Self-propelled excavation trolley multi-module linkage control method and system for tunnel micro-step construction

Abstract

The present application relates to the technical field of excavation trolley, and discloses a self-propelled excavation trolley multi-module linkage control method and system for tunnel micro-step method construction, wherein the control method comprises the following steps: step one: first, a lifting mechanism is used to lift a steel arch to the top end of the excavation trolley; step two: then, a horizontal moving mechanism drives the steel arch to move horizontally at the top end of the excavation trolley until it moves to a specified position, the control system comprises a trolley body, a lifting mechanism and a steel arch, the lifting mechanism is fixedly installed at one end of the trolley body, the steel arch is clamped and fixed on the lifting mechanism, and the lifting mechanism is used to drive the steel arch to move along the height direction of the trolley body, due to the arrangement of the first roller and the second roller, the position of the steel arch can be accurately adjusted, so that the steel arch is in a balanced state, and the adjustment process is more convenient and easy.

Description

Technical Field

[0001] This invention relates to the field of excavation trolley technology, and more specifically, to a multi-module linkage control method and system for self-propelled excavation trolleys used in tunnel micro-step construction. Background Technology

[0002] In the field of tunnel engineering, excavation is a crucial and challenging part. Traditional excavation methods mainly rely on manual labor with simple tools, which has significant drawbacks such as low efficiency, high labor intensity, and poor safety. For small and medium-sized tunnels or tunnels under complex geological conditions, large shield tunneling machines may be difficult to apply due to their high cost and poor adaptability. Therefore, excavation trolleys that can move and support multiple rock drills to perform drilling operations simultaneously have emerged, which greatly improves construction conditions and increases work efficiency.

[0003] Excavation jumbos are specialized construction equipment designed for tunnel and underground engineering excavation. They are mainly used for drilling, charging, blasting, and initial support operations in drill-and-blast construction. When excavating tunnels, existing excavation jumbos also require the installation of steel arch frames on the inner wall of the tunnel. Due to the large size and weight of the steel arch frames, their installation in tunnels is generally done in segments. That is, the steel arch frame is divided into arch crown units, arch shoulder units, and sidewall units. During the installation process, the arch crown unit is first installed at the top of the tunnel. Then, two arch shoulder units are spliced ​​at both ends of the arch crown unit. Finally, two sidewall units are installed at the lower ends of the two arch shoulder units. In other words, the sidewall units support the arch crown unit and arch shoulder unit on the ground. After assembly, the arch crown unit, arch shoulder unit, and sidewall unit fit together inside the tunnel, forming a complete steel arch frame. The arch crown unit, arch shoulder unit, and sidewall unit are arranged sequentially from top to bottom after installation.

[0004] During the installation of the arch unit of the steel arch frame, it needs to be moved and lifted on a mobile unit. During this process, the arch unit is usually placed on the mobile unit manually. This manual placement may cause the arch unit to tilt, meaning that the two ends of the arch unit are not at the same horizontal level. If this happens, and the arch unit has already been fixed at the top of the tunnel, the height difference between the two ends of the arch unit will cause the reserved splicing nodes to be misaligned. That is, the distance between the two ends of the arch unit and the ground is different and deviates from the preset distance. When splicing the shoulder unit and sidewall unit downwards, the height difference will cause the shoulder unit and sidewall unit to extend into the space between the arch unit and the ground, thus affecting the splicing and forming of the entire steel arch frame in the tunnel. Summary of the Invention

[0005] This invention provides a multi-module linkage control method and system for self-propelled excavation trolleys in tunnel micro-step construction, solving the technical problem of difficult balance adjustment of steel arch frames in related technologies.

