Spraying and grabbing all-in-one machine and high slope construction technology

Abstract

The invention relates to the technical field of guniting equipment, in particular to a spraying and grabbing all-in-one machine which comprises a trolley body, a net grabbing mechanism and a spraying mechanism, the net grabbing mechanism and the spraying mechanism are movably arranged on the two sides of the trolley body, the net grabbing mechanism comprises a net hanging arm, a service platform and a net hanging assembly, and one end of the net hanging arm is rotationally arranged on one side of the trolley body; the service platform is movably arranged at the other end of the net hanging arm, the net hanging assembly is movably arranged on the outer side of the service platform, the spraying mechanism comprises a spraying arm and a spraying assembly, one end of the spraying arm is rotationally arranged on the other side of the trolley body, and the spraying assembly is movably arranged at the other end of the spraying arm. The invention further provides a high slope construction technology. According to the spraying and grabbing all-in-one machine and the high slope construction technology, the spraying arm and the net hanging arm work cooperatively, net piece grabbing and laying, sash beam hoisting and laying and guniting are integrated, and meanwhile the concrete spraying quality and the construction efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of shotcrete equipment technology, specifically to a shotcrete-grab integrated machine and a high slope construction process. Background Technology

[0002] High slope support plays a crucial role in hydropower station construction, effectively preventing geological disasters, ensuring construction and operational safety, and extending the project's lifespan. Currently, slope support methods include frame beams and shotcrete with wire mesh. However, the wire mesh is mostly laid manually, resulting in low efficiency and poor safety. Shotcrete equipment, such as concrete wet spraying trolleys and spraying robots, lacks adaptability to complex geological conditions, and their spraying path planning and spraying volume control are not precise enough. In recent years, research on slope support equipment and construction methods has emerged. For example, application number CN202211427488.7 proposes a prestressed anchor cable frame-composite mesh retaining structure and construction method, but lacks dedicated integrated equipment; application number CN202421257020.2 proposes a wire mesh device for concrete spraying, which improves spraying quality by fixing steel mesh, but lacks the wire mesh device itself; and application number CN202311683340.4's slope wire mesh anchor spraying support device focuses on the single function of anchor spraying operations, failing to address the coordination issues of multiple processes. Overall, slope protection mainly relies on manual installation of mesh or individual equipment. For example, concrete spraying machines and rebar tying equipment often work independently, lacking the ability to coordinate operations. The level of integration between equipment remains low, resulting in low construction efficiency. Therefore, there is an urgent need for an integrated spraying and grabbing machine and a high slope construction technology to solve the above problems. Summary of the Invention

[0003] To address the technical problem that slope protection mainly relies on manual mesh installation or separate equipment, such as concrete spraying machines and rebar tying equipment, which often operate independently and lack collaborative capabilities, resulting in low integration between equipment and low construction efficiency, this invention provides a spraying and grabbing integrated machine and a high slope construction process. The spraying arm and mesh-installing arm work together to integrate mesh grabbing and laying, frame beam lifting and laying, and spraying into one unit. This avoids the safety and quality instability problems of manual construction, and also solves the problems of low construction efficiency caused by the separation of processes in single mechanized equipment, poor accuracy due to repeated positioning in each stage, and weak adaptability to complex geological conditions. At the same time, it also improves the quality and construction efficiency of sprayed concrete.

[0004] This invention provides a spray-grab integrated machine, including a trolley body, a net-grabbing mechanism, and a spraying mechanism. The net-grabbing mechanism and the spraying mechanism are movably disposed on both sides of the trolley body. The net-grabbing mechanism includes a net-hanging arm, a service platform, and a net-hanging assembly. One end of the net-hanging arm is rotatably disposed on one side of the trolley body, the service platform is movably disposed on the other end of the net-hanging arm, and the net-hanging assembly is movably disposed outside the service platform. The spraying mechanism includes a spraying arm and a spraying assembly. One end of the spraying arm is rotatably disposed on the other side of the trolley body, and the spraying assembly is movably disposed on the other end of the spraying arm.

[0005] Furthermore, the spraying arm includes a first slewing support, an inner spraying arm, an outer spraying arm, and a four-stage telescopic arm. The first slewing support is rotatably mounted on the other side of the trolley body. One end of the inner spraying arm is rotatably connected to the first slewing support. A first pitch cylinder is rotatably mounted between the first slewing support and the inner spraying arm. The other end of the inner spraying arm is rotatably connected to one end of the outer spraying arm. A second pitch cylinder is rotatably mounted between the inner spraying arm and the outer spraying arm. One end of the four-stage telescopic arm is slidably mounted inside the other end of the outer spraying arm. The spraying assembly is movably mounted at the other end of the four-stage telescopic arm. The first slewing support provides rotational power for the inner spraying arm, outer spraying arm, and four-stage telescopic arm, and provides a larger working range for the spraying arm.

[0006] Furthermore, the spraying assembly includes a first rotary cylinder, a second rotary cylinder, a fixed frame, a motor, a swing arm, and a nozzle. The first rotary cylinder is fixedly mounted on the other end of the four-stage telescopic arm. The second rotary cylinder is fixedly mounted on the rotary shaft of the first rotary cylinder, and the second rotary cylinder is perpendicular to the first rotary cylinder. The fixed frame is fixedly mounted on the rotary shaft of the second rotary cylinder. The motor is fixedly mounted on the fixed frame, and the output shaft of the motor is fixedly connected to one end of the swing arm. A universal joint is provided on the fixed frame, and the other end of the swing arm is fixedly connected to the universal joint. A material tube seat is fixedly mounted on the swing arm, and a sleeve is fixedly mounted on the material tube seat. The nozzle is fixedly mounted on the sleeve. When the first rotary cylinder is activated, it drives the second rotary cylinder to rotate circumferentially; when the second rotary cylinder is activated, it drives the fixed frame to rotate circumferentially. Because the nozzle is movably mounted on the fixed frame, the final adjustment of the nozzle swing angle is achieved. The motor starts and drives the swing arm to rotate. However, since the other end of the swing arm is fixedly connected to the universal joint, the universal joint rotates itself, thereby driving the swing arm to swing at a small angle. Finally, the nozzle swings at a small angle to spray grout, ensuring uniform grout spraying.

[0007] Furthermore, it also includes an auxiliary suspension assembly, which includes a secondary winch and a secondary hook. The secondary winch is fixedly mounted on the first slewing support. A first pulley is rotatably mounted on the other end of the inner spraying arm, and a second pulley is rotatably mounted on one end of the outer spraying arm. Two limit wheels are rotatably mounted on the other end of the four-stage telescopic boom, and the two limit wheels are arranged opposite each other. The cable on the secondary winch passes around the first and second pulleys and then passes between the two limit wheels, and is fixedly connected to the secondary hook. The spraying arm suspends one end of the frame beam, and the netting assembly suspends the other end of the frame beam, thereby lifting the frame beam and initially fixing it onto the slope surface of the high slope.

