driving end of the electric hoist;

[0026] The fixed end of the electric hoist is connected with the frame of the first electric rail car, and is used for providing pulling force to the blocking rod.

[0027] Further, the finishing vehicle further comprises a water pipe reel;

[0028] The fixed end of the water pipe reel is fixedly connected with the frame of the first electric rail car, and the movable end of the water pipe reel is used for being connected with external equipment, so as to introduce water source in the external equipment into the tunnel.

[0029] Further, the finishing vehicle further comprises a radar alarm device;

[0030] The radar alarm device is fixed on the frame of the first electric rail car through bolts, and is used for detecting and alarming whether there is a vehicle approaching near the finishing vehicle.

[0031] Further, the UHPC nozzle device comprises a three-axis rotating assembly, a nozzle assembly and a floating head seat;

[0032] One end of the three-axis rotating assembly is connected with the floating head seat, and the other end of the three-axis rotating assembly is connected with the nozzle assembly, and is used for driving the nozzle assembly to rotate in X-axis, Y-axis and Z-axis directions relative to the floating head seat;

[0033] The nozzle assembly comprises a mixer valve body, a UHPC nozzle and a connecting pipeline; the mixer valve body is connected with the three-axis rotating assembly; the UHPC nozzle is connected with the mixer valve body, and the UHPC nozzle is provided with a conical cavity and a straight cavity which are arranged at intervals; the conical cavity is used for mixing high-pressure air, accelerator and UHPC, and the straight cavity is used for restricting the diffusion angle of the concrete; and the connecting pipeline is used for connecting the mixer valve body and the mortar conveying structure, and is used for conveying the concrete;

[0034] The floating head seat is used for installing the UHPC nozzle device.

[0035] Further, the spraying vehicle further comprises a high-pressure air system, an accelerator metering system and an intelligent scanning system which are arranged on the frame of the second electric rail car;

[0036] The high-pressure air system is used for providing high-pressure air for the UHPC nozzle device;

[0037] The accelerator metering system is used for providing accurate accelerator dose for the UHPC nozzle device;

[0038] The intelligent scanning system is used for real-time scanning and identifying the tunnel contour.

[0039] Further, the spraying vehicle further comprises a telescopic cantilever beam;

[0040] One end of the telescopic cantilever beam is connected to the second electric rail car through a bolt, and the other end of the telescopic cantilever beam is connected to the third electric rail car in the automatic mixing pump car through a bolt, which is used for connecting the cables, water pipes and conveying pipelines hung between the spraying car and the automatic mixing pump car.

[0041] Further, the spraying car further comprises a medicated mist dust removal system for removing dust generated by the UHPC spraying head device during spraying;

[0042] The medicated mist dust removal system comprises a dust remover, a liquid supplement tank, a spraying assembly and a medicated water tank.

[0043] The dust remover is provided with two pieces arranged on the same side of the displacement direction of the second electric rail car, and both pieces of the dust remover are fixed on the second electric rail car through bolts, which are used for sucking small particle dust in the tunnel environment.

[0044] The liquid supplement tank is arranged on the same side of one piece of the dust remover and is fixed on the second electric rail car through a bolt, which is used for providing stable water source for the spraying assembly.

[0045] The spraying assembly is fixed on the second electric rail car through a pipe clamp and is in communication with the medicated water tank, which is used for the settlement of large particle dust in the tunnel environment.

[0046] The medicated water tank is fixed on the right side of the second electric rail car through a bolt, which is used for mixing medicaments into the spraying assembly.

[0047] Further, the spraying car further comprises a rotary frame walking system.

[0048] The rotary frame walking system is installed on the frame of the third electric rail car, and the rotary frame walking system comprises a walking frame, a walking trolley arranged on the walking frame and a second telescopic sliding mechanism.

[0049] The walking frame is arranged in an arc-shaped arch structure, and a plurality of second telescopic sliding mechanisms are arranged on the inner side arc wall of the walking frame, and a walking track for the displacement of the walking trolley is arranged on the outer side arc wall of the walking frame.

[0050] One end of a single second telescopic sliding mechanism is connected to the walking frame through a sleeve block, and the other end of the single second telescopic sliding mechanism is connected to the frame of the third electric rail car, and the plurality of second telescopic sliding mechanisms are cooperated for the telescopic sliding of the walking frame relative to the third electric rail car in two degrees of freedom in the radial direction.

[0051] Further, the spraying car further comprises a spraying manipulator.

[0052] The spraying manipulator comprises a telescopic arm structure and a pitch arm.

[0053] One end of the telescopic arm structure is connected with the walking trolley, and the other end of the telescopic arm structure is connected with one end of the pitching arm.

[0054] The pitching arm is arranged as a parallel four-bar linkage structure, and the other end of the pitching arm is connected with the floating head seat.

[0055] Further, the UHPC stirring main machine comprises a stirring cylinder body, a stirring mechanism arranged on the stirring cylinder body, a water mist system and a motor transmission mechanism;

[0056] The stirring cylinder body is fixed on the third electric rail car;

[0057] The stirring mechanism is connected with the motor transmission mechanism through sealing through the stirring cylinder body, and is used for repeatedly stirring concrete in the forward and reverse directions;

[0058] The water mist system is fixed inside the stirring cylinder body, and is used for adding water required for preparing concrete and applying high-pressure water to clean the inside of the stirring cylinder body;

[0059] The fixed end of the motor transmission mechanism is mounted on the stirring cylinder body, and the driving end of the motor transmission mechanism is connected with the stirring mechanism, and is used for driving the stirring mechanism.

[0060] Further, the automatic stirring pump car further comprises a water reducing agent metering system arranged on the third electric rail car;

[0061] The wheels of the third electric rail car are connected with the tunnel track in a matched mode, and are used for driving the automatic stirring pump car as a whole to walk on the tunnel track and supporting other components of the automatic stirring pump car;

[0062] The UHPC stirring main machine is used for UHPC stirring preparation, real-time observation and automatic discharging;

[0063] The UHPC pumping system is connected with the UHPC stirring main machine, and is used for containing UHPC finished products after being stirred by the UHPC stirring main machine and pumping out the UHPC finished products;

[0064] The water reducing agent metering system is connected with the UHPC stirring main machine, and is used for metering water and water reducing agent and adding the metered water and water reducing agent into the UHPC stirring main machine.

[0065] Further, the automatic feeding car further comprises a material flat car, an automatic material supplementing system, a material box checkpoint system, an automatic lifting system, a roller conveying line, a first material box, a relay ventilation pipe, a servo grabbing system and a material collecting system;

[0066] The material flat car is connected with the tunnel track in a sliding mode, and is used for loading and transporting the first material box to the automatic material supplementing system;

[0067] The automatic feeding system is fixed on the fourth electric rail car and is used for automatically grabbing the first material box to fill the drum conveying line;

[0068] The material box checkpoint system is fixed on the fourth electric rail car and is used for judging the load of the first material box to decide whether to fill the drum conveying line or unload the material flat car;

[0069] The automatic lifting system is fixed on the fourth electric rail car and is used for lifting or lowering the first material box to realize the reverse unloading of the empty first material box and the forward filling of the full first material box in cooperation with the drum conveying line and the material box checkpoint system;

[0070] The drum conveying line is fixed on the fourth electric rail car and is used for reliable conveying of the first material box;

[0071] The first material box is placed on the drum conveying line and is used for loading, storing and transporting UHPC dry-mixed materials;

[0072] The relay ventilation pipe is fixed on the fourth electric rail car and is used for relaying the tunnel ventilation pipe;

[0073] The servo grabbing system is fixed on the fourth electric rail car and is used for automatically grabbing and placing the first material box;

[0074] The material collecting system is fixed on the fourth electric rail car and is used for collecting, screening and weighing UHPC dry-mixed materials to complete feeding in cooperation with the screw conveyor;

[0075] The screw conveyor is connected with the material collecting system and the fourth electric rail car at the same time and is used for conveying UHPC dry-mixed materials in the material collecting system.

[0076] Further, the material flat car includes an electronic tag, an electric flat car, a second material box and a positioning frame;

[0077] The electronic tag is magnetically attached to the electric flat car and is used for receiving a feeding signal from a device and flashing an indicator light. After receiving the signal, a worker hoists the positioning frame and the second material box placed thereon to the electric flat car for transportation;

[0078] The electric flat car is placed on the tunnel track by gravity and is used for carrying and transporting the first material box;

[0079] The positioning frame is placed on the electric flat car by gravity. The positioning frame is provided with a placement position of the second material box and is used for centrally positioning, placing and carrying the first material box.

[0080] Further, the automatic feeding system includes a hoisting track, an electric magnetic lifting tool and a tag card reader;

[0081] The lifting track is fixed on the fourth electric rail car and is used for walking of the electric magnetic lifting magnet;

[0082] The electric magnetic lifting magnet is provided with two pieces arranged on two side surfaces of the lifting track, and the single-piece electric magnetic lifting magnet is embedded on the lifting track through a roller and is used for lifting the first material box;

[0083] The label card reader is provided with two pieces arranged in one-to-one correspondence with the two-piece electric magnetic lifting magnet, and the single-piece label card reader is fixed on the single-piece electric magnetic lifting magnet.

[0084] Further, the material box gate system comprises a first roller conveying platform, a first weighing sensor and a first contact sensor;

[0085] The first roller conveying platform is installed on the fourth electric rail car and is used for rolling conveying of the first material box;

[0086] The first weighing sensor is fixed on the first roller conveying platform and is used for weighing the weight of the first material box;

[0087] The first contact sensor is fixed on the first roller conveying platform and is used for detecting that the first material box is completely transported to the first roller conveying platform, and through mutual cooperation with the first weighing sensor, filling of the full first material box or unloading of the empty first material box is realized.

[0088] Further, the automatic lifting system comprises a second roller conveying platform, a second contact sensor and a balance lifting device;

[0089] The second roller conveying platform is installed on the balance lifting device and is used for conveying the first material box;

[0090] The second contact sensor is fixed on the second roller conveying platform and is used for detecting whether the first material box is transported to the second roller conveying platform;

[0091] The balance lifting device is placed on the fourth electric rail car through a roller and is used for lifting of the second roller conveying platform.

[0092] Further, the roller conveying line comprises a lower conveying unit, an upper conveying unit, a third weighing sensor and a third contact sensor;

[0093] The lower conveying unit is fixed on the fourth electric rail car and is used for circulating conveying of the first material box;

[0094] The upper conveying unit is fixed on the fourth electric rail car and is used for circulating conveying of the first material box;

[0095] The third weighing sensor is fixed on the upper conveying unit and is used for roughly weighing the weight of the first material box;

[0096] The third contact sensor is fixed on the upper and lower conveying units to detect the position of the first material box on the upper and lower conveying units.

[0097] Further, the first material box comprises a box frame, a grabbing hook, a special-shaped wall plate, a material box door, a lifting hook, a sliding door, a stacking seat, a door locking pin, a compression spring door hook, a stacking plate, a protective cover plate, a spring lock, and a forklift groove.

[0098] The box frame is placed on the roller conveying line by gravity, and is used for the stress of the first material box lifting, forking, grabbing, and rolling action;

[0099] The grabbing hook is fixed on the box frame and is used for grabbing the first material box;

[0100] The special-shaped wall plate is fixed on the box frame and is used for loading UHPC dry-mixed materials;

[0101] The material box door is fixed on the box frame and is used for closing the filling port of the first material box;

[0102] The lifting hook is fixed on the box frame and is used for lifting the first material box;

[0103] The sliding door is fitted on the box frame through a clearance fit and is used for closing and unloading the first material box;

[0104] The stacking seat is fixed on the upper surface of the box frame and is used for limiting the stacking of multiple first material boxes;

[0105] The door locking pin is fixed on the sliding door and is used for locking the door in cooperation with the compression spring door hook;

[0106] The compression spring door hook is fixed on the box frame and is used for elastically locking the sliding door in cooperation with the door locking pin;

[0107] The stacking plate is fixed on the lower surface of the box frame and is used for limiting the stacking of multiple first material boxes;

[0108] The protective cover plate is fixed on the box frame and is used for preventing UHPC dry-mixed materials from falling onto the edge of the sliding door and hindering the sliding of the sliding door;

[0109] The spring lock is fixed on the box frame and is used for automatically locking the material box door;

[0110] The forklift groove is fixed on the box frame and is used for forking the first material box.

[0111] Further, the servo grabbing system comprises a grabbing rack, a sliding platform, a servo motor system, an electric cylinder, a grabbing mechanism, and a sliding rail;

[0112] The grabbing frame is fixed on the fourth electric rail car and used to carry all working devices of the servo grabbing system.

[0113] The sliding platform is embedded into the sliding rail through a sliding block and used to carry the servo motor system and the electric cylinder.

[0114] The servo motor system is fixed on the sliding platform and cooperates with the rack on the grabbing frame through the gear on the servo motor system.

[0115] The fixed end of the electric cylinder is fixed on the sliding platform, and the output end of the electric cylinder is connected with the grabbing mechanism and used for the up-down extension of the grabbing mechanism.

[0116] The grabbing mechanism is fixed on the sliding platform and used for the grabbing of the first material box.

[0117] The sliding rail is fixed on the grabbing frame and used for the sliding of the sliding platform.

[0118] Further, the aggregate system comprises an aggregate box, a weighing limiter, a top hook shoe, a UHPC screen, a push-pull oil cylinder, a box clamping seat and a screw conveyor.

[0119] The aggregate box is fixed on the weighing limiter and used to contain and screen the UHPC dry-mixed material.

[0120] The weighing limiter is fixed on the fourth electric rail car and used to weigh the weight of the aggregate box.

[0121] The top hook shoe is fixed on the aggregate box and used to support the compression spring lock door hook of the first material box.

[0122] The UHPC screen is placed into the aggregate box by gravity and used to screen the large aggregate accidentally mixed in the UHPC dry-mixed material.

[0123] The push-pull oil cylinder is fixed on the aggregate box and used to control the opening and closing of the push-pull door of the first material box.

[0124] The box clamping seat is fixed on the aggregate box and used to limit the shaking of the first material box.

[0125] The screw conveyor is fixed on the aggregate box and used to convey the UHPC dry-mixed material in the aggregate box.

[0126] Further, the power car comprises an electric control compensation cabinet, a transformer, a water pipe reel, an axial flow fan, a high-voltage cable reel and a wind continuation cylinder.

[0127] The electric control compensation cabinet is fixed on the fifth electric rail car and used for the distribution and output of 380V low-voltage electricity, the improvement of the stability of the power system and the prolongation of the service life of the power equipment.

[0128] The high-voltage cable reel is fixed on the fifth electric rail car and is used for leading 10kv / 20kv high voltage from the tunnel for equipment use;

[0129] The transformer is fixed on the fifth electric rail car and is used for 10kv / 20kv voltage transformation;

[0130] The water pipe reel is fixed on the fifth electric rail car and is used for leading water from the tunnel for equipment use;

[0131] The axial flow fan is fixed on the fifth electric rail car and is used for compensating the air volume leaked from the damaged tunnel air pipe;

[0132] The air continuation cylinder is fixed on the fifth electric rail car and is used for connecting the tunnel air pipe.

[0133] Further, the power car further comprises a second blocking device; the second blocking device is fixed on the fifth electric rail car and is used for detecting and blocking the material car passing in the tunnel.

[0134] As a further scheme of the present application, the present application further provides a construction method of the UHPC jet forming equipment, comprising the following operation processes:

[0135] S1, the power car leads the power supply and the clean water from the external equipment for the operation use demand of the UHPC jet forming equipment;

[0136] S2, the automatic feeding car starts to automatically fill and transport the material box to the aggregate system, and then transports the UHPC dry mixture of the aggregate system to the UHPC stirring host of the automatic stirring pump car through the spiral conveyor;

[0137] S3, the water reducing agent metering system is started and the water and the water reducing agent are added for UHPC preparation, and after the UHPC preparation is completed, the finished product is all put into the UHPC pumping system to start pumping and prepare the UHPC finished product of the next cycle;

[0138] S4, the high-pressure air system, the accelerator metering system and the intelligent scanning system of the jet car are started to start the UHPC intelligent jet;

[0139] S5, the finishing car is started, the intelligent scanning system is used for finishing the jet surface, and the UHPC jet task is completed;

[0140] S6, the finishing car is advanced and positioned to the next operation position, and the next cycle operation is started.