[0006] This invention provides a multi-module linkage control system for a self-propelled excavation trolley in tunnel micro-step construction, including a trolley body, a lifting mechanism, and a steel arch frame. The lifting mechanism is fixedly installed at one end of the trolley body, and the steel arch frame is clamped and fixed on the lifting mechanism. The lifting mechanism is used to drive the steel arch frame to move along the height direction of the trolley body. A horizontal moving mechanism is fixedly installed at the top of the trolley body, and a horizontal support is connected to the horizontal moving mechanism. The horizontal moving mechanism is used to drive the horizontal support to move along the length direction of the trolley body. Vertical support frames are fixedly installed on both sides of the top of the horizontal support. A vertical sliding frame is slidably connected inside the vertical support frame. A second cylinder is fixedly installed inside the vertical sliding frame. A connecting seat is fixedly connected to the top of the second cylinder. The second cylinder is used to drive the connecting seat to move along the height direction of the trolley body. A first roller is rotatably connected to the top of the connecting seat. A tilting frame is fixedly connected to the side of the horizontal support away from the lifting mechanism. A connecting frame is fixedly connected to the top of the tilting frame near the side of the horizontal support. A card seat is provided inside the connecting frame. A second roller is rotatably connected to the bottom of the card seat. A first drive mechanism is fixedly installed between the top of the card seat and the inner wall of the connecting frame. The output end of the first drive mechanism is fixedly connected to the top of the card seat. The first drive mechanism is used to drive the card seat to move along the height direction of the connecting frame. A second motor is fixedly installed on the side of the connecting frame near the lifting mechanism. The output end of the second motor is fixedly connected to the second roller.

[0007] In a preferred embodiment, the steel arch frame has a semi-circular structure. The lifting mechanism includes a vertical drive mechanism and a clamp. The clamp is used to hold the steel arch frame. The vertical drive mechanism is used to drive the clamp to move along the height direction of the trolley body. The midpoints of the two first rollers and the second roller are all on the same vertical plane, and the second roller is on the vertical axis of symmetry of the two first rollers. A slot is provided on the top of the vertical sliding frame. The bottom end of the slot is arc-shaped. The slot is used to place the steel arch frame. When the second cylinder is in the retracted state, the top end of the first roller is below the bottom end of the slot. The surface of the second roller is frosted.

[0008] In a preferred embodiment, the control system further includes a fixed base and a first motor. The fixed base is fixedly connected to one side of the horizontal support near the tilting frame. The tilting frame is rotatably connected to the top of the fixed base. A second motor is fixedly installed on one side of the fixed base. The output end of the first motor is fixedly connected to the tilting frame.

[0009] In a preferred embodiment, a vertical baffle is fixedly connected to one side of the fixed base near the horizontal support. The vertical baffle is used to limit the flipping of the flipping frame.

[0010] In a preferred embodiment, the control system further includes a vertical slide and a first cylinder. The vertical slide is formed on the vertical sliding frame along the height direction of the trolley body, and the first cylinder is fixedly installed on the vertical sliding frame.

[0011] In a preferred embodiment, each vertical sliding frame is provided with two first cylinders, and the output ends of the two first cylinders pass through adjacent vertical grooves and are located inside the vertical sliding frame.

[0012] In a preferred embodiment, the control system further includes an abutment rod and a U-shaped baffle. The abutment rod is slidably connected inside the vertical slide groove, and the U-shaped baffle is located inside the vertical sliding frame. The U-shaped baffle is fixedly connected to the abutment rod, and a rectangular slot is formed through the U-shaped baffle. A spring is connected between the U-shaped baffle and the bottom end of the vertical sliding frame. One end of the spring is connected to the bottom end of the U-shaped baffle, and the other end of the spring is connected to the bottom end of the vertical sliding frame. A downward pressure rod is fixedly connected to the lower side of the connecting frame away from the horizontal support.

[0013] In a preferred embodiment, the rectangular groove has the same width as the vertical slide.

[0014] In a preferred embodiment, the pressure rod is inverted V-shaped and engages with two abutting rods located near the side of the flipping frame.

[0015] This invention provides a multi-module linkage control method for a self-propelled excavation trolley in tunnel micro-step construction, comprising the following steps: Step 1: First, the steel arch frame needs to be lifted to the top of the excavation trolley using the lifting mechanism; Step 2: Then the horizontal moving mechanism drives the steel arch frame to move horizontally on the top of the excavation trolley until it moves to the designated position; Step 3: Then, adjust the steel arch frame by its revolution until it is adjusted to the designated position; Step 4: Then, fix the adjusted steel arch frame; Step 5: Finally, lift the fixed steel arch frame to the top of the tunnel and fix the steel arch frame at the top of the tunnel.

[0016] The beneficial effects of this invention are as follows: 1. Due to the arrangement of the first roller and the second roller, the steel arch frame can be clamped and adjusted. The second motor drives the second roller to rotate, which can accurately adjust the position of the steel arch frame to make it in a balanced state, so that the two ends of the steel arch frame are on the same horizontal plane. At the same time, the clamping and adjustment method of the roller makes the adjustment process more convenient and easy.

