Structure combination capable of achieving parallel construction of excavation, guniting and deslagging

Abstract

The utility model discloses a structure combination capable of realizing parallel construction of excavation, guniting and deslagging. The structure combination comprises a rack, a guniting arm mechanism and a tunneling arm mechanism, the guniting arm mechanism is arranged above the rack and can move in the length direction of the rack, the tunneling arm mechanism is arranged below the rack, and the guniting arm mechanism comprises a telescopic arm, a connecting arm and a guniting head; an adjusting assembly is arranged at the joint of the connecting arm and the telescopic arm and can drive the connecting arm to rotate in the vertical direction and / or the horizontal direction. According to the scheme, through parallel operation of excavation, guniting and deslagging, the construction efficiency is greatly improved, and compared with a traditional sequential construction mode, the overall construction period can be shortened. A plurality of working procedures are carried out at the same time, so that the waiting time in the construction process is reduced; and the construction safety and quality are guaranteed through the design that all construction links do not interfere with one another.

Description

TECHNICAL FIELD

[0001] The utility model relates to a tunnel construction technical field, especially relate to a structure combination of parallel construction of excavation, guniting, slagging. BACKGROUND

[0002] In the prior art of tunnel and underground engineering construction technology, the process is usually excavation, slagging, measurement, erecting, anchor rod and guniting. In this traditional mode, there is an obvious sequence in each construction link, which leads to the fact that excavation, slagging and guniting cannot be carried out in parallel.

[0003] For excavation operation, special excavation equipment is usually used, which is only used for digging soil or rock mass. After the excavation is completed, the equipment needs to be removed from the working surface. Then the slagging operation is carried out, and the working space and time are occupied during the slagging process. The slag produced by excavation is transported away by using special slagging vehicles or equipment. During this process, the working surface is in a state of stagnation, and other operations cannot be carried out. After the slagging is completed, a series of pre-processes such as erecting, anchoring and guniting are carried out, and then guniting operation is carried out. Guniting generally uses independent guniting equipment to operate in the working surface after other processes are completed.

[0004] This sequential construction method has many problems. Because excavation, slagging and guniting cannot be carried out at the same time, the whole construction process time is greatly increased. Each link must wait for the previous link to be completed before starting, and the construction equipment is idle for a long time, resulting in low construction efficiency. Moreover, during the waiting period for guniting after excavation, the excavation surface is exposed for a long time, which may cause stability problems such as collapse, increasing the construction risk and safety hazard.

[0005] The main reason is that the traditional construction process and equipment design lack consideration of parallel operation, and the devices and processes of each link are independent of each other, without forming an effective collaborative operation mechanism, so that the construction time and space cannot be fully utilized. UTILITY MODEL CONTENT

[0006] The utility model aims at the above-mentioned defects, and provides a structure combination of parallel construction of excavation, guniting and slagging, which solves the problem that the traditional construction process and equipment design lack consideration of parallel operation, and the devices and processes of each link are independent of each other, without forming an effective collaborative operation mechanism, so that the construction time and space cannot be fully utilized.

[0007] The utility model is realized by the following scheme:

[0008] A structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, comprising a rack, a shotcreting arm mechanism and a tunneling arm mechanism; the shotcreting arm mechanism is arranged above the rack and can move along the length direction of the rack, the tunneling arm mechanism is arranged at the front end of the rack, and a sliding assembly is arranged between the tunneling arm mechanism and the rack, the sliding assembly comprises a transverse sliding part and a longitudinal sliding part, the longitudinal sliding part is arranged along the length direction of the rack, and the transverse sliding part is arranged perpendicularly to the longitudinal sliding part; a slagging channel is arranged below or at least on one side of the rack, and the shotcreting arm mechanism is connected with a pumping system.

[0009] Based on the above-mentioned structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, a sliding rail matched with the sliding of the shotcreting arm mechanism is arranged above the rack, a sliding trolley matched with the sliding rail is arranged on the shotcreting arm mechanism, a transmission part is arranged on the sliding rail, and a driving part for driving the transmission part to act is arranged on the sliding trolley.

[0010] Based on the above-mentioned structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, the sliding trolley comprises a support seat and a support lug, the support lug is arranged on the support seat, and the telescopic arm is hinged to the support lug through a luffing oil cylinder; an oscillating support is arranged at the end of the telescopic arm close to the support seat; one end of the oscillating support is hinged to the support lug, and the other end is hinged to the support seat through an auxiliary oil cylinder.

[0011] Based on the above-mentioned structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, the shotcreting arm mechanism comprises a telescopic arm, a connecting arm and a shotcreting head; an adjusting assembly is arranged at the connecting position of the connecting arm and the telescopic arm, the adjusting assembly can drive the connecting arm to rotate around the vertical direction and / or the horizontal direction, the adjusting assembly comprises a first rotating mechanism, the end of the telescopic arm is connected to the connecting arm through the first rotating mechanism, and the first rotating mechanism can drive the connecting arm to rotate on the telescopic arm along the vertical direction.

[0012] Based on the above-mentioned structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, the shotcreting arm mechanism comprises a telescopic arm, a connecting arm and a shotcreting head; an adjusting assembly is arranged at the connecting position of the connecting arm and the telescopic arm, the adjusting assembly can drive the connecting arm to rotate around the vertical direction and / or the horizontal direction, the adjusting assembly comprises a second driving mechanism, the end of the telescopic arm is connected to the connecting arm through the second driving mechanism, and the second driving mechanism can drive the connecting arm to rotate on the telescopic arm along the horizontal direction.

[0013] Based on the above-mentioned structure combination which can realize parallel construction of excavation, shotcreting and slagging, the shotcreting arm mechanism comprises a telescopic arm, a connecting arm and a shotcreting head; an adjusting assembly is arranged at the connecting position of the connecting arm and the telescopic arm, the adjusting assembly can drive the connecting arm to rotate around the vertical direction and / or the horizontal direction, the adjusting assembly comprises a horizontal rotating part, a vertical rotating part and a support part; the horizontal rotating part is arranged at the top horizontal position of the support part, the vertical rotating part is arranged at the vertical position of the side wall of the support part, the horizontal rotating part is connected with the telescopic arm, and the vertical rotating part is connected with the connecting arm.

[0014] Based on the above-mentioned structure combination which can realize parallel construction of excavation, shotcreting and slagging, the transverse sliding part comprises a cross beam, a sliding seat and a transverse moving force part; both ends of the cross beam are provided with matching cavities; one end of the transverse moving force part is connected with one side of the matching cavity, and the other end is connected with the sliding seat; the action of the transverse moving force part enables the sliding seat to move along the length direction of the cross beam.

[0015] Based on the above-mentioned structure combination which can realize parallel construction of excavation, shotcreting and slagging, the longitudinal sliding part comprises a guide frame and a longitudinal power part; the guide frame is arranged at both sides of the rack; the guide frame is provided with a track matched with the size of the matching cavity; one end of the longitudinal power part is connected with the side wall of the rack, and the other end is connected with the guide frame; the action of the longitudinal power part enables the matching cavity to move along the length direction of the guide frame.

[0016] Based on the above-mentioned structure combination which can realize parallel construction of excavation, shotcreting and slagging, the tunneling arm mechanism comprises a tunneling base, a tunneling steering oil cylinder, a tunneling luffing oil cylinder, a tunneling support arm and a breaking hammer; the tunneling base is hingedly arranged at the side wall of the sliding seat; the tunneling steering oil cylinder is arranged at the upper end surface of the sliding seat and is hingedly connected with the tunneling base; the end of the tunneling support arm is hingedly connected with the tunneling base; the tunneling luffing oil cylinder is hingedly connected with the tunneling support arm and the tunneling base respectively; the breaking hammer is arranged at the end of the tunneling support arm away from the tunneling base.

[0017] Based on the above-mentioned structure combination which can realize parallel construction of excavation, shotcreting and slagging, a slagging mechanism is arranged in the slagging channel, the slagging mechanism comprises an auxiliary digging arm arranged at the front end of the rack and a material conveying system; the transport vehicle moves to the end of the material conveying system, the auxiliary digging arm pushes the slag produced by tunneling to the front end position of the material conveying system, the material conveying system automatically transports the slag to the transport vehicle, and the transport vehicle moves out of the tunnel.

[0018] Based on the above-mentioned structure combination which can realize parallel construction of excavation, shotcreting and slagging, the material conveying system discharges slag from the bottom of the rack; or discharges slag from at least one side of the rack; or first discharges slag from the bottom of the rack, and then discharges slag from at least one side of the rack through the rack.

