Portal type prefabricated inverted arch assembling equipment

Abstract

The utility model discloses portal frame type prefabricated inverted arch assembling equipment which adopts a multi-degree-of-freedom working arm to realize a displacement positioning function and a posture positioning function of a prefabricated inverted arch block in X, Y and Z directions, six degrees of freedom do not interfere with each other, the movement process is simple and rapid, the size is accurate and controllable, and the assembling efficiency is high. According to the device, the prefabricated inverted arch blocks can be quickly positioned and grabbed, movably placed and precisely aligned in a three-dimensional space, the assembly positioning precision is greatly improved, manual hole aligning operation is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of prefabricated inverted arch assembly facilities, in particular to a portal frame type prefabricated inverted arch assembly equipment. Background Art

[0002] With the rapid development of tunnel construction, people are paying more and more attention to the speed, quality and construction environment of engineering construction. Especially in the process of tunnel construction with soft and broken surrounding rock, tunnel construction often has the requirements of short construction period, high quality and high technology. Therefore, prefabrication is an inevitable trend in the development of mechanization and factory construction technology of tunnel construction. At present, the construction of tunnel prefabricated inverts mainly adopts the gantry crane structure with manual assistance to assemble the prefabricated invert blocks. The gantry crane structure has the disadvantage of low assembly positioning accuracy. The final assembly positioning still requires manual assistance for hole alignment, and the assembly efficiency is low. For example, patent CN211202005U discloses a prefabricated arch block assembly device, including a traveling vehicle for carrying the prefabricated arch blocks to be assembled and traveling on the paved prefabricated arch blocks along the extension direction of the paved prefabricated arch blocks; a rotating hanger mechanism for grabbing, rotating and placing the assembled prefabricated arch blocks; a two-axis sliding vehicle for adjusting the position of the rotating hanger mechanism so that the assembled prefabricated arch blocks are placed in place; the prefabricated arch block assembly device adopts a rotating hanger mechanism and a two-axis sliding vehicle structure to form a gantry crane structure similar to a crane, which can only realize the XYZ direction displacement positioning and rough posture adjustment of the prefabricated blocks in the XZ direction, and the assembly positioning accuracy is low. Utility Model Content

[0003] The utility model provides a gantry type prefabricated inverted arch assembly device, which can realize the displacement positioning and posture positioning functions of the prefabricated inverted arch block in three directions of XYZ, improves the assembly positioning accuracy, reduces the manual hole operation, and improves the construction efficiency.

[0004] According to one aspect of the utility model, there is provided a gantry-type prefabricated inverted arch assembly device, comprising a walking system, a gantry assembly and a multi-degree-of-freedom working arm, wherein the walking system is used to walk on the laid prefabricated inverted arch blocks along the axial direction of the tunnel, the gantry assembly is installed on the walking system, and its internal space is used for traffic on the tunnel face, and the multi-degree-of-freedom working arm is installed on the gantry assembly, and is used to grab the prefabricated inverted arch blocks to be assembled and perform displacement positioning and posture positioning on them in the XYZ directions.

[0005] Furthermore, the multi-degree-of-freedom working arm includes a two-axis sliding vehicle, a telescopic arm and a grasping robot. The two-axis sliding vehicle is installed on the gantry assembly for displacement positioning in the X and Y directions. The telescopic arm is installed on the two-axis sliding vehicle for displacement positioning in the Z direction. The grasping robot is installed at the end of the telescopic arm for posture positioning in the XYZ directions.

[0006] Furthermore, the grasping robot includes a first rotating device, a second rotating device, a pitch cylinder and a lifting clamp, the first rotating device is installed at the end of the telescopic arm, the second rotating device is hinged to the first rotating device, one end of the pitch cylinder is connected to the first rotating device, and the other end is connected to the second rotating device, and the lifting clamp is installed on the second rotating device.

[0007] Furthermore, the telescopic arm is connected to the two-axis sliding vehicle through a third rotating device, and the third rotating device is used to drive the telescopic arm to rotate in the YZ plane.

[0008] Furthermore, the two-axle sliding vehicle includes a first sliding mechanism, a crossbeam and a second sliding mechanism. The two first sliding mechanisms are relatively mounted on the gantry assembly for synchronous displacement positioning in the X direction. The two crossbeams are relatively mounted on the two first sliding mechanisms. The second sliding mechanism is mounted on the two crossbeams and can be displaced and positioned in the Y direction along the crossbeams.