[0017] 2. Due to the fixed base and the first motor, the present invention enables the tilting frame to quickly avoid obstacles. Through the automated tilting and avoidance mechanism, the tedious steps of manually dismantling and resetting the connecting frame in traditional construction are completely eliminated, which greatly shortens the operation cycle of steel arch frame installation. At the same time, it effectively reduces the labor intensity of construction workers, reduces the risk of working at height, and improves the safety of the construction process. In addition, the design does not require large-scale modification of existing equipment and has strong compatibility.

[0018] 3. Due to the setting of the first cylinder, the present invention can continuously clamp and fix the steel arch frame. By clamping and fixing the steel arch frame before the rollers are removed, the risk of the steel arch frame becoming unbalanced and rotating is completely avoided, ensuring successful installation and docking on the first attempt, which greatly improves construction efficiency. At the same time, this design reduces the technical requirements for operators, reduces the frequency and intensity of manual adjustments, shortens the construction cycle, and optimizes the entire process of steel arch frame installation.

[0019] 4. Due to the design of the pressure rod and the contact rod, the present invention avoids motion interference. The linkage between the pressure rod and the contact rod effectively avoids functional interference problems during construction, improves the smoothness of steel arch frame installation, avoids equipment damage or construction delays caused by misoperation, and indirectly saves construction costs. In addition, the automated control characteristics of this design can effectively improve construction efficiency. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of the horizontal support of the present invention.

[0022] Figure 3 This is the present invention. Figure 2 A magnified structural diagram at point A.

[0023] Figure 4 This is a three-dimensional structural diagram of the fixed base of the present invention.

[0024] Figure 5 This is the present invention. Figure 4 A magnified structural diagram at point B.

[0025] Figure 6 This is a schematic diagram of the vertical support frame structure of the present invention.

[0026] Figure 7 This is a schematic cross-sectional view of the vertical support frame structure of the present invention.

[0027] Figure 8 This is the present invention. Figure 7 A magnified structural diagram at point C.

[0028] Figure 9 This is a schematic cross-sectional view of the vertical sliding frame structure of the present invention.

[0029] Figure 10 This is the present invention. Figure 9 A magnified structural diagram at point D.

[0030] In the diagram: 1. Trolley body; 2. Lifting mechanism; 3. Steel arch frame; 31. Arch top unit; 32. Arch shoulder unit; 33. Side wall unit; 4. Horizontal moving mechanism; 5. Horizontal support; 51. Vertical support frame; 52. Vertical sliding frame; 53. Vertical chute; 54. U-shaped baffle; 55. Abutment rod; 56. First cylinder; 57. Second cylinder; 571. Connecting seat; 572. First roller; 6. Fixed base; 61. Tilting frame; 62. First motor; 63. Connecting frame; 64. Card seat; 65. Second roller; 66. First drive mechanism; 67. Second motor; 68. Downward pressure rod. Detailed Implementation

[0031] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0032] like Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 9 and Figure 10 As shown, in another embodiment of the present invention, a multi-module linkage control system for a self-propelled excavation trolley for tunnel micro-step construction is disclosed, including a trolley body 1, a lifting mechanism 2 and a steel arch frame 3. The lifting mechanism 2 is fixedly installed at one end of the trolley body 1, and the steel arch frame 3 is clamped and fixed on the lifting mechanism 2. The lifting mechanism 2 is used to drive the steel arch frame 3 to move along the height direction of the trolley body 1. A horizontal moving mechanism 4 is fixedly installed at the top of the trolley body 1. A horizontal support 5 is connected to the horizontal moving mechanism 4. The horizontal moving mechanism 4 is used to drive the horizontal support 5 to move along the length direction of the trolley body 1. Vertical support frames 51 are fixedly installed on both sides of the top of the horizontal support 5. A vertical sliding frame 52 is slidably connected inside the vertical support frame 51. A second cylinder 57 is fixedly installed inside the vertical sliding frame 52. A connecting seat 571 is fixedly connected to the top of the second cylinder 57. The second cylinder 57 is used to drive the connecting seat 571 to move along the height direction of the trolley body 1. A first roller 572 is rotatably connected to the top of the connecting seat 571. A tilting frame 61 is fixedly connected to the side of the horizontal support 5 away from the lifting mechanism 2. A connecting frame 63 is fixedly connected to the side of the tilting frame 61 close to the horizontal support 5. A card seat 64 is provided inside the connecting frame 63. A second roller 65 is rotatably connected to the bottom of the card seat 64. A first drive mechanism 66 is fixedly installed between the top of the card seat 64 and the inner wall of the connecting frame 63. The output end of the first drive mechanism 66 is fixedly connected to the top of the card seat 64. The first drive mechanism 66 is used to drive the card seat 64 to move along the height direction of the connecting frame 63. A second motor 67 is fixedly installed on the side of the connecting frame 63 close to the lifting mechanism 2. The output end of the second motor 67 is fixedly connected to the second roller 65.