[0019] Based on the above-mentioned structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, comprising a rack, a shotcreting arm mechanism and a tunneling arm mechanism; the shotcreting arm mechanism is arranged above the rack and is capable of moving along the length direction of the rack, and the tunneling arm mechanism is arranged at the front end of the rack; the tunneling arm mechanism comprises at least two tunneling mechanisms arranged on the rack, and the tunneling mechanisms are connected with horizontal swing mechanisms and vertical swing mechanisms; wherein the vertical swing mechanisms are used for swinging the tunneling mechanisms up and down, and the horizontal swing mechanisms are used for swinging the vertical swing mechanisms and the tunneling mechanisms as a whole left and right.

[0020] In summary, due to the adoption of the above technical solutions, the beneficial effects of the utility model are:

[0021] 1. The rack of the present solution can integrate the functions of tunneling excavation, shotcreting operation and slagging operation, and different components are used to replace the equipment frequently, so as to save the time of equipment entering and exiting the tunnel and achieve the purpose of saving the time of transferring the equipment between fields. Meanwhile, multiple parallel operations such as shotcreting during excavation, slagging during excavation and slagging during shotcreting can further shorten the single operation cycle time, improve the construction efficiency and reduce the safety hazards.

[0022] 2. The parallel operation of excavation, shotcreting and slagging can greatly improve the construction efficiency, and compared with the traditional sequential construction method, the overall construction period can be shortened. This is because multiple processes are performed simultaneously at the same time, thereby reducing the waiting time in the construction process.

[0023] 3. The design of non-interference between each construction link ensures the construction safety and quality. The independent working system and reasonable layout of the tunneling arm and the shotcreting arm avoid mutual collision and interference, thereby reducing the probability of construction accidents. Moreover, the shotcreting arm can timely perform shotcreting support on the excavation surface, thereby improving the stability of the excavation surface and reducing the safety hazards such as collapse.

[0024] 4. The adaptability of the equipment to complex construction environment is enhanced. The slidable and telescopic tunneling arm and shotcreting arm can be flexibly adjusted according to different construction spaces and operation surface shapes, thereby ensuring effective operation in various complex underground engineering environments.

[0025] 5. Another structural form of the tunneling arm mechanism in this scheme improves the traditional single tunneling arm into two or more tunneling mechanisms. However, setting up multiple tunneling mechanisms requires consideration of mutual interference issues, necessitating a redesign of the connection structure between the tunneling mechanisms and the platform. Because the space does not support the sliding movement of the tunneling arm after installing two or more tunneling mechanisms, the forward and backward, left and right sliding structure of the single tunneling arm is eliminated. Instead, a horizontal swing mechanism and a vertical swing mechanism drive the tunneling mechanism to swing left and right and up and down, thus satisfying the excavation operation within a certain range. This avoids interference issues and ensures that the working range of multiple tunneling mechanisms can cover the construction area. Furthermore, multiple tunneling mechanisms can operate simultaneously. Compared to single-arm tunneling machines or traditional tunneling methods, it can break more rock or soil per unit time. In the excavation of tunnels with larger cross sections, different locations can be broken simultaneously, accelerating the construction progress. There is a certain space between the tunneling mechanisms, allowing the muck loader bucket to pass through the middle for muck loader operations while tunneling, effectively improving construction efficiency. When facing complex geological conditions, such as uneven rock hardness or the presence of multiple different geological structures, the adaptability and flexibility can be enhanced by adjusting the working positions and angles of different tunneling mechanisms. For example, one tunneling mechanism can handle the harder sections while another handles the relatively softer sections, ensuring continuous progress. Therefore, the operation of multiple tunneling mechanisms during tunneling allows for more balanced machine stress, reducing machine tilting caused by excessive stress on one side. This improves tunneling accuracy and stability, resulting in better tunnel formation quality and increased emergency response capabilities. If one tunneling mechanism malfunctions, the others can continue operating, minimizing the impact of equipment failure on the overall project progress. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall three-dimensional structure of Example 1;

[0027] Figure 2 This is an enlarged structural schematic diagram of the shotcrete arm mechanism in Example 1;

[0028] Figure 3 This is a side view of the shotcrete arm mechanism in Example 1;

[0029] Figure 4 This is a schematic diagram of the sliding component in Example 1;

[0030] Figure 5 This is a schematic diagram of the tunneling arm structure assembled on the test bench in Example 2;

[0031] Figure 6 This is a schematic diagram of the tunneling arm structure in Example 2;

[0032] Figure 7Structure diagram of another view of the tunneling arm structure in Example 2;

[0033] Figure 8 Assembly diagram of one of the gunite arm structures in Example 3;

[0034] Figure 9 Diagram of one direction of the gunite arm structure in Example 3;

[0035] Figure 10 Diagram of another direction of the gunite arm structure in Example 3;

[0036] Figure 11 Diagram of the gripper adjustment mechanism in Example 3;

[0037] Figure 12 Diagram of another gunite arm structure in Example 4;

[0038] Figure 13 Diagram of Figure 12 a side view of the gunite arm structure in Example 4;

[0039] Figure 14 Diagram of Figure 12 the gripper mechanism and gunite mechanism in Example 4;

[0040] Figure 15 Diagram of Figure 12 the gunite arm structure in different states in Example 4;

[0041] Figure 16 Diagram of the tapping mechanism structure;

[0042] Reference: 1, rack; 2, shotcreting arm mechanism; 3, tunneling arm mechanism; 11, slide rail; 12, transmission chain; 13, roller groove; 21, sliding trolley; 22, driving part; 23, rolling wheel; 24, telescopic arm; 25, connecting arm; 26, shotcreting head; 27, support seat; 28, support lug; 29, luffing cylinder; 210, swing support; 211, auxiliary cylinder; 212, telescopic cylinder; 213, horizontal rotating part; 214, vertical rotating part; 215, support part; 31, sliding assembly; 32, transverse sliding part; 33, longitudinal sliding part; 34, tunneling base; 35, tunneling steering cylinder; 36, tunneling luffing cylinder; 37, tunneling support arm; 38, breaking hammer; 321, crossbeam; 322, sliding seat; 323, transverse power part; 324, matching cavity; 325, reinforced support plate; 326, contact plate; 331, guide frame; 332, longitudinal power part; 200, horizontal swing mechanism; 2101, first cylinder; 220, horizontal rotating table; 230, mounting support; 300, vertical swing mechanism; 310, arm support; 320, second cylinder; 330, third cylinder; 340, connecting rod assembly; 341, hinged shaft; 342, first connecting rod; 343, second connecting rod; 400, tunneling mechanism; 410, breaking hammer; 420, drill rod; 500, vertical rotating table; 4, gripper mechanism; 5, shotcreting mechanism; 6, rotating mechanism one; 7, track; 8, moving block; 9, support one; 310, power source one; 311, support two; 312, power source two; 313, support three; 314, power source three; 315, support four; 316, power source four; 317, support five; 318, power source five; 319, support six; 320, power source six; 321, support seven; 322, power source seven; 323, power source eight; 324, telescopic column; 325, support base; 326, rotating mechanism two; 327, transverse moving mechanism; 328, transition frame body. 4003-driving mechanism two; 4004-rotating part one; 4005-telescopic part one; 4006-support one; 4007-telescopic part two; 4008-connection part one; 4009-connection part two; 4010-gripper mechanism; 4011-connection arm one; 4012-shotcreting mechanism; 4013-connection arm two; 4014-carrier one; 4015-rotating part two; 4016-rotating part three; 4017-carrier two; 4018-telescopic part three; 4019-track; 4020-moving block; 4021-telescopic column; 4022-support base; 4023-rotating part four; 4024-transverse moving mechanism; 4025-transition frame body; 5000, auxiliary digging arm; 6000, material conveying system; 7000, transport vehicle. DETAILED DESCRIPTION

[0043] All features disclosed in this specification, and / or all steps of any methods or processes disclosed in this specification, can be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive.

[0044] Any feature in the present specification, including any accompanying claims, abstract, and drawings, can be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, unless expressly stated otherwise, every feature disclosed in the present specification is one example only of a generic series of equivalent or similar features.

[0045] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a predetermined orientation, be constructed and operated in a predetermined orientation, and therefore cannot be understood as limiting the present application.

[0046] In addition, the terms "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features.

[0047] Embodiment 1

[0048] As Figures 1-4 shown, the present application provides a technical scheme:

[0049] A structure combination capable of realizing parallel construction of excavation, shotcreting and slagging, which at least includes but is not limited to a rack 1, a shotcreting arm mechanism 2 and a tunneling arm mechanism 3; the shotcreting arm mechanism 2 is arranged on the rack 1 and can move along the length direction of the rack 1, and the tunneling arm mechanism 3 is arranged below the rack 1.

[0050] Based on the above structure, the rack 1 in the present scheme serves as the support main body of the whole structure, which facilitates the arrangement of the slagging passage below and ensures that the slagging vehicle or equipment can pass smoothly. The shotcreting arm mechanism 2 and the tunneling arm mechanism 3 are arranged at the upper position and the lower position of the rack 1 respectively, which can avoid mutual interference during the sliding process on the one hand, and also provides assembly space for the components required for sliding on the other hand.