[0008] Furthermore, the net-hanging arm includes a second slewing support, an inner net-hanging arm, an outer net-hanging arm, and a three-stage telescopic arm. The second slewing support is rotatably mounted on one side of the trolley body. One end of the inner net-hanging arm is rotatably connected to the second slewing support. A third pitch cylinder is rotatably mounted between the second slewing support and the inner net-hanging arm. The other end of the inner net-hanging arm is rotatably connected to one end of the outer net-hanging arm. A fourth pitch cylinder is rotatably mounted between the inner and outer net-hanging arms. One end of the three-stage telescopic arm is slidably mounted inside the other end of the outer net-hanging arm. The service platform is movably mounted at the other end of the three-stage telescopic arm. The rotatable configuration of the second slewing support, in conjunction with the inner net-hanging arm, the outer net-hanging arm, and the three-stage telescopic arm, allows the service platform to have a very wide operating range.

[0009] Furthermore, railings are fixedly installed around the service platform, and emergency stop valves and operating handles are fixedly installed on the railings. A rebar tying machine, a main winch, and a connecting frame are fixedly installed outside the service platform. The cable on the main winch is fixedly connected to the main hook. A third rotary cylinder is fixedly installed at the other end of the three-stage telescopic boom. The rotary shaft of the third rotary cylinder is fixedly connected to the connecting frame. A fourth rotary cylinder is fixedly installed on the connecting frame. The rotary shaft of the fourth rotary cylinder is fixedly connected to the netting assembly.

[0010] Furthermore, the netting assembly includes a connecting arm, a movable arm, and a netting structure. The rotation shaft of the fourth rotary cylinder is fixedly connected to the connecting arm. One end of the movable arm is slidably disposed inside the other end of the connecting arm. A telescopic cylinder is rotatably mounted on the connecting arm, and the telescopic rod of the telescopic cylinder is rotatably connected to the other end of the movable arm. A fifth rotary cylinder is fixedly mounted on the other end of the movable arm, and the rotation shaft of the fifth rotary cylinder is fixedly connected to the netting structure. When the telescopic cylinder is activated, it drives the movable arm to slide on the connecting arm, increasing the working range of the netting structure. Simultaneously, when the fifth rotary cylinder is activated, it ensures that the netting structure can rotate circumferentially, maintaining multiple degrees of freedom and greater flexibility.

[0011] Furthermore, the hanging mesh structure includes a support frame, magnetic suction cups, and a nail gun. The support frame is fixedly mounted on the rotation shaft of the fifth rotary cylinder. A fixing sleeve is provided on the support frame, and two sliding rods are slidably arranged on the fixing sleeve. The end of each sliding rod is fixedly connected to a support plate. A double-rod hydraulic cylinder is rotatably arranged between the two support plates. Magnetic suction cups are fixedly arranged at both ends of each support plate. A nail gun can be adjusted and mounted on each support plate.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The spraying and grabbing integrated machine of the present invention integrates the spraying arm and the netting arm working in tandem, combining netting grabbing and laying (including rebar tying), frame beam lifting and laying, and spraying into one unit. It can avoid the safety and quality instability problems of manual construction, and also solve the problems of low construction efficiency caused by the separation of processes in single mechanized equipment, poor accuracy caused by the need for repeated positioning in each stage, and weak adaptability under complex geological conditions. At the same time, it improves the quality and construction efficiency of sprayed concrete.

[0013] This invention provides a construction process for high slopes, comprising the following steps: Step 1: The 3D laser scanner performs multi-station scanning of the high slope surface and transmits the data to the dual-display remote operation station. The dual-display remote operation station analyzes and processes the slope surface data of the high slope to obtain the concrete volume required for construction and the spraying path of the spraying and grabbing machine. Step 2: The spray-grab integrated machine first installs the mesh or frame beam to fix it on the slope surface of the high slope, and then performs the initial spraying. Step 3: The 3D laser scanner performs multi-station scanning of the slope surface after shotcreting to confirm whether the slope surface flatness meets the standard. Step 4: If the standard is met, the construction is complete; otherwise, the spraying and grabbing machine will perform a second spraying on the areas that need additional spraying, and then repeat step 3 until the standard is met.

[0014] Furthermore, in step one, the dual-display remote operation station compares the actual scanned contour with the standard slope surface using a point cloud data processing algorithm to accurately calculate the over-excavation and under-excavation values ​​and distribution of each area of ​​the high slope. The dual-display remote operation station then uses a triangular meshing algorithm and volume calculation method to determine the required concrete volume for the high slope surface. Based on the over-excavation and under-excavation values ​​and distribution, the dual-display remote operation station determines the spraying path of the spraying and grabbing integrated machine.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention's high slope construction process utilizes a 3D laser scanner and a spray-grab integrated machine to achieve automated spraying operations, meeting the required thickness for construction work. Workers can remotely control the entire process—from grabbing the mesh or frame beam to positioning and laying, to automatic temporary fixing, and finally spraying concrete—via a dual-display remote control station. Seamless integration between procedures eliminates waiting time, fundamentally breaking through efficiency bottlenecks and realizing a "production line" style mechanized construction for slope support. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a spray-grip integrated machine according to Embodiment 1 of the present invention; Figure 2 This is a side view of the spray arm according to Embodiment 1 of the present invention; Figure 3 This is Embodiment 1 of the present invention. Figure 2 Enlarged structural diagram of A in the middle; Figure 4 This is a bottom view structural diagram of the spray arm according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the spray assembly according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the hanging arm according to Embodiment 1 of the present invention; Figure 7 This is Embodiment 1 of the present invention. Figure 6 Enlarged structural diagram of B in the middle; Figure 8 This is a schematic diagram of the service platform according to Embodiment 1 of the present invention; Figure 9 This is a side view of the hanging net structure according to Embodiment 1 of the present invention; Figure 10 This is a top view schematic diagram of the hanging net structure according to Embodiment 1 of the present invention; Figure 11 This is a schematic flowchart of the high slope construction process according to Embodiment 2 of the present invention; The numbers on the map are: 1. Main body of the trolley; 11. Driver's cab; 12. Control box; 13. Hydraulic outriggers; 14. Storage trough; 15. Storage tank; 16. First base; 161. First slewing bearing; 1611. First large gear; 2. Net hanging arm; 21. Second slewing support; 22. Inner net hanging arm; 23. Outer net hanging arm; 24. Three-stage telescopic arm; 241. First net hanging frame; 242. Second net hanging frame; 243. Third net hanging frame; 24 4. Three-stage mesh hanging cylinder; 25. Third pitch cylinder; 26. Fourth pitch cylinder; 27. Third slewing cylinder; 3. Service platform; 31. Railing; 32. Operating handle; 33. Rebar tying machine; 34. Main winch; 35. Connecting frame; 36. Fourth slewing cylinder; 4. Mesh hanging assembly; 41. Connecting arm; 42. Moving arm; 43. Telescopic cylinder; 44. Fifth slewing cylinder; 45. Support frame; 451. Fixing sleeve ; 4511, Slide bar; 46, Magnetic suction cup; 461, U-shaped slot; 47, Nail gun; 48, Support plate; 481, Screw; 49, Double-rod hydraulic cylinder; 5, Spray arm; 51, First slewing support; 512, First motor; 52, Inner spray arm; 53, Outer spray arm; 54, Four-stage telescopic arm; 541, First spray frame; 542, Second spray frame; 543, Third spray frame; 544, Fourth spray frame; 55. First pitch cylinder; 56. Second pitch cylinder; 6. Spray assembly; 61. First slewing cylinder; 62. Second slewing cylinder; 63. Fixing frame; 64. Motor; 65. Swing arm; 66. Nozzle; 67. Universal joint; 68. Material tube seat; 681. Four-way block; 69. Sleeve; 7. Auxiliary hanging assembly; 71. Secondary winch; 72. Secondary hook; 73. First pulley; 74. Secondary pulley; 75. Limit wheel. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] like Figures 1-10As shown in Embodiment 1, a spray-grab integrated machine includes a trolley body 1, a net-grabbing mechanism, and a spraying mechanism. The net-grabbing mechanism and the spraying mechanism are movably disposed on both sides of the trolley body 1. The net-grabbing mechanism includes a net-hanging arm 2, a service platform 3, and a net-hanging assembly 4. One end of the net-hanging arm 2 is rotatably disposed on one side of the trolley body 1, the service platform 3 is movably disposed on the other end of the net-hanging arm 2, and the net-hanging assembly 4 is movably disposed outside the service platform 3. The spraying mechanism includes a spraying arm 5 and a spraying assembly 6. One end of the spraying arm 5 is rotatably disposed on the other side of the trolley body 1, and the spraying assembly 6 is movably disposed on the other end of the spraying arm 5. The drive method of the trolley body 1 is existing technology and will not be described in detail here. A driver's cab 11 and a control box 12 are provided on the trolley body 1. The operator sits in the driver's cab 11 to control the movement of the trolley body 1, and the control box 12 controls all components. The trolley body 1 has a wheeled walking mechanism, which provides greater flexibility and relocation efficiency, making it suitable for slope support scenarios with multi-point construction. Under special geological conditions, it can be replaced with a tracked mechanism. The trolley body 1 is designed with a rigid chassis and is equipped with hydraulic outriggers 13 (the hydraulic outriggers 13 are retractable; their structure is existing technology and will not be described in detail here). The hydraulic outriggers 13 improve stability during operation and reduce overturning moment.

