A shaft expansion and excavation integrated jumbo and a construction method thereof

Abstract

The application discloses a shaft expansion and excavation integrated driving trolley and a construction method thereof, belongs to the technical field of shaft expansion and excavation, and takes a cylindrical frame body as a rigid central column. A telescopic cylinder is used for supporting and abutting against a shaft wall to form a stable operation base. On the basis, a direct coordinate type rock drilling jib system and a shotcreting device are driven by a liftable and rotatable bottom layer linkage platform to realize accurate spatial positioning of face drilling, anchor rod supporting and full-face shotcreting operation. Meanwhile, a telescopic broken rock and slag removing jib system can be extended from the cavity of the cylindrical main body to remove slag and trim edges according to needs, and is retracted to avoid other processes, so that rock drilling, slag removing, arching, anchor rod, shotcreting and other processes are sequentially completed on one device, and integrated, mechanized and automatic operation of shaft construction is realized.

Description

Technical Field

[0001] This invention relates to the field of shaft enlargement technology, and more specifically, to an integrated shaft enlargement tunneling trolley and its construction method. Background Technology

[0002] As the global energy structure shifts towards low-carbon and clean energy, pumped storage power stations, as key facilities for regulating the stability of power systems, are seeing continuous expansion in their construction scale. In the construction of pumped storage power stations, shaft engineering (such as water intake shafts and surge tanks) is one of the most critical stages with the longest construction period and the highest safety risks. Currently, pumped storage shaft construction mainly employs a method of using a raise boring machine to construct the pilot shaft, followed by manual drilling and blasting excavation from top to bottom. The processes of excavation, blasting, drilling, muck removal, and support are all primarily performed manually, resulting in low efficiency, high costs, and significant safety risks. This approach is no longer sufficient to meet the safe and efficient construction requirements of shaft engineering under large-scale, complex geological conditions.

[0003] Several domestic companies have developed equipment for shaft excavation and support construction. For example, China Coal Group developed a full-face shaft boring machine, which requires the use of a raise boring machine to construct a muck shaft; China Railway Equipment Group developed a full-face shaft tunneling machine that integrates top-down excavation and support, but uses a bucket for muck removal; China Communications Construction Company (CCCC) developed the "Shouchuang" ultra-deep, ultra-large diameter hard rock vertical tunneling machine, achieving integrated top-down excavation and support construction; China Water Resources and Hydropower Engineering Bureau No. 12 developed the "Tiangong" shaft tunneling machine, which started operation at the Songyang pumped storage power station in September 2025; and China Railway Tunnel Group and China Railway Equipment Group jointly developed the "Qiming" shaft tunneling machine, which rolled off the production line in Zhengzhou in September 2025. In addition, the technology of sunken shaft tunneling machines is relatively mature abroad, and there have been domestic application cases in recent years.

[0004] However, the aforementioned existing technologies and equipment still have the following shortcomings and defects: First, shaft enlargement blasting drilling operations rely on manual labor and have a low degree of automation. In current shaft enlargement construction, blasting drilling is mainly carried out manually using hand-held pneumatic drills. Workers need to operate the drills while suspended on or on a simple platform on the shaft wall. This not only results in high labor intensity and low work efficiency, but also exposes workers to the risk of loose rocks and falling rocks on the shaft wall for extended periods, posing significant safety risks and creating a harsh working environment.

[0005] Secondly, muck removal operations are still primarily manual, with a severe lack of mechanization. After shaft blasting, current technology typically involves workers descending to the working face at the bottom of the shaft and using simple tools such as shovels and rakes to remove muck. During this process, personnel must wear safety harnesses at all times, operating in the narrow, high-risk environment at the bottom of the shaft. This not only results in extremely low efficiency but also poses a very high safety risk. There is an urgent need to solve the technical problem of replacing manual muck removal with mechanized methods.

[0006] Third, shotcrete and anchor bolt construction lacks integrated mechanized operation capabilities. After traditional shaft excavation, shotcrete and anchor bolt drilling also rely on manual operation, which is not only inefficient but also causes serious process interference with blasting drilling and muck removal operations. Due to the lack of integrated operation equipment, frequent personnel entry and exit and equipment disassembly and assembly are required between various processes, which further prolongs the construction cycle and increases safety risks.

[0007] Fourth, existing equipment lacks in-shaft fixation, self-stabilization, and self-movement capabilities, making integrated operations difficult. To achieve integrated construction of multiple processes such as drilling, cuttings removal, and support, the equipment's own reinforcement, self-stabilization, and downward movement within the shaft are fundamental prerequisites. However, most existing equipment is designed for single processes, lacking an overall self-stabilizing structure adapted to the shaft environment and a reliable downward movement mechanism, making it difficult to meet the stability requirements of continuous multi-process operations.

[0008] Fifth, the supporting facilities for equipment installation and operation are inadequate, making it difficult to adapt to complex shaft structures. In complex shafts with upward curves or diameter changes, the installation of existing equipment is challenging, lacking a reasonable layout of multi-level work platforms or multi-level functional structures. There are no mature solutions for the safe and efficient transport of construction materials and personnel, or for the stable and orderly operation of the equipment as a whole, limiting its widespread application in complex shaft projects.

[0009] In summary, existing shaft construction equipment has significant shortcomings in terms of drilling automation, mechanized muck removal, integrated support, self-stabilizing capability within the shaft, and adaptability to complex shafts. These deficiencies make it difficult to meet the urgent needs of large-scale pumped storage power station construction for safe, efficient, and intelligent construction equipment. Therefore, there is a pressing need for an integrated shaft enlargement excavation trolley and its construction method that can achieve mechanized and automated operations for shaft enlargement drilling, muck removal, shotcreting, and anchor bolt installation, in order to solve the aforementioned technical problems. Summary of the Invention

[0010] The purpose of this invention is to provide an integrated shaft expansion excavation tunneling trolley and its construction method, thereby solving the above-mentioned technical problems.