[0051] As an example, a sliding rail 11 cooperating with the sliding of the shotcreting arm mechanism 2 is arranged above the rack 1, a sliding trolley 21 cooperating with the sliding rail 11 is arranged on the shotcreting arm mechanism 2, a transmission member is arranged on the sliding rail, and a driving part driving the transmission member to act is arranged on the sliding trolley; the transmission member can be a transmission chain 12, and the transmission chain 12 is arranged through the driving part 22.

[0052] Based on the above structure, the slide rail 11 provides guidance for the movement of the sliding trolley 21, enabling the sliding trolley 21 and the shotcrete arm mechanism 2 thereon to move smoothly in a predetermined direction. The driving part 22 provides power for the movement of the sliding trolley 21, enabling the sliding trolley 21 to move smoothly. Meanwhile, the driving structure in the present scheme can also be other forms such as cylinder pushing, rack and pinion, screw, traction rope traction wheel, etc. Here, the transmission chain is used for driving only as an example.

[0053] As an example, the slide rail 11 is provided with a roller groove 13 on each side. The sliding trolley 21 can be provided with a rolling wheel 23 at the bottom position, which is clamped into the roller groove 13.

[0054] Based on the above structure, by setting the rolling wheel 23 at the bottom of the sliding trolley 21, sliding friction can be changed into rolling friction, enabling smoother sliding operation.

[0055] As an example, the shotcrete arm mechanism 2 can include a telescopic arm 24, a connecting arm 25, and a shotcrete head 26. The sliding trolley 21 includes a support seat 27 and a support lug 28, the support lug 28 is arranged on the support seat 27, the telescopic arm 24 is hinged to the support lug 28 through a luffing cylinder 29. The end of the telescopic arm 24 close to the support seat 27 is provided with a swing support 210. One end of the swing support 210 is hinged to the support lug 28, and the other end is hinged to the support seat 27 through an auxiliary cylinder 211.

[0056] The connecting arm 25 is arranged on the end of the telescopic arm 24 away from the support seat 27, and the shotcrete head 26 is arranged on the connecting arm 25.

[0057] Based on the above structure, the luffing cylinder 29 and the auxiliary cylinder 211 cooperate to realize the luffing degree adjustment of the telescopic arm 24. Through the joint action of the two cylinders, the adjustment of the telescopic arm 24 is more stable.

[0058] As an example, the telescopic arm 24 includes multiple sections of arms and a telescopic cylinder 212. The multiple sections of arms are arranged in a nested manner, and the telescopic cylinder 212 is arranged between different sections of arms to realize the telescopic adjustment of the multiple sections of arms.

[0059] As an example, a horizontal rotating part 213, a vertical rotating part 214, and a support part 215 are arranged at the connection between the connecting arm 25 and the telescopic arm 24. The horizontal rotating part 213 is arranged at the top horizontal position of the support part 215, the vertical rotating part 214 is arranged at the vertical position of the side wall of the support part 215, the horizontal rotating part 213 is connected with the telescopic arm 24, and the vertical rotating part 214 is connected with the connecting arm 25.

[0060] Based on the above structure, by setting the horizontal rotating part 213 and the vertical rotating part 214, the connecting arm 25 can rotate in the horizontal and vertical directions in the three-dimensional space, and the shotcrete head 26 arranged on the front side of the connecting arm 25 can be more flexible, so that multi-angle shotcreting can be realized, and the uniformity and comprehensiveness of shotcreting can be ensured.

[0061] As an example, the tunneling arm mechanism 3 and the gantry 1 can be provided with a sliding assembly 31, and the sliding assembly 31 can include a transverse sliding part 32 and a longitudinal sliding part 33; the longitudinal sliding part 33 is arranged along the length direction of the gantry 1, and the transverse sliding part 32 is arranged perpendicular to the longitudinal sliding part 33.

[0062] The transverse sliding part 32 can include a cross beam 321, a sliding seat 322, and a transverse moving force piece 323; both ends of the cross beam 321 are provided with a matching cavity 324; one end of the transverse moving force piece 323 is connected with one side of the matching cavity 324, and the other end is connected with the sliding seat 322; the transverse moving force piece 323 acts to make the sliding seat 322 move along the length direction of the cross beam 321.

[0063] Specifically, the sliding seat 322 is sleeved at the circumferential position of the cross beam 321, and a reinforced support plate 325 in contact with the sliding seat 322 is arranged at the side of the cross beam 321; the sliding seat 322 is provided with a contact plate 326 matched with the reinforced support plate 325;

[0064] Based on the above structure, when the transverse moving force piece 323 acts, the contact plate 326 slides along the length direction of the reinforced support plate 325; due to the existence of the reinforced support plate 325, the movement of the sliding seat 322 will not damage the cross beam 321.

[0065] As an example, the longitudinal sliding part 33 can include a guide frame 331 and a longitudinal power piece 332; the guide frame 331 is arranged at both sides of the gantry 1, and the guide frame 331 is provided with a track matched in size with the matching cavity 324; one end of the longitudinal power piece 332 is connected with the side wall of the gantry 1, and the other end is connected with the guide frame 331; the longitudinal power piece 332 acts to make the matching cavity 324 move along the length direction of the guide frame 331.

[0066] Based on the above structure, by synchronously moving the two longitudinal power pieces 332, the cross beam 321 can move along the length direction of the gantry 1, and the longitudinal movement of the tunneling arm mechanism 3 is realized.

[0067] As an example, the longitudinal power piece 332 and the transverse power piece can be an oil cylinder.

[0068] As an example, the tunneling arm mechanism can move along the length and width directions of the gantry 1, and the tunneling arm mechanism 3 can include a tunneling base 34, a tunneling steering oil cylinder 35, a tunneling luffing oil cylinder 36, a tunneling support arm 37, and a breaking hammer 38; the tunneling base 34 is hingedly arranged on the side wall of the sliding seat 322, the tunneling steering oil cylinder 35 is arranged on the upper end surface of the sliding seat 322 and is hingedly connected with the tunneling base 34; the end of the tunneling support arm 37 is hingedly connected with the tunneling base 34, and the tunneling luffing oil cylinder 36 is connected with the tunneling support arm 37 and the tunneling base 34, respectively; and the breaking hammer 38 is arranged on the end of the tunneling support arm 37 away from the tunneling base 34.

[0069] Based on the above structure, the tunneling base 34 is driven to rotate around the hinge point by the action of the tunneling steering oil cylinder 35, so as to change the angle of the tunneling support arm 37, and the tunneling support arm 37 is driven to perform luffing action by the action of the tunneling luffing oil cylinder 36.

[0070] Through the scheme, in the construction process, when the tunneling arm performs excavation work, the guniting arm can perform guniting in the excavated area, and the slag removal equipment can perform slag removal through the passage below the construction gantry 1, and the three do not interfere with each other, and parallel construction is realized.

[0071] Through the scheme, parallel work of excavation, guniting, and slag removal can be realized, and the construction efficiency is greatly improved. Compared with the traditional sequential construction method, the overall construction period can be shortened. This is because the guniting arm mechanism 2 performs guniting work in the previous cycle, and the tunneling arm mechanism can simultaneously perform the next step of excavation work, and the slag removal passage can also be accompanied by simultaneous slag removal, thereby reducing the waiting time in the construction process.

[0072] Secondly, the design that the construction links do not interfere with each other ensures construction safety and quality. The independent working systems of the tunneling arm and the guniting arm and the reasonable layout avoid mutual collision and interference, and reduce the probability of construction accidents. Moreover, the guniting arm can timely perform guniting support on the excavation surface, improve the stability of the excavation surface, and reduce safety hazards such as collapse.

[0073] Finally, the adaptability of the equipment to complex construction environments is enhanced. The tunneling arm and the guniting arm can be flexibly adjusted according to different construction spaces and work surface shapes, and effective work can be ensured in various complex underground engineering environments.

[0074] Embodiment 2

[0075] This embodiment is similar to embodiment 1, and the difference lies in the tunneling arm mechanism, as shown in Figures 4-7 The utility model provides a technical scheme:

[0076] The tunneling arm mechanism can include two horizontal swing mechanisms 200 arranged on the gantry 100, each of which is connected with a vertical swing mechanism 300, and each of the vertical swing mechanisms 300 is connected with a tunneling mechanism 400; wherein the vertical swing mechanism 300 is used to drive the tunneling mechanism 400 to swing up and down, and the horizontal swing mechanism 200 is used to drive the vertical swing mechanism 300 and the tunneling mechanism 400 to swing left and right as a whole.