[0009] Furthermore, the gantry assembly includes a lower longitudinal beam, a gantry and an upper longitudinal beam, the two lower longitudinal beams are fixedly mounted on the traveling system, the length direction of the lower longitudinal beams is consistent with the traveling direction of the traveling system, the two gantries are relatively mounted on the two lower longitudinal beams, the two gantries are spaced apart along the traveling direction of the traveling system, the two upper longitudinal beams are relatively mounted on the two gantries in a cantilever structure and are located in the internal space surrounded by the two gantries, and the upper longitudinal beams are arranged parallel to the lower longitudinal beams.

[0010] Furthermore, the portal frame is an arc-shaped gantry arch frame, a horseshoe-shaped portal frame or a door-shaped portal frame.

[0011] Furthermore, it also includes a pea gravel injection system installed on the portal assembly, which is used for pea gravel injection backfilling before assembly to perform arc-shaped leveling on the tunnel invert excavation surface.

[0012] Furthermore, it also includes a grouting system installed on the portal assembly, which is used for performing back-wall grouting on the prefabricated inverted arch blocks after assembly.

[0013] Furthermore, the gantry assembly is also provided with an electrical system and a hydraulic system.

[0014] The utility model has the following beneficial effects:

[0015] The gantry-type prefabricated inverted arch assembly equipment of the utility model adopts a multi-degree-of-freedom working arm 3 to realize the displacement positioning function and posture positioning function of the prefabricated inverted arch block in the three directions of XYZ. The six degrees of freedom do not interfere with each other, the movement process is simple and fast, and the size is accurately controllable. It can realize the rapid positioning, grasping, mobile placement and accurate hole alignment of the prefabricated inverted arch block in three-dimensional space, greatly improves the assembly positioning accuracy, reduces the manual hole alignment operation, and improves the construction efficiency.

[0016] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0018] Figure 1 It is an isometric structural schematic diagram of a portal-type prefabricated inverted arch assembly device according to a preferred embodiment of the present application.

[0019] Figure 2 It is a left-side structural schematic diagram of a portal-type prefabricated inverted arch assembly device according to a preferred embodiment of the present application.

[0020] Figure 3 It is a right view structural schematic diagram of the portal frame type prefabricated inverted arch assembly equipment of the preferred embodiment of the present application.

[0021] Figure 4 It is a front view structural schematic diagram of a portal frame type prefabricated inverted arch assembly device according to a preferred embodiment of the present application.

[0022] Figure 5 It is a schematic structural diagram of a multi-degree-of-freedom working arm of a preferred embodiment of the present application.

[0023] Figure 6 It is a schematic diagram of the first type of invert lining ring in the preferred embodiment of the present application.

[0024] Figure 7 It is a schematic diagram of the second type of invert lining ring in the preferred embodiment of the present application.

[0025] Description of Reference Numerals

[0026] 1. Travel system; 2. Gantry assembly; 3. Multi-degree-of-freedom working arm; 4. Pea gravel injection system; 5. Grouting system; 6. Electrical system; 7. Hydraulic system; 8. Tunnel profiler; 9. Auxiliary crane; 31. Two-axis sliding vehicle; 32. Telescopic arm; 33. Grabbing manipulator; 34. First rotating device; 35. Second rotating device; 36. Pitch cylinder; 37. Lifting clamp; 38. Third rotating device; 311. First sliding mechanism; 312. Crossbeam; 313. Second sliding mechanism; 21. Lower longitudinal beam; 22. Gantry; 23. Upper longitudinal beam. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] Reference Figures 1 to 5 As shown, the preferred embodiment of the present application provides a portal type prefabricated inverted arch assembly equipment, including a walking system 1, a portal assembly 2 and a multi-degree-of-freedom working arm 3, wherein the walking system 1 is used to walk on the laid prefabricated inverted arch block along the axial direction of the tunnel, the portal assembly 2 is installed on the walking system 1, which is the main bearing member of the entire equipment, and its internal space is for the tunnel face to pass through, and the multi-degree-of-freedom working arm 3 is installed on the portal assembly 2, and is used to grab the prefabricated inverted arch block to be assembled and perform displacement positioning and posture positioning in the XYZ direction on it. It can be understood that when the prefabricated inverted arch block is assembled, the walking system 1 is first walked along the axial direction of the tunnel to the area to be laid, and then the transport vehicle transports the prefabricated inverted arch block to the inside of the portal assembly 2, and then the multi-degree-of-freedom working arm 3 performs displacement positioning and posture positioning in the XYZ direction, so as to accurately locate and grab the prefabricated inverted arch block and perform six-degree-of-freedom spatial positioning adjustment on it, which greatly improves the assembly positioning accuracy and assembly efficiency. In this application, the axial direction of the tunnel is defined as the X direction, and the Y direction and the Z direction of the spatial coordinate system are correspondingly determined according to the right-hand rule.