[0019] This embodiment of the spraying and grabbing integrated machine can grab and install various support materials such as mesh panels and frame beams. Specifically, the trolley body 1 moves to the road near the slope surface of the high slope, and the worker stands on the service platform 3. The mesh hanging arm 2 is activated to position the service platform 3 and the mesh hanging assembly 4 at the high point of the slope surface. The worker stands on the service platform 3 and operates the mesh hanging assembly 4, which grabs the mesh panels and initially fixes them to the slope surface of the high slope (the steel bars between two adjacent mesh panels can also be bound). Alternatively, the spraying arm 5 is activated in conjunction with the mesh hanging assembly 4 to lift the frame beams and initially fix them to the slope surface of the high slope. Then, the spraying arm 5 is activated and drives the spraying assembly 6 to spray grout (spray concrete), thus fixing the mesh panels or frame beams to the slope surface of the high slope.

[0020] The spraying and grabbing integrated machine in this embodiment can accurately install high slope support materials such as mesh and frame beams. The mesh and heavy frame beams are installed safely and efficiently in tandem. Then, the mesh and frame beams are automatically sprayed with grout. This improves the intelligence level and operational safety of high slope support construction equipment, and the seamless connection between processes eliminates waiting time, fundamentally breaking through the efficiency bottleneck and realizing "assembly line" mechanized construction of high slope support.

[0021] In this embodiment, the spraying and grabbing integrated machine, with the spraying arm 5 and the mesh hanging arm 2 working together, integrates mesh grabbing and laying (including rebar tying), frame beam lifting and laying, and spraying into one unit. This avoids the safety and quality instability problems of manual construction, and also solves the problems of low construction efficiency caused by the separation of processes in single mechanized equipment, poor accuracy caused by the need for repeated positioning in each stage, and weak adaptability under complex geological conditions. At the same time, it also improves the quality and construction efficiency of sprayed concrete.

[0022] In one possible implementation, the spray arm 5 includes a first slewing support 51, an inner spray arm 52, an outer spray arm 53, and a four-stage telescopic arm 54. The first slewing support 51 is rotatably disposed on the other side of the trolley body 1. One end of the inner spray arm 52 is rotatably connected to the first slewing support 51. A first pitch cylinder 55 is rotatably disposed between the first slewing support 51 and the inner spray arm 52. The other end of the inner spray arm 52 is rotatably connected to one end of the outer spray arm 53. A second pitch cylinder 56 is rotatably disposed between the inner spray arm 52 and the outer spray arm 53. One end of the four-stage telescopic arm 54 is slidably disposed inside the other end of the outer spray arm 53. The spray assembly 6 is movably disposed at the other end of the four-stage telescopic arm 54.

[0023] The first slewing support 51 provides rotational power for the inner spray arm 52, the outer spray arm 53, and the four-stage telescopic arm 54, and provides a larger working range for the spray arm 5. The first slewing support 51 can rotate, making the working range of the inner spray arm 52, the outer spray arm 53, and the four-stage telescopic arm 54 a huge circular space centered on the trolley body 1, which not only increases the working space but also improves mobility.

[0024] The rotation of the first slewing support 51 drives the inner spraying arm 52, the outer spraying arm 53, and the four-stage telescopic arm 54 to rotate. The first pitch cylinder 55 activates, causing the inner spraying arm 52 to pitch, and the second pitch cylinder 56 activates, causing the outer spraying arm 53 to pitch. Finally, the four-stage telescopic arm 54 pitches relative to the outer spraying arm 53 and can extend and retract. Ultimately, the spraying assembly 6 can adjust its height and position as needed, enabling flexible long-distance spraying. The rotation of the first slewing support 51, in conjunction with the inner spraying arm 52, the outer spraying arm 53, and the four-stage telescopic arm 54, provides the spraying arm 5 with a wide working range, thus ensuring that the spraying assembly 6 meets the slope construction requirements of high slopes.

[0025] The first slewing support 51 is rotatably mounted on the other side of the trolley body 1. Specifically, a first base 16 is fixedly mounted on the other side of the trolley body 1, a first slewing bearing 161 is fixedly mounted on the first base 16, a first large gear 1611 is fixedly mounted on the outer bearing of the first slewing bearing 161, and the inner bearing of the first slewing bearing 161 is fixedly connected to the first slewing support 51. A first motor 512 is fixedly mounted on the first slewing support 51, and the output shaft of the first motor 512 is fixedly connected to a first small gear (not shown in the figure). The first small gear meshes with the first large gear 1611. When the first motor 512 starts, it drives the first small gear to rotate, and the first small gear meshes with the first large gear 1611. Since the first large gear 1611 rotates on the first base 16, the first small gear rotates circumferentially relative to the first large gear 1611, and the first slewing support 51 achieves circumferential rotation relative to the first large gear 1611.

[0026] One end of the spray inner arm 52 is rotatably connected to the first slewing support 51. Specifically, a first rotating shaft is rotatably mounted on the top of the first slewing support 51, with both ends of the first rotating shaft passing through the two sides of the top of the first slewing support 51 and capable of rotation. One end of the spray inner arm 52 is fixedly connected to the first rotating shaft. The spray inner arm 52 rotates relative to the first slewing support 51.

