Concrete spraying device and mixed spraying system

Abstract

The utility model belongs to the technical field of concrete lining equipment, and particularly provides a concrete spraying device and a mixed spraying system. The concrete spraying device comprises a rack carrying a guniting manipulator, the rack can move relative to a TBM along the bottom of a tunnel, and the rack comprises a mounting platform used for carrying the guniting manipulator and walking supporting mechanisms located on the two transverse sides of the mounting platform. An avoiding space used for avoiding related devices arranged at the bottom of the tunnel is formed by an inner space defined by the mounting platform and the walking supporting mechanisms on the two sides. The mixed spraying system comprises the concrete spraying device. The avoiding space is arranged on the inner side of the machine frame of the coagulation spraying device, and related devices such as a continuous belt conveyor arranged at the bottom of the tunnel can be arranged in the avoiding space. The concrete spraying device can still enter a site normally to complete concrete spraying operation.

Description

Technical Field

[0001] The utility model belongs to the technical field of concrete lining equipment, and particularly relates to a concrete spraying device and a wet spraying system. Background Technique

[0002] The TBM construction method is gradually popularized and applied in the field of mine roadways. In some fractured areas, it is also necessary to spray concrete in the more fractured areas of the rock formation during construction to ensure the stability of the surrounding rock. In order to reduce the labor intensity of manual work, it is an inevitable development trend to use a wet spraying system with a higher degree of automation. There are mainly two configuration methods for the wet spraying system. One is to configure a shotcreting bridge on the TBM and mount a concrete spraying device that can move back and forth along the shotcreting bridge on the shotcreting bridge. The concrete spraying device includes a shotcreting manipulator. The other is to configure a self-propelled concrete spraying device that can move independently relative to the TBM. During construction, the concrete spraying device follows behind the TBM. For example, the utility model patent with the authorization announcement number CN217380576U discloses a crawler shotcreting vehicle, which includes a chassis (or a frame), and the chassis is configured with a crawler-type traveling mechanism that can travel along the bottom of the tunnel. The shotcreting manipulator for spraying concrete and the concrete pump for pumping concrete are mounted on the chassis. The second type of self-propelled concrete spraying device is more flexible, simplifies the structure of the TBM, and facilitates the flexible transfer of the TBM.

[0003] The rock slag generated by excavating the roadway is generally transported out of the tunnel by a continuous belt conveyor. In conventional projects, to avoid interference between the continuous belt conveyor and the self-propelled concrete spraying device, the continuous belt conveyor is generally installed on the side wall of the tunnel to vacate the position at the bottom of the tunnel for the self-propelled concrete spraying device to move. However, in some projects, due to space limitations or other requirements at the construction site, it is also necessary to configure necessary devices at the center position of the tunnel bottom, such as a continuous belt conveyor, which will cause the concrete spraying device to be unable to enter the site. For this situation, concrete is still sprayed manually at present. Content of the Utility Model

[0004] The purpose of the utility model is to provide a concrete spraying device to solve the technical problem that the device configured at the center position of the tunnel bottom in the prior art affects the normal entry and construction of the concrete spraying device. The purpose of the utility model is also to provide a wet spraying system to solve the same technical problem.

[0005] To achieve the above purpose, the technical solution of the concrete spraying device provided by the utility model is:

[0006] A concrete spraying device includes a frame. The frame is configured with a driving device that drives it to move relative to the TBM during construction and travel along the bottom of the tunnel. A shotcreting manipulator is mounted on the frame. The frame includes an installation platform for mounting the shotcreting manipulator and walking support mechanisms located on the transverse two sides of the installation platform. The internal space enclosed by the installation platform and the walking support mechanisms on both sides forms an avoidance space for avoiding related devices arranged at the bottom of the tunnel.

[0007] As a further improvement, the walking mechanism installed on the walking support mechanism for walking along the bottom of the tunnel is a walking wheel, and the driving device is a wheel-side driving device corresponding to each walking wheel one by one.

[0008] As a further improvement, the walking support mechanism includes telescopic legs arranged on the transverse two sides of the installation platform, and at least two telescopic legs are provided on each side of the transverse two sides. Each walking wheel is installed on the telescopic leg, and each telescopic leg can independently control its support height.