[0077] In the embodiment, the conventional single tunneling arm is improved to two or more tunneling mechanisms 400, but the arrangement of multiple tunneling mechanisms 400 needs to consider the problem of mutual interference, so the connection structure of the tunneling mechanism 400 and the gantry 100 needs to be redesigned. Because the space does not support the sliding movement of the tunneling arm after the installation of two or more tunneling mechanisms 400, the forward and backward and left and right sliding structures of the single tunneling arm are cancelled, and the tunneling mechanism 400 is driven by the horizontal swing mechanism 200 and the vertical swing mechanism 300 to swing left and right and up and down, thereby meeting the requirements of excavation work within a certain range, avoiding the interference problem, and ensuring that the working range of the multiple tunneling mechanisms 400 can cover the construction range, and the multiple tunneling mechanisms 400 can work simultaneously. Compared with the single-arm tunneling machine or the conventional tunneling method, more rocks or soil bodies can be broken in a unit of time, and in the excavation of a large cross-section tunnel, different positions can be broken at the same time to speed up the construction progress. There is a certain space between the tunneling mechanisms 400, and the excavator bucket can pass through the middle to perform the excavating operation while tunneling, which can effectively improve the construction efficiency. At the same time, when facing complex geological conditions, such as uneven rock hardness or the existence of multiple different types of geological structures, the adaptability can be enhanced by adjusting the working position and angle of different tunneling mechanisms 400, and the situation can be flexibly responded to. One tunneling mechanism 400 can be used to process the relatively hard part, and the other tunneling mechanism 400 can be used to process the relatively soft part, thereby ensuring the continuous advancement of the tunneling work. Therefore, during the tunneling process, the work of the multiple tunneling mechanisms 400 can make the stress of the machine more balanced, reduce the problem of machine deflection caused by excessive stress on one side, and be beneficial to improving the precision and stability of the tunneling, so as to make the tunnel forming quality better and increase the emergency capacity. If one tunneling mechanism 400 fails, the other tunneling mechanisms 400 can still work, thereby reducing the influence of equipment failure on the overall project progress.

[0078] It should be noted that the gantry 100 is in a frame structure, has a certain space and an operation platform inside, and the horizontal swing mechanism 200 should be arranged on the side of the operation platform close to the construction direction inside the gantry 100.

[0079] As an optional embodiment, a rotating mechanism is further included, which is connected between the horizontal swing mechanism 200 and the vertical swing mechanism 300, and is used to drive the vertical swing mechanism 300 and the tunneling mechanism 400 to rotate around the axis of the rotating mechanism by a corresponding angle as a whole.

[0080] In the embodiment, the rotation mechanism is arranged to enable the tunneling mechanism 400 to rotate in the vertical plane by a certain angle, so that the tunneling mechanism can tunnel at different angles, and the flexibility of the tunneling operation is further improved.

[0081] As an optional embodiment, the rotation mechanism comprises a vertical rotation table 500 connected with the vertical swing mechanism 300, and a rotation motor (not shown in the figure) is arranged on the horizontal swing mechanism 200.

[0082] In the embodiment, when the rotation operation is needed, the rotation motor drives the vertical rotation table 500 to rotate by a certain angle, so as to drive the vertical swing mechanism 300 and the tunneling mechanism 400 to rotate in the vertical plane by a certain angle automatically. Here, the rotation motor can be a servo motor, which can accurately control the rotation speed and direction to meet the use requirements.

[0083] As an optional embodiment, the horizontal swing mechanism 200 comprises a first oil cylinder 2101 hinged to the rack 100, the first oil cylinder 2101 is hinged with a horizontal rotation table 220, the horizontal rotation table 220 is rotationally connected to the rack 100, and the rotation mechanism is connected to the side of the horizontal rotation table 220 away from the first oil cylinder 2101.

[0084] In the embodiment, when the tunneling mechanism 400 needs to swing left and right in the horizontal plane, the first oil cylinder 2101 can drive the horizontal rotation table 220 to swing in the rack 100 by a certain amplitude, so as to drive the rotation mechanism, the vertical swing mechanism 300 and the tunneling mechanism 400 to swing synchronously, so as to realize the horizontal swing to the corresponding position to adapt to the tunneling operation requirements.

[0085] As an optional embodiment, the rack 100 is fixedly provided with a mounting bracket 230, and the horizontal rotation table 220 is rotationally connected in the mounting bracket 230, so as to have a certain protection effect on the movement parts such as the horizontal rotation table 220. It should be noted that the horizontal rotation table 220 can be a hollow structure, which can accommodate the rotation motor inside, so as to save space.

[0086] As an optional embodiment, the vertical swing mechanism 300 comprises an arm support 310 hinged to one side of the rotation mechanism, the other end of the arm support 310 is hinged to the tunneling mechanism 400, the second oil cylinder 320 is hinged to both sides of the arm support 310, the other end of the second oil cylinder 320 is hinged to the rotation mechanism, the third oil cylinder 330 is hinged to the top of the arm support 310, the third oil cylinder 330 is hinged with a connecting rod assembly 340, and the other end of the connecting rod assembly 340 is hinged to the tunneling mechanism 400.

[0087] In the embodiment, when the tunneling mechanism 400 needs to swing up and down, the arm support 310 can be driven to rotate a certain angle around the hinge pin shaft of the rotating mechanism through the extension and retraction of the second oil cylinder 320, so that the arm support 310 drives the tunneling mechanism 400 to swing up and down greatly. At this time, the third oil cylinder 330 is retracted synchronously, and when fine adjustment is needed, the tunneling mechanism 400 is driven to rotate a certain angle around the hinge pin shaft of the arm support 310 through the extension and retraction of the third oil cylinder 330 and the transmission of the connecting rod assembly 340, so that the tunneling mechanism 400 swings up and down slightly, and flexible up and down swinging is realized to meet more digging requirements.

[0088] As an optional embodiment, the connecting rod assembly 340 comprises a hinge shaft 341 hinged with the third oil cylinder 330, and two first connecting rods 342 and a second connecting rod 343 are hinged on the hinge shaft 341 simultaneously. The other ends of the two first connecting rods 342 are hinged on the two sides of the arm support 310 respectively, and the other end of the second connecting rod 343 is hinged on the tunneling mechanism 400.

[0089] In the embodiment, when the third oil cylinder 330 extends or retracts to pull or push the hinge shaft 341, the first connecting rod 342 and the second connecting rod 343 move synchronously, and the first connecting rod 342 plays a certain supporting role, so as to drive the tunneling mechanism 400 to swing correspondingly.

[0090] As an optional embodiment, the tunneling mechanism 400 comprises a breaking hammer 410 connected with the vertical swinging mechanism 300, and a drill rod 420 connected with the other end of the breaking hammer 410, which can be suitable for rock drilling operation.

[0091] As an optional embodiment, two tunneling mechanisms 400 are arranged on one side of the rack 100 in a left-right manner. The number of the tunneling mechanisms 400 should not be too much, otherwise the equipment cost and control difficulty will be increased. According to the current digging operation and operation space, two tunneling mechanisms 400 can meet the basic requirements. The two tunneling mechanisms 400 are arranged in a left-right manner, and can be responsible for the digging operation of the respective half of the tunnel face respectively, so that the construction efficiency is high.

[0092] Example 3

[0093] This example is similar to example 1, and the difference is that the shotcrete arm mechanism is different. As shown in Figures 8-11 The utility model provides a technical scheme:

[0094] The shotcreting arm mechanism can include a telescopic arm, a shotcreting mechanism 5 and a grabbing mechanism 4, and the shotcreting mechanism 5 is arranged on the telescopic arm through the rotary mechanism I 6, so that the relative angle between the shotcreting mechanism 5 and the grabbing mechanism 4 can be adjusted when the rotary mechanism I 6 is actuated, so as to realize the misalignment or overlap between the shotcreting mechanism 5 and the grabbing mechanism 4, thereby meeting the requirement of function switching. It can be known that when the shotcreting arm mechanism is arranged in the middle of the upper end of the gantry, the middle of the arch is facilitated to be grabbed, the balance of grabbing is maintained, and the distance between the gantry itself and the tunnel wall is relatively close, so that when the shotcreting arm mechanism is located in the middle of the upper end of the gantry, the distance between the shotcreting arm mechanism and the tunnel wall is relatively farther, so as to be more favorable to avoid the interference of the tunnel wall, thereby being more favorable to the tunnel operation.

[0095] The specific shotcreting arm mechanism includes a telescopic arm, a grabbing mechanism 4 and a shotcreting mechanism 5; one end of the telescopic arm is arranged on the gantry; the grabbing mechanism 4 is arranged at the end of the telescopic arm away from the gantry; and the shotcreting mechanism 5 is arranged at the end of the telescopic arm away from the gantry through the rotary mechanism I 6 to switch between the recovery position and the working position. In the embodiment, the arch is grabbed by using the grabbing mechanism 4 when the shotcreting mechanism 5 is located in the recovery position, and the shotcreting operation is performed by using the shotcreting mechanism 5 when the shotcreting mechanism 5 is located in the working position.