[0011] To achieve the above objectives, the present invention provides the following technical solution: A vertical shaft enlargement integrated tunneling trolley includes: The cylindrical frame includes a cylindrical main body extending in a vertical direction and a plurality of annular working platforms arranged around the cylindrical main body, wherein the plurality of annular working platforms are fixedly fixed at intervals in a vertical direction on the outer peripheral wall of the cylindrical main body. The bottom linkage platform is movably installed on the lower outer peripheral wall of the cylindrical body along the axis of the cylindrical body. The bottom linkage platform has the function of lifting and lowering along the axis of the cylindrical body and the function of rotating around the axis. At least one linear coordinate rock drilling boom system, which is installed on the bottom linkage platform and rises, falls and rotates together with the bottom linkage platform, for rock drilling operations on the working face and for anchor bolt support operations on the well wall; The telescopic crushing and slag removal boom system is slidably installed in a cavity opened in the lower part of the cylindrical body along the axial direction of the cylindrical body. It is used to extend out of the cylindrical body when slag removal and crushing and trimming operations are performed on the working face, or to retract into the cylindrical body when space is required. A control system is used for the automated control of the integrated shaft expansion tunneling trolley.

[0012] As a preferred technical solution of the present invention, the cross-section of the cylindrical frame is one of a circle, a hexagon or an octagon, and the cylindrical body is provided with a plurality of retractable cylindrical supports for extending and pressing against the well wall when the trolley is working.

[0013] As a preferred technical solution of the present invention, the plurality of annular working platforms include a first layer platform, a second layer platform and a third layer platform arranged sequentially from top to bottom, wherein the first layer platform is a spare platform, the second layer platform is a spray mixing equipment platform and the third layer platform is a hydraulic system equipment platform.

[0014] As a preferred embodiment of the present invention, the bottom linkage platform is a ring-shaped platform structure, which is movably sleeved on the lower outer peripheral wall of the cylindrical body through a guide mechanism. The guide mechanism includes at least two vertical guide rails, guide sliders matching the number of vertical guide rails, a slewing bearing, a lifting drive device, and a rotation drive device. The vertical guide rails are fixedly installed on the outer wall of the cylindrical body and extend along the axial direction of the cylindrical body. The guide sliders are slidably engaged with the vertical guide rails. The inner ring of the slewing bearing is fixedly connected to the guide sliders, and the outer ring is fixedly connected to the inner peripheral edge of the bottom linkage platform. The lifting drive device and the rotation drive device are both installed on the cylindrical body. The power output end of the lifting drive device is connected to the guide sliders to drive the bottom linkage platform to rise and fall along the vertical guide rails. The power output end of the rotation drive device is connected to the outer ring of the slewing bearing to drive the bottom linkage platform to rotate around the axis of the cylindrical body.

[0015] As a preferred embodiment of the present invention, the lifting drive device is one or more combinations of a lifting cylinder, a chain drive mechanism, or a wire rope winch, and the rotary drive device is a geared motor.

[0016] As a preferred embodiment of the present invention, the linear coordinate rock drilling boom system includes a linear coordinate slide rail, a swing device, and a propulsion beam rock drilling device. The linear coordinate slide rail is fixedly installed on the upper surface of the bottom linkage platform and extends horizontally along the radial direction of the bottom linkage platform. The swing device is slidably installed on the linear coordinate slide rail and includes a fixed plate, a swing plate, and a swing cylinder. The fixed plate is slidably engaged with the linear coordinate slide rail and reciprocates along the linear coordinate slide rail. One end of the swing plate is hinged to the fixed plate to form a variable angle, and the other end is fixedly connected to the propulsion beam rock drilling device. The cylinder end of the swing cylinder is hinged to the fixed plate, and the piston rod end is hinged to the swing plate. The swing cylinder drives the swing plate to rotate and swing relative to the fixed plate, thereby driving the propulsion beam rock drilling device to swing in a plane perpendicular to the linear coordinate slide rail to adjust the rock drilling posture.

[0017] As a preferred embodiment of the present invention, the telescopic crushing and slag-removing boom system includes a telescopic boom, a rotary reducer, a rotary swing support, a slag-removing arm, and a slag-removing and crushing device. The telescopic boom is slidably connected to a telescopic guide rail fixed in the cavity. The telescopic guide rail extends along the axial direction of the cylindrical body. The rotary reducer is installed at the end of the telescopic boom. The rotary swing support is connected to the output end of the rotary reducer and is driven by the rotary reducer to rotate. The slag-removing arm is hinged to the rotary swing support. The slag-removing and crushing device is installed at the power output end of the slag-removing arm and is used for slag removal and crushing operations. When not performing slag removal operations, the telescopic crushing and slag-removing boom system is retracted into the cylindrical body.

[0018] As a preferred technical solution of the present invention, it also includes a spraying and mixing device. Two of the linear coordinate rock drilling boom systems are provided. The spraying and mixing device is set on the bottom linkage platform and located between the two linear coordinate rock drilling boom systems. The spraying and mixing device performs full-section spraying and mixing operations on the well wall as the bottom linkage platform rises, falls and rotates.