[0029] It can be understood that the gantry-type prefabricated arch assembly equipment of the present embodiment adopts a multi-degree-of-freedom working arm 3 to realize the displacement positioning function and posture positioning function of the prefabricated arch block in the three directions of XYZ. The six degrees of freedom do not interfere with each other, the movement process is simple and fast, and the size is precisely controllable. It can realize the rapid positioning, grasping, mobile placement and precise hole alignment of the prefabricated arch block in three-dimensional space, greatly improving the assembly positioning accuracy, reducing manual hole alignment operations, and improving construction efficiency.

[0030] Among them, the walking system 1 includes a trackless rubber-wheel walking system, which does not require the laying of tracks and can flexibly walk on prefabricated arch blocks on curved or flat surfaces. In addition, the walking system 1 also includes a walking transverse movement mechanism, which is used to drive the entire equipment vehicle to translate laterally to achieve tunnel centering, wherein the transverse refers to the Y-axis direction. In addition, the walking system 1 also includes telescopic legs, which are used to extend and support when parking in the area to be constructed, so as to improve the stability of the equipment during operation. Optionally, the walking system 1 can also adopt a track reducer motor walking system or a crawler walking system.

[0031] In addition, the gantry assembly 2 includes a lower longitudinal beam 21, a gantry 22 and an upper longitudinal beam 23. The two lower longitudinal beams 21 are fixedly mounted on the walking system 1. The length direction of the lower longitudinal beam 21 is consistent with the walking direction of the walking system 1. The two gantry 22 are relatively mounted on the two lower longitudinal beams 21. The two gantry 22 are spaced apart along the walking direction of the walking system 1. The two upper longitudinal beams 23 are relatively mounted on the two gantry 22 in a cantilever structure and are located in the internal space surrounded by the two gantry 22. The upper longitudinal beam 23 is arranged parallel to the lower longitudinal beam 21. It can be understood that the gantry assembly 2 of the present application adopts a beamless structure design with a large internal space, which is conducive to realizing a large range of lateral and longitudinal movement of the multi-degree-of-freedom working arm 3 in the internal space of the gantry assembly 2, and is convenient for realizing assembly operations in a large area. Among them, the longitudinal direction refers to the X direction. Among them, the portal frame 22 is an arc-shaped gantry arch frame, a horseshoe-shaped gantry frame or a door-shaped gantry frame. Preferably, an arc-shaped gantry arch frame is adopted, which has the advantage of high structural stability.

[0032] In addition, the multi-degree-of-freedom working arm 3 includes a two-axis sliding vehicle 31, a telescopic arm 32 and a grabbing manipulator 33. The two-axis sliding vehicle 31 is installed on the gantry assembly 2, specifically mounted on two upper longitudinal beams 23 and movable along the length direction of the upper longitudinal beams 23, for displacement positioning in the X and Y directions. The telescopic arm 32 is installed on the two-axis sliding vehicle 31, which can be telescopic for displacement positioning in the Z direction. The grabbing manipulator 33 is installed at the end of the telescopic arm 32 for posture positioning in the XYZ directions. It can be understood that the multi-degree-of-freedom working arm 3 performs displacement positioning in the X and Y directions through the two-axis sliding vehicle 31, performs telescopic positioning in the Z direction through the telescopic arm 32, and performs posture positioning in the XYZ directions through the grabbing manipulator 33, which ensures that the six-degree-of-freedom adjustments do not interfere with each other, the positioning action process is simple and fast, and the motion accuracy can be accurately controlled.