[0096] In the embodiment, the grabbing mechanism 4 and the shotcreting mechanism 5 are both located at the end of the telescopic arm, so as to extend the construction distance as far as possible. In the embodiment, in order to avoid the interference between the grabbing mechanism 4 and the shotcreting mechanism 5 as far as possible during the construction, the shotcreting mechanism 5 and the telescopic arm are located in the same plane whether the shotcreting mechanism 5 is located in the recovery position or the working position, that is, the relative angle between the shotcreting mechanism 5 and the telescopic arm is 0° or 180°. When the grabbing mechanism 4 is located in the initial position, the relative angle between the overall structure of the grabbing mechanism 4 and the telescopic arm is 180°, at this time, when the shotcreting mechanism 5 is located in the working position, the overall shotcreting mechanism 5 is located directly above the grabbing mechanism 4, and at this time, the shotcreting mechanism 5, the grabbing mechanism 4 and the telescopic arm are kept in the same plane, when the shotcreting mechanism 5 is located in the recovery position, the overall shotcreting mechanism 5 is located directly above the telescopic arm, and at this time, the shotcreting mechanism 5, the grabbing mechanism 4 and the telescopic arm are also kept in the same plane, in other words, when the shotcreting mechanism 5 is located in the working position, the shotcreting mechanism 5 can well hide the grabbing mechanism 4, and when the shotcreting mechanism 5 is located in the recovery position, it is equivalent to exposing the grabbing mechanism 4, so that the grabbing mechanism 4 can normally operate. Obviously, when the overall structure length of the shotcreting mechanism 5 is greater than the overall structure length of the grabbing mechanism 4, the actual use requirement can be better met. A rectangular coordinate system XYZ is established with the center of the rotary mechanism I 6 as the origin, and it can be known that the rotary mechanism I 6 drives the telescopic arm to rotate along the circumferential direction of the Z axis. The rotary mechanism I 6 includes a motor and a rotary table, the rotary table is arranged on the telescopic arm, and the motor is in transmission connection with the rotary table, the rotary table is driven to rotate by the motor, thereby driving the shotcreting mechanism 5 to rotate.

[0097] In the embodiment, a sliding mechanism is arranged between the rack and the connecting arm. Specifically, the sliding mechanism comprises a track 7 arranged on the rack and a moving block 8 in sliding cooperation with the track 7, and the telescopic arm is arranged on the moving block 8. Thus, when the moving block 8 slides along the track 7, the use range of the mechanical arm can be effectively improved. Further, the track 7 is arranged on the top layer of the working platform of the rack.

[0098] In the embodiment, a large arm driving mechanism is further arranged between the moving block 8 and the telescopic arm, for driving the telescopic arm to swing and pitch. Specifically, the large arm driving mechanism comprises a support 1 9 and a power source 1 310. The support 1 9 is arranged on the moving block 8, and the support 1 9 is hinged to the telescopic arm. The power source 1 310 is arranged between the support 1 9 and the telescopic arm, for driving the telescopic arm to swing. Through the driving of the power source 1 310, the telescopic arm is enabled to swing in the circumferential direction, so as to adjust the working position of the shotcreting mechanism 5 and the grabbing mechanism 4. In the embodiment, the power source 1 310 is a telescopic cylinder, and the two ends of the telescopic cylinder are respectively hinged to the support 1 9 and the telescopic arm. Since the structure carried by the telescopic arm has a large weight, the connection between the telescopic arm and the support 1 9 has a large size, so as to meet the strength requirement and avoid the telescopic arm from collapsing due to insufficient support force. Further, the large arm driving mechanism further comprises a support 2 31 1 and a power source 2 312. The support 2 31 1 is hinged to the support 1 9 and the telescopic arm. The power source 2 312 is arranged between the support 2 31 1 and the telescopic arm, for driving the telescopic arm to pitch. Thus, the telescopic arm is enabled to pitch in the vertical plane, so as to further expand the construction range.

[0099] In the embodiment, the large arm driving mechanism further comprises a support 3 313 and a power source 3 314. The support 3 313 is hinged to the end of the telescopic arm away from the moving block 8. The power source 3 314 is arranged between the support 3 313 and the telescopic arm, for driving the support 3 313 to pitch. The grabbing mechanism 4 and the shotcreting mechanism 5 are arranged on the support 3 313. A rectangular coordinate system XYZ is established at the hinge between the support 3 313 and the telescopic arm. It can be seen that, through the driving of the power source 3 314, the support 3 313 is enabled to rotate along the X axis in the circumferential direction, so as to adjust the working position of the shotcreting mechanism 5 and the grabbing mechanism 4. In the embodiment, the power source 3 314 is a telescopic cylinder, and the two ends of the telescopic cylinder are respectively hinged to the support 3 313 and the telescopic arm.

[0100] In the embodiment, the driving angle of the gripper mechanism 4 and the accuracy of the angle involved affect the quality and efficiency of the arch, therefore, in the embodiment, a corresponding adjusting mechanism can be provided to meet the multi-directional adjustment of the gripper mechanism 4, so that the gripper mechanism 4 has a wider working range. Specifically, the gripper adjusting mechanism is arranged between the gripper mechanism 4 and the support three 313 to enable the gripper mechanism 4 to adjust the position through swing or pitching movement. Further, the gripper adjusting mechanism comprises a support four 315 and a power source four 316, the support four 315 is hinged to the support three 313, and the power source four 316 is arranged between the support three 313 and the support four 315 to drive the support four 315 to pitch. The gripper adjusting mechanism further comprises a support five 317 and a power source five 318, the support five 317 is hinged to the support four 315, and the power source five 318 is arranged between the support four 315 and the support five 317 to drive the support five 317 to swing. The gripper adjusting mechanism further comprises a support six 319 and a power source six 320, the support six 319 is hinged to the support five 317, and the power source six 320 is arranged between the support five 317 and the support six 319 to drive the support six 319 to pitch. The gripper adjusting mechanism further comprises a support seven 321 and a power source seven 322, the support seven 321 is hinged to the support six 319, and the power source seven 322 is arranged between the support six 319 and the support seven 321 to drive the support seven 321 to pitch. Thus, in the embodiment, the gripper mechanism 4 is arranged on the support seven 321. When the spraying mechanism 5 is located at the recycling position, the support five 317 moves away from the support four 315 to unfold, and when the spraying mechanism 5 is located at the working position, the support five 317 moves close to the support four 315 to fold.

[0101] Therefore, for the gripper mechanism 4 as a whole, the support three 313, the support four 315, the support five 317, the support six 319, and the support seven 321 are sequentially hinged in the direction from the end close to the telescopic arm to the end away from the telescopic arm, and the corresponding supports are driven by the corresponding power sources to realize steering, so as to meet the positioning requirements in multiple angles and ensure the action accuracy of the gripper mechanism 4, thereby improving the construction quality. As a preferred technical solution, a rectangular coordinate system XYZ is established at the hinge points between each support. In the embodiment, the support four 315 can rotate along its X axis, the support five 317 can rotate along its Z axis, the support six 319 can rotate along its X axis, and the support seven 321 can rotate along its Y axis. It should be noted that the power sources three 314 to seven 322 are also telescopic cylinders. It should be further noted that, in the embodiment, taking the horizontal plane as a reference, the pitching movement refers to the rotation in the vertical plane, and the swinging refers to the rotation in the horizontal plane, so the pitching movement or swinging of the corresponding support should be known according to the actual position of the corresponding support.

[0102] In the embodiment, the telescopic arm is configured as a telescopic arm structure. The telescopic arm comprises a plurality of sliding arms which are slidably connected to each other, and a power source eight 323 for driving the movement of each sliding arm. The power source eight 323 is also a telescopic cylinder, which is convenient for driving and simple in structure.

[0103] Thus, in the embodiment, the movement block 8 can slide on the track 7 to switch the position of the telescopic arm; the power source one 310 can be used to adjust the swing angle of the telescopic arm; the power source two 312 can be used to adjust the vertical inclination angle of the telescopic arm; the power source seven 322 can be used to adjust the overall length of the telescopic arm; the power source three 314 can be used to adjust the vertical inclination angle of the shotcreting mechanism 5 and the grabbing mechanism 4 as a whole; the power source four 316 can be used to further adjust the vertical inclination angle of the grabbing mechanism 4; the power source five 318 can be used to adjust the swing angle of the grabbing mechanism 4; the power source six 320 can be used to further adjust the vertical inclination angle of the grabbing mechanism 4; and the power source seven 322 can be used to adjust the grabbing angle of the grabbing mechanism 4.