[0009] As a further improvement, a level detector for detecting the level of the installation platform is installed on the installation platform to control the actions of each telescopic leg according to the detection information of the level detector.

[0010] As a further improvement, the shotcreting manipulator is installed on the installation platform through a movable seat that can move relative to the installation platform. The moving stroke of the movable seat meets the requirement that the shotcreting manipulator can move to one side of the transverse direction of the frame to avoid the track hoisting system at the top of the tunnel.

[0011] As a further improvement, the movable seat and the installation platform are guided and matched through a translation guiding structure. The translation guiding structure includes a guide rail arranged on the installation platform and a guide rail fitting arranged on the movable seat and guidingly matched with the guide rail.

[0012] As a further improvement, a cleaning device for removing the rebound slurry on the track is provided on the movable seat.

[0013] As a further improvement, connection points for installing lifting lugs to lift the concrete spraying device as a whole are also provided on the frame.

[0014] The utility model belongs to an improved invention creation, and its beneficial effects are as follows: During construction, the concrete spraying device can still move relative to the TBM, and the shotcreting manipulator can be flexibly sent to a suitable shotcreting position. Different from the prior art, there is an avoidance space inside the frame, and related devices arranged at the bottom of the tunnel, such as a continuous belt conveyor, can be arranged in the avoidance space. In other words, even if there are related devices necessary for construction arranged at the bottom of the tunnel, the concrete spraying device in the utility model can still enter the site for construction normally to complete the concrete spraying operation.

[0015] To achieve the above object, the technical solution of the mixing spraying system provided by the present utility model is as follows:

[0016] A mixing spraying system includes a TBM trailer and a concrete spraying device. The concrete spraying device includes a frame, the frame includes an installation platform and walking support mechanisms located on the transverse two sides of the installation platform. A shotcreting manipulator is installed on the installation platform. The frame is configured with a driving device for driving its movement relative to the TBM trailer during construction and walking along the bottom of the tunnel. The internal space enclosed by the installation platform and the walking support mechanisms on both sides forms an avoidance space for avoiding related devices arranged at the bottom of the tunnel. A shotcreting pump is carried on the TBM trailer, and the shotcreting pump is connected to the shotcreting manipulator through a concrete delivery pipe.

[0017] As a further improvement, the walking mechanism installed on the walking support mechanism for walking along the bottom of the tunnel is a walking wheel, and the driving device is a wheel-side driving device corresponding to the walking wheel one by one.

[0018] As a further improvement, the walking support mechanism includes telescopic legs arranged on the transverse two sides of the installation platform, and at least two telescopic legs are provided on each side of the transverse two sides. Each walking wheel is installed on the telescopic leg, and each telescopic leg can independently control its support height.

[0019] As a further improvement, a level detector for detecting the level of the installation platform is installed on the installation platform to control the actions of each telescopic leg according to the detection information of the level detector.

[0020] As a further improvement, the mixing spraying system further includes an overhead crane system for being arranged at the top of the tunnel.

[0021] As a further improvement, the shotcreting manipulator is installed on the installation platform through a movable seat that can move relative to the installation platform. The moving stroke of the movable seat satisfies that the shotcreting manipulator can move to one side of the transverse direction of the frame to avoid the overhead crane system at the top of the tunnel.

[0022] As a further improvement, the movable seat and the installation platform are guided and matched through a translation guiding structure. The translation guiding structure includes a guide rail arranged on the installation platform and a guide rail fitting arranged on the movable seat and guidingly matched with the guide rail.

[0023] As a further improvement, a cleaning device for removing the rebound slurry on the track is arranged on the movable seat.

[0024] As a further improvement, a lug connection point for installing a lug to lift the concrete spraying device as a whole is further arranged on the frame.

[0025] As a further improvement, a cable winding and unwinding device is installed on the TBM trailer, and the cable winding and unwinding device is used for winding and unwinding the cable for supplying power to the concrete spraying device.

[0026] As a further improvement, the concrete conveying pipe is a folding pipe, and the shotcreting system further includes a pipeline moving track for installing on the tunnel wall to enable the folding pipe to extend and retract to lengthen and shorten the pipeline.