[0033] Optionally, the telescopic arm 32 is connected to the two-axis sliding vehicle 31 through a third rotating device 38, and the third rotating device 38 is used to drive the telescopic arm 32 to rotate in the YZ plane, which is beneficial to increase the action space of displacement positioning.

[0034] The two-axle sliding vehicle 31 includes a first sliding mechanism 311, a crossbeam 312 and a second sliding mechanism 313. The two first sliding mechanisms 311 are relatively mounted on the gantry assembly 2, specifically, they are respectively mounted on the two upper longitudinal beams 23 and can move in the longitudinal direction, and are used to synchronously perform displacement positioning in the X direction. The two crossbeams 312 are relatively mounted on the two first sliding mechanisms 311, that is, the length directions of the two crossbeams 312 are consistent with the Y direction, and the two crossbeams 312 are mounted on the two first sliding mechanisms 311, and the two crossbeams 312 provide a track for lateral movement for the second sliding mechanism 313. The second sliding mechanism 313 is mounted on the two crossbeams 312 and can perform displacement positioning in the Y direction along the crossbeams 312, that is, perform left and right lateral movement. For example, a slide groove is opened on the opposite surfaces of the two crossbeams 312, and the two ends of the second sliding mechanism 313 are respectively limited in the two slide grooves and can move left and right along the slide groove. The first sliding mechanism 311 and the second sliding mechanism 313 may be driven by a travel motor.

[0035] Among them, the grasping robot 33 specifically includes a first rotating device 34, a second rotating device 35, a pitch cylinder 36 and a weight-lifting clamp 37. The first rotating device 34 is installed at the end of the telescopic arm 32, and the first rotating device 34 can rotate in the YZ plane for posture adjustment. The second rotating device 35 is hinged to the first rotating device 34, and the second rotating device 35 can rotate in the XY plane for posture adjustment. One end of the pitch cylinder 36 is connected to the first rotating device 34, and the other end is connected to the second rotating device 35. The pitch cylinder 36 is extended and retracted to perform posture adjustment in the XZ plane. The weight-lifting clamp 37 is installed on the second rotating device 35. It can be understood that the present application is composed of two rotating devices, a pitch cylinder with front and rear adjustment and a lifting clamp 37, which can realize the posture adjustment and precise positioning of the grasping manipulator 33 in three directions of XYZ, and uses the lifting clamp 37 of the TBM segment assembly machine to grasp the prefabricated arch block, ensuring the grasping stability of the prefabricated arch block.

[0036] Optionally, the gantry-type prefabricated invert assembly equipment also includes a bean gravel injection system 4 installed on the gantry assembly 2, specifically installed on one of the lower longitudinal beams 21, for performing bean gravel injection backfilling before assembly to perform arc-shaped leveling on the tunnel invert excavation surface. It can be understood that due to over-excavation and under-excavation in the tunnel, the invert excavation surface is uneven, and the prefabricated invert blocks cannot be directly laid, and the excavation surface needs to be arc-shaped leveled. Therefore, the bean gravel injection system 4 of the present application arranges the injection pipeline on the gantry assembly 2, and grabs the bean gravel nozzle through the multi-degree-of-freedom working arm 3 to perform bean gravel injection backfilling, thereby achieving arc-shaped leveling of the tunnel invert excavation surface.

[0037] Optionally, the portal frame type prefabricated inverted arch assembly equipment further comprises a grouting system 5 installed on the portal frame assembly 2, specifically installed on the lower longitudinal beam 21, for performing back-wall grouting on the prefabricated inverted arch block after assembly. It can be understood that after the prefabricated inverted arch block is assembled, the prefabricated inverted arch block is subjected to back-wall grouting and solidification by the grouting system 5, thereby improving the supporting strength. The grouting system 5 integrates slurry making, stirring and grouting.

[0038] In addition, the portal frame assembly 2 is also provided with an electrical system 6 and a hydraulic system 7, which are specifically installed on the lower longitudinal beam 21 and are mainly used to control and drive the assembly action.