[0141] Compared with the prior art, the present application has the following beneficial effects:

[0142] (1) The UHPC jet forming equipment provided by the application adopts high-tech material jetting process to replace the traditional ordinary concrete pouring process, breaks through the key technologies of continuous feeding, automatic material preparation, intelligent jetting, uniform jetting and intelligent finishing of the operation surface of UHPC (ultra-high performance concrete), solves the problems of slow tunnel forming, cracking and water seepage, large number of personnel, high safety risk, multiple maintenance processes, and conflicts between ventilation, water supply and power supply in the tunnel and jetting, and guarantees efficient construction of the second lining of the tunnel.

[0143] (2) The application introduces high-voltage electricity, water source and ventilation pipeline into the tunnel by using a power vehicle, so that the equipment and the tunnel environment are integrated, and the problems of interference of the water pipe, cable and ventilation pipeline in the tunnel with the jetting area of the tunnel and the walking interference of the equipment are solved.

[0144] (3) The application innovatively constructs a tunnel UHPC continuous preparation system by using an automatic feeding vehicle and an automatic mixing pump vehicle, realizes the use of ultra-high performance concrete as it is prepared by integrating the feeding unit and the automatic feeding and material preparation system, eliminates the risk of UHPC storage failure within 30 minutes, makes the transportation of ultra-high performance concrete no longer limited by the mixer (cannot guarantee the completion of transportation and discharge within 30 minutes, and is not suitable for the transportation and mixing of high-tech materials), realizes the in-hole storage, transportation, preparation and pumping of UHPC ultra-high performance concrete, and solves the problem of application of UHPC ultra-high performance concrete in the tunnel.

[0145] (4) The application realizes the UHPC ultra-high performance concrete scattering and atomization and self-adaptive annular jetting technology by using the rotary jetting device and the intelligent scanning system of the jetting vehicle, realizes the reproduction of the tunnel design contour by the three-dimensional laser scanning real-time modeling and the trajectory planning algorithm of the jetting device, reduces the number of personnel, labor intensity and safety risk, and significantly reduces the concrete rebound amount and the jetting surface finishing operation amount.

[0146] (5) The application adopts the self-adaptive annular finishing technology of the finishing vehicle, integrates the three-dimensional laser scanning real-time modeling, collaborative operation and intelligent finishing system, reduces the labor intensity, and improves the single-cycle operation forming rate to 100%.

[0147] (6) The application creates a new mode of intelligent construction of high-tech materials in tunnels through equipment-process joint innovation, and the construction efficiency is improved by more than 7 times compared with the traditional method, the structural layer strength is improved by 3 times, and the whole life cycle maintenance cost is 0.

[0148] In addition to the purposes, features and advantages described above, the application has other purposes, features and advantages. The application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0149] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0150] Figure 1 This is a schematic diagram of the overall structure of an intelligent UHPC spray molding unit according to an embodiment of the present invention;

[0151] Figure 2 yes Figure 1 Front view diagram of a vehicle undergoing intermediate repair;

[0152] Figure 3 yes Figure 1 A top-view diagram of a vehicle undergoing intermediate repairs;

[0153] Figure 4 yes Figure 2 Schematic diagram of the structure of the medium-slip air storage duct;

[0154] Figure 5 yes Figure 2 Schematic diagram of the central rotating frame system;

[0155] Figure 6 yes Figure 2 Schematic diagram of the intermediate trimming device;

[0156] Figure 7 yes Figure 3 A schematic diagram of the structure of the first blocking device in the middle;

[0157] Figure 8 yes Figure 1 A schematic diagram of the structure of a medium-injection vehicle;

[0158] Figure 9 yes Figure 8 Schematic diagram of a traditional Chinese medicine mist dust removal system;

[0159] Figure 10 yes Figure 8 Schematic diagram of the central rotating frame walking system;

[0160] Figure 11 yes Figure 8 A schematic diagram of the structure of the jet-powered robotic arm;

[0161] Figure 12 yes Figure 8 A schematic diagram of the structure of the intelligent scanning system;

[0162] Figure 13 yes Figure 8 Schematic diagram of the UHPC nozzle device;

[0163] Figure 14 yes Figure 1 Schematic diagram of the structure of a medium-sized automatic concrete mixer pump truck;

[0164] Figure 15 is Figure 14 Structure diagram of UHPC stirring host in the middle;

[0165] Figure 16 is Figure 1 Front view schematic diagram of automatic feeding car in the middle;

[0166] Figure 17 is Figure 1 Top view schematic diagram of automatic feeding car in the middle;

[0167] Figure 18 is Figure 16 Structure diagram of material flat car in the middle;

[0168] Figure 19 is Figure 16 Structure diagram of automatic material supplement system in the middle;

[0169] Figure 20 is Figure 16 Structure diagram of material box checkpoint system in the middle;

[0170] Figure 21 is Figure 16 Structure diagram of automatic lifting system in the middle;

[0171] Figure 22 is Figure 16 Structure diagram of roller conveyor line in the middle;

[0172] Figure 23 is Figure 16 First perspective structure diagram of first material box in the middle;

[0173] Figure 24 is Figure 16 Second perspective structure diagram of first material box in the middle;

[0174] Figure 25 is Figure 16 Structure diagram of servo grabbing system in the middle;

[0175] Figure 26 is Figure 16 Structure diagram of material collecting system in the middle;

[0176] Figure 27 is Figure 26 Structure diagram of UHPC screen in the middle;

[0177] Figure 28 is Figure 1 Front view schematic diagram of power car in the middle;

[0178] Figure 29 is Figure 1 Top view schematic diagram of power car in the middle;

[0179] Figure 30 is Figure 28 Structure diagram of the air cylinder.

[0180] wherein:

[0181] 1, finishing car, 2, spraying car, 3, automatic stirring pump car, 4, automatic feeding car, 5, power car;

[0182] 1.1, sliding air storage cylinder, 1.2, first hydraulic system, 1.3, first electric rail car, 1.4, first electric control system, 1.5, rotating frame system, 1.6, finishing device, 1.7, first blocking device, 1.8, water pipe reel;

[0183] 1.1.1, reel support, 1.1.2, variable diameter air cylinder, 1.1.3, air storage cylinder, 1.1.4, sliding air cylinder;

[0184] 1.5.1, rotating frame, 1.5.2, first telescopic sliding mechanism;

[0185] 1.6.1, finishing manipulator, 1.6.2, tool holder, 1.6.3, scraping knife;

[0186] 1.7.1, electric hoist, 1.7.2, radar alarm device, 1.7.3, blocking rod;

[0187] 2.1, second electric rail car, 2.2, telescopic cantilever beam, 2.3, high-pressure air system, 2.4, accelerator metering system, 2.5, second hydraulic system, 2.6, pesticide mist dust removal system, 2.7, cleaning system, 2.8, sewage system, 2.9, rotating frame walking system, 2.10, spraying manipulator, 2.11, intelligent scanning system, 2.12, dustproof device, 2.13, UHPC nozzle device;

[0188] 1.6.1, dust collector, 1.6.2, liquid supplement tank, 1.6.3, spray assembly, 1.6.4, pesticide tank;

[0189] 2.9.1, walking frame, 2.9.2, walking trolley, 2.9.3, second telescopic sliding mechanism, 2.9.4, limiting device;

[0190] 2.10.1, large arm, 2.10.2, telescopic arm cover, 2.10.3, telescopic arm, 2.10.4, luffing arm, 2.10.5, illuminating lamp, 2.10.6, floating head seat;

[0191] 2.11.1, laser radar, 2.11.2, computer central control cabinet;

[0192] 2.13.1, X-axis rotation motor, 2.13.2, rotation encoder, 2.13.3, Y-axis rotation motor, 2.13.4, connecting body, 2.13.5, Z-axis brush motor, 2.13.6, mixer valve body, 2.13.7, cyclone valve core, 2.13.8, UHPC nozzle, 2.13.9, 45-degree elbow, 2.13.10, mixer movable seat, 2.13.11, mortar pipe protection sleeve;

[0193] 3.1, third electric rail car, 3.2, tool box, 3.3, third hydraulic system, 3.4, UHPC stirring main machine, 3.5, UHPC pumping system, 3.6, water reducing agent metering system, 3.7, automatic liquid supplement tank, 3.8, control room, 3.9, dust remover, 3.10, water reducing agent system, 3.11, second electric control system, 3.12, air system, 3.13, relay ventilation pipe;

[0194] 3.4.1, lubrication system, 3.4.2, stirring cylinder body, 3.4.3, observation window, 3.4.4, stirring mechanism, 3.4.5, breathing dust removal port, 3.4.6, discharge door, 3.4.7, microwave radar, 3.4.8, water mist system, 3.4.9, motor transmission mechanism;

[0195] 4.1, material flat car, 4.2, stair device, 4.3, third electric control system, 4.4, automatic material supplement system, 4.5, material box checkpoint system, 4.6, automatic lifting system, 4.7, roller conveying line, 4.8, first material box, 4.9, relay ventilation pipe, 4.10, fourth electric rail car, 4.11, servo grabbing system, 4.12, material collecting system, 4.13, rotary conveyor;

[0196] 4.1.1, electronic tag, 4.1.2, electric flat car, 4.1.3, second material box, 4.1.4, positioning frame;

[0197] 4.4.1, hoisting track, 4.4.2, electric magnetic lifting magnet, 4.4.3, tag card reader, 4.4.4, limiting block;

[0198] 4.5.1, first roller conveying platform, 4.5.2, first motor speed reducer, 4.5.3, first weighing sensor, 4.5.4, first contact sensor;

[0199] 4.6.1, second roller conveying platform, 4.6.2, second contact sensor, 4.6.3, balance lifting device, 4.6.4, second motor speed reducer;

[0200] 4.7.1, lower conveying unit, 4.7.2, upper conveying unit, 4.7.3, third motor reducer, 4.7.4, second weighing sensor, 4.7.5, third contact sensor;

[0201] 4.8.1, box frame, 4.8.2, grabbing hook, 4.8.3, special-shaped wallboard, 4.8.4, material box door, 4.8.5, lifting hook, 4.8.6, sliding door, 4.8.7, stacking seat, 4.8.8, door locking pin, 4.8.9, compression spring door hook, 4.8.10, stacking plate, 4.8.11, sealing protection plate, 4.8.12, spring lock, 4.8.13, forklift groove;

[0202] 4.11.1, grabbing rack, 4.11.2, sliding platform, 4.11.3, servo motor system, 4.11.4, electric cylinder, 4.11.5, grabbing mechanism, 4.11.6, sliding rail;

[0203] 4.12.1, aggregate collecting box, 4.12.2, weighing limiter, 4.12.3, top hook shoe, 4.12.4, UHPC screen, 4.12.5, push-pull oil cylinder, 4.12.6, box clamping seat, 4.12.7, slag removal door, 4.12.8, door protection frame, 4.12.9, screw conveyor;

[0204] 5.1, electric control compensation cabinet, 5.2, fifth electric rail car, 5.3, transformer, 5.4, water pipe reel, 5.5, axial flow fan, 5.6, high-voltage cable reel, 5.7, wind continuation cylinder, 5.8, second blocking device;

[0205] 5.7.1, lifting lug, 5.7.2, outer cylinder, 5.7.3, inner cylinder. DETAILED DESCRIPTION

[0206] In order to make the above-mentioned purposes, features and advantages of the present application more clear and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. It should be noted that the drawings of the present application are all simplified and use non-accurate proportions, and are only used to facilitate and clearly assist in explaining the implementation of the present application; the number of several mentioned in the present application is not limited to the specific number in the example of the drawings; the directions or position relationships mentioned in the present application, such as 'front','middle','rear', 'left', 'right', 'top', 'bottom', 'top', 'bottom','middle', are all based on the directions or position relationships shown in the drawings of the present application, and do not indicate or imply that the devices or parts referred to must have a specific direction, nor can it be understood as a limitation on the present application.

[0207] Example 1:

[0208] Reference Figure 1As shown, the present invention provides a UHPC spray molding equipment, including a trimming vehicle 1, a spraying vehicle 2, an automatic mixing pump vehicle 3, an automatic feeding vehicle 4, and a power vehicle 5;

[0209] The repair vehicle 1 is connected to the spray vehicle 2 via a chain, forming a joint operation unit for scanning, spraying and repairing the working environment of the tunnel.

[0210] The sliding cantilever beam in the spray vehicle 2 is connected to the automatic mixing pump truck 3. The relative sliding stroke between the spray vehicle 2 and the automatic mixing pump truck 3 is set to 5m, which makes it easier for the maintenance vehicle 1 and the spray vehicle 2 to cover a larger working area after the whole machine is positioned, reducing the frequency of the whole machine movement, reducing energy consumption, and making the equipment operation more flexible.

[0211] The automatic mixing pump truck 3 is connected to the automatic feeding truck 4 via a chain, forming a joint operation unit for transporting, conveying, preparing and pumping UHPC (ultra-high performance concrete), which can realize continuous preparation of UHPC and ensure the continuous operation of the finishing truck 1 and the spraying truck 2.

[0212] The power vehicle 5 is used to provide power, water, etc. to the whole machine, and the power vehicle 5 is connected to the automatic feeding vehicle 4 by a chain to provide power and water to the UHPC spray molding equipment.

[0213] As a further embodiment, the specific operation process of the UHPC spray molding equipment provided by the present invention is as follows:

[0214] S1 and Power Vehicle 5 introduce power and clean water from external equipment to meet the operational needs of the UHPC spray molding equipment;

[0215] S2. After receiving the operation instruction from the electrical control system 4.3, the automatic feeding vehicle 4 starts to automatically fill and transport the material box 4.8 to the collection system 4.12, and then transports the UHPC dry mixture of the collection system 4.12 to the UHPC mixing host 3.4 of the automatic mixing pump truck 3 via the screw conveyor 4.13.

[0216] S3. Start the metering system 3.6 and add water and water-reducing agent to prepare UHPC. After the UHPC preparation is completed, put all the finished material into the UHPC pumping system 3.5 to start pumping and prepare the next cycle of UHPC finished material.

[0217] S4. Start the high-pressure air system 2.3, accelerator metering system 2.4 and intelligent scanning system 2.11 of the injection vehicle 2 to begin UHPC intelligent injection;

[0218] S5. Start the repair vehicle 1 and use the intelligent scanning system 2.11 to repair the spray surface and complete the UHPC spraying task;

[0219] S6, trimming the vehicle and positioning to the next working position, starting the next cycle of work.

[0220] Embodiment 2:

[0221] As a further scheme of the present application, referring to Figure 2 and Figure 3 As shown in the figure, the trimming vehicle 1 comprises a sliding air storage cylinder 1.1, a first hydraulic system 1.2, a first electric rail vehicle 1.3, a first electric control system 1.4, a rotating system 1.5, a trimming device 1.6, a first blocking device 1.7 and a water pipe reel 1.8;

[0222] The sliding air storage cylinder 1.1, the first hydraulic system 1.2, the first electric control system 1.4, the rotating system 1.5, the trimming device 1.6, the first blocking device 1.7 and the water pipe reel 1.8 are independently installed on the frame of the first electric rail vehicle 1.3, and the sliding air storage cylinder 1.1, the first hydraulic system 1.2, the first electric control system 1.4 and the rotating system 1.5 are sequentially arranged along the displacement direction of the first electric rail vehicle 1.3;

[0223] The wheels of the first electric rail vehicle 1.3 are connected with the tunnel track, and the first electric rail vehicle 1.3 is used to drive the whole trimming vehicle 1 to displace on the tunnel track and drive other components of the trimming vehicle 1, playing a role of connecting the previous and the next;

[0224] The sliding air storage cylinder 1.1 is used to store the tunnel ventilation pipeline, so as to facilitate the flexible displacement of the trimming vehicle 1; one end of the sliding air storage cylinder 1.1 is connected with the external air pipe, and the other end of the sliding air storage cylinder 1.1 is connected with the existing tunnel soft air pipe of the tunnel;

[0225] The first hydraulic system 1.2 is used to provide hydraulic power for the trimming vehicle 1;

[0226] The first electric control system 1.4 is used to electrically control the trimming vehicle 1;

[0227] The rotating system 1.5 is used to support the trimming device 1.6 and center the tunnel axis during the displacement of the first electric rail vehicle 1.3, and is the core of realizing intelligent trimming of the spraying profile;

[0228] The trimming device 1.6 is installed on the rotating system 1.5 and is used to trim the spraying surface, which is the key to realizing intelligent trimming;

[0229] The first blocking device 1.7 is arranged at one end of the frame of the first electric rail vehicle 1.3 close to the sliding air storage cylinder 1.1, and is used to detect and block the material vehicle passing through the tunnel, so as to ensure the safety of the workers;

[0230] The water pipe reel 1.8 is arranged on one side of the sliding air storage cylinder 1.1, and is used to lead water from external equipment to the tunnel, and facilitates the flexible driving of the trimming vehicle 1 in the tunnel. Specifically, the fixed end of the water pipe reel 1.8 is fixedly connected with the frame of the first electric rail vehicle 1.3, and the movable end of the water pipe reel 1.8 is used to be connected with external equipment, so as to lead the water in the external equipment into the tunnel.