[0104] In the embodiment, the rotating mechanism one 6 is installed above the telescopic arm, and the shotcreting mechanism 5 is fixed to the rotating mechanism one 6. The rotating mechanism one 6 can be used to quickly switch between the arch and the shotcreting mode. When the shotcreting mechanism 5 is rotated above the grabbing mechanism 4, the support six 319 is folded, so as to perform the shotcreting operation; when the shotcreting mechanism 5 is rotated above the telescopic arm, the support six 319 is unfolded, and the angles can be adjusted by using the power source three 314 to the power source seven 322, so as to meet the operation requirements of the grabbing mechanism 4.

[0105] In the embodiment, the gantry is provided with a plurality of telescopic columns 324, and the end of each telescopic column 324 is provided with a support base 325. Further, the free end of each telescopic column 324 is connected with a rotating mechanism two 326, and the support base 325 is connected with the telescopic column 324 through the rotating mechanism two 326. The rotating mechanism two 326 adjusts the relative angle between the support base 325 and the gantry, so as to adjust the support position of the support base 325. Still further, a transverse mechanism 327 is arranged between the rotating mechanism and the support base 325, which is used to drive the support base 325 to transversely move relative to the machine body.

[0106] A transition frame 328 is between the horizontal moving mechanism 327 and the rotating mechanism. The rotating mechanism two 326 comprises a rotating seat and a rotating motor; one side of the rotating seat is connected with the telescopic column 324, and the other side is connected with the transition frame 328; the rotating motor is drivingly connected with the rotating seat, and is used for driving the transition frame 328 to rotate along the circumferential direction of the central axis of the rotating seat. The horizontal moving mechanism 327 comprises a slide rail, the slide rail and the transition frame 328 are in sliding fit; and the slide rail is arranged on the support base 325. Thus, the support base 325 can be pulled by the telescopic cylinder to realize translation relative to the transition frame 328. Therefore, during the construction process, when the arch installation or arch transportation is needed, the support base 325 is driven by the horizontal moving mechanism 327 to move to the inside of the trolley, and the telescopic column 324 is extended to the ground to provide stable support for the machine body; for the case that the arch is long, if the arch contacts the support base 325 or the transportation and installation space of the arch is insufficient, the rotating angle of the support base 325 can be controlled by the rotating mechanism two 326, the support base 325 is rotated to the appropriate position, the space is sufficient during the arch installation and transportation, the interference is avoided, and the construction efficiency is improved. Therefore, the horizontal moving mechanism 327 and the rotating mechanism two 326 are reasonably configured, so that the support base 325 has flexible adjustment capability during the trolley construction, the transportation of the side arch and the vertical arch operation can be ensured to be smoothly performed, and the collision between the support base 325 and the arch is avoided, so that the safety and efficiency of the construction process are ensured

[0107] Embodiment 4

[0108] The embodiment is similar to the embodiment, and the difference lies in that the shotcrete arm mechanism is different. As shown in FIGS. 1-3, the utility model provides a technical scheme:

[0109] The shotcrete arm mechanism comprises a telescopic arm, a grabbing mechanism and a shotcrete mechanism; one end of the telescopic arm is connected with a rack, and the other end is connected with a driving mechanism two 4003; the grabbing mechanism and a fixed part of the driving mechanism two 4003 are connected; the shotcrete mechanism and a power part of the driving mechanism two 4003 are connected, so that the shotcrete mechanism rotates around the central axis of the telescopic arm; the grabbing mechanism and the shotcrete mechanism both have telescopic shafts. In the embodiment, the telescopic arm is connected with the rack through the driving mechanism one, so that the telescopic arm swings and / or pitches.

[0110] In the embodiment, the grabbing mechanism and the spraying mechanism are arranged on the telescopic arm, so that the grabbing mechanism and the spraying mechanism can be simultaneously driven if the telescopic arm is actuated, the action of two mechanical arms can be completed by using one mechanical arm, the grabbing mechanism is connected to the telescopic arm by the driving mechanism two 4003, the function switching between the grabbing mechanism and the spraying mechanism can be realized by the action of the driving mechanism two 4003, and the actual use requirement is met, the equipment is not needed to be moved, and the construction efficiency is effectively improved. Specifically, the driving mechanism two 4003 is a rotary device, the grabbing mechanism can rotate around the central axis of the telescopic arm when the driving mechanism two 4003 is actuated, and the construction condition of the spraying mechanism is met. Further, the grabbing mechanism and the spraying mechanism each have a telescopic shaft, so that the telescopic shaft of one is extended and the telescopic shaft of the other is retracted when the one is used for construction, the grabbing mechanism and the spraying mechanism do not affect each other under the action of the driving mechanism two 4003, and the function switching is better met. It can be known that the telescopic shaft of the grabbing mechanism and / or the spraying mechanism can be used to realize the function switching in some working conditions, and the driving mechanism two 4003 can be used to improve the action range of spraying in the specific spraying process.

[0111] In the embodiment, the driving mechanism one is composed of at least one of a rotary device and a telescopic device. That is, the rotary device and the telescopic device can realize the swing and / or the pitch of the telescopic arm. It should be noted that, in the embodiment, the pitch motion refers to the rotation on the vertical plane and the swing refers to the rotation on the horizontal plane with the horizontal plane as the reference, so the pitch motion or the swing of the rotary device and the telescopic device should be known according to the actual position of the rotary device and the telescopic device. Specifically, as shown in the drawings, the driving mechanism one includes the rotary device one 4004 and the telescopic device one 4005, the rotary device one 4004 is arranged on the rack, the telescopic arm is hinged to the rotary device one 4004, and the two ends of the telescopic device one 4005 are hinged to the rotary device one 4004 and the telescopic arm. The rotary device one 4004 and the telescopic device one 4005 are used to realize the swing and the pitch of the telescopic arm, the structure is simple and easy to realize, and the corresponding functions can be well realized. Further, in the embodiment, the driving mechanism one further includes the support one 4006 and the telescopic device two 4007, the support one 4006 is provided with the connecting part one 4008 and the connecting part two 4009, the connecting part one 4008 is hinged to the telescopic arm, the connecting part two 4009 is hinged to the telescopic device one 4005, and the two ends of the telescopic device two 4007 are hinged to the connecting part one 4008 and the rotary device one 4004. The telescopic device two 4007 can further flexibly adjust the overall pitch angle of the telescopic arm, so that the action of the grabbing mechanism and the spraying mechanism is more accurate, and the construction quality is effectively improved.

[0112] As shown in the figure, in the embodiment, the gripper mechanism comprises a gripper member 4010 and a connecting arm 4011; one end of the connecting arm 4011 is connected with the driving mechanism two 4003, and the other end is connected with the gripper member 4010 through the driving mechanism three. The spraying mechanism comprises a spraying member 4012 and a connecting arm 4013; one end of the connecting arm 4013 is connected with the driving mechanism two 4003, and the other end is connected with the spraying member 4012. Since the gripper mechanism and the spraying mechanism both have telescopic shafts, in order to simplify the structure, in the embodiment, the connecting arm 4011 and the connecting arm 4013 are both configured as telescopic shafts. When the gripper member 4010 is needed to be used, the connecting arm 4011 is extended, and the connecting arm 4013 is retracted, and vice versa, when the spraying member 4012 is needed to be used, the connecting arm 4011 is retracted, and the connecting arm 4013 is extended. In order to further improve the use precision of the gripper member 4010, the driving mechanism three in the embodiment is configured as a multi-axis rotary table mechanism, the components in the multi-axis rotary table mechanism can rotate around at least two rotation axes, thus having higher activity freedom, specifically, in the embodiment, the driving mechanism three comprises a rotary device two 4015, the fixed part of the rotary device two 4015 is connected with the connecting arm 4011, and the power part of the rotary device two 4015 is connected with the gripper member 4010, so as to drive the gripper member 4010 to rotate around the axis of the connecting arm 4011. Further, the driving mechanism three further comprises a rotary device three 4016, the axis of the rotary device three 4016 is perpendicular to the axis of the connecting arm 4011, the fixed part of the rotary device three 4016 is connected with the power part of the rotary device two 4015, and the power part of the rotary device three 4016 is connected with the gripper member 4010, so as to drive the gripper member 4010 to rotate around the axis perpendicular to the rotary device three 4016. Further, the driving mechanism three further comprises a carrier one 4014, a carrier two 4017 and a telescopic device three 4018; the carrier one 4014 is connected with the power part of the rotary device two 4015; the carrier two 4017 is connected with the fixed part of the rotary device three 4016; and the two ends of the telescopic device three 4018 are respectively hinged with the carrier one 4014 and the carrier two 4017, so as to drive the gripper member 4010 to rotate along the straight line where the carrier one 4014 and the carrier two 4017 are hinged. Thus, specifically, the fixed part of the rotary device two 4015 is connected with the connecting arm 4011, and the power part is connected with the carrier one 4014; the fixed part of the rotary device three 4016 is connected with the carrier one 4014, and the power part is connected with the gripper member 4010.The carrier 4014 acts as an intermediate connecting piece, when the rotary device 4015 is in action, it rotates with the carrier 4014 and the gripper member 4010, when the rotary device 4016 is in action, the carrier 4014 remains relatively static with the telescopic arm, that is, the rotation of the rotary device 4016 only drives the rotation of the gripper member 4010, thereby meeting the use requirements of the gripper member 4010. The telescopic device 4018 can realize the overturning of the gripper member 4010, thereby better meeting the requirements of multi-angle application construction, thereby further improving the construction quality. In the embodiment, the carrier 4014 has a proximal end and a distal end relative to the connecting arm 4011, the proximal end and the distal end are located on opposite sides of the connecting arm 4011, the proximal end of the carrier 4014 is hinged with the carrier 4017, and the distal end of the carrier 4014 is hinged with the telescopic device 4018. As shown in the figure, the cross section of the carrier 4014 is a triangular structure, the proximal end is corner 1 and the distal end is corner 2, it can be seen that there is a triangular gap between corner 1 and corner 2 in the axial direction of the connecting arm 4011, which can reduce the structure weight and improve the telescopic length of the telescopic device 4018, thereby better meeting the use requirements of the gripper member 4010.