[0039] Optionally, the gantry-type prefabricated inverted arch assembly equipment further includes a tunnel profiler 8 mounted on the gantry assembly 2, specifically mounted on the crossbeam 312 or the second sliding mechanism 313, for high-precision positioning. For example, the position of the entire device in the tunnel can be positioned by the tunnel profiler 8, so as to cooperate with the walking and traversing mechanism of the walking system 1 to accurately center the tunnel; the tunnel profiler 8 can also be used to real-time locate and measure the posture of the prefabricated inverted arch block on the multi-degree-of-freedom working arm 3, so as to cooperate with the multi-degree-of-freedom working arm 3 to accurately adjust the posture; the cambered surface of the bean gravel injection can also be measured in real time, and the cambered surface data can be measured to feedback control the multi-degree-of-freedom working arm 3 to adjust the reverse direction of the bean gravel injection. In addition, various types of high-precision sensors can be set on the multi-degree-of-freedom working arm 3 to detect and identify the posture of the multi-degree-of-freedom working arm 3, so as to indirectly identify the real-time posture of the prefabricated inverted arch block, so as to facilitate feedback control of the posture.

[0040] Optionally, the portal-type prefabricated inverted arch assembly equipment further includes an auxiliary crane 9 installed on the portal assembly 2, specifically installed on the crossbeam 312, to facilitate auxiliary lifting operations.

[0041] It can be understood that the process of assembling prefabricated inverted arch blocks using the gantry-type prefabricated inverted arch assembly equipment of the present application is as follows: the operator uses a remote control to operate the equipment to flexibly drive into the area to be prefabricated inverted arch assembly, parks in the area to be constructed and extends the legs to support the equipment, and at the same time operates the tunnel section meter 8 to measure and position the equipment, and then uses the walking and transverse mechanism to center the tunnel. Since the tunnel is over-excavated or under-excavated, the excavation surface of the inverted arch is uneven and needs to be leveled in an arc shape. Therefore, before assembling the prefabricated inverted arch blocks, it is first necessary to spray bean gravel on the area to be assembled, and the bean gravel nozzle is grasped by the multi-degree-of-freedom working arm 3 to spray bean gravel backfill. The tunnel section meter 8 measures the bean gravel spraying arc surface in real time, and the measured arc surface data is fed back to control the multi-degree-of-freedom working arm 3 to realize automatic adjustment of the bean gravel spraying direction. For example Figure 6 and Figure 7The two types of inverted arch lining ring staggered assembly operations shown, A ring is composed of five prefabricated inverted arch blocks A1 and A2, and B ring is composed of six prefabricated inverted arch blocks B1 and B2. The transport vehicle transports the prefabricated inverted arch block to the inside of the equipment gantry assembly 2, and after checking the sealing ring, dimensional accuracy and quality of the prefabricated inverted arch block, the buckle bolts are installed on the prefabricated inverted arch block. Then, the multi-degree-of-freedom working arm 3 completes the XYZ three-direction displacement positioning through the two-axis sliding vehicle 31, the third rotating device 38 and the telescopic arm 32, and then completes the XYZ three-direction posture positioning through the first rotating device 34, the second rotating device 35 and the pitch cylinder 36 on the grabbing manipulator 33, and finally accurately locates and grabs the prefabricated buckle bolts of the inverted arch. The operator operates the remote control to manually move the multi-degree-of-freedom working arm 3 or automatically moves the multi-degree-of-freedom working arm 3 through the one-button arm movement button, and initially automatically transports the prefabricated inverted arch block by adjusting the joint movements of the arm frame, and then the operator accurately fine-tunes the positioning of the prefabricated inverted arch block for the hole. After the prefabricated inverted arch block is positioned, the water stop strip is pressed, the annular bolts are tightened first and then the longitudinal bolts are tightened, and after each ring of inverted arch blocks is assembled, the longitudinal compression is tightened, and then the connecting bolts are tightened again. After each ring of inverted arch blocks is bolted, the grouting system 5 is used to perform double-liquid grouting behind the wall on each ring of prefabricated inverted arch blocks, and the grouting pipeline joint is installed in the prefabricated inverted arch reserved grouting holes to inject double-liquid grout at the bottom-waist in turn. When the grouting reaches both ends of the inverted arch, stop grouting and wait for the support strength to be reached after solidification.