[0231] Preferably, the specific structure of the first hydraulic system 1.2 and the first electric control system 1.4, the connection mode between the first hydraulic system 1.2 and the first electric control system 1.4 and other components in the trimming vehicle 1, and the specific control mode are not the core innovative points of the present application, and can be referred to the prior art.

[0232] Further, referring to FIG. 1, Figure 4 As shown in FIG. 1, the sliding air storage cylinder 1.1 includes a reel support 1.1.1, a variable-diameter air cylinder 1.1.2, an air storage cylinder 1.1.3, and a sliding air cylinder 1.1.4.

[0233] The variable-diameter air cylinder 1.1.2, the air storage cylinder 1.1.3, and the sliding air cylinder 1.1.4 are sequentially connected with each other to form an air storage reel structure. One end of the variable-diameter air cylinder 1.1.2 away from the air storage cylinder 1.1.3 is used to connect other small air pipes. One end of the sliding air cylinder 1.1.4 away from the air storage cylinder 1.1.3 is used to guide the sliding of the tunnel soft air pipe to the air storage cylinder 1.1.3 when the trimming vehicle 1 is driving.

[0234] The reel support 1.1.1 is provided with a plurality of pieces on the air storage reel structure. One end of each piece of the reel support 1.1.1 is sleeved on the air storage reel structure. Each piece of the reel support 1.1.1 extends downward in the vertical direction and is connected with the first electric rail vehicle 1.3 by bolts.

[0235] Further preferably, the reel support 1.1.1 is provided with two groups for supporting the variable-diameter air cylinder 1.1.2 and the air storage cylinder 1.1.3 respectively. Each group of the reel support 1.1.1 is provided with at least one piece. Each piece of the reel support 1.1.1 is fixedly connected with the variable-diameter air cylinder 1.1.2 or the air storage cylinder 1.1.3 by welding.

[0236] Further preferably, the sliding air cylinder 1.1.4 and the air storage cylinder 1.1.3 are connected by a roller sliding connection. Specifically, at least two groups of rollers are arranged in a circumferential array on the outer surface of the sliding air cylinder 1.1.4. U-shaped slide rails are arranged on the inner surface of the air storage cylinder 1.1.3 and are matched with the two groups of rollers respectively. The rollers and the U-shaped slide rails are in sliding connection.

[0237] Further preferably, the wind storage cylinder 1.1.3 is further provided with a limiting buffer structure for limiting the sliding range of the roller, the limiting buffer structure is provided with two groups spaced from each other, by setting the distance between the two groups of limiting buffer structures, the sliding range between the sliding wind cylinder 1.1.4 and the wind storage cylinder 1.1.3 is limited. Specifically, the limiting buffer structure is preferably provided as: comprising a limiting piece and a buffer piece connected with each other, the buffer piece is used for contacting with the roller, so as to limit and buffer the sliding range of the roller.

[0238] Preferably, the working logic of the sliding wind storage cylinder 1.1 is:

[0239] When the UHPC jet forming equipment is installed in the tunnel, the soft wind pipe in the tunnel is disconnected and connected to the sliding wind storage cylinder 1.1 of the UHPC jet forming equipment, when the UHPC jet forming equipment works and walks, the sliding wind cylinder 1.1.4 guides the sliding of the tunnel soft wind pipe to the wind storage cylinder 1.1.3, at this time, the workers bundle the soft wind pipe on the wind storage cylinder 1.1.3, untie the rope on the sliding wind cylinder 1.1.4, pull the sliding wind cylinder 1.1.4 to the front end of the wind storage cylinder 1.1.3, and then cycle in sequence until the soft wind pipe is collected (set to collect 100m).

[0240] Further, referring to Figure 5 , the rotary frame system 1.5 includes a rotary frame 1.5.1 and a first telescopic sliding mechanism 1.5.2;

[0241] The rotary frame 1.5.1 is assembled to the first telescopic sliding mechanism 1.5.2 in a sleeve block manner, for carrying the jet vehicle 2;

[0242] The first telescopic sliding mechanism 1.5.2 is fixed on the frame of the first electric rail vehicle 1.3 by bolts, for driving the rotary frame 1.5.1 to telescopic slide in two degrees of freedom in the radial direction, and through the control of the intelligent scanning system 2.11, the rotary frame 1.5.1 can be centered with the tunnel axis, which is the key to realize intelligent jetting.

[0243] Further preferably, the rotating frame 1.5.1 is preferably provided in an arc-shaped arch structure; specifically, the rotating frame 1.5.1 comprises a first telescopic section, a connecting section and a second telescopic section connected in sequence, the first telescopic section and the second telescopic section are symmetrically arranged along the connecting section, and at least one set of first telescopic sliding mechanisms 1.5.2 are arranged on the first telescopic section and the second telescopic section, and the first telescopic sliding mechanisms 1.5.2 are used to realize telescopic sliding of the first telescopic section and the second telescopic section relative to the connecting section in the radial direction. Further preferably, in the embodiment, the first telescopic sliding mechanisms 1.5.2 arranged on the first telescopic section and the second telescopic section are preferably provided in two sets which are spaced apart along the axial direction of the rotating frame 1.5.1, and each set of the first telescopic sliding mechanisms 1.5.2 is preferably provided with at least two pieces which are spaced apart along the circumferential direction of the rotating frame 1.5.1.

[0244] Further preferably, each piece of the first telescopic sliding mechanism 1.5.2 is preferably provided as follows: comprising a first sleeve, a second sleeve and a first oil cylinder used to drive the first sleeve and the second sleeve to telescopically slide relative to each other, the first sleeve and the second sleeve are sleeved with each other, one end of the first oil cylinder is connected with the first sleeve, the other end of the first oil cylinder is connected with the second sleeve, and the end of the first sleeve away from the second sleeve is connected with the rotating frame 1.5.1, and the end of the second sleeve away from the first sleeve is connected with the frame of the first electric rail vehicle 1.3.

[0245] Preferably, the working logic of the rotating frame system 1.5 is as follows: after the intelligent scanning system 2.11 scans the tunnel contour, the first oil cylinder of the first telescopic sliding mechanism 1.5.2 is controlled to realize centering of the rotating frame 1.5.1 with the tunnel center axis, so as to facilitate intelligent control of the trimming device 1.6.

[0246] Further, referring to Figure 6 , the trimming device 1.6 comprises a trimming manipulator 1.6.1, a tool holder 1.6.2 and a scraping tool 1.6.3;

[0247] The trimming manipulator 1.6.1 is provided in multiple pieces which are spaced apart along the outer wall of the rotating frame 1.5.1, and each piece of the trimming manipulator 1.6.1 is fixed on the outer wall of the rotating frame 1.5.1 by bolts, the scraping tool 1.6.3 is provided in multiple pieces which are one-to-one corresponding to the multiple pieces of the trimming manipulator 1.6.1, each piece of the scraping tool 1.6.3 is connected with each piece of the trimming manipulator 1.6.1 through each piece of the tool holder 1.6.2, and the scraping tool 1.6.3 cooperates with the intelligent scanning system 2.11 to realize relevant actions. Specifically, the tool holder 1.6.2 is connected with the trimming manipulator 1.6.1 through a pin shaft, and is used to fix the scraping tool 1.6.3; the scraping tool 1.6.3 is fixed on the tool holder 1.6.2 by bolts, and is used to scrape or smooth the sprayed surface.

[0248] Further preferably, the trimming manipulator 1.6.1 comprises a fixed part, a telescopic part and a tilting part, the fixed part is fixedly connected with the outer wall of the rotating frame 1.5.1, the telescopic part is sleeved with the fixed part and is driven by the second oil cylinder to displace relative to the fixed part along the axial direction of the rotating frame 1.5.1, one end of the tilting part is fixedly installed on the end of the telescopic part away from the fixed part, and the other end of the tilting part is fixedly connected with the tool holder 1.6.2 for driving the tool holder 1.6.2 to perform tilting action.

[0249] Further preferably, the tilting part is preferably provided in the form of a hydraulic oil cylinder structure; specifically, the hydraulic oil cylinder structure is arranged obliquely, and the fixed end of the hydraulic oil cylinder structure is fixedly connected with the telescopic part, and the driving end of the hydraulic oil cylinder structure is fixedly connected with the tool holder 1.6.2 to drive the tool holder 1.6.2 to perform tilting action.

[0250] Further preferably, the mode of applying the trimming device 1.6 to trim the sprayed surface includes two modes of scraping and smoothing, wherein:

[0251] The scraping mode is suitable for the sprayed surface of fast-hardening concrete, and the working principle is to first adjust the scraping tool 1.6.3 to the tunnel trimming contour, then extend the trimming manipulator 1.6.1 to realize scraping of the sprayed surface, and finally retract the trimming manipulator 1.6.1;

[0252] The smoothing mode is suitable for the sprayed surface of slow-hardening concrete, and the working principle is to first extend the trimming manipulator 1.6.1, then adjust the scraping tool 1.6.3 to the tunnel trimming contour, and finally retract the trimming manipulator 1.6.1 to realize smoothing of the sprayed surface.

[0253] Further preferably, the working logic of the trimming device 1.6 is that after the spraying vehicle 2 completes spraying of a unit area (1.5m arc length of the sprayed surface), the intelligent scanning system 2.11 performs real-time 3D scanning modeling of the tunnel sprayed surface contour, compares the sprayed surface scanning result with the program-set sprayed surface contour to form difference layer data, selects a trimming mode according to the characteristics of the concrete mixing ratio of the customer to trim the sprayed surface of the concrete, and realizes roughness reduction of the sprayed surface.

[0254] Further, referring to Figure 7 The first blocking device 1.7 comprises a blocking rod 1.7.3 and an electric hoist 1.7.1 arranged on the blocking rod 1.7.3;

[0255] The first blocking device 1.7 comprises a blocking rod 1.7.3 and an electric hoist 1.7.1 arranged on the blocking rod 1.7.3;

[0256] One end of the blocking rod 1.7.3 is rotatably connected with the first electric rail vehicle 1.3 through a pin, and the other end of the blocking rod 1.7.3 is connected with the driving end of the electric hoist 1.7.1;

[0257] The fixed end of the electric hoist 1.7.1 is connected with the frame of the first electric rail vehicle 1.3, for providing pulling force to the blocking rod 1.7.3;

[0258] In the initial state, the driving end of the electric hoist 1.7.1 is in the retracted state, at this time, the other end of the blocking rod 1.7.3 is lifted upward under the pulling force of the electric hoist 1.7.1, and other vehicles or displacement devices in the tunnel can pass smoothly;

[0259] When the other vehicles or displacement devices in the tunnel need to be blocked, the driving end of the electric hoist 1.7.1 is in the extended state, at this time, the other end of the blocking rod 1.7.3 is displaced downward under the action of gravity and stops when it is in the horizontal extension state, thereby achieving the blocking of the other vehicles or displacement devices in the tunnel.

[0260] Further preferably, in order to prevent the vehicles and / or other mobile devices (such as trains) in the tunnel from realizing alarm when approaching the finishing vehicle 1, the finishing vehicle 1 further comprises a radar alarm device 1.7.2;

[0261] The radar alarm device 1.7.2 is bolted on the frame of the first electric rail vehicle 1.3, for detecting the approach of vehicles within a range of 8m and emitting an alarm sound.

[0262] Preferably, the working logic of the first blocking device 1.7 is as follows:

[0263] One set of first blocking device 1.7 is arranged at the front and rear ends of the whole machine, when the train in the tunnel approaches the UHPC spray forming device, the radar alarm device 1.7.2 emits an alarm sound after detecting the signal, reminding the personnel in the device to avoid and synchronously reminding the other mobile devices in the tunnel, at the same time, the blocking rod 1.7.3 is opened under the driving of the electric hoist 1.7.1, so as to facilitate the passing of other mobile devices in the tunnel.

[0264] Embodiment 3:

[0265] As a further scheme of the present embodiment, see Figure 8As shown, the spraying vehicle 2 comprises a second electric rail vehicle 2.1 and a telescopic cantilever beam 2.2 arranged on the frame of the second electric rail vehicle 2.1, a high-pressure air system 2.3, a quick-setting agent metering system 2.4, a second hydraulic system 2.5, a pesticide fog dust removal system 2.6, a cleaning system 2.7, a sewage system 2.8, a rotary frame walking system 2.9, a spraying manipulator 2.10, an intelligent scanning system 2.11, a dustproof device 2.12 and a UHPC spraying head device 2.13;

[0266] The wheels in the second electric rail vehicle 2.1 are slidably connected with the tunnel track, for driving the whole spraying vehicle 2 to displace in the tunnel and bearing other components in the spraying vehicle 2, playing a role of connecting upper and lower parts;

[0267] One end of the telescopic cantilever beam 2.2 is connected with the second electric rail vehicle 2.1 through bolts, and the other end of the telescopic cantilever beam 2.2 is connected with the third electric rail 3.1 in the automatic mixing pump vehicle 3 through bolts, for connecting the cables, water pipes and conveying pipelines hung between the spraying vehicle 2 and the automatic mixing pump vehicle 3, so that the spraying vehicle 2 can realize short-distance independent walking, the number of moving the whole machine is reduced, and the energy consumption and labor intensity of the equipment are reduced;

[0268] The high-pressure air system 2.3 is used for providing high-pressure air for the UHPC spraying head device 2.13;

[0269] The quick-setting agent metering system 2.4 is used for providing accurate quick-setting agent dosage for the UHPC spraying head device 2.13, so that the UHPC spraying head device 2.13 has neither collapse nor certain fluidity (convenient for finishing vehicle troweling and scraping finishing) within 10 minutes after completing UHPC spraying, thereby meeting the efficient UHPC spraying;

[0270] The second hydraulic system 2.5 is used for providing hydraulic power for the spraying vehicle 2;

[0271] The pesticide fog dust removal system 2.6 is used for reducing the surface tension of water droplets through pesticide fog and eliminating the dust generated by the UHPC spraying head device 2.13 in the spraying process through sufficient atomization of water mist, so as to ensure the safety and health of personnel;

[0272] The cleaning system 2.7 is used for cleaning each component of the spraying vehicle 2;

[0273] The sewage system 2.8 is used for pumping away the clean water after the cleaning system 2.7 cleans each component of the spraying vehicle 2;

[0274] The high-pressure air system 2.3, the accelerator metering system 2.4, the second hydraulic system 2.5, the drug fog dust removal system 2.6, the cleaning system 2.7, the blowdown system 2.8 and the swing frame walking system 2.9 are sequentially arranged along the displacement direction of the second electric rail car 2.1.

[0275] The spraying manipulator 2.10 is fixed on the swing frame walking system 2.9 by bolts, is used for carrying, stretching and pitching the UHPC nozzle device 2.13, and is a key to realize intelligent spraying.

[0276] The intelligent scanning system 2.11 is fixed on the second electric rail car 2.1 by bolts, is used for real-time scanning and identifying the tunnel contour, planning the spraying and contour finishing path, and realizing intelligent spraying and intelligent finishing.

[0277] The UHPC nozzle device 2.13 is fixed on the spraying manipulator 2.10 by bolts, is used for rotary spraying and dispersing super high performance concrete, and is a key to realize uniform spraying of high viscosity concrete.

[0278] The dust prevention device 2.12 is fixed on the second electric rail car 2.1 by bolts, and is used for dust prevention of the spraying area track.

[0279] Preferably, the high-pressure air system 2.3 is preferably provided as a high-pressure air pump structure.

[0280] Preferably, the accelerator metering system 2.4 is preferably provided as an accelerator metering pump structure.

[0281] Preferably, the second hydraulic system 2.5 is preferably provided as a hydraulic pump station structure.

[0282] Further, the working logic of the spraying car 2 is as follows:

[0283] After receiving the start signal of the automatic mixing pump car 3, the intelligent scanning system 2.11 performs real-time scanning of the tunnel contour, plans the spraying path according to the tunnel scanning contour and the program setting contour, and then starts the high-pressure air system 2.3, the accelerator metering system 2.4, the UHPC pumping system 3.5 and the drug fog dust removal system 2.6 to start intelligent spraying (symmetrical spraying on both sides).