[0019] A construction method for an integrated shaft enlargement excavation tunneling trolley, used in the aforementioned integrated shaft enlargement excavation tunneling trolley, includes the following steps: S1. Rock drilling at the working face: The integrated shaft expansion and excavation trolley is lowered to a first predetermined distance from the working face of the shaft. The cylinder is extended and supported by the control system and pressed against the shaft wall. The linear coordinate rock drilling boom system is adjusted to a predetermined position above the working face and then adjusted to a vertical rock drilling posture to perform axial drilling until the predetermined depth and number of blast holes are completed. After drilling is completed, the linear coordinate rock drilling boom system is returned to the standby position. S2. Charging and Avoiding Blasting: After the drilling process is completed, the charging operation is carried out. After the charging is completed, the vertical shaft expansion and excavation integrated tunneling trolley is moved to a safe position. The control system extends the cylinder support and presses against the shaft wall to avoid blasting. After the blasting is completed, the cylinder support is retracted. S3. Slag Removal and Trimming: The integrated shaft expansion and excavation trolley is lowered to a second predetermined distance from the shaft face. The telescopic crushing and slag removal boom system is extended from the cavity at the bottom of the cylindrical body through the control system, and extends out of the cylinder to support and press against the shaft wall. Slag removal is carried out through the telescopic crushing and slag removal boom system, and the tunnel wall is crushed and trimmed. After the slag removal and trimming are completed, the telescopic crushing and slag removal boom system is retracted back into the cylindrical body. S4. Installation of the vertical arch and mesh: The integrated excavation trolley for shaft expansion is lowered to the shaft face, the cylinder extends out to support and press against the shaft wall, and the lifting and rotating functions of the bottom linkage platform are used to adjust it to the set working position for the installation of the arch and mesh. S5. Anchor Bolt Installation: Adjust the posture of the linear coordinate rock drilling boom system to reach the predetermined anchor bolt drilling position on the well wall. The linear coordinate rock drilling boom system performs anchor bolt drilling, anchor bolt insertion, and grouting operations. After completing the anchor bolt support of the entire well wall, restore the linear coordinate rock drilling boom system and the bottom linkage platform to their original positions. S6. Shotcrete Operation: Move the integrated shaft expansion tunneling trolley to the third predetermined distance from the shaft face, extend the cylinder support and press it against the shaft wall; connect the shotcrete pipeline through the annular working platform, adjust the shotcrete device on the bottom linkage platform to the predetermined spraying position, and complete the shotcrete construction of the shaft wall of the entire advance section through the continuous lifting and rotation of the bottom linkage platform. After the shotcrete operation is completed, clean it and then start the next cycle operation.

[0020] As a preferred technical solution of the present invention, the first predetermined distance, the second predetermined distance, and the third predetermined distance are adjustable range values ​​preset according to the operating parameters and blasting safety requirements of the integrated shaft expansion tunneling trolley equipment. The first predetermined distance is 2000mm-3000mm, the second predetermined distance is 2500mm-3500mm, and the third predetermined distance is 800mm-1200mm. The safe position in step S2 is 35m-50m away from the shaft face.

[0021] In summary, compared with the prior art, the beneficial effects of the present invention are: This invention, the integrated shaft excavation and tunneling trolley, integrates the traditional operation mode that requires multiple pieces of equipment and alternating processes into a stable cylindrical platform. The cylindrical frame is the skeleton of the entire equipment. Combined with the cylindrical support, it is tightly pressed against the shaft wall, forming a rigid, stable, and non-rotating central column. All operations revolve around this central column. The bottom linkage platform, carrying the linear coordinate rock drilling boom system, moves to any height and angle required for operation inside the shaft. After coarse positioning on the bottom linkage platform, precise coordinate movement and drilling are performed to achieve full-section drilling of the face and anchor bolt support of the shaft wall. The telescopic crushing and muck removal boom system extends for cleaning when needed and retracts to avoid interference when not needed, completely solving the spatial interference problem between various processes and realizing integrated, mechanized, and automated operation of shaft construction. Based on this equipment, the construction method of this invention integrates six core processes: rock drilling, explosive loading and blast avoidance, slag removal, arch erection, anchor bolting, and shotcreting. From drilling to shotcreting, all processes are completed sequentially around the trolley, avoiding the cumbersome process of frequently changing equipment and disassembling pipelines in traditional construction. This significantly shortens the process transition time. Through the precise movement of the bottom linkage platform, both drilling at the face and shotcreting on the shaft wall can be completed quickly, realizing multi-degree-of-freedom mechanized operations in the narrow space of the shaft. Each system does not interfere with the others, truly achieving the integration, mechanization, and automation of shaft construction. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the integrated shaft enlargement excavation tunneling trolley of the present invention; Figure 2 This is a schematic diagram of the telescopic crushing and slag removal boom system of the present invention. Figure 3 This is a schematic diagram of the anchor bolt installation operation of the integrated shaft enlargement tunneling trolley of the present invention; Figure 4 This is a schematic diagram of the linear coordinate rock drilling boom system of the present invention; Figure 5 This is a flowchart of the construction method of the integrated shaft enlargement tunneling trolley of the present invention; Among them, 1-cylindrical frame, 11-cylindrical main body, 12-ring working platform, 121-first-level platform, 122-second-level platform, 123-third-level platform, 2-bottom linkage platform, 3-linear coordinate rock drilling boom system, 31-linear coordinate slide rail, 32-swing device, 321-fixed plate, 322-swing plate, 323-swing cylinder, 33-propulsion beam rock drilling device, 4-telescopic crushing and slag removal boom system, 5-cylindrical support, 6-spraying and mixing device. Detailed Implementation

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] like Figures 1 to 3 As shown, an integrated shaft expansion excavation tunneling trolley includes: The cylindrical frame 1 includes a cylindrical main body 11 extending in a vertical direction and a plurality of annular working platforms 12 arranged around the cylindrical main body 11. The plurality of annular working platforms 12 are fixedly fixed at intervals in a vertical direction on the outer peripheral wall of the cylindrical main body 11. The bottom linkage platform 2 is movably installed on the lower outer peripheral wall of the cylindrical body 11 along the axis of the cylindrical body 11. The bottom linkage platform 2 has the function of lifting and lowering along the axis of the cylindrical body 11 and the function of rotating around the axis. At least one linear coordinate rock drilling boom system 3 is installed on the bottom linkage platform 2 and rises, falls and rotates together with the bottom linkage platform 2, for rock drilling operations on the working face and for anchor bolt support operations on the well wall. The telescopic crushing and slag removal boom system 4 is slidably installed in the cavity opened at the lower part of the cylindrical body 11 along the axial direction of the cylindrical body 11. It is used to extend out of the cylindrical body 11 when slag removal and crushing and trimming operations are carried out on the working face, or to retract into the cylindrical body 11 when space is needed. The control system is used for the automated control of the integrated shaft excavation tunneling trolley.