[0113] In the embodiment, the telescopic arm is of telescopic structure. The telescopic arm comprises a plurality of sliding arms slidingly matched with each other, and further comprises telescopic cylinders for driving the movement of each sliding arm, thereby facilitating driving and simple structure.

[0114] As shown in the figure, in the embodiment, a sliding mechanism is arranged between the rack and the telescopic arm. Specifically, the sliding mechanism in the embodiment is arranged between the driving mechanism 1 and the rack. Further, the sliding mechanism comprises a track 4019 arranged on the rack and a movement block 4020 slidingly matched with the track 4019, and the driving mechanism 1 is arranged on the movement block 4020. Thus, when the movement block 4020 slides along the track 4019, the use range of the mechanical arm can be effectively improved.

[0115] Therefore, the movement block 4020 can slide on the track 4019, the rotary device 4004 on the movement block 4020 can swing the telescopic arm, the telescopic device 4005 arranged on the side of the telescopic arm can adjust the pitch angle of the telescopic arm within a certain angle range, and the telescopic device 4007 can adjust the pitch angle of the support 2. When the telescopic device 4005 and the telescopic device 4007 are adjusted cooperatively, the telescopic arm can be in the maximum opening angle, and the support 2 can be further driven to switch to a certain angle, so that the pitch range of the telescopic arm is further improved. Since the telescopic arm is of a telescopic structure, the telescopic arm can be telescoped to a certain length. The driving mechanism 4003 is arranged between the telescopic arms of the connecting arm 2 4013, and the connecting arm 2 4013 can be rotated around the telescopic arm by a certain angle for operation through the driving mechanism 4003. When the arch support operation is performed, the connecting arm 2 4013 can be shortened and folded, the connecting arm 1 4011 is lengthened, the gripper member 4010 grabs the arch support, and the position of the gripper member 4010 can be flexibly adjusted through the cooperation of the rotary device 2 4015, the rotary device 3 4016 and the telescopic device 3 4018, so that the arch support can accurately reach the specified position. When the shotcrete operation is performed, the connecting arm 1 4011 is shortened and folded, and the connecting arm 2 4013 is lengthened, so that the shotcrete operation can be performed. In the process of function switching, the position of the shotcrete mechanism can be changed by using the driving mechanism 4003, so that the operation interference can be avoided, and the operation stability and accuracy can be improved.

[0116] Therefore, in the process of using the embodiment, the actual use demand can be met through switching of at least three states. As shown in the example, the telescopic arm is moved to the rear end of the rack through the movement of the movement block 4020, then the arch support is picked up from the rear end of the rack through the cooperation of the rotary device 1 4004, the telescopic device 1 4005 and the telescopic device 2 4007, then the movement block 4020 is moved to the front end of the rack, and then the arch support is transferred to the support surface through the cooperation of the rotary device 1 4004, the telescopic device 1 4005 and the telescopic device 2 4007. In the above process, after the arch support is grabbed, the telescopic device 1 4005 and the telescopic device 2 4007 can be telescoped to reduce the occupied volume after the arch support is grabbed, and the movement interference can be avoided. That is, the embodiment can realize grabbing, transferring and installing of the arch support in the front-rear direction of the rack, and effectively reduce the occupied volume in the transferring process. In the idle time period, the movement block 4020 can be driven to move to the middle part of the rack, and the telescopic device 1 4005 and the telescopic device 2 4007 can be recovered, so that the rack movement can be better realized. In other words, the embodiment can avoid the space limitation, and the disadvantages that the tunnel needs to be emptied or other construction operations need to be stopped during the arch support transportation or arch erection operation, so that the overall efficiency of the tunnel construction can be improved.

[0117] As shown in the figure, in the embodiment, the gantry is provided with a plurality of telescopic columns 4021, the end of the telescopic column 4021 is provided with a support base 4022. Further, the free end of the telescopic column 4021 is connected with a rotating device four 4023, the support base 4022 is connected with the telescopic column 4021 through the rotating device four 4023; the rotating device four 4023 adjusts the relative angle between the support base 4022 and the gantry, so as to adjust the support position of the support base 4022. Still further, the rotating mechanism and the support base 4022 are further provided with a horizontal moving mechanism 4024, which is used to drive the support base 4022 to horizontally move relative to the machine body.

[0118] A transition frame 4025 is arranged between the horizontal moving mechanism 4024 and the rotating mechanism. The rotating device four 4023 comprises a rotating seat and a rotating motor; one side of the rotating seat is connected with the telescopic column 4021, and the other side is connected with the transition frame 4025; the rotating motor is drivingly connected with the rotating seat, and is used to drive the transition frame 4025 to rotate along the circumferential direction of the central axis of the rotating seat. The horizontal moving mechanism 4024 comprises a sliding rail, the sliding rail and the transition frame 4025 are in sliding fit; the sliding rail is arranged on the support base 4022. Thus, the telescopic cylinder can be used to pull the support base 4022, so as to realize the translation relative to the transition frame 4025. Therefore, in the construction process, when the arch installation or arch transportation is needed, the support base 4022 is driven by the horizontal moving mechanism 4024 to move to the inside of the trolley, and the telescopic column 4021 is extended to the ground, so as to provide stable support for the machine body; for the case that the arch is long, if the arch contacts with the support base 4022 or the transportation and installation space of the arch is insufficient, the rotating angle of the support base 4022 can be controlled by the rotating device four 4023, so that the support base 4022 is rotated to the appropriate position, so as to ensure that the space is sufficient during the arch installation and transportation, avoid interference, and improve the construction efficiency. Therefore, in the embodiment, the horizontal moving mechanism 4024 and the rotating device four 4023 are reasonably configured, so that the support base 4022 has flexible adjustment capability in the trolley construction, which can not only ensure the smooth transportation of the side arch and the standing arch operation, but also avoid the collision between the support base 4022 and the arch, so as to ensure the safety and efficiency of the construction process.

[0119] In the scheme, a slag removal mechanism is arranged in the slag removal channel, and the slag removal mechanism comprises an auxiliary digging arm 5000 arranged at the front end of the gantry and a material conveying system 6000; the transport vehicle moves to the end of the material conveying system, the auxiliary digging arm pushes the slag generated by the tunneling to the front end position of the material conveying system, the material conveying system automatically transports the slag to the transport vehicle 7000, and the transport vehicle moves out of the tunnel.

[0120] The material conveying system discharges the slag from the bottom of the gantry, or from at least one side of the gantry, or first from the bottom of the gantry and then through the gantry from at least one side of the gantry.

[0121] During the slagging operation, the tunneling operation is performed on the left and right sides of the tunnel face by the tunneling mechanism arranged at the front end of the gantry, and at this time the slagging mechanism is the auxiliary digging arm and the material conveying system arranged at the front end of the gantry; the transport vehicle moves to the end of the material conveying system, the auxiliary digging arm pushes the slag generated by the tunneling to the front end position of the material conveying system, the material conveying system automatically transports the slag into the transport vehicle, and the transport vehicle moves out of the tunnel; the material conveying system can be a transmission belt structure driven by a power mechanism.

[0122] In the scheme, the material conveying system can discharge slag from the bottom of the gantry, or from at least one side of the gantry, or first from the bottom of the gantry and then through the gantry from at least one side of the gantry. Since slag is easily accumulated at the bottom of the tunnel face, the material conveying system can quickly collect slag at the bottom of the gantry, and in order to avoid interference with the rear components of the gantry, the material conveying system is arranged in a "Z" shape, first discharging slag from the gantry, then through the side of the gantry, and finally discharging slag from the side of the gantry. This can more efficiently perform the slagging operation.