[0284] Further, referring to Figure 9 As shown in the figure, the drug fog dust removal system 2.6 includes a dust remover 2.6.1, a liquid supplement tank 2.6.2, a spray assembly 2.6.3 and a drug tank 2.6.4.

[0285] The dust collector 2.6.1 is provided with two pieces respectively arranged on the same side of the displacement direction of the second electric rail car 2.1, and both pieces of the dust collector 2.6.1 are fixed on the second electric rail car 2.1 by bolts, which is used for sucking small particle dust in the tunnel environment to achieve dust removal.

[0286] The liquid supplement tank 2.6.2 is arranged on the same side of one piece of the dust collector 2.6.1, and is fixed on the second electric rail car 2.1 by bolts, which is used for providing stable water source for the spray assembly 2.6.3.

[0287] The spray assembly 2.6.3 is fixed on the second electric rail car 2.1 by a pipe clamp and is in communication with the medicine water tank 2.6.4, which is used for settling large particle dust in the tunnel environment.

[0288] The medicine water tank 2.6.4 is fixed on the right side of the second electric rail car 2.1 by bolts, which is used for mixing medicine into the spray assembly 2.6.3.

[0289] Further preferably, the working logic of the medicine mist dust removal system 2.6 is as follows:

[0290] The wind direction in the tunnel is the direction from the finishing car 1 to the power car 5, when the spraying car 2 starts to work, according to the law of fluid motion, most of the dust will pass through the frame channel with large area, and a small part of the dust will escape to the outside of the frame channel. Start the medicine mist dust removal system 2.6, the medicine water tank 2.6.4 and the liquid supplement tank 2.6.2 provide medicine water to the spray assembly 2.6.3 and spray medicine mist into the frame channel of the second electric rail car 2.1, which can remove 90% of large particle dust and accelerator mist dust generated in the concrete spraying process, and the dust collector 2.6.1 starts to suck small particle dust escaping from the outer ring of the electric rail car frame, which ensures the safety and environmental protection of the UHPC spraying process.

[0291] Further preferably, a first liquid level meter is further arranged in the liquid supplement tank 2.6.2, which detects the water quantity in the liquid supplement tank 2.6.2 to realize automatic supply of the water quantity in the liquid supplement tank 2.6.2.

[0292] Further preferably, the spray assembly 2.6.3 comprises a spray pipe and a plurality of spray nozzles installed on the spray pipe; the spray pipe is fixed on the channel frame of the second electric rail car 2.1 by a pipe clamp, and one end of the spray pipe is in communication with the medicine water tank 2.6.4; the plurality of spray nozzles are arranged at intervals, which is used for settling large particle dust in the tunnel environment by spraying water mist in the tunnel environment.

[0293] More preferably, the spray pipe is preferably arranged in a U-shaped structure matched with the channel frame of the second electric rail car 2.1.

[0294] Further, referring to Figure 10 As shown, the swing frame walking system 2.9 comprises a walking frame 2.9.1 and a walking trolley 2.9.2, a second telescopic sliding mechanism 2.9.3 and a limiting device 2.9.4 arranged on the walking frame 2.9.1;

[0295] The walking frame 2.9.1 is preferably arranged as an arc-shaped arch structure, and a plurality of second telescopic sliding mechanisms 2.9.3 are arranged on the inner side arc wall of the walking frame 2.9.1, and a walking track for displacement of the walking trolley 2.9.2 is arranged on the outer side arc wall of the walking frame 2.9.1;

[0296] A single second telescopic sliding mechanism 2.9.3 is connected to the walking frame 2.9.1 through a sleeve block, and the other end of the single second telescopic sliding mechanism 2.9.3 is connected to the frame of the third electric rail car 3.1, and a plurality of second telescopic sliding mechanisms 2.9.3 cooperate to realize the telescopic sliding of the walking frame 2.9.1 relative to the third electric rail car 3.1 in two degrees of freedom in the radial direction, and the intelligent scanning system 2.11 can realize the centering of the rotating frame and the tunnel axis, which is the key to realizing intelligent spraying;

[0297] The limiting device 2.9.4 is provided with two pieces arranged on the circumferential end surface of the walking frame 2.9.1 respectively, and the two limiting devices 2.9.4 cooperate to limit the displacement range of the walking trolley 2.9.2.

[0298] Further preferably, the walking track is preferably arranged as a rack structure, and a gear structure meshing with the rack structure is arranged on the walking trolley 2.9.2, and a speed reducer for driving the gear structure to displace relative to the rack structure is arranged.

[0299] Further preferably, in the present embodiment, the second telescopic sliding mechanism 2.9.3 is preferably provided with at least two groups symmetrically arranged along the axial direction of the walking frame 2.9.1, and a single second telescopic sliding mechanism 2.9.3 is preferably provided with at least two pieces arranged at intervals in the circumferential direction of the walking frame 2.9.1; the specific structure of a single second telescopic sliding mechanism 2.9.3 is consistent with that of a single first telescopic sliding mechanism 1.5.2.

[0300] Further preferably, the limiting device 2.9.4 is preferably arranged as a limiting plate structure.

[0301] Further preferably, the working logic of the swing frame walking system 2.9 is as follows: after the intelligent scanning system 2.11 scans the tunnel profile, the hydraulic cylinder of the second telescopic sliding mechanism 2.9.3 is controlled to realize the centering of the swing frame and the tunnel center axis, and then the walking trolley 2.9.2 is controlled to walk along the radial direction of the swing frame.

[0302] Further, the spraying manipulator 2.10 comprises a large arm 2.10.1, a telescopic arm cover 2.10.2, a telescopic arm 2.10.3, a pitch arm 2.10.4, a lighting lamp 2.10.5 and a floating head base 2.10.6;

[0303] The large arm 2.10.1 and the telescopic arm 2.10.3 are slidably connected to form a telescopic arm structure; in this embodiment, in order to realize the displacement of the telescopic arm 2.10.3 relative to the large arm 2.10.1, a third oil cylinder is further arranged between the large arm 2.10.1 and the telescopic arm 2.10.3, one end of the third oil cylinder is connected with the large arm 2.10.1, and the other end of the third oil cylinder is connected with the telescopic arm 2.10.3;

[0304] The large arm 2.10.1 is fixed on the walking trolley 2.9.2 by bolts at the end away from the telescopic arm 2.10.3;

[0305] The telescopic arm cover 2.10.2 is fixed on the telescopic arm 2.10.3 by bolts for protecting the telescopic arm 2.10.3;

[0306] The pitch arm 2.10.4 is connected with the end of the telescopic arm 2.10.3 away from the large arm 2.10.1 through a pin shaft, and the pitch arm 2.10.4 is designed in a parallel four-bar linkage mechanism for the pitch of the spraying manipulator 2.10;

[0307] The lighting lamp 2.10.5 is fixed on the pitch arm 2.10.4 by bolts for illuminating the spraying area;

[0308] The floating head base 2.10.6 is used for installing the UHPC nozzle device 2.13, and the floating head base 2.10.6 is connected with the pitch arm 1803 through a pin shaft and can be adjusted according to the action angle of the pitch arm 1803 to realize that the installation surface of the floating head base 2.10.6 is always parallel to the large arm 2.10.1, thereby simplifying the action control of the UHPC nozzle device 2.13 and reducing the control difficulty.

[0309] The working logic of the spraying manipulator 2.10 is as follows:

[0310] The spraying manipulator 2.10 performs telescopic and pitch action control according to the control of the intelligent scanning system 2.11, and cooperates with the UHPC nozzle device 2.13 to realize intelligent spraying.

[0311] Further, referring to Figure 12As shown, the intelligent scanning system 2.11 includes a laser radar 2.11.1 and a computer control cabinet 2.11.2; the laser radar 2.11.1 is bolted on the walking frame 2.9.1 for tunnel contour scanning identification and data transmission; the computer control cabinet 2.11.2 is bolted on the second electric rail car 2.1 for receiving, analyzing and processing the data scanned by the laser radar 2.11.1, realizing intelligent spraying and generating construction log.

[0312] Further, referring to Figure 13 As shown, the UHPC nozzle device 2.13 includes an X-axis rotating motor 2.13.1, a rotating encoder 2.13.2, a Y-axis rotating motor 2.13.3, a connecting body 2.13.4, a Z-axis brushing motor 2.13.5, a mixed flow valve body 2.13.6, a rotational flow valve core 2.13.7, a UHPC nozzle 2.13.8, a 45-degree elbow 2.13.9, a mixer movable seat 2.13.10 and a mortar pipe protection sleeve 2.13.11;

[0313] The X-axis rotating motor 2.13.1 is bolted on the floating head seat 2.10.6 of the spraying manipulator 2.10, for driving the UHPC nozzle device 2.13 to rotate 360 degrees in the X-axis direction;

[0314] The rotating encoder 2.13.2 is connected with the X-axis rotating motor 2.13.1 and the Y-axis rotating motor 2.13.3 shaft through a shaft coupling, for intelligent spraying action control;

[0315] The Y-axis rotating motor 2.13.3 is bolted on the X-axis rotating motor 2.13.1, for driving the UHPC nozzle device 2.13 to rotate 240 degrees in the Y-axis direction;

[0316] The connecting body 2.13.4 is bolted on the Y-axis rotating motor 2.13.3, for connecting and fixing other working devices;

[0317] The Z-axis brushing motor 2.13.5 is connected with the connecting body 2.13.4 through a bolt, for driving the UHPC nozzle device 2.13 to swing in the Z-axis direction in the shape of 8;

[0318] The mixed flow valve body 2.13.6 is bolted on the connecting body 2.13.4, for fixing the rotational flow valve core 2.13.7, introducing high-pressure air and accelerating agent, connecting the UHPC nozzle 2.13.8 and the conveying pipeline;

[0319] The swirler valve core 2.13.7 is nested into the mixed-flow valve body 2.13.6 by a sealing ring, and has a structure of inner hollow and outer inclined cone, and a swirler channel is distributed at the end of the outer inclined cone, which is used for rotating and guiding the atomized high-pressure air and the accelerator, and the swirler valve core 2.13.7 is used for swirled mixing with the UHPC at the end of the swirler valve core 2.13.7, so as to realize the uniform spraying of the UHPC.

[0320] The UHPC nozzle 2.13.8 is connected with the mixed-flow valve body 2.13.6 by a clamp, and is divided into a conical cavity and a straight cavity, wherein the conical cavity is used for mixing the high-pressure air, the accelerator and the UHPC, and the straight cavity is used for restricting the diffusion angle of the concrete spraying.

[0321] The 45-degree elbow pipe 2.13.9 is connected with the mixed-flow valve body 2.13.6 by a clamp, and is used for guiding the conveying pipeline, reducing the bending of the mortar hose during the operation of the UHPC nozzle device 2.13, and ensuring the smooth conveying of the concrete.

[0322] The mixer movable seat 2.13.10 is welded and fixed on the mortar pipe protection sleeve 2.13.11, and has a structure design of round dot + circular arc movement, which is used for installing the mixer and the pipeline thereof, and the movable seat can reduce the bending of the accelerator and the high-pressure air pipeline.

[0323] The mortar pipe protection sleeve 2.13.11 is fixed on the mortar hose by bolts, and is used for protecting the smooth bending of the mortar hose.

[0324] Further preferably, the working logic of the UHPC nozzle device 2.13 is as follows:

[0325] The UHPC is conveyed to the 45-degree elbow pipe 2.13.9 through the conveying pipeline, and is output to the conical cavity of the UHPC nozzle 2.13.8 through the swirler valve core 2.13.7, the high-pressure air and the accelerator are introduced into the swirler valve core 2.13.7 through the mixed-flow valve body 2.13.6, and are output to the conical cavity of the UHPC nozzle 2.13.8 through the swirler channel of the swirler valve core 2.13.7 after being guided, and are mixed with the UHPC after being atomized, and are output through the straight cavity of the UHPC nozzle 2.13.8 to realize the uniform spraying of the UHPC; during the spraying process, the intelligent scanning system 2.11 controls the X-axis rotating motor 2.13.1, the Y-axis rotating motor 2.13.3 and the Z-axis brushing motor 2.13.5 to adjust the operation of the UHPC nozzle 2.13.8, so as to realize the no-dead-angle spraying.

[0326] Further, the automatic spraying implementation of the spraying vehicle 2 is as follows:

[0327] The laser radar 2.11.1 is started to perform real-time scanning of the tunnel contour, and the scanned data is transmitted to the computer control cabinet 2.11.2 for three-dimensional modeling, analysis of the size of the tunnel contour and overbreak and underbreak, comparison with the designed contour size of the tunnel, removal of the maximum overbreak and underbreak (overbreak and underbreak may occur during tunnel construction according to the surrounding rock conditions and drilling and blasting conditions. If the surrounding rock is poor, the overbreak at a certain point may be > 5m, and the underbreak at a certain point may be > 200mm (which exceeds the support thickness), so the point cannot be completed by jet support, and the maximum overbreak and underbreak need to be removed for the construction party to process), calculation of the concrete volume required for each scanned point cloud area and calculation of the average thickness of the support layer (about 100mm), and reservation of the final concrete support contour leveling thickness (about 20-50mm); next, the speed of the UHPC pumping system 3.5 (the jetting speed depends on the pumping speed) and the brushing frequency of the UHPC nozzle device 2.13 (controlled by the rotary encoder 2.13.2) are calculated, the jetting manipulator 2.10 is started to swing to the jetting posture to perform the first stage of jetting and bottoming of the tunnel contour, the high-pressure air system 2.3 and the accelerator metering system 2.4 are started, and then the UHPC pumping system 3.5 starts UHPC jetting. The jetting process is N-shaped brushing within a range of 1.5m from the arch foot (the 1.5m arc length is limited by the blade arc length of the finishing vehicle 1. Since the tunnel excavation contour is not flat and most of it has arches, the N-shaped jetting process not only fills the back of the arch steel, but also makes it easier to control the jetting contour. We have done many experiments on intelligent jetting process, such as 8-shaped filling, Z-shaped, and fish scale filling. These two methods cannot guarantee the filling of the back of the arch steel and a large amount of concrete will be sprayed onto the arch surface, which cannot guarantee the jetting flatness), when the concrete jetting layer reaches the set filling thickness, the first set of blades (one on each side) of the finishing vehicle 1 are started to perform jetting surface roughness finishing (to prevent hardening of the jetting surface for a long time), the rotary frame walking car 2.9.2 starts to walk along the walking frame 2.9.1 to start the next segment of tunnel arc surface jetting, until the tunnel jetting surface is formed in a complete ring. When the average support layer jetting of the construction contour is completed, the jetting manipulator 2.10 is adjusted to swing to the large overbreak pit for overbreak pit filling. This process is to handle large pits on the tunnel excavation contour to keep the subsequent jetted surface smooth.After the pit filling process is completed, the laser radar 2.11.1 scans in real time to confirm the flatness error generated during the average support layer spraying process, and the error information is calculated to the next scanning process through the computer central control cabinet 2.11.2 and accounted to the next scanning process, the stretching and walking speed of the spraying manipulator 2.10, the speed of the UHPC pumping system 3.5 and the brushing frequency of the UHPC nozzle device 2.13 are re-planned, the concrete scanning spraying is started, the spraying process is still N-shaped spraying, the UHPC pumping system 3.5 speed, the UHPC nozzle device 2.13 brushing frequency, the spraying manipulator 2.10 stretching and walking speed are adjusted in real time according to the spraying surface flatness information, and finally the tunnel support contour is formed. According to the customer's requirement for the roughness of the sprayed surface, the finishing vehicle 1 is started to finish.