[0033] It should be further explained that the length direction of the trolley body 1 is the same as the length direction of the tunnel. The steel arch frame 3 has a semi-circular structure. A height adjustment mechanism is installed at the bottom of the vertical support frame 51. The output end of the height adjustment mechanism is fixedly connected to the bottom end of the vertical sliding frame 52. The height adjustment mechanism is used to drive the vertical sliding frame 52 to move along the height direction of the trolley body 1. The lifting mechanism 2 includes a vertical drive mechanism and a clamp. The clamp is used to hold the steel arch frame 3. The vertical drive mechanism is connected to the clamp and is used to drive the clamp to move along the height direction of the trolley body 1. In this embodiment, the clamp consists of two symmetrical clamping plates and two drive components connected to the clamping plates. The steel arch frame 3 is located between the two clamping plates. The two drive components drive the two clamping plates to move towards each other. The drive components can be linear drive mechanisms such as cylinders or screw assemblies, which are existing technologies and will not be discussed here. To elaborate further, in this embodiment, the height adjustment mechanism, vertical drive mechanism, horizontal movement mechanism 4, and first drive mechanism 66 can be cylinders or lead screw assemblies, which are existing technologies and will not be elaborated here. The midpoints of the two first rollers 572 and the second roller 65 are all on the same vertical plane, and the second roller 65 is on the vertical axis of symmetry of the two first rollers 572. The top of the vertical sliding frame 52 is provided with a slot, which is opened through the vertical sliding frame 52. The slot is rectangular and divided into two groups, and the slot is located on both sides of the top of the vertical sliding frame 52 along the width direction of the trolley body 1. The bottom of the slot is arc-shaped. The slot is used to place the steel arch frame 3. When the second cylinder 57 is in the retracted state, the top of the first roller 572 is below the bottom of the slot. The surface of the second roller 65 is frosted. The two first rollers 572 and the second roller 65 are distributed in a triangle.

[0034] like Figure 1As shown, the steel arch frame 3 includes an arch top unit 31, an arch shoulder unit 32, and a side wall unit 33. The arch top unit 31, arch shoulder unit 32, and side wall unit 33 are spliced ​​sequentially from top to bottom. Adjacent arch top units 31, arch shoulder units 32, and side wall units 33 can be spliced ​​together by means of threaded connection, snap-fit ​​connection, etc. In this embodiment, the lifting mechanism 2 and the horizontal moving mechanism 4 both drive the arch top unit 31 in the steel arch frame 3 to move and rise. After the arch top unit 31 is installed at the top of the tunnel, the arch shoulder unit 32 and the side wall unit 33 are installed manually at the lower end of the arch top unit 31.

[0035] In actual use, operators excavate the tunnel using the trolley body 1. After excavation for a period of time, the tunnel needs to be supported and reinforced. At this time, the steel arch frame 3 needs to be fixedly connected to the top of the tunnel. During this process, the operator climbs onto the trolley body 1 and uses the clamps in the lifting mechanism 2 to fix the steel arch frame 3. Then, the vertical drive mechanism lifts the steel arch frame 3 until it reaches the designated height. After that, the operator transfers the steel arch frame 3 to the slot at the top of the vertical sliding frame 52. During this process, the height of the vertical sliding frame 52 is adjusted using the height adjustment mechanism to lift the steel arch frame 3 to the top of the tunnel. Before this, the position of the steel arch frame 3 needs to be adjusted to ensure it is in a balanced state, meaning both ends of the steel arch frame 3 are on the same horizontal plane. During this process, the second cylinder 57 is activated to drive the first roller 572 to move until the steel arch frame 3 is lifted, thus preventing friction between the bottom surface of the steel arch frame 3 and the slot during rotational adjustment. Then, the first drive mechanism 66 is activated to drive the second roller 65 towards the top surface of the steel arch frame 3, clamping and fixing the steel arch frame 3 using the two first rollers 572 and the second roller 65. After fixing is complete, the operator starts the second motor 67... The second motor 67 drives the second roller 65 to rotate, at which point the clamped steel arch frame 3 will be driven to rotate, that is, the steel arch frame 3 revolves. Because the surface of the second roller 65 is rough, it increases the friction between it and the steel arch frame 3, thus preventing the steel arch frame 3 from being unable to rotate due to its large weight. After both ends of the steel arch frame 3 are on the same horizontal plane, the rotation adjustment of the steel arch frame 3 is completed. The operator then resets the first roller 572 and the second roller 65. The reset process involves the first drive mechanism 66 driving the second roller 65 upward, while the second cylinder 57 drives the first roller 572 downward, simultaneously moving the connecting frame 63... Then, the height adjustment mechanism is activated to drive the vertical sliding frame 52 to raise the height, thereby lifting the steel arch frame 3 to the top of the tunnel. At that time, the operator will then manually fix the steel arch frame 3 to the top of the tunnel, thereby achieving support and reinforcement of the tunnel. After the steel arch frame 3 is fixed to the top of the tunnel, both ends of the steel arch frame 3 are on the same horizontal plane, so that there is no height difference between the two ends of the steel arch frame 3, and the reserved splicing nodes can be aligned. When splicing the remaining steel arch frame 3 segments downwards, the bolt holes can be aligned, thereby ensuring that the remaining steel arch frame segments can be fixed smoothly and accurately, and making the revolution adjustment of the steel arch frame 3 easier and more precise.