[0025] The integrated shaft expansion excavation trolley of this invention integrates the traditional operation mode that requires multiple pieces of equipment and multiple alternating processes into a stable cylindrical platform. The cylindrical frame 1 is the skeleton of the entire equipment. After being lowered into the shaft, it uses its own structural characteristics, combined with the cylindrical support 5, to firmly abut against the shaft wall, forming a rigid, stable, and non-rotating central column. All operations revolve around this central column. The bottom linkage platform 2 is equivalent to a precision "wrist" that can be raised and lowered and rotated 360 degrees. It moves the linear coordinate rock drilling boom system 3 to any height and angle required for operation in the shaft. After being coarsely positioned by the bottom linkage platform 2, the linear coordinate rock drilling boom system 3 performs precise coordinate movement and drilling. The telescopic crushing and muck removal boom system 4 extends for cleaning when needed and retracts when not needed to avoid interfering with other operations.

[0026] As a preferred embodiment of the present invention, the cross-section of the cylindrical frame 1 is one of a circle, a hexagon or an octagon, and the cylindrical body 11 is provided with a plurality of retractable cylindrical supports 5, which are used to extend and press against the well wall when the trolley is working.

[0027] In a preferred embodiment of the present invention, a plurality of annular working platforms 12 include a first-layer platform 121, a second-layer platform 122 and a third-layer platform 123 arranged sequentially from top to bottom, wherein the first-layer platform 121 is a spare platform, the second-layer platform 122 is a spray mixing equipment platform and the third-layer platform 123 is a hydraulic system equipment platform.

[0028] Vertical shafts can reach depths of hundreds of meters, with limited horizontal cross-sectional area but ample vertical space. This application arranges various functional equipment, which would otherwise need to be laid flat on the ground, in layers at different heights along the vertical direction on a cylindrical frame 1. The cylindrical main body 11 serves as the core support, with an outer ring-shaped working platform 12 and a bottom-mounted, liftable, and rotatable linkage platform 2 at the bottom. A vertical shaft is a cylindrical space with a very small ground area, making it difficult for traditional equipment to be deployed at the bottom. This design utilizes the "cylindrical main body 11 + ring-shaped working platform 12" method to arrange hydraulic systems, operating systems, spraying and mixing equipment, etc., in layers on the ring-shaped platform, greatly utilizing the vertical space and avoiding equipment clashing at the bottom of the shaft.

[0029] In a preferred embodiment of the present invention, the bottom linkage platform 2 is a ring platform structure, which is movably sleeved on the lower outer peripheral wall of the cylindrical body 11 through a guide mechanism. The guide mechanism includes at least two vertical guide rails, a guide slider matching the number of vertical guide rails, a slewing bearing, a lifting drive device, and a rotation drive device. The vertical guide rails are fixedly installed on the outer wall of the cylindrical body 11 and extend along the axial direction of the cylindrical body 11. The guide slider is slidably engaged with the vertical guide rails. The inner ring of the slewing bearing is fixedly connected to the guide slider, and the outer ring is fixedly connected to the inner peripheral edge of the bottom linkage platform 2. The lifting drive device and the rotation drive device are both installed on the cylindrical body 11. The power output end of the lifting drive device is connected to the guide slider and is used to drive the bottom linkage platform 2 to rise and fall along the vertical guide rails. The power output end of the rotation drive device is connected to the outer ring of the slewing bearing and is used to drive the bottom linkage platform 2 to rotate around the axis of the cylindrical body 11.

[0030] When the lifting drive extends or retracts, its power output end pushes the guide slider connected to it. The guide slider is constrained by the vertical guide rail fixed to the cylindrical body 11 and can only move along the guide rail. Since the inner ring of the slewing bearing is fixed to the guide slider, and the bottom linkage platform 2 is fixed to the outer ring of the slewing bearing, the vertical movement of the guide slider will drive the entire bottom linkage platform 2 to rise and fall synchronously, ensuring that the platform does not sway or jam during the lifting process. When the rotary drive device is started, the small gear at its output end drives the large gear ring meshing with the outer ring of the slewing bearing. Since the inner ring of the slewing bearing is fixed on the guide slider, and the outer ring is fixed to the bottom linkage platform 2, the rotation of the outer ring will drive the entire bottom linkage platform 2 to rotate 360 ​​degrees around the axis of the cylindrical body 11. The control system can control the lifting drive device and the rotary drive device simultaneously or in stages, so that the bottom linkage platform 2 can achieve a spatial spiral motion trajectory of "lifting and rotating" or "lowering and rotating". Through the 360-degree rotation of the bottom linkage platform 2, a set of linear coordinate rock drilling boom system 3 can cover any position of the entire circular face, and can also cover the entire circumference of the well wall for anchor bolting operations. The entire circle operation can be completed with the least amount of equipment, reducing equipment costs and failure rates. The coarse adjustment (lifting / rotation) of the bottom linkage platform 2 plus the fine adjustment (linear coordinate movement) of the linear coordinate rock drilling boom system 3 constitutes a two-level positioning system, which can quickly reach the work area and accurately align the blast hole or anchor bolt hole, greatly improving drilling quality and speed.