[0027] The utility model belongs to a pioneering invention. Its beneficial effects are as follows: During construction, the concrete spraying device can still move relative to the TBM (specifically the TBM trailer), and the shotcreting manipulator can be flexibly sent to a suitable shotcreting position. Moreover, the shotcreting pump is carried on the TBM trailer, which also makes the structure of the concrete spraying device simple and can be controlled within a smaller size. Different from the prior art, there is an avoidance space inside the frame, and related devices arranged at the bottom of the tunnel, such as a continuous belt conveyor, can be arranged in the avoidance space. In other words, even if there are related devices necessary for construction arranged at the bottom of the tunnel, the concrete spraying device in the utility model can still enter the site normally for construction to complete the concrete spraying operation. Description of the Drawings

[0028] Figure 1 Schematic diagram of the state during construction of the shotcreting system embodiment in the utility model (without transporting materials);

[0029] Figure 2 Front view of the concrete spraying device in the shotcreting system embodiment in the utility model;

[0030] Figure 3 For Figure 2 Cross-sectional view of the telescopic support leg in

[0031] Figure 4 For Figure 2 Partial schematic diagram at the translation guiding structure in

[0032] Figure 5 For Figure 4 Side view of

[0033] Figure 6 Axial view of the state during construction of the shotcreting system embodiment in the utility model;

[0034] Figure 7 Schematic diagram of the state during construction of the shotcreting system embodiment in the utility model (transporting materials).

[0035] Explanation of the reference numerals:

[0036] 1. TBM trailer; 2. Concrete spraying device; 3. Shotcreting pump; 4. Cable reel; 5. Cable; 6. Top track; 7. Crane; 8. Concrete delivery pipe; 9. Shotcreting manipulator; 10. Continuous belt conveyor; 11. Dry concrete; 201. Installation platform; 202. Telescopic support leg; 203. Wheel-side drive device; 204. Traveling wheel; 205. Lifting lug; 206. Horizontal detector; 207. Guide rail; 208. Translation drive oil cylinder; 209. Personnel walkway; 210. Ladder; 2021. Inner cylinder; 2022. Outer sleeve; 2023. Telescopic oil cylinder. Detailed implementation manners

[0037] In order to provide a self-propelled concrete spraying device that can be flexibly applied to the center position at the bottom of a tunnel with supporting devices, the basic technical concept of the present utility model is to change the structure of the frame (chassis) of the concrete spraying device and utilize the space inside the frame to avoid related supporting devices. The following further describes the present utility model in detail with reference to embodiments.

[0038] Specific embodiments of the mixing and spraying system provided by the present utility model:

[0039] When the mixing and spraying system provided in this embodiment is under construction, as a whole, it is as Figure 1 shown. It includes a TBM trailer 1 and a concrete spraying device 2. Among them, the TBM trailer 1 refers to the rear support trailer of the TBM, preferably the last rear support trailer of the TBM. Its specific structure can be the same as that of the prior art and will not be elaborated here. During construction, the TBM trailer 1 is part of the TBM and moves forward and backward under the control of the whole TBM. The concrete spraying device 2 can move relative to the TBM trailer 1 during construction. As Figure 2 and Figure 6 shown, the concrete spraying device 2 includes a frame configured with a driving device. Under the driving action of the driving device, the frame can travel along the bottom of the tunnel, and the travel of the frame does not follow the TBM synchronously. Its movement is independent of the TBM, that is, it moves relative to the TBM. The frame includes an installation platform 201 and traveling support mechanisms on both lateral sides of the installation platform 201. A shotcreting manipulator 9 is installed on the installation platform 201. The shotcreting manipulator 9 is also prior art, which includes a nozzle with a set activity range and an actuator that drives the nozzle to move within the set activity range. As the concrete spraying device 2 moves forward and backward, the shotcreting manipulator 9 can spray concrete onto the tunnel wall. The traveling support mechanism refers to a mechanism that supports the installation platform 201 and travels along the bottom of the tunnel to drive the concrete spraying device 2 to move longitudinally (forward and backward). Naturally, it includes a traveling mechanism. The internal space formed by the installation platform 201 and the traveling support mechanisms on both sides constitutes an avoidance space for avoiding related devices arranged at the bottom of the tunnel. As Figure 6As shown, in some projects, a continuous belt conveyor 10 for transporting rock slag produced by excavation is arranged at the center of the tunnel bottom. The above-mentioned avoidance space can just avoid the continuous belt conveyor 10, so that the concrete spraying device 2 can still move back and forth along the tunnel bottom without interfering with the continuous belt conveyor 10, thereby realizing normal mixed spraying operation.