[0027] The bottom of the first pitch cylinder 55 is rotatably mounted on the first slewing support 51, and the telescopic rod of the first pitch cylinder 55 is rotatably connected to the inner spray arm 52. Specifically, a first hinge seat is fixedly mounted on the first slewing support 51, and a second hinge seat is fixedly mounted on the inner spray arm 52. The bottom of the first pitch cylinder 55 is rotatably connected to the first hinge seat via a pin, and the telescopic rod of the first pitch cylinder 55 is rotatably connected to the second hinge seat via a pin. When the first pitch cylinder 55 is activated, it causes the inner spray arm 52 to pitch, and the first pitch cylinder 55 rotates relative to the first slewing support 51 and the inner spray arm 52.

[0028] The other end of the inner spray arm 52 is rotatably connected to one end of the outer spray arm 53. Specifically, a third hinge seat is fixedly provided on the inner spray arm 52, and a fourth hinge seat is fixedly provided on the outer spray arm 53. The third hinge seat and the fourth hinge seat are rotatably connected by a pin.

[0029] The bottom of the second pitch cylinder 56 is rotatably mounted on the inner spray arm 52, and the extension rod of the second pitch cylinder 56 is connected to the outer spray arm 53. Specifically, a fifth hinge seat is fixedly mounted on the outer spray arm 53, and the bottom of the second pitch cylinder 56 is rotatably connected to the second hinge seat via a pin. The extension rod of the second pitch cylinder 56 is also rotatably connected to the fifth hinge seat via a pin. When the second pitch cylinder 56 is activated, it causes the outer spray arm 53 to pitch, and the second pitch cylinder 56 rotates relative to the inner spray arm 52 and the outer spray arm 53.

[0030] Preferably, the four-stage telescopic arm 54 includes a first spray frame 541, a second spray frame 542, a third spray frame 543, and a fourth spray frame 544. One end of the first spray frame 541 is slidably disposed inside the other end of the outer spray arm 53. One end of the second spray frame 542 is slidably disposed inside the other end of the first spray frame 541. One end of the third spray frame 543 is slidably disposed inside the other end of the second spray frame 542. One end of the fourth spray frame 544 is slidably disposed inside the other end of the third spray frame 543. The spray assembly 6 is movably disposed at the other end of the fourth spray frame 544. A first-stage spray cylinder is fixedly disposed inside the outer spray arm 53. The telescopic rod of the first-stage spray cylinder is fixedly connected to the first spray frame 541 and can drive the first spray frame 541 to slide. Similarly, a second-stage spray cylinder is fixedly disposed inside the first spray frame 541. The telescopic rod of the second-stage spray cylinder is fixedly connected to the second spray frame 542 and can drive the second spray frame 542 to slide. The second spray frame 542 has a three-stage spray cylinder fixedly installed inside. The telescopic rod of the third-stage spray cylinder is fixedly connected to the third spray frame 543 and can drive the third spray frame 543 to slide. The third spray frame 543 has a fourth-stage spray cylinder fixedly installed inside. The telescopic rod of the fourth-stage spray cylinder is fixedly connected to the fourth spray frame 544 and can drive the fourth spray frame 544 to slide. When the first-stage, second-stage, third-stage, and fourth-stage spray cylinders are activated, the first spray frame 541, second spray frame 542, third spray frame 543, and fourth spray frame 544 extend and retract, thereby extending and retracting the fourth-stage telescopic arm 54.

[0031] In one possible implementation, the spray assembly 6 includes a first rotary cylinder 61, a second rotary cylinder 62, a fixed frame 63, a motor 64, a swing arm 65, and a nozzle 66. The first rotary cylinder 61 is fixedly mounted at the other end of the four-stage telescopic arm 54, that is, the first rotary cylinder 61 is fixedly mounted at the other end of the fourth spray frame 544. The second rotary cylinder 62 is fixedly mounted on the rotation shaft of the first rotary cylinder 61, and the second rotary cylinder 62 is perpendicular to the first rotary cylinder 61. The fixed frame 63 is fixedly mounted on the rotation shaft of the second rotary cylinder 62, and the motor 64 is fixedly mounted on the fixed frame 63. The output shaft of the motor 64 is fixedly connected to one end of the swing arm 65, providing power for the movement of the swing arm 65. A universal joint 67 is provided on the fixed frame 63; the universal joint 67 is a cross universal joint, which makes the swing arm 65 more flexible, enabling the nozzle 66 to swing and spray at a small angle. The other end of the swing arm 65 is fixedly connected to the universal joint 67. A material tube seat 68 is fixedly provided on the swing arm 65, and a sleeve 69 is fixedly provided on the material tube seat 68. The sleeve 69 is fixed to the material tube seat 68 by a pipe clamp. The nozzle 66 is fixedly mounted on the sleeve 69, and the nozzle 66 is also fixed to the sleeve 69 by a pipe clamp. The first rotary cylinder 61 starts, driving the second rotary cylinder 62 to rotate circumferentially; the second rotary cylinder 62 starts, driving the fixed frame 63 to rotate circumferentially. Motor 64 starts, driving the swing arm 65 to rotate. However, since the other end of the swing arm 65 is fixedly connected to the universal joint 67, the universal joint 67 itself rotates, thereby driving the swing arm 65 to swing at a small angle. Finally, the nozzle 66 achieves small-angle swing spraying, ensuring uniform spraying. Equipped with a first slewing support 51, inner spraying arm 52, outer spraying arm 53, and four-stage telescopic arm 54, and combined with a multi-degree-of-freedom nozzle 66, the nozzle 66 achieves flexible spraying over long distances.

[0032] Preferably, a four-way block 681 is connected to the material pipe seat 68. The four-way block 681 simultaneously mixes the concrete, accelerator, high-pressure water, and high-pressure air pumped by the trolley body 1. The accelerator enables the concrete to set and solidify quickly, while the high-pressure water and high-pressure air cause the concrete to be uniformly atomized and sprayed at high speed. The high-speed concrete mixed by the four-way block 681 reaches the material pipe seat 68, and the concrete mixture passes through the material pipe seat 68 and the sleeve 69 in sequence to reach the nozzle 66, where it is sprayed out at high speed.

[0033] The trolley body 1 has a concrete storage tank 14 fixedly installed at the end furthest from the driver's cab 11. A pressure pump is fixedly installed on the trolley body 1, and the pressure pump transports the concrete in the storage tank 14 to the four-way block 681 through a first pipeline. A accelerator storage tank 15 is fixedly installed in the middle of the trolley body 1, and a metering pump is fixedly installed on the trolley body 1, and the metering pump transports the accelerator in the storage tank 15 to the four-way block 681 through a second pipeline. A high-pressure water circuit and an air circuit system are also provided. The high-pressure water circuit may include a water tank, water pump, water pipes, water valves, etc.; the purpose of the high-pressure water circuit is to transport high-pressure water from the water tank to the four-way block 681 through the water pipes. The high-pressure air circuit may include an air compressor, air tank, air pipes, etc.; the purpose of the high-pressure air circuit is to transport high-pressure air from the air tank to the four-way block 681 through the air compressor.

[0034] Preferably, the second rotary cylinder 62 is also provided with a protective cover. The protective cover is mainly to protect the second rotary cylinder 62 and prevent concrete splashes from damaging it.