[0031] In a preferred embodiment of the present invention, the lifting drive device is one or more combinations of a lifting cylinder, a chain drive mechanism, or a wire rope winch, and the rotary drive device is a geared motor.

[0032] like Figure 4 As shown, in a preferred embodiment of the present invention, the linear coordinate rock drilling boom system 3 includes a linear coordinate slide rail 31, a swing device 32, and a propulsion beam rock drilling device 33. The linear coordinate slide rail 31 is fixedly installed on the upper surface of the bottom linkage platform 2 and extends horizontally along the radial direction of the bottom linkage platform 2. The swing device 32 is slidably installed on the linear coordinate slide rail 31. The swing device 32 includes a fixed plate 321, a swing plate 322, and a swing cylinder 323. The fixed plate 321 is slidably engaged with the linear coordinate slide rail 31 and moves reciprocally along the linear coordinate slide rail 31. One end of the swing plate 322 is hinged to the fixed plate 321 to form a variable angle, and the other end is fixedly connected to the propulsion beam rock drilling device 33. The cylinder end of the swing cylinder 323 is hinged to the fixed plate 321, and the piston rod end is hinged to the swing plate 322. The swing cylinder 323 drives the swing plate 322 to rotate and swing relative to the fixed plate 321, thereby driving the propulsion beam rock drilling device 33 to swing in a plane perpendicular to the linear coordinate slide rail 31 to adjust the rock drilling posture.

[0033] The propulsion beam rock drilling device 33 is fixedly installed at the other end of the swing plate 322 to realize drilling operations on the rock surface. It includes the propulsion beam body, the rock drill, and the propulsion mechanism. The propulsion beam body is a slender box-shaped structure that extends along its length and serves as the load-bearing foundation of the entire rock drilling device. The back of the propulsion beam body is fixed to the swing plate 322 by bolts. The rock drill is slidably installed on the upper guide rail of the propulsion beam body and moves back and forth along the length of the propulsion beam body. The front end of the rock drill is used to install the drill rod and drill bit, and the rear end is connected to a high-pressure water pipe and a high-pressure air pipe to provide drilling power and slag removal medium. The propulsion mechanism is used to drive the rock drill to move back and forth along the propulsion beam body to realize the feed and retraction actions during drilling.

[0034] The linear coordinate rock drilling boom system 3 is essentially a composite robotic arm combining polar and rectangular coordinates. Its core lies in separating the three actions of movement, swinging, and drilling, which are then executed by different mechanisms. The linear coordinate slide rail 31 is fixed to the bottom linkage platform 2 and extends horizontally radially. The swinging device 32, through a fixed plate 321, cooperates with the linear coordinate slide rail 31 and can reciprocate on the linear coordinate slide rail 31, responsible for moving the entire linear coordinate rock drilling boom system 3 to different radii on the bottom of the well. The swinging device 32 consists of a fixed plate 321, a swing plate 322, and a swing cylinder 323. The fixed plate 321 is responsible for movement, the swing plate 322 is responsible for supporting the rock drilling device 33 on the propulsion beam, and the swing cylinder 323... When 23 extends or retracts, the angle between the fixed plate 321 and the swing plate 322 changes. Since one end of the swing plate 322 is hinged to the fixed plate 321 and the other end is free, this change in angle will cause the propulsion beam rock drilling device 33 to pitch and swing in a vertical plane perpendicular to the linear coordinate slide rail 31. The propulsion beam rock drilling device 33 itself is responsible for the final drilling action. After the drill bit is aligned with the blast hole position through radial movement and angular swing, the rock drill moves along the propulsion beam under the drive of the propulsion mechanism to complete the drilling and rod retraction.

[0035] When drilling downward blast holes is required, the swing cylinder 323 extends, making the propulsion beam drilling device 33 perpendicular to the fixed plate 321, i.e., perpendicular to the horizontal working face. This is the most important working mode in the tunneling cycle. When anchor bolt support is required for the shaft wall, the swing cylinder 323 retracts or extends to a specific position, making the propulsion beam change from vertical to horizontal, perpendicular to the shaft wall, thereby drilling radial anchor bolt holes. In sections with poor geological conditions, it is necessary to install upward-sloping pre-support anchor bolts. Simply adjust the swing cylinder 323 to a preset specific angle to achieve angled drilling without replacing any hardware. This stepless angle adjustment function greatly enhances the geological adaptability of the equipment. When not in operation, the propulsion beam can be swung to a state parallel to the linear coordinate slide rail 31 by the swing cylinder 323, closely adhering to the bottom linkage platform 2, reducing the radial profile of the equipment, which facilitates lifting, lowering, or avoidance within narrow shafts.

[0036] Compared to articulated folding booms, the linear coordinate rock drilling boom system 3 has greater rigidity, is less prone to vibration during drilling, and has better hole straightness, which is conducive to improving blasting effect. It can drill vertical holes on horizontal working faces, adjust its posture to drill radial anchor holes on the well wall, and even drill angled pre-anchor bolts by swinging, making it a multi-purpose machine.

[0037] like Figure 2 As shown, in a preferred embodiment of the present invention, the telescopic crushing and slag-removing boom system 4 includes a telescopic boom, a rotary reducer, a rotary swing support, a slag-removing arm, and a slag-removing and crushing device. The telescopic boom is slidably connected to a telescopic guide rail fixed in the cavity. The telescopic guide rail extends along the axial direction of the cylindrical body 11. The rotary reducer is installed at the end of the telescopic boom. The rotary swing support is connected to the output end of the rotary reducer and is driven by the rotary reducer to achieve rotation. The slag-removing arm is hinged to the rotary swing support. The slag-removing and crushing device is installed at the power output end of the slag-removing arm and is used for slag removal and crushing operations. When not performing slag removal operations, the telescopic crushing and slag-removing boom system 4 is retracted into the cylindrical body 11.