[0040] In addition, in this embodiment, a shotcrete pump 3 for pumping slurry for the shotcrete manipulator 9 is installed on the TBM trailer 1, and the shotcrete pump 3 is connected to the shotcrete manipulator 9 through a concrete delivery pipe 8. Concrete slurry can enter the shotcrete manipulator 9 through the concrete delivery pipe 8 and is finally sprayed out by the shotcrete manipulator 9, wherein the concrete delivery pipe 8 should be a flexible pipe.

[0041] In this embodiment, the walking mechanism installed on the walking support mechanism is a walking wheel 204. Preferably, the walking wheel 204 is a rubber wheel. Figure 6 As shown, the walking wheels 204 on the walking support mechanisms on both sides are arranged in an "eight" shape, so that they can have a better fit and support with the arc-shaped tunnel wall. When the walking wheels 204 are configured, the driving device adopts a wheel-side driving device 203, and the wheel-side driving device 203 corresponds to the walking wheels 204 one by one, and can specifically be an electric motor or a hydraulic motor. The output shaft of the wheel-side driving device 203 can be directly connected to the wheel axle of the walking wheel 204 or connected through a reduction mechanism. Compared with the implementation method of configuring a drive bridge on the walking support mechanism on the same side to drive all the walking wheels 204 on this side, the wheel-side driving device 203 can simplify the transmission structure and facilitate layout.

[0042] Furthermore, the walking support mechanism is provided with telescopic legs 202. Specifically, at least two telescopic legs 202 are provided on each of the lateral sides. The figure shows an example of two telescopic legs 202 on each of the lateral sides. In fact, if space permits, three or even more telescopic legs 202 can be provided on each of the lateral sides. The telescopic legs 202 refer to the legs whose support height can be adjusted by adjusting the telescopic mechanism to extend and retract up and down. Figure 3 As shown, the telescopic leg 202 can be a hydraulic leg, which includes an inner cylinder 2021 and an outer cylinder 2022 that are nested and guided together. The telescopic mechanism, i.e., the telescopic cylinder 2023, is installed inside the inner cylinder 2021 and the outer cylinder 2022, and the two ends of the telescopic cylinder 2023 are respectively connected to the inner cylinder 2021 and the outer cylinder 2022.

[0043] Regardless of whether an electric push rod, a cylinder, or a hydraulic cylinder is used as the telescopic mechanism, each telescopic leg 202 can be independently controlled for its telescopic movement. For example, an independent controller can be configured for the motor of the electric push rod, or it can be achieved by controlling the pneumatic / hydraulic system. The specific control method is prior art and will not be elaborated here. In this way, during construction, if there is accumulated slag or a pit at the bottom of the tunnel, causing the frame to tilt to one side, the height of the telescopic leg 202 can be adjusted accordingly to adjust the installation platform 201 to be level, so as to ensure that the shotcreting manipulator 9 is in an ideal working state, and thus achieve an ideal shotcreting area. In other embodiments, the mechanism for installing the traveling wheels 204 may not be the telescopic leg 202. The construction site personnel can clean the accumulated slag before shotcreting, or use a cushion block to pad the pit. Additionally, it can be understood that when the telescopic legs 202 are lifted and lowered synchronously, the height of the installation platform 201 can also be adjusted, thereby changing the height of the avoidance space.

[0044] In order to accurately determine whether the installation platform 201 is level and the direction of tilt, a level detector 206 is also installed on the installation platform 201. The level detector 206 is used to detect the levelness of the installation platform, that is, whether there is a tilt to a certain side. The information detected by the level detector 206 can be used to determine which side the installation platform 201 tilts to, and the telescopic legs 202 can be controlled to act according to the detected information. Compared with the implementation mode of directly observing the installation platform 201 manually, observing the level detector 206 in this way is more accurate and efficient.