[0042] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A portal frame type prefabricated inverted arch assembly equipment, characterized in that: The invention comprises a walking system (1), a portal assembly (2) and a multi-degree-of-freedom working arm (3); the walking system (1) is used for walking on the laid prefabricated inverted arch blocks along the axial direction of the tunnel; the portal assembly (2) is mounted on the walking system (1), and its internal space is used for traffic on the tunnel face; the multi-degree-of-freedom working arm (3) is mounted on the portal assembly (2) and is used for grabbing the prefabricated inverted arch blocks to be assembled and performing displacement positioning and posture positioning on the prefabricated inverted arch blocks in the XYZ directions.

2. The gantry type prefabricated inverted arch assembly equipment according to claim 1, characterized in that: The multi-degree-of-freedom working arm (3) comprises a two-axis sliding vehicle (31), a telescopic arm (32) and a grasping manipulator (33); the two-axis sliding vehicle (31) is mounted on the gantry assembly (2) for performing displacement positioning in the X and Y directions; the telescopic arm (32) is mounted on the two-axis sliding vehicle (31) for performing displacement positioning in the Z direction; the grasping manipulator (33) is mounted at the end of the telescopic arm (32) for performing posture positioning in the XYZ directions.

3. The gantry type prefabricated inverted arch assembly equipment according to claim 2, characterized in that: The grabbing manipulator (33) comprises a first rotating device (34), a second rotating device (35), a pitch cylinder (36) and a weight-lifting clamp (37); the first rotating device (34) is installed at the end of the telescopic arm (32); the second rotating device (35) is hinged to the first rotating device (34); one end of the pitch cylinder (36) is connected to the first rotating device (34) and the other end is connected to the second rotating device (35); and the weight-lifting clamp (37) is installed on the second rotating device (35).

4. The portal frame type prefabricated inverted arch assembly equipment according to claim 2, characterized in that: The telescopic arm (32) is connected to the two-axis sliding vehicle (31) through a third rotating device (38), and the third rotating device (38) is used to drive the telescopic arm (32) to rotate in the YZ plane.

5. The gantry type prefabricated inverted arch assembly equipment according to claim 2, characterized in that: The two-axis sliding vehicle (31) comprises a first sliding mechanism (311), a crossbeam (312) and a second sliding mechanism (313); the two first sliding mechanisms (311) are relatively mounted on the gantry assembly (2) and are used for synchronously performing displacement positioning in the X direction; the two crossbeams (312) are relatively mounted on the two first sliding mechanisms (311); the second sliding mechanism (313) is mounted on the two crossbeams (312) and can perform displacement positioning in the Y direction along the crossbeams (312).

6. The portal frame type prefabricated inverted arch assembly equipment according to claim 1, characterized in that: The gantry assembly (2) comprises a lower longitudinal beam (21), a gantry (22) and an upper longitudinal beam (23); the two lower longitudinal beams (21) are fixedly mounted on the walking system (1); the length direction of the lower longitudinal beams (21) is consistent with the walking direction of the walking system (1); the two gantry (22) are relatively mounted on the two lower longitudinal beams (21); the two gantry (22) are spaced apart along the walking direction of the walking system (1); the two upper longitudinal beams (23) are relatively mounted on the two gantry (22) in a cantilever structure and are located in an internal space surrounded by the two gantry (22); the upper longitudinal beam (23) is arranged parallel to the lower longitudinal beam (21).

7. The portal frame type prefabricated inverted arch assembly equipment according to claim 6, characterized in that: The door frame (22) is an arc-shaped gantry arch frame, a horseshoe-shaped door frame or a door-shaped door frame.

8. The portal frame type prefabricated inverted arch assembly equipment according to claim 1, characterized in that: It also includes a pea gravel injection system (4) installed on the portal assembly (2) and used for injecting pea gravel backfill before assembly to perform arc-shaped leveling on the tunnel invert excavation surface.

9. The portal frame type prefabricated inverted arch assembly equipment according to claim 1, characterized in that: It also includes a grouting system (5) installed on the portal frame assembly (2) and used for performing back-wall grouting on the prefabricated inverted arch blocks after assembly.

10. The portal frame type prefabricated inverted arch assembly equipment according to claim 1, characterized in that: The gantry assembly (2) is also provided with an electrical system (6) and a hydraulic system (7).

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