[0038] In vertical shaft construction, muck removal and arch erection often conflict. In this application, when arch erection, anchor bolting, or shotcreting is required, the muck removal arm can be completely retracted into the cylinder, leaving the operating space below completely open. This allows for seamless connection between various processes without the need for repeated disassembly of equipment. Retracting the muck removal arm into the cylinder before blasting effectively prevents damage from flying rocks. The muck removal and crushing device can be a bucket or a hydraulic breaker, allowing the same telescopic crushing and muck removal arm system 4 to complete both muck removal and shaft wall trimming. When encountering protruding rocks or under-excavated areas during muck removal, there is no need to change equipment; the hydraulic breaker can be used directly for crushing and trimming, ensuring a smooth workflow.

[0039] As a preferred embodiment of the present invention, it also includes a spraying and mixing device 6. Two linear coordinate rock drilling boom systems 3 are provided. The spraying and mixing device 6 is set on the bottom linkage platform 2 and located between the two linear coordinate rock drilling boom systems 3. The spraying and mixing device 6 performs full-section spraying and mixing operations on the well wall as the bottom linkage platform 2 rises, falls and rotates.

[0040] Working principle: The cylindrical frame 1 serves as a rigid central column, and the telescopic cylindrical support 5 forms a stable working base against the well wall. On this basis, the vertical coordinate rock drilling boom system 3 and the shotcrete device 6 are driven by the lifting and rotating bottom linkage platform 2 to achieve precise spatial positioning of drilling, anchor bolt support and full-section shotcrete operation at the face. At the same time, the telescopic breaking and cutting boom system 4 can extend from the cavity of the cylindrical body 11 as needed to remove cuttings and trim edges, and retract to avoid obstacles during other processes. The entire system is uniformly coordinated by the control system, so that all processes such as rock drilling, cutting, arch erection, anchor bolting and shotcrete are completed sequentially on one piece of equipment, realizing the integration, mechanization and automation of vertical shaft construction.

[0041] like Figure 5 As shown, the construction method of the integrated shaft enlargement tunneling trolley in this embodiment, used in the integrated shaft enlargement tunneling trolley, wherein the first predetermined distance is selected as 2500mm, the second predetermined distance is selected as 3000mm, and the third predetermined distance is selected as 1000mm, includes the following steps: S1. Rock Drilling at the Working Face: The integrated shaft expansion and excavation trolley is lowered to 2500mm from the working face of the shaft. The cylinder support 5 is extended and pressed against the shaft wall through the control system. After the cylindrical frame 1 is stable and the support reaches the pre-tightening force requirement, the linear coordinate rock drilling boom system 3 is adjusted to the predetermined radial position above the working face through the bottom linkage platform 2. The rock drilling device 33 of the propulsion beam is adjusted to the vertical rock drilling state through the swing device 32. If it is necessary to drill advanced anchor bolt holes, the swing cylinder 323 is adjusted to make the propulsion beam form a preset advanced angle. The rock drilling device 33 of the propulsion beam is moved laterally through the linear coordinate slide rail 31 to align it with the predetermined blast hole position. The front end of the propulsion beam body is adjusted to approach the working face, and the rock drilling mode is started. The rock drill is moved back and forth along the propulsion beam body to perform axial drilling until the predetermined depth and number of blast holes are completed. After the drilling is completed, the rock drilling mode is turned off, and the compensation cylinder is retracted to make the rock drilling device 33 of the propulsion beam leave the working face. S2. Charging and Avoiding Blasting: After the drilling process is completed, the charging operation is carried out. After the charging is completed, the vertical shaft expansion and excavation integrated tunneling trolley is moved to a safe position 35m to 50m away from the working face. The control system extends the cylinder support 5 and presses it against the shaft wall to avoid blasting. After the blasting is completed, the cylinder support 5 is retracted. S3. Slag Removal and Trimming: The integrated shaft expansion and excavation trolley is lowered to 3000mm from the shaft face. The telescopic crushing and slag removal boom system 4 is extended from the cavity at the bottom of the cylindrical body 11 through the control system, and the extended cylindrical support 5 is pressed against the shaft wall. After the cylindrical frame 1 is stable and the support reaches the pre-tightening force requirement, the telescopic crushing and slag removal boom system 4 is used to remove slag along the circumference of the cylindrical frame 1, and the tunnel wall is crushed and trimmed. After the slag removal and trimming are completed, the telescopic crushing and slag removal boom system 4 is retracted back into the cylindrical body 11. S4. Installation of the vertical arch and mesh: Lower the integrated excavation trolley of the vertical shaft to 0mm from the shaft face, extend the cylindrical support 5 and press it against the shaft wall. After the cylindrical frame 1 is stable and the support reaches the pre-tightening force requirement, use the lifting and rotation function of the bottom linkage platform 2 to adjust it to the set working position and carry out the installation of the arch and mesh. S5. Anchor Bolt Installation: Adjust the posture of the linear coordinate rock drilling boom system 3, and through the adjustment of the swing device 32 and the linear coordinate slide rail 31, make the head of the propulsion beam rock drilling device 33 reach the predetermined anchor bolt drilling position on the well wall. The linear coordinate rock drilling boom system 3 performs anchor bolt drilling, anchor bolt insertion and grouting operations. Repeat the above steps until the anchor bolt support operation of the entire well wall is completed, and restore the linear coordinate rock drilling boom system 3 and the bottom linkage platform 2 to their original positions. S6. Shotcrete Operation: Move the integrated shaft expansion excavation trolley to a position 1000mm from the shaft face, extend the cylindrical support 5 and press it against the shaft wall. After the cylindrical frame 1 is stable and the support reaches the pre-tightening force requirement, connect the shotcrete pipeline through the annular working platform 12. Adjust the shotcrete head to the predetermined spraying position and angle at about 1000mm from the shaft wall through the lifting and rotation functions of the bottom linkage platform 2, start the shotcrete mode, and complete the full-section shotcrete operation of the shaft wall of the entire advance section through the continuous lifting and rotation of the bottom linkage platform 2. After the shotcrete operation is completed, clean the entire shotcrete system and the contaminated parts, and then start the next cycle operation.