[0036] In the above embodiment, the steel arch frame 3 located inside the slot is clamped and fixed by two first rollers 572 and one second roller 65. The second motor 67 drives the second roller 65 to rotate, thereby driving the steel arch frame 3 to rotate, thus achieving the balance adjustment of the steel arch frame 3. However, after the position adjustment of the steel arch frame 3 is completed, it still needs to be fixed to the top of the tunnel excavated by the trolley body 1. During this period, the connecting frame 63 at the top of the steel arch frame 3 will collide with the tunnel top. Therefore, after the adjustment is completed, the connecting frame 63 must be removed separately, which is very time-consuming and laborious. Therefore, in order to solve this problem, in another embodiment of the present invention, the control system also includes a fixed base 6 and a first motor 62. The fixed base 6 is fixedly connected to the side of the horizontal support 5 near the tilting frame 61. The top of the fixed base 6 is rotatably connected to the tilting frame 61. The second motor 67 is fixedly installed on one side of the fixed base 6. The output end of the first motor 62 is fixedly connected to the tilting frame 61.

[0037] It should be added that, such as Figure 2 and Figure 4 As shown, a vertical baffle is fixedly connected to one side of the fixed base 6 near the horizontal support 5. The vertical baffle is used to limit the flipping frame 61.

[0038] In actual use, after the operator has adjusted the steel arch frame 3, and after the first roller 572 and the second roller 65 have both been reset, the steel arch frame 3 will return to the slot. At this time, the operator will start the first motor 62, which will drive the tilting frame 61 to rotate away from the steel arch frame 3, so that the connecting frame 63 will tilt and move to the side away from the vertical baffle. During the subsequent lifting operation of the steel arch frame 3, the steel arch frame 3 will not interfere with the connecting frame 63. This makes the fixed installation of the steel arch frame 3 relative to the top of the tunnel more efficient. After the steel arch frame 3 is fixed, the first motor 62 will reset the tilting frame 61, so that the connecting frame 63 will return to the top of the steel arch frame 3. This cycle is repeated to achieve rapid fixed installation of the steel arch frame 3.

[0039] In the above embodiment, the first motor 62 drives the tilting frame 61 to tilt. As the tilting frame 61 tilts, the tilting connecting frame 63 will tilt and move to the side away from the vertical baffle. This prevents the steel arch frame 3 from interfering with the connecting frame 63 during the lifting operation, making the fixed installation process of the steel arch frame 3 relative to the top of the tunnel more efficient. However, after the steel arch frame 3 is adjusted, when the second roller 65 is reset, the steel arch frame 3 may deflect at the top of the two first rollers 572 because it loses the clamping limit of the three rollers. This causes the steel arch frame 3 to be unbalanced again. Therefore, in order to solve this problem, in another embodiment of the present invention, the control system also includes a vertical slide 53 and a first cylinder 56. The vertical slide 53 is opened on the vertical sliding frame 52 along the height direction of the trolley body 1, and the first cylinder 56 is fixedly installed on the vertical sliding frame 52.