[0328] Embodiment 4:

[0329] As a further scheme of the present embodiment, referring to Figure 14 As shown in the figure, the automatic mixing pump truck 3 comprises a third electric rail car 3.1 and a tool box 3.2, a third hydraulic system 3.3, a UHPC mixing main machine 3.4, a UHPC pumping system 3.5, a water reducing agent metering system 3.6, an automatic liquid supplement tank 3.7, a control room 3.8, a dust remover 3.9, a water reducing agent system 3.10, a second electric control system 3.11, an air system 3.12 and a relay ventilation pipe 3.13 arranged on the third electric rail car 3.1;

[0330] The wheels of the third electric rail car 3.1 are matched and connected with the tunnel track, which is used to drive the automatic mixing pump truck 3 to walk on the tunnel track and support other parts of the automatic mixing pump truck 3, playing a role of connecting the upper and lower parts;

[0331] The tool box 3.2 is fixed on the third electric rail car 3.1 by bolts, which is used to collect the on-board tools;

[0332] The third hydraulic system 3.3 is fixed on the third electric rail car 3.1 by bolts, which is used to provide hydraulic power for the UHPC pumping system 3.5;

[0333] The UHPC mixing main machine 3.4 is fixed on the third electric rail car 3.1 by bolts, located above the UHPC pumping system 3.5, used for UHPC mixing preparation, real-time observation and automatic discharge;

[0334] The UHPC pumping system 3.5 is fixed on the third electric rail car 3.1 by bolts, located below the UHPC mixing main machine 3.4, and the UHPC pumping system 3.5 is connected with the UHPC mixing main machine 3.4, used for containing and pumping out the UHPC finished product after mixing by the UHPC mixing main machine 3.4, which can realize high-pressure pumping and anti-blocking of concrete;

[0335] The water-reducing agent metering system 3.6 is bolted on the third electric rail car 3.1, and the water-reducing agent metering system 3.6 is connected with the UHPC mixing main machine 3.4 through a conveying pipeline, for metering water and water-reducing agent and adding the metered water and water-reducing agent into the UHPC mixing main machine 3.4; specifically, in this embodiment, the water and water-reducing agent are accurately metered (the metering accuracy is controlled within 1%) by using the water-reducing agent metering system 3.6, so as to realize the high-precision proportioning requirement of UHPC preparation;

[0336] The control room 3.8 is bolted on the third electric rail car 3.1, and the control room 3.8 is signal-connected with the automatic feeding car 4 and other components in the automatic mixing pump car 3, for monitoring and emergency manual control of the automatic control process of the automatic feeding car 4 and other components in the automatic mixing pump car 3, so as to realize centralized real-time observation of the equipment running state;

[0337] The automatic liquid supplement tank 3.7 is bolted on the third electric rail car 3.1, and the automatic liquid supplement tank 3.7 is connected with a tunnel water source and all components in the UHPC spray forming equipment that need water source, for filtering the tunnel water source and conveying the filtered water source into the automatic liquid supplement tank 3.7, so as to guarantee the overall water demand of the UHPC spray forming equipment, which not only can reduce the size of the water tank, but also is the core of realizing the automatic continuous preparation of UHPC;

[0338] The water-reducing agent system 3.10 is bolted on the third electric rail car 3.1, and the water-reducing agent system 3.10 is connected with the water-reducing agent metering system 3.6, for storing water-reducing agent, so as to guarantee the water-reducing agent for UHPC preparation, which does not need automatic liquid supplement due to small amount;

[0339] The dust collector 3.9 is bolted on the third electric rail car 3.1, for breathing and dust removal of the UHPC mixing main machine 3.4, so as to realize no dust pollution in the concrete feeding preparation process;

[0340] The second electric control system 3.11 is bolted on the third electric rail car 3.1, for local control of the automatic mixing pump car 3, and the automatic control buttons are placed on the control room 3.8, so as to combine the automatic feeding car 4 and the automatic mixing pump car 3 into one operation unit for centralized control;

[0341] The air system 3.12 is bolted on the third electric rail car 3.1, for providing high-pressure air source for the screw conveyor 4.12.9, the aggregate system 4.12 and other components;

[0342] The relay ventilation pipe 3.13 is bolted on the third electric rail car 3.1, for ventilation relay of the tunnel air pipe, so as to facilitate the walking of the equipment.

[0343] Further, the UHPC stirring host 3.4 is arranged in a skirt stirring structure to sufficiently fluidize the ultra-high performance concrete.

[0344] Further, the second liquid level meter is arranged in the automatic liquid supplementing tank 3.7 to detect and timely warn the water amount in the automatic liquid supplementing tank 3.7, so as to automatically supplement the water amount in the automatic liquid supplementing tank 3.7 or facilitate the operator to supplement the water amount in the automatic liquid supplementing tank 3.7 in time.

[0345] Further preferably, the working logic of the automatic stirring pump truck 3 is that when the aggregate system 4.12 of the automatic feeding truck 4 detects the full tank signal of the aggregate tank 4.8, the UHPC stirring host 3.4 and the screw conveyor 4.12.9 are started; when the weighing limiter 4.12.2 detects the empty tank signal of the aggregate tank 4.12.1, the screw conveyor 4.12.9 is stopped, the water and water reducing agent metering system 3.6 of the automatic stirring pump truck 3 is started to add water and water reducing agent to the UHPC stirring host 3.4 to prepare the UHPC in time, the UHPC is prepared, the unloading door is opened, and the opening signal is fed back to the second electric control system 3.11, the UHPC pumping system 3.5 and the spraying truck 2 are started to spray the UHPC, at the same time, the automatic feeding truck 4 continues to circulate feeding, the control room 3.8 is responsible for monitoring the feeding process of the automatic feeding truck 4 and the preparation and pumping process of the automatic stirring pump truck 3, and manual intervention can be made in case of unexpected situation.

[0346] Further, referring to Figure 15 The UHPC stirring host 3.4 comprises a stirring cylinder body 3.4.2, a lubricating system 3.4.1 arranged on the stirring cylinder body 3.4.2, a stirring cylinder body 3.4.2, an observation window 3.4.3, a stirring mechanism 3.4.4, a breathing dust removal port 3.4.5, an unloading door 3.4.6, a microwave radar 3.4.7, a water mist system 3.4.8 and a motor transmission mechanism 3.4.9;

[0347] The lubricating system 3.4.1 is fixed on the stirring cylinder body 3.4.2 by bolts and is used for sealing and lubricating the shaft end of the stirring mechanism 3.4.4;

[0348] The stirring cylinder body 3.4.2 is fixed on the third electric rail car 3.1 by bolts and is used for bearing other working devices and stirring concrete;

[0349] The observation window 3.4.3 is fixed on the stirring cylinder body 3.4.2 by bolts and hinges and is used for manually observing and maintaining the inside of the UHPC stirring host 3.4;

[0350] The stirring mechanism 3.4.4 is connected with the motor transmission mechanism 3.4.9 through sealing through the stirring cylinder 3.4.2, and the large skirt and the small skirt have opposite stirring directions, so that the concrete can be repeatedly stirred in the forward and reverse directions, and the UHPC can be fully stirred;

[0351] The breathing dust removal port 3.4.5 is welded on the stirring cylinder 3.4.2, and is connected with the dust remover 3.9, so that the overflow of the concrete stirring dust can be prevented;

[0352] The discharge door 3.4.6 is connected to the stirring cylinder 3.4.2 through a pin shaft, and is locked through an oil cylinder and a balance valve;

[0353] The microwave radar 3.4.7 is fixed in the stirring cylinder 3.4.2 through bolts, and the stirring quality of the concrete is judged by detecting the moisture content in the concrete;

[0354] The water mist system 3.4.8 is fixed in the stirring cylinder 3.4.2 through buckles, and is used for adding water required for preparing the concrete and cleaning the inside of the stirring cylinder 3.4.2 through high-pressure water;

[0355] The motor transmission mechanism 3.4.9 is fixed on the stirring cylinder 3.4.2 through bolts, and is used for driving the stirring mechanism 3.4.4.

[0356] Further, the working logic of the UHPC stirring main machine 3.4 is as follows: the UHPC stirring main machine 3.4 is started, the lubricating system 3.4.1 is lubricated in time, the water mist system 3.4.8 is started to add water and water reducing agent for stirring, the stirring mechanism 3.4.4 is repeatedly stirred along the stirring shaft direction, the microwave radar 3.4.7 monitors the water content in the concrete in real time during stirring, and data is transmitted to the control room 3.8 of the automatic stirring pump truck 3, the discharge door 3.4.6 is opened to discharge the UHPC into the UHPC pumping system 3.5 after the stirring time reaches, and finally the discharge door 3.4.6 is closed, if there is no subsequent material preparation instruction, the personnel triggers the cleaning instruction in the control room 3.8, and the high-pressure water is cleaned through the water mist system 3.4.8.

[0357] Example 5:

[0358] As a further embodiment of the application, see Figure 16 and Figure 17As shown, the automatic feeding vehicle 4 includes a material flat car 4.1, a stair device 4.2, a third electric control system 4.3, an automatic feeding system 4.4, a material box checkpoint system 4.5, an automatic lifting system 4.6, a roller conveyor line 4.7, a first material box 4.8, a relay ventilation pipe 4.9, a fourth electric rail car 4.10, a servo grabbing system 4.11, a material collecting system 4.12, and a screw conveyor 4.13;

[0359] The material flat car 4.1 is placed on the tunnel track for loading and transporting the first material box 4.8 to the automatic feeding system 4.4 of the automatic feeding vehicle 4, which can realize continuous feeding of the automatic feeding vehicle 4;

[0360] The stair device 4.2 is bolted on the fourth electric rail car 4.10 for debugging, emergency operation, and maintenance of the third electric control system 4.3;

[0361] The third electric control system 4.3 is bolted on the fourth electric rail car 4.10 for local control of the automatic feeding vehicle 4. The automatic control buttons are placed in the control room of the automatic mixing pump vehicle 3 for centralized monitoring and emergency operation. The automatic feeding vehicle 4 and the automatic mixing pump vehicle 3 can be combined as a work unit for centralized control;

[0362] The automatic feeding system 4.4 is bolted on the fourth electric rail car 4.10 for automatically grabbing the first material box 4.8 to fill the roller conveyor line 4.7, which can realize efficient filling of the first material box 4.8 by the roller conveyor line 4.7;

[0363] The material box checkpoint system 4.5 is bolted on the fourth electric rail car 4.10 for determining the load of the first material box 4.8 to decide whether to fill the roller conveyor line 4.7 or unload the first material box 4.8 on the material flat car 4.1. The specific control method will be introduced separately;

[0364] The automatic lifting system 4.6 is bolted on the fourth electric rail car 4.10 for lifting or lowering the first material box 4.8, which cooperates with the roller conveyor line 4.7 and the material box checkpoint system 4.5 to realize reverse unloading of the empty first material box 4.8 and forward filling of the full first material box 4.8;

[0365] The roller conveyor line 4.7 is bolted on the fourth electric rail car 4.10 for reliable conveying of the first material box 4.8. The control method will be introduced separately;

[0366] The first material box 4.8 is an independent component placed on the roller conveyor line 4.7 for loading, storing, and transferring UHPC dry-mixed material to realize efficient and continuous feeding of UHPC;

[0367] The relay ventilation pipe 4.9 is bolted on the fourth electric rail car 4.10, used for the relay of the tunnel ventilation pipe, which can reduce the dismounting and hanging of the tunnel soft ventilation pipe caused by the moving of the car, facilitate the equipment operation, reduce the labor intensity and safety risk, and improve the construction efficiency;

[0368] The fourth electric rail car 4.10 is placed on the tunnel track, used for carrying the working components and equipment walking, and plays the role of connecting the upper and lower parts;

[0369] The servo grabbing system 4.11 is bolted on the fourth electric rail car 4.10, used for the automatic grabbing and placing of the first material box 4.8, and can realize the feeding of the first material box 4.8 to the material collecting system 4.12 and the return of the roller conveying line, which is the core of the automatic feeding car 4;

[0370] The material collecting system 4.12 is bolted on the fourth electric rail car 4.10, used for the collection, screening and weighing of the UHPC dry-mixed material, and cooperates with the screw conveyor 4.13 to complete the feeding, which is the core of the automatic feeding car 4;

[0371] The screw conveyor 4.13 is bolted on the material collecting system 4.12 and the fourth electric rail car 4.10, used for conveying the UHPC dry-mixed material in the material collecting system 4.12.

[0372] As a further scheme of the embodiment, the operation process of the automatic feeding car 4 is specifically as follows:

[0373] The worker starts the equipment and selects the first material box 4.8 automatic filling mode in the third electric control system 4.3, the material flat car 4.1 transports the material to the automatic feeding system 4.4 for the automatic filling of the first material box 4.8 to the double-sided roller conveying line;

[0374] After the first material box 4.8 is filled, the personnel start the automatic feeding mode, the first material box 4.8 pours the UHPC dry-mixed material in the material box into the material collecting system 4.12 through the roller conveying line 4.7, the automatic lifting system 4.6 and the servo grabbing system 4.11,

[0375] After the weighing detection of the material collecting system 4.12, the screw conveyor 4.13 is started to convey the UHPC dry-mixed material to the UHPC mixing host 3.4, completing a feeding cycle, and after the material preparation of the UHPC mixing host 3.4 is completed, the next cycle of the automatic feeding car 4 is started;

[0376] After the UHPC spraying operation is completed, the worker selects the first material box 4.8 unloading mode, and the material flat car 4.1 is transported to the automatic feeding system 4.4 for the unloading of the empty first material box 4.8.

[0377] Further, referring to Figure 18As shown, the material flat car 4.1 includes an electronic tag 4.1.1, an electric flat car 4.1.2, a second material box 4.1.3 and a positioning frame 4.1.4;

[0378] The electronic tag 4.1.1 is magnetically attached to the electric flat car 4.1.2 for receiving the feeding signal from the equipment and flashing the indicator light. After receiving the signal, the worker hoists the positioning frame 4.1.4 and the second material box 4.1.3 placed thereon to the electric flat car 4.1.2 for transportation;

[0379] The electric flat car 4.1.2 is placed on the tunnel track by gravity for carrying and transporting the second material box 4.1.3. Specifically, in the embodiment, the second material box 4.1.3 is placed on the positioning frame 4.1.4 by gravity for storing and releasing the UHPC dry-mixed material;

[0380] The positioning frame 4.1.4 is placed on the electric flat car 4.1.2 by gravity, and the positioning frame 4.1.4 is provided with a placement position of the second material box 4.1.3 for centrally positioning, placing and carrying the second material box 4.1.3, which can reduce the time of single second material box 4.1.3 back and forth transportation, reduce the labor intensity and improve the construction efficiency.

[0381] Further, the working process of the material flat car 4.1 is specifically as follows:

[0382] The third electric control system 4.3 of the automatic feeding car 4 sends a feeding instruction, and the electronic tag 4.1.1 sends an audible and visual signal after receiving the signal. The worker hoists the positioning frame 4.1.4 and the second material box 4.1.3 placed thereon to the electric flat car 4.1.2, and starts the electric flat car 4.1.2 to transport the second material box 4.1.3 to the automatic feeding system 4.4.

[0383] Further, referring to Figure 19 As shown, the automatic feeding system 4.4 includes a hoisting track 4.4.1, an electric magnetic lifting device 4.4.2, a tag card reader 4.4.3 and a limiting block 4.4.4;

[0384] The hoisting track 4.4.1 is fixed on the fourth electric track car 4.10 by bolts for walking of the electric magnetic lifting device 4.4.2;

[0385] The electric magnetic lifting device 4.4.2 is preferably provided with two pieces arranged on the two sides of the hoisting track 4.4.1. The single electric magnetic lifting device 4.4.2 is embedded into the hoisting track 4.4.1 by rollers, which has horizontal walking and vertical expansion for hoisting the first material box 4.8, and the function is similar to the travelling crane;

[0386] The label card reader 4.4.3 is provided with two pieces corresponding to the two pieces of electric magnetic suction hanger 4.4.2, and the single piece label card reader 4.4.3 is fixed on the single piece electric magnetic suction hanger 4.4.2 by bolts, and a radar ranging module is built in the single piece label card reader 4.4.3 to sense the distance of the electronic tag 4.1.1 and communicate with the electronic tag 4.1.1;

[0387] The limiting block 4.4.4 is fixed on the hoisting rail 4.4.1 by bolts to limit the lateral displacement of the electric magnetic suction hanger 4.4.2.

[0388] Further, the working process of the automatic material supplement system 4.4 is as follows:

[0389] When the personnel drives the material flat car 4.1 to the automatic material supplement system 4.4, the distance sensing and communication between the label card reader 4.4.3 and the electronic tag 4.1.1 is carried out according to the program teaching process, the material flat car 4.1 is controlled to move at a certain distance, and the two electric magnetic suction hangers 4.4.2 are crossed to hoist the first material box 4.8, so that the first material box 4.8 is always against the electric magnetic suction hanger 4.4.2, when the first material box 4.8 is filled, the personnel drives the material flat car 4.1 away, and the next cycle of work is started; the working process of unloading the first material box 4.8 is as follows: when the personnel drives the material flat car 4.1 (without material box) to the automatic material supplement system 4.4, the distance sensing and communication between the label card reader 4.4.3 and the electronic tag 4.1.1 is carried out according to the program teaching process, the material flat car 4.1 is controlled to move at a certain distance, and the two electric magnetic suction hangers 4.4.2 are crossed to hoist the empty first material box 4.8, when the first material box 4.8 is loaded, the personnel drives the material flat car 4.1 away, and the next cycle of work is started.