[0042] In a preferred embodiment of the present invention, the first predetermined distance, the second predetermined distance, and the third predetermined distance are adjustable range values ​​preset according to the operating parameters of the integrated shaft excavation and tunneling trolley equipment and the blasting safety requirements. The first predetermined distance is 2000mm-3000mm, the second predetermined distance is 2500mm-3500mm, and the third predetermined distance is 800mm-1200mm. In step S2, the safe position is 35m-50m away from the shaft face.

[0043] The construction method of the integrated shaft excavation and widening tunneling trolley of this invention integrates six core processes—rock drilling, explosive loading and blast avoidance, muck removal, arch erection, anchor bolting, and shotcreting—into a single piece of equipment. From drilling in S1 to shotcreting in S6, the entire process revolves around the trolley, avoiding the hassle of frequent equipment changes and multiple pipeline disassemblies required in traditional construction, significantly shortening process transition time. Through the lifting and rotation functions of the bottom linkage platform 2, combined with the precise movement of the linear coordinate rock drilling boom system 3, multi-degree-of-freedom operation is achieved in the special narrow space of a shaft. Whether it is full-section drilling at the face or full-section shotcreting of the shaft wall, it can be completed quickly through the precise movement of the mechanical platform, without the need for frequent manual equipment changes. S4 arch erection and S6 shotcreting are also included. 5. The anchor bolting operation follows the muck removal and precedes the S6 shotcrete operation, fully adhering to the principle of "timely support" in modern tunnel construction methods such as the New Austrian Tunneling Method (NATM). The installation of the arch, anchor bolts, and shotcrete is carried out immediately after the shaft wall is exposed, effectively controlling surrounding rock deformation, preventing collapse, and ensuring the safety of underground workers. The S3 muck removal operation is completed by the telescopic rock breaking and muck removal boom system 4. Personnel do not need to enter the area below the blasted face, where loose rocks may be present, avoiding personal injury caused by falling rocks. Furthermore, the design of the telescopic rock breaking and muck removal boom system 4 solves the spatial interference problem between different processes. It extends during muck removal and retracts during arch erection and shotcrete operation to avoid interference, allowing each system to operate independently within a limited space without interfering with the others.

[0044] It should be understood that the above embodiments are one or more embodiments of the present invention. There are many other embodiments and variations based on the present invention. Any variations and modifications made by those skilled in the art without making pioneering innovations are within the protection scope of the present invention.

Claims

1. A vertical shaft enlargement integrated tunneling trolley, characterized in that, include: The cylindrical frame includes a cylindrical main body extending in a vertical direction and a plurality of annular working platforms arranged around the cylindrical main body, wherein the plurality of annular working platforms are fixedly fixed at intervals in a vertical direction on the outer peripheral wall of the cylindrical main body. The bottom linkage platform is movably installed on the lower outer peripheral wall of the cylindrical body along the axis of the cylindrical body. The bottom linkage platform has the function of lifting and lowering along the axis of the cylindrical body and the function of rotating around the axis. At least one linear coordinate rock drilling boom system, which is installed on the bottom linkage platform and rises, falls and rotates together with the bottom linkage platform, for rock drilling operations on the working face and for anchor bolt support operations on the well wall; The telescopic crushing and slag removal boom system is slidably installed in a cavity opened in the lower part of the cylindrical body along the axial direction of the cylindrical body. It is used to extend out of the cylindrical body when slag removal and crushing and trimming operations are performed on the working face, or to retract into the cylindrical body when space is required. A control system is used for the automated control of the integrated shaft expansion tunneling trolley.

2. The integrated shaft enlargement excavation tunneling trolley according to claim 1, characterized in that: The cross-section of the cylindrical frame is one of circular, hexagonal or octagonal, and the cylindrical body is provided with multiple retractable cylindrical supports for extending and pressing against the well wall when the trolley is working.

3. The integrated shaft enlargement excavation tunneling trolley according to claim 1, characterized in that: The plurality of ring-shaped working platforms include a first-layer platform, a second-layer platform, and a third-layer platform arranged sequentially from top to bottom, wherein the first-layer platform is a backup platform, the second-layer platform is a spray mixing equipment platform, and the third-layer platform is a hydraulic system equipment platform.

4. The integrated shaft enlargement excavation tunneling trolley according to claim 1, characterized in that: The bottom linkage platform is a ring-shaped platform structure, which is movably sleeved on the lower outer peripheral wall of the cylindrical body through a guide mechanism. The guide mechanism includes at least two vertical guide rails, guide sliders matching the number of vertical guide rails, a slewing bearing, a lifting drive device, and a rotation drive device. The vertical guide rails are fixedly installed on the outer wall of the cylindrical body and extend along the axial direction of the cylindrical body. The guide sliders are slidably engaged with the vertical guide rails. The inner ring of the slewing bearing is fixedly connected to the guide sliders, and the outer ring is fixedly connected to the inner peripheral edge of the bottom linkage platform. The lifting drive device and the rotation drive device are both installed on the cylindrical body. The power output end of the lifting drive device is connected to the guide sliders to drive the bottom linkage platform to rise and fall along the vertical guide rails. The power output end of the rotation drive device is connected to the outer ring of the slewing bearing to drive the bottom linkage platform to rotate around the axis of the cylindrical body.