[0040] It should be added that, such as Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, each vertical sliding frame 52 has two vertical sliding grooves 53. The vertical sliding grooves 53 are opened through the vertical sliding frame 52 and are opened on both sides of the vertical sliding frame 52 along the length direction of the trolley body 1. Each vertical sliding frame 52 is provided with two first cylinders 56, and the two first cylinders 56 are fixedly installed on both sides of the vertical sliding frame 52 along the length direction of the trolley body 1. The output ends of the two first cylinders 56 pass through the adjacent vertical sliding grooves 53 and are located inside the vertical sliding frame 52. A gasket (not shown in this embodiment) is fixedly installed on the output end of the first cylinder 56. The first cylinder 56 is used to drive the gasket to move towards each other along the width direction of the horizontal support 5.

[0041] In actual use, after the steel arch frame 3 is adjusted and before the first roller 572 and the second roller 65 are reset, the operator activates several first cylinders 56. The first cylinders 56 drive the shims to move. At that time, the driven shims clamp the two sides of the steel arch frame 3, thereby clamping and fixing the steel arch frame 3. This ensures that after the first roller 572 and the second roller 65 are reset, the steel arch frame 3 is still clamped by the shims and will not lose balance due to the reset of the first roller 572 and the second roller 65. This makes the docking and installation process of the steel arch frame 3 with the tunnel top more stable and precise, and can be successful in one go, improving the installation efficiency of the steel arch frame 3.

[0042] In the above embodiment, the steel arch frame 3 is clamped by the first cylinder 56, so that after the first roller 572 and the second roller 65 are reset, the steel arch frame 3 can still be clamped and fixed, and will not rotate or shift due to loss of limit, thus losing balance. However, if the first cylinder 56 is activated during the clamping period of the first roller 572 and the second roller 65, the clamped steel arch frame 3 will not be able to rotate and adjust, thus affecting the overall processing operation. Therefore, in order to solve this problem, in another embodiment of the present invention, the control system also includes The system includes an abutment rod 55 and a U-shaped baffle 54. The abutment rod 55 is slidably connected inside the vertical slide groove 53. The U-shaped baffle 54 is located inside the vertical sliding frame 52 and is fixedly connected to the abutment rod 55. A rectangular groove is provided on the U-shaped baffle 54. A spring is connected between the U-shaped baffle 54 and the bottom end of the vertical sliding frame 52. One end of the spring is connected to the bottom end of the U-shaped baffle 54, and the other end of the spring is connected to the bottom end of the vertical sliding frame 52. A downward pressure rod 68 is fixedly connected to the lower part of the side of the connecting frame 63 away from the horizontal support 5.

[0043] It should be noted that the rectangular groove and the vertical slide 53 have the same width, and the rectangular groove is formed through the U-shaped baffle 54, as shown below. Figure 9 and Figure 10 As shown, the downward pressure rod 68 is inverted V-shaped, as... Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 9 As shown, the pressing rod 68 and the two abutting rods 55 near the side of the flipping frame 61 form an abutting engagement. When the bottom end of the first roller 572 is in contact with the top end of the steel arch frame 3, the pressing rod 68 and the abutting rod 55 form an abutting engagement. When the pressing rod 68 and the abutting rod 55 form an abutting engagement, the rectangular groove is below the pad, and the spring is in a compressed state at this time. Two rectangular grooves are opened on each U-shaped baffle 54, and the rectangular grooves are located below the abutting rod 55.

[0044] In actual use, when the bottom end of the first roller 572 is in contact with the top end of the steel arch frame 3, the abutment rod 55 is pressed down by the pressing rod 68. The pressed abutment rod 55 will drive the U-shaped baffle 54 to move downwards into the vertical sliding frame 52. At the same time, the rectangular groove will also move with the movement of the U-shaped baffle 54, so that the rectangular groove and the pad are not at the same horizontal position. The U-shaped baffle 54 will block the output end of the first cylinder 56, so that the pad cannot contact the side of the steel arch frame 3. As the flipping frame 61 flips, the pressing rod 68 will also flip. At that time, the pressing rod 68 will lose its downward pressure on the abutment rod 55, and the spring will... The rectangular groove will stretch upwards due to the loss of downward pressure, causing the U-shaped baffle 54 to move upwards as well. When the U-shaped baffle 54 stops moving, the rectangular groove and the output end of the first cylinder 56 are at the same horizontal level. At this time, the output end of the first cylinder 56 can pass through the rectangular groove and clamp and fix the steel arch frame 3 through the shim. In summary, when the flipping frame 61 is not flipped, the rectangular groove and the shim are not at the same horizontal level. That is, during the clamping of the first roller 572 and the second roller 65, the first cylinder 56 cannot clamp and fix the steel arch frame 3, thus avoiding functional interference.