[0045] In addition, a cable winding and unwinding device is provided on the TBM trailer 1. The cable winding and unwinding device can wind and unwind the cable 5, and the cable 5 supplies power to the concrete conveying device. In this way, the concrete spraying device can no longer be equipped with a cable winding and unwinding device, which can make the structure of the concrete spraying device simpler and facilitate flexible passage at the bottom of the tunnel. When the actuating mechanism of the shotcreting manipulator 9 is an electric actuating mechanism, actually the shotcreting manipulator 9 can obtain power from the TBM, that is, the cable 5 is connected to the power distribution system of the TBM. Similarly, in order to ensure the movement of the concrete spraying device 2 relative to the TBM, the cable 5 needs to have a certain margin. To prevent the cable 5 from sagging and dragging on the ground when the concrete spraying device 2 moves in the direction close to the TBM trailer 1, the cable 5 can be controlled to wind and unwind through the cable winding and unwinding device. Specifically, the cable winding and unwinding device can be a cable reel 4 as shown in Figure 1 Figure, and the volume of the cable reel 4 is relatively small. However, in other embodiments, the cable winding and unwinding device can also be a pulling device including a linear drive telescopic driver to pull the cable 5 for winding and unwinding.

[0046] It should also be noted that other corresponding devices on the concrete spraying device 2 that require power supply or oil supply can also obtain power or oil from the TBM, so that equipment such as a distribution box and a hydraulic pump station do not need to be installed on the concrete spraying device 2.

[0047] Similarly, to prevent the concrete delivery pipe 8 from sagging and dragging on the ground when the concrete spraying device 2 moves towards the TBM trailer 1, specifically, the concrete delivery pipe 8 can be a folding pipe. The folding pipe has defined bending points where it can be folded (shortened in length) or unfolded (lengthened in length). Correspondingly, the wet-mix spraying system can also be equipped with a pipeline moving track for installation on the tunnel wall. The folding pipe can be retracted and extended along the folding track. When the concrete spraying device 2 moves towards the TBM trailer 1, the folding pipe can be folded and shortened. When the TBM trailer 1 moves forward, the folding pipe can be extended and lengthened. Rollers or sliders can be installed at the bending points of the folding pipe, and the folding pipe can be installed on the pipeline moving track through the rollers or sliders to achieve movement. During construction, the pipeline moving track can be reasonably installed according to the spatial relationship inside the tunnel and continuously extended forward as the construction progresses.

[0048] During the construction of coal mine roadways, to facilitate the transportation of materials into the tunnel, actually, the wet-mix spraying system also includes an overhead crane system. During construction, the overhead crane system can be installed on the tunnel roof and continuously extended forward as the TBM advances. The overhead crane system is used to transport the materials required during the construction process, and the concrete raw materials can also be transported forward by the overhead crane system. Specifically, the overhead crane system includes a top track 6 installed on the tunnel roof and a crane 7 moving along the top track 6. To avoid the overhead crane system, in this embodiment, the shotcreting manipulator 9 is installed on the installation platform 201 through a movable moving seat, as Figure 6 and Figure 7 shown. When the overhead crane system transports materials (such as dry concrete 11), the travel of the moving seat satisfies that the shotcreting manipulator 9 can move to one side horizontally to ensure the normal operation of the overhead crane system. It should be noted that when spraying concrete, if the surrounding rock at the top position is relatively stable, the position of the top track 6 can be avoided. If the top surrounding rock is relatively broken, the top track 6 can be removed first, and then reinstalled after spraying concrete.

[0049] As a specific installation method of the moving seat, the moving seat and the installation platform 201 are guided and matched through a translation guiding structure. Compared with setting a swinging moving seat, that is, the movement track of the moving seat is an arc track, the translation guiding structure is simpler and more reliable. The movement of the moving seat can be driven by a telescopic device, such as Figure 2 、 Figure 4 and Figure 6 the translation drive oil cylinder 208 in. The translation guiding structure includes a guide rail 207 provided on the installation platform 201 and a guide rail fitting provided on the moving seat. The guiding fitting can be a roller, and the roller can roll along the guiding groove on the guide rail 207, or the guiding fitting can be a slider, and the slider is slidably and guidingly matched with the guide rail 207.