[0035] As one possible implementation, an auxiliary suspension assembly 7 is also included. The auxiliary suspension assembly 7 includes a secondary winch 71 and a secondary hook 72. The structure of the secondary winch 71 is existing technology and will not be described in detail here. The secondary winch 71 is fixedly mounted on the first slewing support 51. A first pulley 73 is rotatably mounted at one end of the inner spray arm 52, and a second pulley 74 is rotatably mounted at one end of the outer spray arm 53. Two limiting wheels 75 are rotatably mounted at the other end of the fourth-stage telescopic arm 54, with the two limiting wheels 75 facing each other. That is, two limiting wheels 75 are rotatably mounted at the other end of the fourth spray frame 544, with the two limiting wheels 75 facing each other. The cable on the secondary winch 71 passes around the first pulley 73 and the second pulley 74, then passes between the two limiting wheels 75 and is fixedly connected to the secondary hook 72. The first pulley 73 and the second pulley 74 ensure stable cable winding and unwinding, while the two limiting wheels 75 guide the cable. The spraying arm 5 suspends one end of the frame beam, and the netting assembly 4 suspends the other end, thus lifting the frame beam and initially fixing it onto the slope surface of the high slope. The auxiliary winch 71, in conjunction with the first pulley 73 and the second pulley 74, winds up and down the cable, controlling the extension and retraction of the auxiliary hook 72 at the end of the spraying arm 5. The auxiliary hook 72 on the spraying arm 5 provides assistance in lifting the frame beam. The spraying arm 5 assists in lifting, ensuring the frame beam remains horizontal during the lifting process and serving as a posture adjustment tool. The auxiliary winch 71 starts, causing the cable on it to extend or tighten. After the cable extends, the position of the auxiliary hook 72 lowers, suspending one end of the frame beam, and the netting assembly 4 suspends the other end. Then the cable tightens, and the frame beam is lifted to a certain position on the high slope surface and kept horizontal.

[0036] The other end of the inner spray arm 52 is rotatably provided with a first pulley 73. Specifically, the other end of the inner spray arm 52 is fixedly provided with a first axle, and the first pulley 73 is sleeved on the first axle and can rotate.

[0037] One end of the spraying outer arm 53 is rotatably equipped with a second pulley 74. Specifically, the other end of the spraying outer arm 53 is fixedly equipped with a second axle, and the second pulley 74 is sleeved on the second axle and can rotate.

[0038] Two limiting wheels 75 are rotatably provided at the other end of the fourth spray frame 544. Specifically, two third wheel axles are fixedly provided at the other end of the fourth spray frame 544, and each limiting wheel 75 is sleeved on the third wheel axle and can rotate.

[0039] In one possible implementation, the net-hanging arm 2 includes a second slewing support 21, an inner net-hanging arm 22, an outer net-hanging arm 23, and a three-stage telescopic arm 24. The second slewing support 21 is rotatably mounted on one side of the trolley body 1. One end of the inner net-hanging arm 22 is rotatably connected to the second slewing support 21. A third pitch cylinder 25 is rotatably mounted between the second slewing support 21 and the inner net-hanging arm 22. The other end of the inner net-hanging arm 22 is rotatably connected to one end of the outer net-hanging arm 23. A fourth pitch cylinder 26 is rotatably mounted between the inner net-hanging arm 22 and the outer net-hanging arm 23. One end of the three-stage telescopic arm 24 is slidably mounted inside the other end of the outer net-hanging arm 23. The service platform 3 is movably mounted at the other end of the three-stage telescopic arm 24.

[0040] The second slewing support 21 can rotate, transforming the working range of the inner arm 22, outer arm 23, and three-stage telescopic arm 24 into a large circular space centered on the trolley body 1. This not only increases the working space but also improves mobility. The rotation of the second slewing support 21 drives the inner arm 22, outer arm 23, and three-stage telescopic arm 24 to rotate. The third tilt cylinder 25 activates, tilting the inner arm 22; the fourth tilt cylinder 26 activates, tilting the outer arm 23; and finally, the three-stage telescopic arm 24 tilts. The three-stage telescopic arm 24 slides relative to the outer arm 23 and can extend and retract on its own. Ultimately, the service platform 3 can adjust its height and position as needed. The rotational design of the second slewing support 21, combined with the inner arm 22, outer arm 23, and three-stage telescopic arm 24, provides the service platform 3 with a very wide working range.

[0041] The integrated dual-arm trolley, comprising the spraying arm 5 and the net-hanging arm 2, with its first slewing support 51 and second slewing support 21, enhances the collaborative operation capability of the two arms. Furthermore, the three-stage telescopic arm 24 and the four-stage telescopic arm 54 can be equipped with more or fewer stages of telescopic arms to meet specific application scenarios.

[0042] The second slewing support 21 is rotatably mounted on one side of the trolley body 1. Specifically, a second base is fixedly mounted on one side of the trolley body 1, a second slewing bearing is fixedly mounted on the second base, a second large gear is fixedly mounted on the outer bearing of the second slewing bearing, and the inner bearing of the second slewing bearing is fixedly connected to the second slewing support 21. A second motor is fixedly mounted on the second slewing support 21, and the output shaft of the second motor is fixedly connected to a second small gear, which meshes with the second large gear. When the second motor starts, it drives the second small gear to rotate, and the second small gear meshes with the second large gear. Since the second large gear rotates on the second base, the second small gear rotates circumferentially relative to the second large gear, and the second slewing support 21 achieves circumferential rotation relative to the second large gear.

[0043] One end of the inner arm 22 of the netting is rotatably connected to the second slewing support 21. Specifically, a sixth hinge seat is fixedly provided on the second slewing support 21, and a seventh hinge seat is fixedly provided on one end of the inner arm 22 of the netting. The sixth hinge seat and the seventh hinge seat are rotatably connected by a pin.

[0044] The bottom of the third pitch cylinder 25 is rotatably mounted on the second slewing support 21, and the telescopic rod of the third pitch cylinder 25 is rotatably connected to the inner arm 22 of the netting. Specifically, an eighth hinge seat is fixedly mounted on the second slewing support 21, and a ninth hinge seat is fixedly mounted on the inner arm 22 of the netting. The bottom of the third pitch cylinder 25 is rotatably connected to the eighth hinge seat via a pin, and the telescopic rod of the third pitch cylinder 25 is rotatably connected to the ninth hinge seat via a pin.

[0045] The other end of the inner arm 22 of the netting is rotatably connected to one end of the outer arm 23 of the netting. Specifically, a tenth hinge seat is fixedly provided on the inner arm 22, and an eleventh hinge seat is fixedly provided at one end of the outer arm 23 of the netting. The tenth hinge seat and the eleventh hinge seat are rotatably connected by a pin.

[0046] The bottom of the fourth pitch cylinder 26 is rotatably mounted on the inner arm 22 of the netting, and the telescopic rod of the fourth pitch cylinder 26 is rotatably connected to the outer arm 23 of the netting. Specifically, a twelfth connecting seat is fixedly mounted on the inner arm 22 of the netting, and a thirteenth or fourteenth hinge seat is fixedly mounted on the outer arm 23 of the netting. The bottom of the fourth pitch cylinder 26 is rotatably connected to the twelfth hinge seat via a pin, and the telescopic rod of the fourth pitch cylinder 26 is rotatably connected to the thirteenth hinge seat via a pin.