[0045] In this embodiment, the present invention discloses a multi-module linkage control method for a self-propelled excavation trolley in tunnel micro-step construction, comprising the following steps: Step 1: First, the steel arch frame 3 needs to be lifted to the top of the excavation trolley using the lifting mechanism 2; Step 2: Then the horizontal moving mechanism 4 drives the steel arch frame 3 to move horizontally on the top of the excavation trolley until it moves to the designated position; Step 3: Then, adjust the steel arch frame 3 by revolution until it is adjusted to the designated position; Step 4: Then fix the adjusted steel arch frame 3; Step 5: Finally, lift the fixed steel arch 3 to the top of the tunnel and fix the steel arch 3 at the top of the tunnel.

[0046] It should be further explained that the operator excavates the tunnel using the trolley body 1. After excavation for a period of time, the tunnel needs to be supported and reinforced. At this time, the steel arch frame 3 needs to be fixedly connected to the top of the tunnel. During this process, the operator climbs onto the trolley body 1 and uses the clamps in the lifting mechanism 2 to fix the steel arch frame 3. Then, the vertical drive mechanism lifts the steel arch frame 3, thereby raising it to the designated height. After the steel arch frame 3 is raised, the operator transfers it to the slot at the top of the vertical sliding frame 52. The height of the vertical sliding frame 52 is adjusted by the height adjustment mechanism to lift the steel arch frame 3 to the top of the tunnel. Before this, the position of the steel arch frame 3 needs to be adjusted to ensure that it is in a balanced state, that is, both ends of the steel arch frame 3 are on the same horizontal plane. During this process, the second cylinder 57 is activated to drive the first roller 572 to move until the steel arch frame 3 is lifted, thereby avoiding friction between the bottom surface of the steel arch frame 3 and the slot during rotation adjustment. Then, the first drive mechanism 66 is activated to drive the second roller 65 to move towards the top of the tunnel. Moving towards the top surface of the steel arch frame 3, the steel arch frame 3 is clamped and fixed by two first rollers 572 and one second roller 65. After fixing is completed, the operator starts the second motor 67, which drives the second roller 65 to rotate. At that time, the clamped steel arch frame 3 will be driven to rotate, that is, the steel arch frame 3 revolves. Because the surface of the second roller 65 is rough, it can increase the friction between it and the steel arch frame 3, thereby avoiding the situation where the weight of the steel arch frame 3 is too great to drive it to rotate when the second roller 65 rotates. After both ends are on the same horizontal plane, the rotation adjustment of the steel arch frame 3 is completed. The operator resets the first roller 572 and the second roller 65. The reset process is that the first drive mechanism 66 drives the second roller 65 to move upward, while the second cylinder 57 drives the first roller 572 to move downward. At the same time, the connecting frame 63 is connected. Then, the height adjustment mechanism is activated to drive the vertical sliding frame 52 to raise the height, thereby lifting the steel arch frame 3 to the top of the tunnel. At that time, the operator will then manually fix the steel arch frame 3 to the top of the tunnel, thereby achieving the support and reinforcement of the tunnel.

[0047] The embodiments of this example have been described above. However, this example is not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of this example, and all of them are within the protection scope of this example.