[0390] Further, referring to Figure 20 The material box checkpoint system 4.5 includes a first roller conveying platform 4.5.1, a first motor reducer 4.5.2, a first weighing sensor 4.5.3 and a first contact sensor 4.5.4;

[0391] The fixed part of the first roller conveying platform 4.5.1 is fixed on the fourth electric rail car 4.10 by bolts, and the rolling part of the first roller conveying platform 4.5.1 is used for rolling conveying the first material box 4.8;

[0392] The fixed end of the first motor reducer 4.5.2 is fixed on the fourth electric rail car 4.10 by bolts, and the driving end of the first motor reducer 4.5.2 drives the first roller conveying platform 4.5.1 through a chain;

[0393] The first weighing sensor 4.5.3 is fixed on the first roller conveying platform 4.5.1 by bolts, used for roughly weighing the first bin 4.8 and feeding a signal to the third electric control system 4.3, cooperating with the detection signal of the first contact sensor 4.5.4 to control the operation of the first roller conveying platform 4.5.1, so as to realize the filling of the full first bin 4.8 or the unloading of the empty first bin 4.8.

[0394] The first contact sensor 4.5.4 is fixed on the first roller conveying platform 4.5.1 by bolts, used for detecting whether the first bin 4.8 is transported to the first roller conveying platform 4.5.1 and feeding a signal to the third electric control system 4.3, cooperating with the detection signal of the first weighing sensor 4.5.3 to control the operation of the first roller conveying platform 4.5.1.

[0395] Further preferably, the working logic of the bin checkpoint system 4.5 in the filling mode of the first bin 4.8 is that when the first bin 4.8 is placed on the first roller conveying platform 4.5.1, the first weighing sensor 4.5.3 detects whether the weight of the first bin 4.8 exceeds the program set threshold (2 / 3 of the weight of the full bin, considering that there will be vibration and other factors during the operation of the equipment, the weighing sensor does not participate in accurate detection, only detects whether the bin exceeds the program set threshold), and then starts the first roller conveying platform 4.5.1 to transport to the automatic lifting system 4.6, otherwise the first roller conveying platform 4.5.1 is inaction, and personnel need to check the loading condition of the first bin 4.8; the working logic of the unloading mode of the first bin 4.8 is that the empty first bin 4.8 is transported to the bin checkpoint system 4.5 by the automatic lifting system 4.6, when the three first contact sensors 4.5.4 of the first roller conveying platform 4.5.1 all detect signals, the first weighing sensor 4.5.3 detects whether the weight of the first bin 4.8 exceeds the threshold, if not, the first roller conveying platform 4.5.1 stops running, and the automatic material supplementing system 4.4 unloads the empty first bin 4.8 to the empty electric flat car 4.1.2.

[0396] Further, referring to Figure 21 The automatic lifting system 4.6 includes a second roller conveying platform 4.6.1, a second contact sensor 4.6.2, a balance lifting device 4.6.3 and a second motor reducer 4.6.4.

[0397] The fixed part of the second roller conveying platform 4.6.1 is fixed on the balance lifting device 4.6.3 by bolts, and the rolling part of the second roller conveying platform 4.6.1 is used for conveying the first bin 4.8.

[0398] The second contact sensor 4.6.2 is fixed on the second roller conveying platform 4.6.1 by bolts, used to detect whether the first material box 4.8 is transported to the position on the second roller conveying platform 4.6.1, and cooperate with the third electric control system 4.3 to realize the start and stop of the second roller conveying platform 4.6.1;

[0399] One end of the balance lifting device 4.6.3 is placed on the fourth electric rail car 4.10 through a roller, and the other end of the balance lifting device 4.6.3 is connected with the second roller conveying platform 4.6.1, used to drive the second roller conveying platform 4.6.1 to displace in the vertical direction (i.e. drive the second roller conveying platform 4.6.1 to lift), with a weight balance structure design, similar to the elevator lifting on the market;

[0400] The fixed part of the second motor reducer 4.6.4 is fixed on the fourth electric rail car 4.10 by bolts, and the driving part of the second motor reducer 4.6.4 is connected with the balance lifting device 4.6.3 through a chain, used to provide power for the lifting of the second roller conveying platform 4.6.1.

[0401] Further, the working logic of the automatic lifting system 4.6 is: according to the instruction of the third electric control system 4.3, cooperate with the roller conveying line 4.7 and the material box checkpoint system 4.5 to lift the first material box 4.8.

[0402] Further, referring to Figure 22 The roller conveying line 4.7 includes a lower conveying unit 4.7.1, an upper conveying unit 4.7.2, a third motor reducer 4.7.3, a second weighing sensor 4.7.4 and a third contact sensor 4.7.5;

[0403] The fixed part of the lower conveying unit 4.7.1 is fixed on the fourth electric rail car 4.10 by bolts, used for the circulation conveying of the first material box 4.8;

[0404] The fixed part of the upper conveying unit 4.7.2 is fixed on the fourth electric rail car 4.10 by bolts, used for the circulation conveying of the first material box 4.8;

[0405] The fixed part of the third motor reducer 4.7.3 is fixed on the fourth electric rail car 4.10 by bolts, and the driving part of the third motor reducer 4.7.3 is connected with the lower conveying unit 4.7.1 and the upper conveying unit 4.7.2 at the same time, used to synchronously drive the lower conveying unit 4.7.1 and the upper conveying unit 4.7.2 to operate;

[0406] The second weighing sensor 4.7.4 is fixed on the upper layer conveying unit 4.7.2 by bolts, used for roughly weighing the weight of the first material box 4.8 and feeding a signal to the third electric control system 4.3 to intuitively display the position of the empty first material box 4.8, facilitating the unloading and transportation of the empty first material box 4.8, and is the core of realizing the unloading of the empty first material box 4.8 and the feeding of the full first material box 4.8;

[0407] The third contact sensor 4.7.5 is fixed on the upper layer conveying unit 4.7.2 and the lower layer conveying unit 4.7.1 by bolts, used for detecting the position of the first material box 4.8 on the upper layer conveying unit 4.7.2 and the lower layer conveying unit 4.7.1, and cooperating with the third electric control system 4.3 to realize the joint operation of the lower layer conveying unit 4.7.1 and the upper layer conveying unit 4.7.2.

[0408] Further, the working logic of the drum conveying line 4.7 is:

[0409] When the third electric control system 4.3 selects the first material box 4.8 filling mode, the first material box 4.8 is first filled with the lower layer conveying unit 4.7.1, and then filled with the upper layer conveying unit 4.7.2 through the lifting of the automatic lifting system 4.6; when the third electric control system 4.3 selects the feeding mode, the servo grabbing system 4.11 first grabs the first first material box 4.8 on the upper layer conveying unit 4.7.2 to the material collecting system 4.12 for discharging, the drum conveying line 4.7 operates in the counterclockwise direction to supplement the vacancy of the first first material box 4.8, and the first first material box 4.8 is transported to the lower layer conveying unit 4.7.1 after discharging, and the cycle is repeated in this way.

[0410] If the second weighing sensor 4.7.4 of the upper conveying unit 4.7.2 detects that the first material bin 4.8 is below the set threshold (an empty material bin appears in the upper conveying unit, at which point all material bins in the lower conveying unit are empty), then the third electronic control system 4.3 issues two commands: unloading the first material bin 4.8 and filling the first material bin 4.8. After waiting for the material flatbed truck 4.1 to arrive, the operator first selects the unloading mode for the empty first material bin 4.8 (this does not affect the loading of full material bins). The empty first material bin 4.8 of the lower conveying unit 4.7.1 is first unloaded onto the material flatbed truck 4.1, and then the upper conveying unit 4.7.2... Partially empty first material bin 4.8 from section 7.2 is unloaded onto the material flatbed cart 4.1 via the automatic lifting system 4.6. The unloading speed of the first material bin 4.8 is much greater than the UHPC mixing and preparation time. Next, the operator selects the filling command for the first material bin 4.8. Once full, the first material bin 4.8 is fed first to the upper conveying unit 4.7.2 via the automatic replenishment system 4.4, the material bin gate system 4.5, and the automatic lifting system 4.6, and then to the lower conveying unit 4.7.1. The filling speed of the first material bin 4.8 is much greater than the UHPC mixing and preparation time. Following this control logic, continuous material supply from the automatic loading cart 4 can be achieved.

[0411] Further, see Figure 23 and Figure 24 As shown, the first material bin 4.8 includes a bin frame 4.8.1, a grab hook 4.8.2, an irregularly shaped wall panel 4.8.3, a bin door 4.8.4, a hoisting hook 4.8.5, a sliding door 4.8.6, a stacking seat 4.8.7, a door lock nail 4.8.8, a spring lock hook 4.8.9, a stacking plate 4.8.10, a protective plate 4.8.11, a spring lock 4.8.12, and a forklift groove 4.8.13;

[0412] The box frame 4.8.1 is placed on the roller conveyor line 4.7 by gravity and is used for the first material box 4.8 to bear the force during hoisting, forklifting, grabbing, rolling and other actions.

[0413] The gripping hook 4.8.2 is fixed to the box frame 4.8.1 by welding and is used for gripping the first material box 4.8;

[0414] The irregular wall panel 4.8.3 is fixed to the box frame 4.8.1 by welding and is used to load UHPC dry mix material; specifically, the irregular wall panel 4.8.3 is set as a plate structure containing several stamped waist-shaped concave surfaces. The purpose of stamping waist-shaped concave surfaces on the plate is to reduce the plate thickness, increase the rigidity of the plate structure, and reduce the weight of the first material box 4.8.

[0415] The material bin door 4.8.4 is fixed to the box frame 4.8.1 by bolts and is used to close the filling port of the first material bin 4.8;

[0416] The lifting hook 4.8.5 is fixed on the box frame 4.8.1 by welding, used for lifting the first material box 4.8, and the lifting and forklifting can be selected according to the conditions of the construction site;

[0417] The sliding door 4.8.6 is fitted on the box frame 4.8.1 by gap fit, used for closing and unloading the first material box 4.8;

[0418] The stacking seat 4.8.7 is fixed on the upper surface of the box frame 4.8.1 by welding, used for limiting when stacking multiple first material boxes 4.8, and preventing other structures of the first material box 4.8 from being damaged by knocking;

[0419] The door locking pin 4.8.8 is fixed on the sliding door 4.8.6 by welding, used for locking the door with the spring-loaded door hook 4.8.9;

[0420] The spring-loaded door hook 4.8.9 is fixed on the box frame 4.8.1 by pin shaft, used for elastic locking the sliding door 4.8.6 with the door locking pin 4.8.8;

[0421] The stacking plate 4.8.10 is fixed on the lower surface of the box frame 4.8.1 by welding, used for limiting when stacking multiple first material boxes 4.8, and preventing other structures of the first material box 4.8 from being damaged by knocking;

[0422] The protective cover plate 4.8.11 is fixed on the box frame 4.8.1 by welding, used for preventing UHPC dry-mixed material from falling to the edge of the sliding door 4.8.6 and hindering the sliding of the sliding door 4.8.6;

[0423] The spring lock 4.8.12 is fixed on the box frame 4.8.1 by bolt, used for automatic locking of the material box door 4.8.4;

[0424] The forklifting groove 4.8.13 is fixed on the box frame 4.8.1 by welding, used for forklifting the first material box 4.8, and the lifting and forklifting can be selected according to the conditions of the construction site.

[0425] Further, the working logic of the first material box 4.8 is:

[0426] Open the hopper door 4.8.4 via spring lock 4.8.12, fill the first hopper 4.8 with UHPC dry mix, and close the hopper door 4.8.4. Use a forklift or crane to place the first hopper 4.8 onto the positioning frame 4.1.4 via the forklift slot 4.8.13 or lifting hook 4.8.5. When the first hopper 4.8 is placed on the second layer, place the stacking seat 4.8.7 of the first hopper 4.8 onto the stacking plate 4.8.10. The overhead crane will then lift the positioning frame 4.1.4 and the first hopper 4.8 together onto the electric flatbed truck 4.1.2 and transport them to the automatic feeding system 4.4 of the automatic loading vehicle 4. The first hopper 4.8 is then transported via roller conveyor 4.7, servo gripping system 4.11, and other components. The hook 4.8.2 grabs the material onto the collection system 4.12. The top hook shoe 4.12.3 on the collection system 4.12 pushes the spring-loaded locking hook 4.8.9 off the locking pin 4.8.8 of the sliding door 4.8.6. The hydraulic cylinder 1205 on the collection system 4.12 opens the sliding door 4.8.6, and the UHPC dry mix is ​​poured into the collection system 4.12. Then the sliding door 4.8.6 is closed. The empty first material box 4.8 is grabbed by the servo grabbing system 4.11, and the spring-loaded locking hook 4.8.9 automatically locks onto the locking pin 4.8.8 of the sliding door 4.8.6 to prevent the sliding door 4.8.6 from tilting due to gravity. Then the empty first material box 4.8 is transported out by the automatic lifting system 4.6 and the roller conveyor line 4.7.

[0427] Further, see Figure 25 As shown, the servo gripping system 4.11 includes a gripping frame 4.11.1, a sliding platform 4.11.2, a servo motor system 4.11.3, an electric cylinder 4.11.4, a gripping mechanism 4.11.5, and a sliding track 4.11.6;

[0428] The gripping frame 4.11.1 is fixed to the fourth electric railcar 4.10 by bolts and is used to support all working devices of the servo gripping system 4.11;

[0429] The sliding platform 4.11.2 is fitted onto the sliding track 4.11.6 via a slider, and is used to support the servo motor system 4.11.3 and the electric cylinder 4.11.4;

[0430] The servo motor system 4.11.3 is fixed to the sliding platform 4.11.2 by bolts. Through the cooperation of the gears on the servo motor system 4.11.3 and the rack on the gripping frame 4.11.1, the precise movement and control of the sliding platform 4.11.2 are realized.

[0431] The electric cylinder 4.11.4 is fixed to the sliding platform 4.11.2 by bolts, and its output shaft is connected to the gripping mechanism 4.11.5 for the vertical extension and retraction of the gripping mechanism 4.11.5;

[0432] The grabbing mechanism 4.11.5 is fixed on the sliding platform 4.11.2 by welding for grabbing the first material box 4.8;

[0433] The sliding rail 4.11.6 is fixed on the grabbing frame 4.11.1 by bolts for sliding the sliding platform 4.11.2.

[0434] The working logic of the servo grabbing system 4.11 is as follows: when the first material box 4.8 is transported to the leftmost side of the upper layer conveying unit 4.7.2 through the roller conveying line 4.7, the third contact sensor 4.7.5 detects that the first material box 4.8 has been transported to the position, the third electric control system 4.3 controls the servo motor system to start, and the sliding platform 4.11.2 slides and the grabbing mechanism 4.11.5 lifts according to the program teaching to grab the first material box 4.8, and the first material box 4.8 is placed on the material collecting system 4.12 for discharging, and after the discharging is completed, the empty first material box 4.8 is grabbed to the automatic lifting system 4.6 and then transported to the lower layer conveying unit 4.7.1.