[0047] Preferably, the three-stage telescopic arm 24 includes a first net hanging frame 241, a second net hanging frame 242, and a third net hanging frame 243. One end of the first net hanging frame 241 is slidably disposed inside the other end of the net hanging outer arm 23. One end of the second net hanging frame 242 is slidably disposed inside the other end of the first net hanging frame 241. One end of the third net hanging frame 243 is slidably disposed inside the other end of the second net hanging frame 242. The service platform 3 is movably disposed at the other end of the third net hanging frame 243.

[0048] The outer arm 23 of the netting system is internally equipped with a primary netting cylinder. The telescopic rod of the primary netting cylinder is fixedly connected to the first netting frame 241 and can drive the first netting frame 241 to slide. Similarly, a secondary netting cylinder is fixedly installed internally at the end of the first netting frame 241. The telescopic rod of the secondary netting cylinder is fixedly connected to the second netting frame 242 and can drive the second netting frame 242 to slide. A tertiary netting cylinder 244 is fixedly installed externally on the outer arm 23. The telescopic rod of the tertiary netting cylinder 244 is fixedly connected to the third netting frame 243 and can drive the third netting frame 243 to slide. When the primary, secondary, and tertiary netting cylinders 244 are activated, the first, second, and third netting frames 241, 242, and 243 extend and retract, thereby extending and retracting the tertiary telescopic arm 24.

[0049] In one possible implementation, the service platform 3 is fixedly equipped with railings 31, each 1.2 meters high. An emergency stop valve and an operating handle 32 are fixedly installed on the railings 31. A rebar tying machine 33, a main winch 34, and a connecting frame 35 are fixedly installed outside the service platform 3. The cable on the main winch 34 is fixedly connected to the main hook (not shown in the figure). A third rotary cylinder 27 is fixedly installed at the other end of the three-stage telescopic boom 24, which is also the other end of the third mesh hanging frame 243. The rotation shaft of the third rotary cylinder 27 is fixedly connected to the connecting frame 35. A fourth rotary cylinder 36 is fixedly installed on the connecting frame 35, and its rotation shaft is fixedly connected to the mesh hanging assembly 4, which is located outside the service platform 3. The structures of the main winch 34 and the rebar tying machine 33 are existing technologies and will not be described in detail here.

[0050] The third rotary cylinder 27 controls the swing of the entire service platform 3, ensuring it remains level. The hanging arm 2 can automatically level the service platform 3 on a 50° slope with a leveling accuracy of ±1°. The emergency stop valve can control the emergency stop of the service platform 3, and the railing 31 prevents workers from falling, protecting their safety. Workers can use the operating handle 32 on the service platform 3 to control the movement of the hanging assembly 4, enabling more accurate hoisting of the mesh panels and frame beams. They can also operate the rebar tying machine 33 to secure the rebar between adjacent mesh panels. The fourth rotary cylinder 36 controls the swing of the hanging assembly 4, facilitating the gripping of the mesh panels.

[0051] The auxiliary winch 71 is started, which causes the cable on it to extend or tighten. After the cable is extended, the position of the auxiliary hook 72 is lowered, and the auxiliary hook 72 hangs one end of the frame beam. The main winch 34 is started, which causes the cable on it to extend or tighten. After the cable is extended, the position of the main hook is lowered, and the auxiliary hook 72 and the main hook hang the two ends of the frame beam respectively. Then the two cables are tightened, and the frame beam is lifted to a certain position on the slope of the high slope and kept horizontal. Finally, the workers complete the final fixing.

[0052] After the mesh hanging component 4 grabs the mesh and initially fixes the mesh onto the slope surface of the high slope, the rebar tying machine 33 starts to tie and fix the rebar between two adjacent meshes, thereby strengthening the connection between the two adjacent meshes.

[0053] In one possible implementation, the netting assembly 4 includes a connecting arm 41, a movable arm 42, and a netting structure. The rotation shaft of the fourth rotary cylinder 36 is fixedly connected to the connecting arm 41. One end of the movable arm 42 is slidably disposed inside the other end of the connecting arm 41. A telescopic cylinder 43 is rotatably mounted on the connecting arm 41. The telescopic rod of the telescopic cylinder 43 is rotatably connected to the other end of the movable arm 42. A fifth rotary cylinder 44 is fixedly mounted on the other end of the movable arm 42. The rotation shaft of the fifth rotary cylinder 44 is fixedly connected to the netting structure. When the telescopic cylinder 43 is activated, it drives the movable arm 42 to slide on the connecting arm 41, increasing the working range of the netting structure. Simultaneously, when the fifth rotary cylinder 44 is activated, it ensures that the netting structure can rotate circumferentially, maintaining multiple degrees of freedom and greater flexibility.

[0054] A telescopic cylinder 43 is rotatably mounted on the connecting arm 41, and the telescopic rod of the telescopic cylinder 43 is rotatably connected to the other end of the moving arm 42. Specifically, a fourteenth hinge seat is fixedly mounted on the connecting arm 41, and the bottom of the telescopic cylinder 43 is rotatably connected to the fourteenth hinge seat via a pin. A fifteenth hinge seat is fixedly mounted on the moving arm 42, and the telescopic rod of the telescopic cylinder 43 is rotatably connected to the fifteenth hinge seat via a pin.

[0055] In one possible implementation, the hanging mesh structure includes a support frame 45, magnetic suction cups 46, and a nail gun 47. The support frame 45 is fixedly mounted on the rotation shaft of the fifth rotary cylinder 44. The support frame 45 is I-shaped and has a fixing sleeve 451. Two sliding rods 4511 are slidably mounted on the fixing sleeve 451. The end of each sliding rod 4511 is fixedly connected to a support plate 48. The two support plates 48 are symmetrical and a double-rod hydraulic cylinder 49 is rotatably mounted between them. Magnetic suction cups 46 are fixedly mounted at both ends of each support plate 48. A nail gun 47 can be adjusted and mounted on each support plate 48. The structure of the nail gun 47 is prior art and will not be described in detail here.

[0056] Method 1 for gripping and installing the mesh: The magnetic suction cup 46 is powered on to magnetically hold the mesh. The four magnetic suction cups 46 work simultaneously to ensure the stability of the mesh. Under the action of the hanging arm 2 and the third rotary cylinder 27 and the fourth rotary cylinder 36, the mesh covers the slope surface of the high slope. The nail gun 47 automatically nails the mesh, and the nails fix the steel bars on the mesh to the slope surface of the high slope. Then the magnetic suction cups 46 are deactivated.

[0057] Preferably, each magnetic suction cup 46 is fixedly provided with a U-shaped slot 461, and the U-shaped slots 461 on the same end of the two support plates 48 are symmetrically arranged. A second method for gripping and installing the mesh is as follows: two U-shaped slots 461 on one support plate 48 grip the reinforcing bars above the mesh, and two U-shaped slots 461 on the other support plate 48 grip the reinforcing bars below the mesh. All four U-shaped slots 461 act simultaneously to ensure the mesh remains stable. Under the action of the hanging arm 2 and the third and fourth rotary cylinders 27 and 36, the mesh covers the slope surface of the high slope. The nail gun 47 automatically drives nails, fixing the reinforcing bars on the mesh to the slope surface. The four U-shaped slots 461 then disengage from the reinforcing bars above and below the mesh.