Claims

1. A multi-module linkage control system for a self-propelled excavation trolley for tunnel micro-step construction, comprising a trolley body (1), a lifting mechanism (2) and a steel arch frame (3). The lifting mechanism (2) is fixedly installed at one end of the trolley body (1), and the steel arch frame (3) is clamped and fixed on the lifting mechanism (2). The lifting mechanism (2) is used to drive the steel arch frame (3) to move along the height direction of the trolley body (1). A horizontal moving mechanism (4) is fixedly installed at the top of the trolley body (1), and a horizontal support (5) is connected to the horizontal moving mechanism (4). The horizontal moving mechanism (4) is used to drive the horizontal support (5) to move along the length direction of the trolley body (1). Vertical support frames (51) are fixedly installed on both sides of the top of the horizontal support (5). Its features are, A vertical sliding frame (52) is slidably connected inside the vertical support frame (51). A second cylinder (57) is fixedly installed inside the vertical sliding frame (52). A connecting seat (571) is fixedly connected to the top of the second cylinder (57). The second cylinder (57) is used to drive the connecting seat (571) to move along the height direction of the trolley body (1). A first roller (572) is rotatably connected to the top of the connecting seat (571). A tilting frame (61) is fixedly connected to one side of the horizontal support (5) away from the lifting mechanism (2). A connecting frame (63) is fixedly connected to one side of the top of the tilting frame (61) near the horizontal support (5). A card seat (64) is provided inside the connecting frame (63). A second roller (65) is rotatably connected to the bottom of the card seat (64). The top of the card seat (64) is... A first drive mechanism (66) is fixedly installed between the end and the inner wall of the connecting frame (63). The output end of the first drive mechanism (66) is fixedly connected to the top of the card seat (64). The first drive mechanism (66) is used to drive the card seat (64) to move along the height direction of the connecting frame (63). A second motor (67) is fixedly installed on the side of the connecting frame (63) near the lifting mechanism (2). The output end of the second motor (67) is fixedly connected to the second roller (65). The steel arch frame (3) has a semi-arc structure. The lifting mechanism (2) includes a vertical drive mechanism and a clamp. The clamp is used to hold the steel arch frame (3). The vertical drive mechanism is used to drive the clamp to move along the height direction of the trolley body (1). The midpoints of the two first rollers (572) and one second roller (65) are all located at... On the same vertical plane, and the second roller (65) is on the vertical axis of symmetry of the two first rollers (572), the top of the vertical sliding frame (52) is provided with a slot, the bottom of the slot is arc-shaped, the slot is used to place the steel arch frame (3), when the second cylinder (57) is in the retracted state, the top of the first roller (572) is below the bottom of the slot, the surface of the second roller (65) is frosted, the control system also includes a fixed base (6) and a first motor (62), the fixed base (6) is fixedly connected to the side of the horizontal support (5) near the flipping frame (61), the top of the fixed base (6) is rotatably connected to the flipping frame (61), the second motor (67) is fixedly installed on one side of the fixed base (6), and the output end of the first motor (62) is fixedly connected to the flipping frame (61). A fixed connection is provided, and a vertical baffle is fixedly connected to one side of the fixed base (6) near the horizontal support (5). The vertical baffle is used to limit the tilting frame (61) to tilt. The control system also includes a vertical slide (53) and a first cylinder (56). The vertical slide (53) is opened on the vertical sliding frame (52) along the height direction of the trolley body (1). The first cylinder (56) is fixedly installed on the vertical sliding frame (52). Each vertical sliding frame (52) is provided with two first cylinders (56). The output ends of the two first cylinders (56) pass through the adjacent vertical slide (53) and are inside the vertical sliding frame (52). The control system also includes an abutment rod (55) and a U-shaped baffle (54). The abutment rod (55) is slidably connected inside the vertical slide (53).A U-shaped baffle (54) is located inside the vertical sliding frame (52). The U-shaped baffle (54) is fixedly connected to the abutment rod (55). A rectangular slot is provided through the U-shaped baffle (54). A spring is connected between the U-shaped baffle (54) and the bottom end of the vertical sliding frame (52). One end of the spring is connected to the bottom end of the U-shaped baffle (54), and the other end of the spring is connected to the bottom end of the vertical sliding frame (52). A downward pressure rod (68) is fixedly connected to the lower side of the connecting frame (63) away from the horizontal support (5).

2. The multi-module linkage control system for the self-propelled excavation trolley in tunnel micro-step construction according to claim 1, characterized in that, The rectangular groove has the same width as the vertical slide (53).

3. The multi-module linkage control system for the self-propelled excavation trolley in tunnel micro-step construction according to claim 2, characterized in that, The pressure rod (68) is inverted V-shaped, and the pressure rod (68) and the two abutting rods (55) on the side near the flipping frame (61) form an abutting engagement.

4. The control method of the multi-module linkage control system for the self-propelled excavation trolley in tunnel micro-step construction according to claim 3, characterized in that, Includes the following steps: Step 1: First, the steel arch frame (3) needs to be lifted to the top of the excavation trolley using the lifting mechanism (2); Step 2: Then the horizontal moving mechanism (4) drives the steel arch frame (3) to move horizontally on the top of the excavation trolley until it moves to the designated position; Step 3: Then, adjust the steel arch frame after it has been moved to the designated position. Step 4: Then fix the adjusted steel arch frame (3); Step 5: Finally, lift the fixed steel arch frame (3) to the top of the tunnel and fix the steel arch frame at the top of the tunnel.

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