[0435] Further, referring to Figure 26 and Figure 27 , the material collecting system 4.12 includes a material collecting box 4.12.1, a weighing limiter 4.12.2, a top hook shoe 4.12.3, a UHPC screen 4.12.4, a push-pull oil cylinder 4.12.5, a box clamping seat 4.12.6, a slag removal door 4.12.7, a door protection frame 4.12.8, and a screw conveyor 4.12.9;

[0436] The material collecting box 4.12.1 is fixed on the weighing limiter 4.12.2 by bolts, used for containing and screening UHPC dry mix material;

[0437] The weighing limiter 4.12.2 is fixed on the fourth electric rail car 4.10 by bolts, used for weighing the weight of the material collecting box 4.12.1;

[0438] The top hook shoe 4.12.3 is fixed on the material collecting box 4.12.1 by bolts, used for supporting the compression spring lock door hook 4.8.9 of the first material box 4.8;

[0439] The UHPC screen 4.12.4 is placed in the material collecting box 4.12.1 by gravity, used for screening large aggregate accidentally mixed in the UHPC dry mix material, and because there are fibers in the UHPC, the upper surface of the screen is designed in a wave shape to prevent the fibers from overlapping and hindering the discharging;

[0440] The push-pull oil cylinder 4.12.5 is fixed on the material collecting box 4.12.1 by bolts, used for controlling the opening and closing of the push-pull door 4.8.6 of the first material box 4.8;

[0441] The card holder 4.12.6 is fixed to the collection box 4.12.1 by bolts to limit the shaking of the first material box 4.8;

[0442] The slag removal door 4.12.7 is fixed to the aggregate box 4.12.1 by bolts and is used to periodically clean the large aggregates inside the aggregate box 4.12.1;

[0443] The door frame 4.12.8 is fixed to the collection box 4.12.1 by bolts to stabilize the sliding door 4.8.6 of the first material box 4.8 and prevent the sliding door 4.8.6 from tilting under gravity.

[0444] The screw conveyor 4.12.9 is bolted to the collection box 4.12.1 and is used to convey the UHPC dry mix in the collection box 4.12.1.

[0445] The working logic of the material collection system 4.12 is as follows: When the first material box 4.8 is placed on the material collection box 4.12.1 by the servo gripping system 4.11, the box holder fixes the first material box 4.8, and the top hook shoe 4.12.3 opens the spring locking hook 4.8.9 of the first material box 4.8. At this time, the weighing limiter 4.12.2 detects that the weight of the material collection box 4.12.1 exceeds the set threshold (≥1000kg) and feeds the signal back to the third electrical control system 4.3, which controls the UHPC mixing host 3.4 and the screw conveyor 4.12.9 to start, and the push-pull cylinder 4.12.5 moves the first material box 4.8. The sliding door 4.8.6 of the 8th section is pushed open, and the vibration motor on the collection box 4.12.1 is started. After the UHPC dry mixture is screened by the UHPC screen, it is all put into the collection box 4.12.1. At this time, the sliding cylinder 4.12.5 retracts the sliding door 4.8.6, the servo gripping system 4.11 lifts away the empty first material box 4.8, and the vibration motor stops. When the weighing limiter 4.12.2 detects that the weight of the collection box 4.12.1 is lower than the set threshold (≤300kg) and feeds the signal back to the third electrical control system 4.3, the screw conveyor 4.12.9 is stopped, and the next UHPC preparation process begins.

[0446] Example 6:

[0447] As a further embodiment of the present invention, see Figure 28 and Figure 29 As shown, the power vehicle 5 includes an electrical control compensation cabinet 5.1, a fifth electric railcar 5.2, a transformer 5.3, a water pipe reel 5.4, an axial flow fan 5.5, a high-voltage cable reel 5.6, a continuous air duct 5.7, and a second blocking device 5.8;

[0448] The electrical control compensation cabinet 5.1 is fixed to the fifth electric railcar 5.2 by bolts, and is used for the distribution and output of 380V low voltage electricity, to improve the stability of the power system and extend the life of the power equipment;

[0449] The fifth electric rail car 5.2 is placed on the tunnel track by rail wheels, and is used for walking of the device, fixing and carrying of the working parts, and plays a connecting role;

[0450] The high-voltage cable reel 5.6 is fixed on the fifth electric rail car 5.2 by bolts, and is used for leading 10kv / 20kv high voltage from the tunnel for use of the device. The reel releases the cable when the device is running, facilitating the running of the device;

[0451] The transformer 5.3 is fixed on the fifth electric rail car 5.2 by bolts, and is used for 10kv / 20kv voltage transformation;

[0452] The water pipe reel 5.4 is fixed on the fifth electric rail car 5.2 by bolts, and is used for leading water from the tunnel for use of the device. The reel releases the water pipe when the device is running, facilitating the running of the device;

[0453] The axial flow fan 5.5 is fixed on the fifth electric rail car 5.2 by bolts, and is used for compensating the air volume leaked due to damage of the tunnel air pipe;

[0454] The wind continuation cylinder 5.7 is fixed on the fifth electric rail car 5.2 by bolts, and is used for storing the wind cylinder cloth in the wind cylinder groove in advance, and is used for connecting the tunnel ventilation pipeline. The stored soft air pipe is convenient for release when the device is running;

[0455] The second blocking device 5.8 is fixed on the fifth electric rail car 5.2 by bolts, and is used for detecting and blocking the material car passing in the tunnel, and is used for safety protection of the workers, and is the same as the blocking device on the trimming car.

[0456] Preferably, the structure of the second blocking device 5.8 is consistent with the structure of the first blocking device 1.7.

[0457] Further, the wind continuation cylinder 5.7 includes a lifting lug 5.7.1, an outer cylinder 5.7.2 and an inner cylinder 5.7.3;

[0458] The lifting lug 5.7.1 is fixed on the outer cylinder 5.7.2 by welding, and is used for fixing and replacing the wind continuation cylinder 5.7, and facilitates hoisting and replacement of the wind continuation cylinder 5.7;

[0459] The outer cylinder 5.7.2 is fixed on the inner cylinder 5.7.3 by bolts, and is used for fixing the wind continuation cylinder 5.7 and storing the soft air pipe for the tunnel in advance. An observation window is formed on the outer cylinder 5.7.2, and is used for observing the storage amount of the soft air pipe;

[0460] The inner cylinder 5.7.3 is fixed on the outer cylinder 5.7.2 by bolts. The space between the inner cylinder 5.7.3 and the outer cylinder 5.7.2 is a wind cylinder bin, and is used for storing the soft air pipe for the tunnel in advance;

[0461] When the device travels, the soft wind pipe in the wind cylinder bin is automatically released under tension and lays the stored soft wind pipe in the tunnel, which can reduce the labor intensity and improve the construction efficiency.

[0462] As a further scheme of the embodiment, the operation flow of the power vehicle 5 is specifically as follows:

[0463] The wind cylinder 5.7 is connected with the existing soft wind pipe of the tunnel, the high-voltage cable reel 5.6 is connected with the high-voltage cable of the tunnel and the 380V point is led out to other vehicles through the transformer 5.3 and the electric control compensation cabinet 5.1, and the water pipe reel 5.4 is connected with the clean water of the tunnel and led out to other vehicles for use.

[0464] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A UHPC spray forming apparatus, characterized in that, The equipment includes a repair vehicle (1), a spraying vehicle (2), an automatic mixing pump truck (3), an automatic feeding vehicle (4), and a power vehicle (5) arranged sequentially along the tunnel extension direction. The trimming vehicle (1) includes a first electric railcar (1.3) and a trimming device (1.6) mounted on the first electric railcar (1.3). The first electric railcar (1.3) is connected to a reserved tunnel track and is used to move the trimming vehicle (1) within the tunnel. The trimming device (1.6) includes a trimming manipulator (1.6.1) and a scraper (1.6.3) connected to each other. One end of the trimming manipulator (1.6.1) is connected to the first electric railcar (1.3), and the scraper (1.6.3) is used to trim the sprayed surface. The spray vehicle (2) includes a second electric railcar (2.1) and a UHPC nozzle device (2.13) mounted on the second electric railcar (2.1); the second electric railcar (2.1) is connected to a reserved tunnel track and is used to drive the spray vehicle (2) to move as a whole in the tunnel; the UHPC nozzle device (2.13) is used to realize UHPC spraying; The automatic mixing pump truck (3) includes a third electric railcar (3.1) and a UHPC mixing host (3.4) and a UHPC pumping system (3.5) mounted on the third electric railcar (3.1). The third electric railcar (3.1) is connected to the reserved tunnel track and is used to drive the automatic mixing pump truck (3) to move as a whole in the tunnel. The UHPC mixing host (3.4) is used for UHPC mixing preparation, real-time material observation and automatic material discharge. The UHPC pumping system (3.5) is connected to the UHPC mixing host (3.4) and is used to hold the UHPC finished material after it has been mixed by the UHPC mixing host (3.4) and pump it out. The automatic feeding vehicle (4) includes a fourth electric railcar (4.10) and a screw conveyor (4.13) mounted on the fourth electric railcar (4.10). The fourth electric railcar (4.10) is connected to a reserved tunnel track and is used to drive the automatic feeding vehicle (4) to move as a whole within the tunnel. The screw conveyor (4.13) is used to transport UHPC dry mix. The power vehicle (5) includes a fifth electric railcar (5.2) and a power supply structure and a water supply structure installed on the fifth electric railcar (5.2). The power supply structure and the water supply structure are used to introduce power and water from external equipment to meet the operational needs of the UHPC spray molding equipment. The fifth electric railcar (5.2) is connected to the reserved tunnel track to drive the power vehicle (5) to move on the tunnel track.

2. The UHPC slip forming apparatus of claim 1, wherein, The repair vehicle (1) also includes a sliding air storage duct (1.1) mounted on the frame of the first electric railcar (1.3). The sliding air storage duct (1.1) includes a variable diameter air duct (1.1.2), an air storage duct (1.1.3), and a sliding air duct (1.1.4). One end of the variable diameter air duct (1.1.2) is connected to one end of the air storage duct (1.1.3), and the other end of the variable diameter air duct (1.1.2) is connected to the external small air duct. The other end of the air storage duct (1.1.3) is slidably connected to one end of the sliding air duct (1.1.4); The other end of the sliding air duct (1.1.4) is connected to the tunnel flexible air duct, which is used to guide the tunnel flexible air duct to slide into the air storage duct (1.1.3) when the repair vehicle (1) is in motion.

3. The UHPC slip forming apparatus according to claim 1 or 2, characterized in that The repair vehicle (1) also includes a swivel frame system (1.5) for connecting the repair device (1.6) and the first electric railcar (1.3). The rotating frame system (1.5) includes a rotating frame (1.5.1) and a telescopic sliding mechanism (1.5.2); the rotating frame (1.5.1) is assembled onto the telescopic sliding mechanism (1.5.2) by means of a sleeve slider, and is used to support the jet vehicle (2); the telescopic sliding mechanism (1.5.2) is fixed to the frame of the first electric railcar (1.3) by bolts, and is used to drive the rotating frame (1.5.1) to telescopically slide in two degrees of freedom in the radial direction.

4. The UHPC slip forming apparatus of claim 3, wherein, The rotating frame (1.5.1) includes a first telescopic section, a connecting section, and a second telescopic section connected in sequence. The first telescopic section and the second telescopic section are symmetrically arranged along the connecting section. At least one set of telescopic sliding mechanism (1.5.2) is provided on both the first telescopic section and the second telescopic section. The first telescopic section and the connecting section are telescopically slid relative to each other and in the radial direction relative to each other through the telescopic sliding mechanism (1.5.2). The telescopic sliding mechanism (1.5.2) includes a first sleeve, a second sleeve, and a first hydraulic cylinder for driving the first sleeve and the second sleeve to telescopically extend relative to each other. The first sleeve and the second sleeve are nested together. One end of the first hydraulic cylinder is connected to the first sleeve, and the other end of the first hydraulic cylinder is connected to the second sleeve. The end of the first sleeve away from the second sleeve is connected to the rotating frame (1.5.1), and the end of the second sleeve away from the first sleeve is connected to the frame of the first electric railcar (1.3).

5. The UHPC spray molding equipment according to claim 4, characterized in that, The repair vehicle (1) also includes a first blocking device (1.7). The first blocking device (1.7) includes a blocking bar (1.7.3) and an electric hoist (1.7.1) mounted on the blocking bar (1.7.3). One end of the barrier bar (1.7.3) is rotatably connected to the first electric railcar (1.3), and the other end of the barrier bar (1.7.3) is connected to the drive end of the electric hoist (1.7.1). The fixed end of the electric hoist (1.7.1) is connected to the frame of the first electric railcar (1.3) to provide traction force to the barrier bar (1.7.3).

6. The UHPC spray molding equipment according to claim 5, characterized in that, The repair vehicle (1) also includes a water pipe reel (1.8); The fixed end of the water pipe reel (1.8) is fixedly connected to the frame of the first electric railcar (1.3), and the movable end of the water pipe reel (1.8) can be used to connect to external equipment so as to introduce water from the external equipment into the tunnel.

7. The UHPC spray molding equipment according to any one of claims 4-6, characterized in that, The repair vehicle (1) also includes a radar warning device (1.7.2). The radar alarm device (1.7.2) is bolted to the frame of the first electric railcar (1.3) and is used to detect and alarm whether there is a vehicle approaching the repair car (1).

8. The UHPC spray molding equipment according to claim 7, characterized in that, The UHPC nozzle assembly (2.13) includes a three-axis rotating assembly, a nozzle assembly, and a float seat (2.10.6). One end of the three-axis rotating assembly is connected to the floating head seat (2.10.6), and the other end of the three-axis rotating assembly is connected to the nozzle assembly, which is used to drive the nozzle assembly to rotate relative to the floating head seat (2.10.6) in the X-axis, Y-axis and Z-axis directions; The nozzle assembly includes a mixer valve body (2.13.6), a UHPC nozzle (2.13.8), and a connecting pipe. The mixer valve body (2.13.6) is connected to a three-axis rotating assembly, and the UHPC nozzle (2.13.8) is connected to the mixer valve body (2.13.6). The UHPC nozzle (2.13.8) has a conical cavity and a straight cavity spaced apart from each other. The conical cavity is used to mix high-pressure air, accelerator, and UHPC, and the straight cavity is used to constrain the concrete spraying diffusion angle. The connecting pipe is used to connect the mixer valve body (2.13.6) and the mortar conveying structure for conveying concrete. The floating head seat (2.10.6) is used to install the UHPC nozzle assembly (2.13).

9. The UHPC spray molding equipment according to claim 1 or 8, characterized in that, The injection vehicle (2) also includes a high-pressure air system (2.3), a quick-setting agent metering system (2.4), and an intelligent scanning system (2.11) mounted on the frame of the second electric railcar (2.1). The high-pressure air system (2.3) is used to provide high-pressure air to the UHPC nozzle assembly (2.13); The accelerator metering system (2.4) is used to provide a precise accelerator dosage to the UHPC nozzle device (2.13); The intelligent scanning system (2.11) is used for real-time scanning and recognition of the tunnel profile.

10. The UHPC spray molding equipment according to claim 9, characterized in that, The jet vehicle (2) also includes a telescopic cantilever beam (2.2); One end of the telescopic cantilever beam (2.2) is connected to the second electric railcar (2.1) by bolts, and the other end of the telescopic cantilever beam (2.2) is connected to the third electric railcar (3.1) in the automatic mixing pump car (3) by bolts, which is used to connect the cables, water pipes and conveying pipelines hanging between the spraying vehicle (2) and the automatic mixing pump car (3).

11. The UHPC spray molding equipment according to claim 10, characterized in that, The spray vehicle (2) also includes a chemical mist dust removal system (2.6) for removing dust generated by the UHPC nozzle device (2.13) during the spraying process. The chemical mist dust removal system (2.6) includes a dust collector (2.6.1), a replenishing water tank (2.6.2), a spray assembly (2.6.3), and a chemical water tank (2.6.4). The dust collector (2.6.1) consists of two parts respectively located on both sides of the second electric railcar (2.1) in the same direction of displacement. Both dust collectors (2.6.1) are fixed to the second electric railcar (2.1) by bolts and are used to extract small particles of dust in the tunnel environment. The replenishing water tank (2.6.2) is located on the same side as one of the dust collectors (2.6.1) and is fixed to the second electric railcar (2.1) by bolts, for providing a stable water source to the spray assembly (2.6.3); The spray assembly (2.6.3) is fixed to the second electric railcar (2.1) by a pipe clamp and is connected to the drug tank (2.6.4) for the settling of large dust particles in the tunnel environment; The drug tank (2.6.4) is bolted to the right side of the second electric railcar (2.1) and is used to add the drug to the spray assembly (2.6.3).

12. The UHPC spray molding equipment according to claim 10 or 11, characterized in that, The jet vehicle (2) also includes a swivel frame travel system (2.9). The rotating frame traveling system (2.9) is installed on the frame of the third electric railcar (3.1), and the rotating frame traveling system (2.9) includes a traveling frame (2.9.1), a traveling trolley (2.9.2) and a second telescopic sliding mechanism (2.9.3) disposed on the traveling frame (2.9.1). The walking frame (2.9.1) is configured as an arc-shaped arch structure, and multiple sets of second telescopic sliding mechanisms (2.9.3) are provided on the inner arc wall of the walking frame (2.9.1), and a walking track for the moving trolley (2.9.2) to move is provided on the outer arc wall of the walking frame (2.9.1). One end of a single second telescopic sliding mechanism (2.9.3) is connected to the traveling frame (2.9.1) via a sleeve slider, and the other end of the single second telescopic sliding mechanism (2.9.3) is connected to the frame of the third electric railcar (3.1). Multiple second telescopic sliding mechanisms (2.9.3) cooperate with each other to telescopically slide the traveling frame (2.9.1) relative to the third electric railcar (3.1) in two radial degrees of freedom.