[0050] To ensure the stability of the guiding movement, two guide rails 207 can be provided, or more can be provided if the space permits. In a preferred embodiment, in order to enable the shotcrete manipulator 9 to move to one side in the horizontal direction, as Figures 4 - 6 shown, the guiding structure extends horizontally, which results in the smallest size. Of course, in practice, it is not limited to the guiding structure extending horizontally. The guiding structure can also have a certain deflection angle relative to the horizontal direction, as long as it has a horizontal component of the horizontal extension.

[0051] When the guiding structure adopts the guide rail 207, in order to prevent the slurry from rebounding onto the guide rail 207 and affecting the normal movement of the moving seat, a cleaning device is also provided on the moving seat. The cleaning device is used to clean the rebounding slurry on the track. Specifically, the cleaning device can be a scraper installed on the moving seat. As the moving seat moves, the scraper can scrape off the rebounding slurry on the track. Or, the cleaning device can also be a cleaning brush installed on the moving seat. As the moving seat moves, the cleaning brush can sweep away the rebounding slurry on the track. Of course, in other embodiments, it is not excluded that the cleaning device is not provided on the moving seat, and the rebounding slurry can be manually cleaned during actual construction.

[0052] During construction, if some positions are severely broken and accumulated with slag, and it is difficult for the concrete spraying device 2 to directly pass through. In the case where there is a track hoisting system on the tunnel top, the concrete spraying device 2 can be lifted as a whole by using the track hoisting system and driven to cross the obstacle area. To facilitate the smooth lifting of the concrete spraying device 2, a lifting lug connection point 205 is installed on the frame. The lifting lug connection point 205 can be installed in advance or the lifting lug 205 can be installed when construction is required. During construction, the track hoisting system can be connected to the lifting lug 205 to lift the concrete spraying device 2 as a whole. Those skilled in the art can flexibly set the specific position and quantity of the lifting lug connection point 205 according to the center of gravity position of the concrete spraying device 2, and will not be limited here. Moreover, since devices such as the shotcrete pump 3 and the cable reel 4 are carried on the TBM trailer 1, the overall size and weight of the concrete spraying device 2 can be controlled within a relatively small range, which is convenient for overall lifting.

[0053] In addition, to facilitate the passage of construction workers and avoid drilling holes in the tunnel wall to install a pedestrian platform. As Figure 6 shown, a pedestrian walkway 209 is provided on one side in the horizontal direction of the concrete spraying device 2. Of course, if the space permits, pedestrian walkways 209 can be provided on both sides in the horizontal direction of the concrete spraying device 2.

[0054] To facilitate the workers to climb onto the installation platform 201 for installation and maintenance operations, a ladder 210 is also installed on the concrete spraying device 2.

[0055] Specific embodiments of the concrete spraying device in the present utility model:

[0056] The concrete spraying device is consistent with the structure of the concrete spraying device described in the embodiments of the above-mentioned mixing and spraying system, and will not be elaborated here. However, it should be noted that as an independent concrete spraying device, it can be equipped with a shotcrete pump. That is to say, the concrete spraying device does not necessarily have to be bound to the TBM trailer as a mixing and spraying system.

[0057] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative efforts, or make equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A concrete spraying device, comprising a frame, the frame being configured with a driving device for driving it to move relative to the TBM during construction and to travel along the bottom of the tunnel, and a shotcreting manipulator being mounted on the frame, characterized in that, The frame includes an installation platform for carrying the shotcreting manipulator and walking support mechanisms located on the transverse two sides of the installation platform. The internal space enclosed by the installation platform and the two walking support mechanisms on both sides forms an avoidance space for avoiding relevant devices arranged at the bottom of the tunnel.

2. The concrete spraying device according to claim 1, characterized in that The walking mechanism installed on the walking support mechanism for walking along the bottom of the tunnel is a walking wheel, and the driving device is a wheel-side driving device corresponding to each walking wheel one by one.

3. The concrete spraying device according to claim 2, characterized in that, The walking support mechanism includes telescopic legs arranged on the transverse two sides of the installation platform, and at least two telescopic legs are arranged on each side of the transverse two sides. Each walking wheel is installed on the telescopic leg, and each telescopic leg can independently control its support height.