5. The integrated shaft expansion excavation tunneling trolley according to claim 4, characterized in that: The lifting drive device is one or more of the following: lifting cylinder, chain drive mechanism, or wire rope winch; the rotary drive device is a geared motor.

6. The integrated shaft enlargement excavation tunneling trolley according to claim 1, characterized in that: The linear coordinate rock drilling boom system includes a linear coordinate slide rail, a swing device, and a propulsion beam rock drilling device. The linear coordinate slide rail is fixedly installed on the upper surface of the bottom linkage platform and extends horizontally along the radial direction of the bottom linkage platform. The swing device is slidably installed on the linear coordinate slide rail and includes a fixed plate, a swing plate, and a swing cylinder. The fixed plate is slidably engaged with the linear coordinate slide rail and moves reciprocally along the linear coordinate slide rail. One end of the swing plate is hinged to the fixed plate to form a variable angle, and the other end is fixedly connected to the propulsion beam rock drilling device. The cylinder end of the swing cylinder is hinged to the fixed plate, and the piston rod end is hinged to the swing plate. The swing cylinder drives the swing plate to rotate and swing relative to the fixed plate, thereby causing the propulsion beam rock drilling device to swing in a plane perpendicular to the linear coordinate slide rail to adjust the rock drilling posture.

7. The integrated shaft enlargement excavation tunneling trolley according to claim 1, characterized in that: The telescopic crushing and slag-removing boom system includes a telescopic boom, a rotary reducer, a rotary swing support, a slag-removing arm, and a slag-removing and crushing device. The telescopic boom is slidably connected to a telescopic guide rail fixed in the cavity. The telescopic guide rail extends along the axial direction of the cylindrical body. The rotary reducer is installed at the end of the telescopic boom. The rotary swing support is connected to the output end of the rotary reducer and is driven by the rotary reducer to rotate. The slag-removing arm is hinged to the rotary swing support. The slag-removing and crushing device is installed at the power output end of the slag-removing arm and is used for slag removal and crushing operations. When not performing slag removal operations, the entire telescopic crushing and slag-removing boom system is retracted into the cylindrical body.

8. The integrated shaft enlargement excavation tunneling trolley according to claim 1, characterized in that: It also includes a spraying and mixing device. The linear coordinate rock drilling boom system has two units. The spraying and mixing device is set on the bottom linkage platform and located between the two linear coordinate rock drilling boom systems. The spraying and mixing device performs full-section spraying and mixing operations on the well wall as the bottom linkage platform rises, falls and rotates.

9. A construction method for an integrated shaft enlargement excavation tunneling trolley, used in claim 2, characterized in that... Includes the following steps: S1. Rock drilling at the working face: The integrated shaft expansion and excavation trolley is lowered to a first predetermined distance from the working face of the shaft. The cylinder is extended and supported by the control system and pressed against the shaft wall. The linear coordinate rock drilling boom system is adjusted to a predetermined position above the working face and then adjusted to a vertical rock drilling posture to perform axial drilling until the predetermined depth and number of blast holes are completed. After drilling is completed, the linear coordinate rock drilling boom system is returned to the standby position. S2. Charging and Avoiding Blasting: After the drilling process is completed, the charging operation is carried out. After the charging is completed, the vertical shaft expansion and excavation integrated tunneling trolley is moved to a safe position. The control system extends the cylinder support and presses against the shaft wall to avoid blasting. After the blasting is completed, the cylinder support is retracted. S3. Slag Removal and Trimming: The integrated shaft expansion and excavation trolley is lowered to a second predetermined distance from the shaft face. The telescopic crushing and slag removal boom system is extended from the cavity at the bottom of the cylindrical body through the control system, and extends out of the cylinder to support and press against the shaft wall. Slag removal is carried out through the telescopic crushing and slag removal boom system, and the tunnel wall is crushed and trimmed. After the slag removal and trimming are completed, the telescopic crushing and slag removal boom system is retracted back into the cylindrical body. S4. Installation of the vertical arch and mesh: The integrated excavation trolley for shaft expansion is lowered to the shaft face, the cylinder extends out to support and press against the shaft wall, and the lifting and rotating functions of the bottom linkage platform are used to adjust it to the set working position for the installation of the arch and mesh. S5. Anchor Bolt Installation: Adjust the posture of the linear coordinate rock drilling boom system to reach the predetermined anchor bolt drilling position on the well wall. The linear coordinate rock drilling boom system performs anchor bolt drilling, anchor bolt insertion, and grouting operations. After completing the anchor bolt support of the entire well wall, restore the linear coordinate rock drilling boom system and the bottom linkage platform to their original positions. S6. Shotcrete Operation: Move the integrated shaft expansion tunneling trolley to the third predetermined distance from the shaft face, extend the cylinder support and press it against the shaft wall; connect the shotcrete pipeline through the annular working platform, adjust the shotcrete device on the bottom linkage platform to the predetermined spraying position, and complete the shotcrete construction of the shaft wall of the entire advance section through the continuous lifting and rotation of the bottom linkage platform. After the shotcrete operation is completed, clean it and then start the next cycle operation.

10. The construction method of the integrated shaft enlargement and excavation tunneling trolley according to claim 9, characterized in that: The first predetermined distance, the second predetermined distance, and the third predetermined distance are adjustable range values ​​preset according to the operating parameters and blasting safety requirements of the integrated shaft expansion tunneling trolley equipment. The first predetermined distance is 2000mm-3000mm, the second predetermined distance is 2500mm-3500mm, and the third predetermined distance is 800mm-1200mm. The safe position in step S2 is 35m-50m away from the shaft face.

Images