13. The UHPC spray molding equipment according to claim 12, characterized in that, The jet vehicle (2) also includes a jet manipulator (2.10). The jetting manipulator (2.10) includes a telescopic arm structure and a pitching arm (2.10.4). One end of the telescopic arm structure is connected to the traveling trolley (2.9.2), and the other end of the telescopic arm structure is connected to one end of the pitching arm (2.10.4); The pitch arm (2.10.4) is configured as a parallel four-bar structure, and the other end of the pitch arm (2.10.4) is connected to the float seat (2.10.6).

14. The UHPC spray molding equipment according to claim 1 or 13, characterized in that, The UHPC mixing host (3.4) includes a mixing cylinder (3.4.2) and a mixing mechanism (3.4.4), a water mist system (3.4.8), and a motor drive mechanism (3.4.9) disposed on the mixing cylinder (3.4.2). The mixing cylinder (3.4.2) is fixed on the third electric railcar (3.1); The mixing mechanism (3.4.4) is connected to the motor drive mechanism (3.4.9) through a sealed passage through the mixing cylinder (3.4.2) and is used to repeatedly mix concrete in both directions. The water mist system (3.4.8) is fixed inside the mixing tank (3.4.2) and is used to add water required for concrete preparation and to apply high-pressure water to clean the inside of the mixing tank (3.4.2); The fixed end of the motor drive mechanism (3.4.9) is installed on the stirring cylinder (3.4.2), and the driving end of the motor drive mechanism (3.4.9) is connected to the stirring mechanism (3.4.4) to drive the stirring mechanism (3.4.4).

15. The UHPC spray molding equipment according to claim 14, characterized in that, The automatic mixing pump truck (3) also includes a water-reducing agent metering system (3.6) installed on the third electric railcar (3.1). The wheels of the third electric railcar (3.1) are matched and connected to the tunnel track to drive the automatic mixing pump car (3) as a whole to move on the tunnel track and to support other components of the automatic mixing pump car (3); The UHPC mixing host (3.4) is used for UHPC mixing preparation, real-time material observation and automatic material discharge; The UHPC pumping system (3.5) is connected to the UHPC mixing host (3.4) and is used to hold the UHPC finished material after it has been mixed by the UHPC mixing host (3.4) and pump it out. The water-reducing agent metering system (3.6) is connected to the UHPC mixing host (3.4) and is used to meter water and water-reducing agent and add the metered water and water-reducing agent to the UHPC mixing host (3.4).

16. The UHPC spray molding equipment according to claim 1 or 15, characterized in that, The automatic feeding vehicle (4) also includes a material flatbed vehicle (4.1), an automatic feeding system (4.4), a material bin check system (4.5), an automatic lifting system (4.6), a roller conveyor line (4.7), a first material bin (4.8), a relay ventilation pipe (4.9), a servo gripping system (4.11), and a material collection system (4.12). The material flatbed cart (4.1) is slidably connected to the tunnel track and is used to load and transport the first material box (4.8) to the automatic feeding system (4.4); The automatic feeding system (4.4) is fixed on the fourth electric railcar (4.10) and is used to automatically grab the first material box (4.8) and fill it into the roller conveyor line (4.7). The material bin checkpoint system (4.5) is fixed on the fourth electric railcar (4.10) and is used to determine the load condition of the first material bin (4.8) and thus decide whether the first material bin (4.8) is filled into the roller conveyor line (4.7) or unloaded onto the material flatbed car (4.1). The automatic lifting system (4.6) is fixed on the fourth electric railcar (4.10) and is used to lift or lower the first material box (4.8). It works in conjunction with the roller conveyor line (4.7) and the material box gate system (4.5) to realize the reverse unloading of the empty first material box (4.8) and the forward filling of the full first material box (4.8). The roller conveyor (4.7) is fixed on the fourth electric railcar (4.10) for reliable conveying of the first hopper (4.8); The first hopper (4.8) is placed on the roller conveyor line (4.7) for loading, storing and transferring UHPC dry mix; The relay ventilation pipe (4.9) is fixed on the fourth electric railcar (4.10) and is used for the relay of tunnel ventilation pipes; The servo gripping system (4.11) is fixed on the fourth electric railcar (4.10) and is used for the automatic gripping and placement of the first material box (4.8); The collection system (4.12) is fixed on the fourth electric railcar (4.10) and is used for the collection, screening and weighing of UHPC dry mix, and works with the screw conveyor (4.13) to complete the feeding. The screw conveyor (4.13) is connected to both the collection system (4.12) and the fourth electric railcar (4.10) for conveying the UHPC dry mix in the collection system (4.12).

17. The UHPC spray molding equipment according to claim 16, characterized in that, The material flatbed cart (4.1) includes an electronic tag (4.1.1), an electric flatbed cart (4.1.2), a second material box (4.1.3), and a positioning frame (4.1.4). The electronic tag (4.1.1) is magnetically attached to the electric flatbed cart (4.1.2) to receive the loading signal from the equipment and flash the indicator light. After receiving the signal, the staff will lift the positioning frame (4.1.4) and the second material box (4.1.3) placed on it onto the electric flatbed cart (4.1.2) for transportation. The electric flatbed cart (4.1.2) is placed on the tunnel track by gravity to carry and transport the first material box (4.8). The positioning frame (4.1.4) is placed on the electric flatbed cart (4.1.2) by gravity. The positioning frame (4.1.4) is provided with a placement position for the second material box (4.1.3) for centralized positioning, placement and transportation of the first material box (4.8).

18. The UHPC spray molding equipment according to claim 16, characterized in that, The automatic material replenishment system (4.4) includes a hoisting rail (4.4.1), an electric magnetic lifting device (4.4.2), and a tag reader (4.4.3). The hoisting rail (4.4.1) is fixed on the fourth electric railcar (4.10) and is used for the movement of the electric magnetic lifting device (4.4.2); The electric magnetic lifting device (4.4.2) has two parts respectively set on both sides of the lifting track (4.4.1). Each electric magnetic lifting device (4.4.2) is embedded into the lifting track (4.4.1) by rollers and is used to lift the first material box (4.8). The tag reader (4.4.3) is provided with two pieces that correspond one-to-one with the two electric magnetic suction hangers (4.4.2), and each tag reader (4.4.3) is fixed on a single electric magnetic suction hanger (4.4.2).

19. The UHPC spray molding equipment according to claim 16, characterized in that, The hopper checkpoint system (4.5) includes a first roller conveyor platform (4.5.1), a first weighing sensor (4.5.3), and a first contact sensor (4.5.4). The first roller conveyor platform (4.5.1) is installed on the fourth electric railcar (4.10) for rolling conveying of the first material box (4.8). The first weighing sensor (4.5.3) is fixed on the first roller conveyor platform (4.5.1) and is used to weigh the first hopper (4.8); The first contact sensor (4.5.4) is fixed on the first roller conveyor platform (4.5.1) to detect when the first material box (4.8) is fully transported to the first roller conveyor platform (4.5.1), and through cooperation with the first weighing sensor (4.5.3), it realizes the filling of the full first material box (4.8) or the unloading of the empty first material box (4.8).

20. The UHPC spray molding equipment according to claim 16, characterized in that, The automatic lifting system (4.6) includes a second roller conveyor platform (4.6.1), a second contact sensor (4.6.2), and a balancing lifting device (4.6.3). The second roller conveyor platform (4.6.1) is installed on the balance lifting device (4.6.3) and is used to convey the first material box (4.8). The second contact sensor (4.6.2) is fixed on the second roller conveyor platform (4.6.1) and is used to detect whether the first material box (4.8) has been transported to the position on the second roller conveyor platform (4.6.1); The balancing lifting device (4.6.3) is placed on the fourth electric railcar (4.10) via rollers for lifting the second roller conveyor platform (4.6.1).

21. The UHPC spray molding equipment according to claim 16, characterized in that, The roller conveyor line (4.7) includes a lower conveyor unit (4.7.1), an upper conveyor unit (4.7.2), a third weighing sensor (4.7.4), and a third contact sensor (4.7.5). The lower conveying unit (4.7.1) is fixed on the fourth electric railcar (4.10) and is used for the cyclic conveying of the first material box (4.8); The upper conveying unit (4.7.2) is fixed on the fourth electric railcar (4.10) and is used for the cyclic conveying of the first material box (4.8); The third weighing sensor (4.7.4) is fixed on the upper conveying unit (4.7.2) and is used to roughly weigh the weight of the first material box (4.8); The third contact sensor (4.7.5) is fixed on the upper conveying unit (4.7.2) and the lower conveying unit (4.7.1) and is used to detect the position of the first hopper (4.8) on the upper conveying unit (4.7.2) and the lower conveying unit (4.7.1).

22. The UHPC spray molding equipment according to claim 16, characterized in that, The first material bin (4.8) includes a box frame (4.8.1), a grab hook (4.8.2), an irregular wall panel (4.8.3), a material bin door (4.8.4), a hoisting hook (4.8.5), a sliding door (4.8.6), a stacking seat (4.8.7), a door lock nail (4.8.8), a spring lock hook (4.8.9), a stacking plate (4.8.10), a protective plate (4.8.11), a spring lock (4.8.12), and a forklift groove (4.8.13). The box frame (4.8.1) is placed on the roller conveyor line (4.7) by gravity, and is used for the first material box (4.8) to bear the force during hoisting, forklifting, grabbing and rolling. The gripping hook (4.8.2) is fixed on the box frame (4.8.1) and is used for gripping the first material box (4.8); The irregularly shaped wall panel (4.8.3) is fixed to the box frame (4.8.1) and is used to load UHPC dry mix; The hopper door (4.8.4) is fixed to the hopper frame (4.8.1) and is used to close the filling port of the first hopper (4.8); The lifting hook (4.8.5) is fixed on the box frame (4.8.1) and is used for lifting the first material box (4.8); The sliding door (4.8.6) is fitted onto the box frame (4.8.1) with a clearance fit, and is used for closing and unloading the first material box (4.8); The stacking seat (4.8.7) is fixed to the upper surface of the box frame (4.8.1) and is used to limit the position when multiple first material boxes (4.8) are stacked; The door lock pin (4.8.8) is fixed on the sliding door (4.8.6) and is used to lock the door in conjunction with the spring lock hook (4.8.9); The spring-loaded door hook (4.8.9) is fixed on the box frame (4.8.1) and is used to work with the door lock nail (4.8.8) to elastically lock the sliding door (4.8.6). The stacking plate (4.8.10) is fixed to the lower surface of the box frame (4.8.1) and is used to limit the position when multiple first material boxes (4.8) are stacked. The protective plate (4.8.11) is fixed to the box frame (4.8.1) to prevent UHPC dry mix from falling onto the edge of the sliding door (4.8.6) and to prevent the sliding door (4.8.6) from sliding. The spring lock (4.8.12) is fixed to the box frame (4.8.1) and is used for automatic locking of the box door (4.8.4); The forklift chute (4.8.13) is fixed on the box frame (4.8.1) and is used for forklifting of the first hopper (4.8).

23. The UHPC spray molding equipment according to claim 16, characterized in that, The servo gripping system (4.11) includes a gripping frame (4.11.1), a sliding platform (4.11.2), a servo motor system (4.11.3), an electric cylinder (4.11.4), a gripping mechanism (4.11.5), and a sliding track (4.11.6). The gripping frame (4.11.1) is fixed on the fourth electric railcar (4.10) and is used to carry all the working devices of the servo gripping system (4.11); The sliding platform (4.11.2) is fitted onto the sliding rail (4.11.6) via a slider, and is used to support the servo motor system (4.11.3) and the electric cylinder (4.11.4). The servo motor system (4.11.3) is fixed on the sliding platform (4.11.2), and the gears on the servo motor system (4.11.3) cooperate with the rack on the gripping frame (4.11.1); The fixed end of the electric cylinder (4.11.4) is fixed on the sliding platform (4.11.2), and the output end of the electric cylinder (4.11.4) is connected to the gripping mechanism (4.11.5) for the vertical extension and retraction of the gripping mechanism (4.11.5). The gripping mechanism (4.11.5) is fixed on the sliding platform (4.11.2) and is used for gripping the first material box (4.8); The sliding track (4.11.6) is fixed on the gripper frame (4.11.1) and is used for sliding the sliding platform (4.11.2).

24. The UHPC spray molding equipment according to claim 16, characterized in that, The material collection system (4.12) includes a material collection box (4.12.1), a weighing limiter (4.12.2), a top hook shoe (4.12.3), a UHPC screen (4.12.4), a push-pull cylinder (4.12.5), a box holder (4.12.6), and a screw conveyor (4.12.9). The collection bin (4.12.1) is fixed on the weighing limiter (4.12.2) and is used to hold and screen UHPC dry mix. The weighing limiter (4.12.2) is fixed on the fourth electric railcar (4.10) and is used to weigh the weight of the collection box (4.12.1); The top hook shoe (4.12.3) is fixed on the collection box (4.12.1) and is used to support the spring lock hook (4.8.9) of the first material box (4.8). The UHPC screen (4.12.4) is placed into the collection box (4.12.1) by gravity to screen for large aggregates that may occasionally be mixed into the UHPC dry mix; The push-pull cylinder (4.12.5) is fixed on the collection box (4.12.1) and is used to control the opening and closing of the push-pull door (4.8.6) of the first material box (4.8); The card holder (4.12.6) is fixed on the collection box (4.12.1) to limit the shaking of the first material box (4.8); The screw conveyor (4.12.9) is fixed on the collection box (4.12.1) and is used to convey the UHPC dry mix in the collection box (4.12.1).

25. The UHPC spray molding equipment according to any one of claims 17-24, characterized in that, The power vehicle (5) includes an electrical control compensation cabinet (5.1), a transformer (5.3), a water pipe reel (5.4), an axial flow fan (5.5), a high-voltage cable reel (5.6), and a continuous air duct (5.7). The electrical control compensation cabinet (5.1) is fixed on the fifth electric railcar (5.2) and is used for the distribution and output of 380V low voltage electricity, to improve the stability of the power system and extend the life of the power equipment. The high-voltage cable reel (5.6) is fixed on the fifth electric railcar (5.2) and is used to introduce 10kV / 20kV high voltage from the tunnel for equipment use; The transformer (5.3) is fixed on the fifth electric railcar (5.2) and is used for 10kV / 20kV voltage transformation; The water pipe reel (5.4) is fixed on the fifth electric railcar (5.2) and is used to introduce water from the tunnel for the equipment. The axial flow fan (5.5) is fixed on the fifth electric railcar (5.2) and is used to compensate for the air volume leakage caused by the damage to the tunnel ventilation duct; The ventilation duct (5.7) is fixed on the fifth electric railcar (5.2) and is used to connect the tunnel ventilation pipeline.

26. The UHPC spray molding equipment according to claim 25, characterized in that, The power vehicle (5) also includes a second blocking device (5.8); the second blocking device (5.8) is fixed on the fifth electric railcar (5.2) and is used to detect and block material vehicles passing through the tunnel.

27. A construction method for a UHPC spray molding equipment, characterized in that, The following workflow is included: S1. The power vehicle draws power and clean water from external equipment to meet the operational needs of the UHPC spray molding equipment as described in any one of claims 1-26. S2. The automatic feeding vehicle starts to automatically fill and transport the material box to the collection system, and then the UHPC dry mixture of the collection system (4.12) is transported to the UHPC mixing host of the automatic mixing pump truck by the screw conveyor. S3. Start the water-reducing agent metering system and add water and water-reducing agent to prepare UHPC. After the UHPC preparation is completed, put all the finished material into the UHPC pumping system to start pumping and prepare the next cycle of UHPC finished material. S4. Start the high-pressure air system, quick-setting agent metering system and intelligent scanning system of the injection vehicle to begin UHPC intelligent injection; S5. Start the trim vehicle and trim the spray surface using the intelligent scanning system to complete the UHPC spraying task; S6. Adjust the vehicle and move it to the next work position to start the next cycle of work.

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