[0123] The scheme can automatically discharge slag on both sides of the trolley through the slagging mechanism, so that it can adapt to different construction environments, and since the gantry does not need to be provided with an access passage at the bottom, the gantry can be made smaller.

[0124] The scheme can improve the slagging efficiency: in the prior art, the cooperation between the slag loader and the transport vehicle is often limited by the large size of the integrated machine set, resulting in low efficiency of the slagging operation. The scheme aims to optimize the system design to achieve simultaneous and efficient tunneling and slagging operation, reducing waiting time and operation interference.

[0125] Meanwhile, the scheme enhances the parallel construction capability of the slag loader and the integrated machine set: in complex working conditions of the integrated machine set construction, the slag loader is difficult to realize parallel construction with the integrated machine set, limiting the improvement of the slagging efficiency. The scheme aims to optimize the layout and movement mode of the slag loader to enhance its collaborative operation capability with the integrated machine set, achieving efficient and continuous slagging operation.

[0126] Meanwhile, the scheme improves the adaptability of the system to complex working conditions: the existing slag loader and transport vehicle slagging mode have poor adaptability in tunnels constructed by the integrated machine set, and it is difficult to meet the demand for efficient tunneling. The scheme aims to improve the adaptability of the system to different tunnel sections, tunneling speeds and geological conditions through innovative design, to ensure the efficiency and stability of the construction.

[0127] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A structural combination capable of parallel construction of excavation, shotcreting, and slag removal, characterized in that: The invention discloses a tunneling machine, which comprises a frame (1), a shotcrete arm mechanism (2) and a tunneling arm mechanism (3); the shotcrete arm mechanism (2) is arranged above the frame (1) and can move along the length direction of the frame (1); the tunneling arm mechanism (3) is arranged at the front end of the frame (1); a sliding assembly (31) is arranged between the tunneling arm mechanism (3) and the frame (1); the sliding assembly (31) comprises a transverse sliding part (32) and a longitudinal sliding part (33); the longitudinal sliding part (33) is arranged along the length direction of the frame (1); the transverse sliding part (32) is arranged perpendicularly to the longitudinal sliding part (33); a slag discharge channel is arranged below or at least on one side of the frame (1); the shotcrete arm mechanism (2) is connected with a pumping system.

2. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to claim 1, characterized in that: A slide rail (11) is arranged above the frame (1) and cooperates with the sliding of the shotcrete arm mechanism (2); a sliding trolley (21) is arranged on the shotcrete arm mechanism (2) and cooperates with the slide rail (11); a transmission member is arranged on the slide rail (11); a driving part (22) is arranged on the sliding trolley (21) and drives the transmission member to act.

3. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to claim 2, characterized in that: The sliding trolley (21) comprises a support seat (27) and a support lug (28); the support lug (28) is arranged on the support seat (27); the telescopic arm (24) is hinged to the support lug (28) through a luffing oil cylinder (29); an oscillating support (210) is arranged at the end of the telescopic arm (24) close to the support seat (27); one end of the oscillating support (210) is hinged to the support lug (28); the other end is hinged to the support seat (27) through an auxiliary oil cylinder (211).

4. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to any one of claims 1-3, characterized in that: The shotcrete arm mechanism (2) comprises a telescopic arm (24), a connecting arm (25) and a shotcrete head (26); an adjusting assembly is arranged at the joint of the connecting arm (25) and the telescopic arm (24); the adjusting assembly can drive the connecting arm (25) to rotate around the vertical direction and / or the horizontal direction; the adjusting assembly comprises a first rotating mechanism (6); the end of the telescopic arm (24) is connected to the connecting arm (25) through the first rotating mechanism (6); the first rotating mechanism (6) can drive the connecting arm (25) to rotate on the telescopic arm (24) along the vertical direction.

5. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to any one of claims 1-3, characterized in that: The shotcrete arm mechanism (2) comprises a telescopic arm (24), a connecting arm (25) and a shotcrete head (26); an adjusting assembly is arranged at the joint of the connecting arm (25) and the telescopic arm (24); the adjusting assembly can drive the connecting arm (25) to rotate around the vertical direction and / or the horizontal direction; the adjusting assembly comprises a second driving mechanism; the end of the telescopic arm (24) is connected to the connecting arm (25) through the second driving mechanism; the second driving mechanism can drive the connecting arm (25) to rotate on the telescopic arm (24) along the horizontal direction.

6. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to any one of claims 1-3, characterized in that: The shotcrete arm mechanism (2) comprises a telescopic arm (24), a connecting arm (25) and a shotcrete head (26); an adjusting assembly is arranged at the connecting position of the connecting arm (25) and the telescopic arm (24), the adjusting assembly can drive the connecting arm (25) to rotate around the vertical direction and / or the horizontal direction, the adjusting assembly comprises a horizontal rotating part (213), a vertical rotating part (214) and a support part (215); the horizontal rotating part (213) is arranged at the top horizontal position of the support part (215), the vertical rotating part (214) is arranged at the vertical position of the side wall of the support part (215), the horizontal rotating part (213) is connected with the telescopic arm (24), and the vertical rotating part (214) is connected with the connecting arm (25).

7. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to claim 1, characterized in that: The transverse sliding part (32) comprises a cross beam (321), a sliding seat (322) and a transverse moving force piece (323); both ends of the cross beam (321) are provided with matching cavities (324); one end of the transverse moving force piece (323) is connected with one side matching cavity (324), and the other end is connected with the sliding seat (322); the action of the transverse moving force piece (323) can drive the sliding seat (322) to move along the length direction of the cross beam (321).

8. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to claim 7, characterized in that: The longitudinal sliding part (33) comprises a guide frame (331) and a longitudinal power piece (332); the guide frame (331) is arranged at both sides of the rack (1), and the guide frame (331) is provided with a track (7) matched with the size of the matching cavity (324); one end of the longitudinal power piece (332) is connected with the side wall of the rack (1), and the other end is connected with the guide frame (331); the action of the longitudinal power piece (332) can drive the matching cavity (324) to move along the length direction of the guide frame (331).

9. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to claim 1 or 7 or 8, characterized in that: The tunneling arm mechanism (3) comprises a tunneling base (34), a tunneling steering oil cylinder (35), a tunneling luffing oil cylinder (36), a tunneling support arm (37) and a breaking hammer (38); the tunneling base (34) is hingedly arranged at the side wall of the sliding seat (322), the tunneling steering oil cylinder (35) is arranged at the upper end surface of the sliding seat (322) and is hingedly connected with the tunneling base (34); the end of the tunneling support arm (37) is hingedly connected with the tunneling base (34), and the tunneling luffing oil cylinder (36) is respectively hingedly connected with the tunneling support arm (37) and the tunneling base (34); the breaking hammer (38) is arranged at the end of the tunneling support arm (37) away from the tunneling base (34).

10. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to any one of claims 1-3, characterized in that: A slag removal mechanism is arranged in the slag removal channel, and the slag removal mechanism comprises an auxiliary digging arm (5000) arranged at the front end of the rack (1) and a material conveying system (6000); the transport vehicle (7000) moves to the end of the material conveying system, the auxiliary digging arm (5000) pushes the slag generated by tunneling to the front end position of the material conveying system (6000), the material conveying system (6000) automatically transports the slag to the transport vehicle (7000), and the transport vehicle (7000) moves out of the tunnel.

11. The structural combination capable of realizing parallel construction of excavation, gunniting and slag discharge according to claim 10, characterized in that: The material conveying system (6000) discharges the slag from the bottom of the gantry (1); or discharges the slag from at least one side of the gantry (1); or first discharges the slag from the bottom of the gantry (1), and then discharges the slag from at least one side of the gantry (1) through the gantry (1).

12. A structure combination capable of realizing parallel construction of excavation, gunniting and slagging, characterized in that: The device comprises a gantry (1), a shotcrete arm mechanism (2) and a tunneling arm mechanism (3); the shotcrete arm mechanism (2) is arranged above the gantry (1) and can move along the length direction of the gantry (1); the tunneling arm mechanism (3) is arranged at the front end of the gantry (1); the tunneling arm mechanism (3) comprises at least two tunneling mechanisms (400) arranged on the gantry (1), and the tunneling mechanism (400) is connected with a horizontal swing mechanism (200) and a vertical swing mechanism (300); wherein the vertical swing mechanism (300) is used for driving the tunneling mechanism (400) to swing up and down, and the horizontal swing mechanism (200) is used for driving the vertical swing mechanism (300) and the tunneling mechanism (400) to swing left and right as a whole.

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