[0058] When the double-rod hydraulic cylinder 49 is activated, its two telescopic rods extend and retract (not necessarily synchronously), increasing or decreasing the distance between the two support plates 48. This allows the four magnetic suction cups 46 to hold different sized mesh sheets, and the four U-shaped slots 461 to hold the mesh sheets. Because the slope surface of a high slope is not flat, the mesh sheets will not be horizontal after being applied to it. The double-rod hydraulic cylinder 49 is rotatably positioned between the two support plates 48 to ensure that the magnetic suction cups 46 can hold the non-horizontal mesh sheets or that the U-shaped slots 461 can hold them. It should be noted that the two sliding rods 4511 on the fixing sleeve 451 slide relative to each other and will not slide out of the fixing sleeve 451.

[0059] Specifically, each of the two support plates 48 is provided with a sixteenth hinge seat. One telescopic rod of the double-rod hydraulic cylinder 49 is rotatably connected to one sixteenth hinge seat via a pin, and the other telescopic rod of the double-rod hydraulic cylinder 49 is rotatably connected to another sixteenth hinge seat via a pin.

[0060] Preferably, each support plate 48 has two fixed plates, and the two ends of the screw 481 pass through the two fixed plates and can rotate on them. The end of the screw 481 is fixedly connected to a third motor (not shown in the figure). Each support plate 48 has a track (not shown in the figure) located below the screw 481. A slider (not shown in the figure) is slidably mounted on the track, and the slider is fitted onto the screw 481 and can move relative to the screw 481. A nail gun 47 is fixedly mounted on the slider. When the third motor is started, it drives the screw 481 to rotate, which in turn drives the slider and the nail gun 47 to move laterally on the track. As the nail gun 47 moves laterally and changes position, it automatically drives nails, thus fixing a certain length of steel bars on the mesh to the slope surface of the high slope.

[0061] like Figure 11 As shown in Example 2, a high slope construction process includes the following steps: Step 1: A 3D laser scanner performs multi-station scanning of the high slope surface and transmits the data to a dual-display remote control station. The remote control station analyzes and processes the slope surface data to obtain the required concrete volume and the spraying path of the integrated spraying and grabbing machine. A 3D laser scanner adapted to open-air environments is used to quickly and comprehensively scan the excavated slope surface of the hydropower station's high slope. The 3D laser scanner uses multi-site point cloud stitching technology to complete the data acquisition of the entire slope cross-section. In Step 1, the point cloud data processing algorithm includes slope analysis, rock mass structure surface identification, and feature extraction technologies. The dual-display remote control station compares the actual scanned contour with the standard slope surface using the point cloud data processing algorithm to accurately calculate the over-excavation and under-excavation values ​​and distribution of each area of ​​the high slope surface. The dual-display remote control station then uses a triangular meshing algorithm and volume calculation method to obtain the required concrete volume for the high slope surface. Based on the over-excavation and under-excavation values ​​and distribution, the dual-display remote control station optimizes the spraying path of the integrated spraying and grabbing machine, thus determining the spraying path of the machine. Ultimately, the dual-display remote control station provides precise concrete volume (dosage) and optimized spraying paths for intelligent high slope support construction. The point cloud data processing algorithm, triangulation algorithm, and volume calculation method will not be elaborated upon here.

[0062] A dual-display remote control station is set up on the walkway. A 3D laser scanner can be installed near nozzle 66 on the integrated spray-grab machine, and a waterproof and dustproof high-definition camera can also be installed near nozzle 66. The high-definition camera transmits real-time video streams from the work surface, while the 3D laser scanner senses the distance between nozzle 66 and the slope, as well as information about surrounding obstacles. One display shows the real-time image transmitted from the high-definition camera, overlaid with a 3D point cloud model of the slope generated from the scan data and the design outline; the other display shows the status parameters and operating interface of the integrated spray-grab machine. Operators can remotely and precisely control the integrated spray-grab machine's operation using a joystick and the other display.

[0063] Step 2: The spray-grab machine first installs the mesh or frame beam (i.e., frame beam) to fix it to the slope surface of the high slope, and then performs the initial spraying.

[0064] Step 3: The 3D laser scanner performs multi-station scanning on the slope surface of the high slope after shotcreting to confirm whether the slope surface flatness meets the standard; after the initial shotcreting, the solidified concrete has covered the mesh or frame beam, and the flatness of the solidified concrete surface meets the design standard.

[0065] Step 4: If the standard is met, the construction is complete; otherwise, the spraying and grabbing machine will perform secondary spraying on the areas that need additional spraying, mainly spraying on some uneven areas on the solidified concrete surface, and then repeat step 3 until the standard is met.

[0066] In this embodiment of the high slope construction process, a 3D laser scanner is used for multi-station scanning to determine the over-excavation, under-excavation values ​​and distribution, ultimately obtaining the spraying path and precise concrete volume. Installation of mesh or frame beams: The mesh-hanging arm 2 of the spray-grab integrated machine is responsible for grabbing, positioning, and temporarily fixing the mesh. The spraying arm 5 of the spray-grab integrated machine works in conjunction with the mesh-hanging arm 2 to complete the hoisting and positioning of the frame beams. The mesh-hanging arm 2 acts as the main hoisting arm, and the spraying arm 5 assists in the hoisting, adjusting the posture of the frame beams to ensure they remain horizontal during hoisting. Finally, workers complete the final fixing. Intelligent shotcrete construction: The nozzle 66 of the spray-grab integrated machine sprays grout onto the mesh or frame beams. After the initial spraying, the solidified concrete covers the mesh or frame beams. A 3D laser scanner is then used to confirm whether the flatness of the solidified concrete surface meets the design standards. If the standard is met, the construction is completed; otherwise, the spray-grab machine performs a second spraying on the areas requiring additional spraying, mainly targeting uneven areas on the hardened concrete surface. Then, step three is repeated until the standard is met. Once the standard is met, the spray-grab machine is moved and automatically cleaned, preparing for the next work cycle.

[0067] The high slope construction process in this embodiment utilizes a 3D laser scanner and a spray-grab integrated machine to achieve automated spraying operations, meeting the required thickness for construction. Workers can remotely control the entire process—from grabbing the mesh or frame beams to positioning and laying, to automatic temporary fixing, and finally spraying concrete—via a dual-display remote control station. Seamless integration between procedures eliminates waiting time, fundamentally breaking through efficiency bottlenecks and achieving "assembly line" mechanized construction for slope support.

[0068] The embodiments described above are merely preferred embodiments of the present invention and are only used to explain the present invention. They are not intended to limit the scope of the present invention. For those skilled in the art, other implementation methods can be easily made by substitution or modification based on the technical content disclosed in this specification. Therefore, all changes and improvements made to the principles and process conditions of the present invention should be included within the scope of the patent application of the present invention.

Claims

1. A spray-grip integrated machine, characterized in that, The device includes a trolley body (1), a net-grabbing mechanism, and a spraying mechanism. The net-grabbing mechanism and the spraying mechanism are movably disposed on both sides of the trolley body (1). The net-grabbing mechanism includes a net-hanging arm (2), a service platform (3), and a net-hanging assembly (4). One end of the net-hanging arm (2) is rotatably disposed on one side of the trolley body (1), and the service platform (3) is movably disposed on the other end of the net-hanging arm (2). The net-hanging assembly (4) is movably disposed on the outside of the service platform (3). The spraying mechanism includes a spraying arm (5) and a spraying assembly (6). One end of the spraying arm (5) is rotatably disposed on the other side of the trolley body (1), and the spraying assembly (6) is movably disposed on the other end of the spraying arm (5).