4. The concrete spraying device according to claim 3, characterized in that, A level detector for detecting the level of the installation platform is installed on the installation platform to control the actions of each telescopic leg according to the detection information of the level detector.

5. The concrete spraying device according to any one of claims 1 to 4, characterized in that, The shotcreting manipulator is installed on the installation platform through a movable seat that can move relative to the installation platform. The moving stroke of the movable seat meets the requirement that the shotcreting manipulator can move to one side of the transverse direction of the frame to avoid the track hoisting system at the top of the tunnel.

6. The concrete spraying device according to claim 5, characterized in that, The movable seat and the installation platform are guided and matched through a translation guiding structure. The translation guiding structure includes a guide rail arranged on the installation platform and a guide rail fitting arranged on the movable seat and guidingly matched with the guide rail.

7. The concrete spraying device according to claim 6, characterized in that, A cleaning device for cleaning the rebounding slurry on the track is arranged on the movable seat.

8. The concrete spraying device according to any one of claims 1 to 4, characterized in that, The frame is also provided with a lug connection point for installing lugs to lift the concrete spraying device as a whole.

9. A hybrid spraying system, characterized in that, It includes a TBM trailer and a concrete spraying device. The concrete spraying device includes a frame, which includes an installation platform and walking support mechanisms located on the transverse two sides of the installation platform. A shotcreting manipulator is installed on the installation platform. The frame is configured with a driving device for driving its movement relative to the TBM trailer during construction and walking along the bottom of the tunnel. The internal space enclosed by the installation platform and the two walking support mechanisms on both sides forms an avoidance space for avoiding relevant devices arranged at the bottom of the tunnel. A shotcreting pump is carried on the TBM trailer, and the shotcreting pump is connected to the shotcreting manipulator through a concrete delivery pipe.

10. The hybrid spraying system according to claim 9, wherein, The walking mechanism installed on the walking support mechanism for walking along the bottom of the tunnel is a walking wheel, and the driving device is a wheel-side driving device corresponding to each walking wheel one by one.

11. The hybrid spraying system according to claim 10, characterized in that, The walking support mechanism includes telescopic legs arranged on the transverse two sides of the installation platform, and at least two telescopic legs are arranged on each side of the transverse two sides. Each walking wheel is installed on the telescopic leg, and each telescopic leg can independently control its support height.

12. The hybrid spraying system according to claim 11, wherein, A level detector for detecting the level of the installation platform is installed on the installation platform to control the actions of each telescopic leg according to the detection information of the level detector.

13. The hybrid spraying system according to any one of claims 9-12, characterized in that, The wet-mix spraying system also includes a track hoisting system for being arranged at the top of the tunnel.

14. The hybrid injection system according to claim 13, wherein, The shotcreting manipulator is installed on the installation platform through a movable seat that can move relative to the installation platform. The moving stroke of the movable seat meets the requirement that the shotcreting manipulator can move to one side of the transverse direction of the frame to avoid the track hoisting system at the top of the tunnel.

15. The hybrid injection system according to claim 14, wherein, The movable seat and the installation platform are guided and matched through a translation guiding structure. The translation guiding structure includes a guide rail arranged on the installation platform and a guide rail fitting arranged on the movable seat and guidingly matched with the guide rail.

16. The hybrid spraying system according to claim 15, characterized in that, A cleaning device for cleaning the rebounding slurry on the track is arranged on the movable seat.

17. The hybrid spraying system according to any one of claims 9-12, characterized in that, The frame is also provided with lug connection points for installing lugs to lift the concrete spraying device as a whole.

18. The hybrid spraying system according to any one of claims 9 to 12, characterized in that, A cable retracting and releasing device is installed on the TBM trailer, and the cable retracting and releasing device is used to retract and release the cable for supplying power to the concrete spraying device.

19. The hybrid spraying system according to any one of claims 9-12, characterized in that, The concrete conveying pipe is a folding pipe, and the mixing and spraying system further includes a pipeline moving track for installing on the tunnel wall to enable the folding pipe to be retracted, extended, and moved to extend and shorten the pipeline.

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