2. The spray-grip integrated machine according to claim 1, characterized in that, The spray arm (5) includes a first slewing support (51), an inner spray arm (52), an outer spray arm (53), and a four-stage telescopic arm (24). The first slewing support (51) is rotatably disposed on the other side of the trolley body (1). One end of the inner spray arm (52) is rotatably connected to the first slewing support (51). A first pitch cylinder (55) is rotatably disposed between the first slewing support (51) and the inner spray arm (52). The other end of the inner spray arm (52) is rotatably connected to one end of the outer spray arm (53). A second pitch cylinder (56) is rotatably disposed between the inner spray arm (52) and the outer spray arm (53). One end of the four-stage telescopic arm (24) is slidably disposed inside the other end of the outer spray arm (53). The spray assembly (6) is movably disposed at the other end of the four-stage telescopic arm (24).

3. The spray-grip integrated machine according to claim 2, characterized in that, The spray assembly (6) includes a first rotary cylinder (61), a second rotary cylinder (62), a fixing frame (63), a motor (64), a swing arm (65), and a nozzle (66). The first rotary cylinder (61) is fixedly mounted on the other end of the four-stage telescopic arm (24), and the second rotary cylinder (62) is fixedly mounted on the rotation shaft of the first rotary cylinder (61). The second rotary cylinder (62) is perpendicular to the first rotary cylinder (61). The fixing frame (63) is fixedly mounted on the second rotary cylinder. On the rotating shaft of the cylinder (62), the motor (64) is fixedly mounted on the fixed frame (63). The output shaft of the motor (64) is fixedly connected to one end of the swing arm (65). A universal joint (67) is provided on the fixed frame (63). The other end of the swing arm (65) is fixedly connected to the universal joint (67). A material tube seat (68) is fixedly mounted on the swing arm (65). A sleeve (69) is fixedly mounted on the material tube seat (68). The nozzle (66) is fixedly mounted on the sleeve (69).

4. The spray-grip integrated machine according to claim 2, characterized in that, It also includes an auxiliary hoisting assembly (7), which includes an auxiliary winch (71) and an auxiliary hook (72). The auxiliary winch (71) is fixedly mounted on the first slewing support (51). The other end of the inner spray arm (52) is rotatably provided with a first pulley (73). One end of the outer spray arm (53) is rotatably provided with a second pulley (74). The other end of the four-stage telescopic arm (24) is rotatably provided with two limit wheels (75) and the two limit wheels (75) are arranged opposite to each other. The cable on the auxiliary winch (71) passes around the first pulley (73) and the second pulley (74) and then passes between the two limit wheels (75) and is fixedly connected to the auxiliary hook (72).

5. The spray-grip integrated machine according to claim 1, characterized in that, The net-hanging arm (2) includes a second slewing support (21), an inner net-hanging arm (22), an outer net-hanging arm (23), and a three-stage telescopic arm (54). The second slewing support (21) is rotatably mounted on one side of the trolley body (1). One end of the inner net-hanging arm (22) is rotatably connected to the second slewing support (21). A third pitch cylinder (25) is rotatably mounted between the second slewing support (21) and the inner net-hanging arm (22). The other end of the inner net-hanging arm (22) is rotatably connected to one end of the outer net-hanging arm (23). A fourth pitch cylinder (26) is rotatably mounted between the inner net-hanging arm (22) and the outer net-hanging arm (23). One end of the three-stage telescopic arm (54) is slidably mounted inside the other end of the outer net-hanging arm (23). The service platform (3) is movably mounted at the other end of the three-stage telescopic arm (54).

6. The spray-grip integrated machine according to claim 5, characterized in that, The service platform (3) is fixedly equipped with railings (31) around its perimeter. An emergency stop valve and an operating handle (32) are fixedly installed on the railings (31). A rebar tying machine (33), a main winch (34), and a connecting frame (35) are fixedly installed on the outside of the service platform (3). The cable on the main winch (34) is fixedly connected to the main hook. A third rotary cylinder (27) is fixedly installed at the other end of the three-stage telescopic boom (54). The rotary shaft of the third rotary cylinder (27) is fixedly connected to the connecting frame (35). A fourth rotary cylinder (36) is fixedly installed on the connecting frame (35). The rotary shaft of the fourth rotary cylinder (36) is fixedly connected to the hanging net assembly (4).

7. The spray-grip integrated machine according to claim 6, characterized in that, The netting assembly (4) includes a connecting arm (41), a movable arm (42), and a netting structure. The rotation shaft of the fourth rotary cylinder (36) is fixedly connected to the connecting arm (41). One end of the movable arm (42) is slidably disposed inside the other end of the connecting arm (41). A telescopic cylinder (43) is rotatably disposed on the connecting arm (41). The telescopic rod of the telescopic cylinder (43) is rotatably connected to the other end of the movable arm (42). A fifth rotary cylinder (44) is fixedly disposed on the other end of the movable arm (42). The rotation shaft of the fifth rotary cylinder (44) is fixedly connected to the netting structure.

8. The spray-grip integrated machine according to claim 7, characterized in that, The hanging net structure includes a support frame (45), a magnetic suction cup (46), and a nail gun (47). The support frame (45) is fixedly mounted on the rotation shaft of the fifth rotary cylinder (44). A fixing sleeve (451) is provided on the support frame (45). Two sliding rods (4511) are slidably mounted on the fixing sleeve (451). The end of each sliding rod (4511) is fixedly connected to a support plate (48). A double-rod hydraulic cylinder (49) is rotatably mounted between the two support plates (48). A magnetic suction cup (46) is fixedly mounted at both ends of each support plate (48). A nail gun (47) can be adjusted on each support plate (48).

9. A construction technique for high slopes, characterized in that, Includes the following steps: Step 1: The 3D laser scanner performs multi-station scanning of the high slope surface and transmits the data to the dual-display remote operation station. The dual-display remote operation station analyzes and processes the slope surface data of the high slope to obtain the concrete volume required for construction and the spraying path of the spraying and grabbing machine. Step 2: The spray-grab integrated machine first installs the mesh or frame beam to fix it on the slope surface of the high slope, and then performs the initial spraying. Step 3: The 3D laser scanner performs multi-station scanning of the slope surface after shotcreting to confirm whether the slope surface flatness meets the standard. Step 4: If the standard is met, the construction is complete; otherwise, the spraying and grabbing machine will perform a second spraying on the areas that need additional spraying, and then repeat step 3 until the standard is met.

10. The high slope construction technology according to claim 9, characterized in that, In step one, the dual-display remote control station compares the actual scanned contour with the standard slope surface using a point cloud data processing algorithm to accurately calculate the over-excavation and under-excavation values ​​and distribution of each area of ​​the high slope. The dual-display remote control station then uses a triangular meshing algorithm and volume calculation method to determine the required concrete volume for the high slope surface. Based on the over-excavation and under-excavation values ​​and distribution, the dual-display remote control station determines the spraying path of the spraying and grabbing integrated machine.

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