CN117307198A - Tunnel support 3D printing robot and construction method thereof - Google Patents

Abstract

The invention discloses a tunnel support 3D printing robot and its construction method. The robot includes a telescopic swing arm mechanism, a spray mechanism and a cross-sectional scanner installed on the trolley body and respectively connected to a control system; the telescopic swing arm mechanism includes a hydraulic drive arm, hydraulic transmission rod and hydraulic telescopic arm. The base of the hydraulic driving arm is fixed on the upper part of the trolley body. The output end of the hydraulic driving arm is connected to the hydraulic transmission rod. The hydraulic transmission rod is rotationally connected to the trolley body, and the hydraulic transmission rod is fixedly connected to the hydraulic telescopic arm. , the telescopic end of the hydraulic telescopic arm is fixedly connected to the spray mechanism; the spray mechanism includes a connecting rod, a nozzle and a motor, the connecting rod is detachably and fixedly connected to the telescopic end of the hydraulic telescopic arm, and a cross-section scanner and an angle sensor are installed on the connecting rod. The feeding port of the nozzle is connected to the feeding pipe. The feeding pipe is arranged along the telescopic swing arm mechanism and the trolley body. The feeding pipe feeding port and the feeding port of the feeding mechanism are detachably and fixedly connected. The base of the nozzle is connected to the motor and installed together. On the connecting rod, the motor, cross-section scanner and angle sensor are connected to the control system respectively.

Description

A tunnel support 3D printing robot and its construction method

Technical field

The invention belongs to the technical field of tunnel construction, and specifically relates to a tunnel 3D printing robot and a construction method thereof.

Background technique

With the rapid development of the economy and the gradual deepening of infrastructure construction and resource development, safety and structural quality issues during tunnel construction have become increasingly prominent. Anchor shotcrete support is an important way to ensure the strength of tunnels, and shotcrete support is a key link in anchor shotcrete support, which can effectively reduce the occurrence of tunnel collapse. In the initial support, shotcrete is the most basic support method and is indispensable.

At present, tunnel support mainly includes primary support and secondary lining. There are two main modes of concrete operation for initial tunnel support: dry spraying and wet spraying. Dry spraying method is a method of mixing cement, sand and stone evenly in a dry state, sending compressed air to the nozzle and mixing with pressurized water for spray irrigation. This type of operation mode has large fluctuations in concrete quality, high rebound rate, low construction efficiency, relatively harsh construction environment, and is more suitable for small-volume projects. The wet spraying method is a method in which the mixed concrete is delivered to the nozzle through a grouting pump, and then compressed air is used for spraying. Wet sprayed concrete has stable quality and high construction efficiency. It is more suitable for large-volume projects and is currently the most important initial concrete support operation mode. However, the proportion of wet shotcrete in each construction project is different, and the quality of spraying is also different. In addition to the final support effect being closely related to the level of the operator, since both the wet spraying method and the dry spraying method use high-pressure air to blow out the material, the material The amount of rebound and dust pollution caused by high-pressure spraying are very large, seriously affecting the construction environment and the health of personnel in the tunnel.

The secondary lining of the tunnel (hereinafter referred to as the secondary lining) is the permanent support structure of the tunnel project. It not only bears the load but also serves as the tunnel appearance project. The concrete of the lining structure should be dense, with a flat and smooth surface, smooth curves, and meet the design strength, waterproofing, and durability. sexual requirements.

At present, the pouring of secondary lining concrete generally adopts molded concrete construction. The formwork is first manually set, and then the concrete is led through the pipe to the pouring window of the trolley formwork and injected into the lining space. A device with a pipe and a chute is used to transport the concrete. It is a pressure-free pouring. The pipes are diverted using tee joints. Valves are installed on the diverter pipes or on the main pipes of the tee joints to control the pouring sequence of each window. The concrete is vibrated manually at the window and the formwork is removed after the concrete solidifies. Not only does it require a large amount of labor, high labor intensity, and low pouring efficiency, but it is also prone to serious problems such as honeycomb pitting, insufficient flatness, voids, gaps and interlayers, exposed tendons, insufficient strength, poor homogeneity, surface cracks, and surface water seepage. It affects the safety, stability and appearance of the secondary lining. At the same time, the cost of the formwork is high, and the transportation, installation and removal of the formwork also has a great impact on the construction period, safety and quality.

Therefore, in view of the non-cancellability of the tunnel support process and the uneven quality, large material waste, and poor operating environment caused by the current construction technology, it is urgent to implement a new technical solution to solve the above problems.

Contents of the invention

The purpose of the present invention is to provide a tunnel 3D printing robot and its construction method to overcome the shortcomings of the existing technology.

The technical solution adopted by the present invention is a tunnel support 3D printing robot, which includes a trolley body. The trolley body is equipped with a telescopic swing arm mechanism, a spray mechanism and a cross-sectional scanner that are respectively connected to a control system; the telescopic swing arm mechanism is installed on the trolley body. The arm mechanism includes a hydraulic drive arm, a hydraulic transmission rod and a hydraulic telescopic arm. The base of the hydraulic drive arm is fixed on the upper part of the trolley body. The output end of the hydraulic drive arm is connected to the hydraulic transmission rod. The hydraulic transmission rod is rotationally connected to the trolley body, and the hydraulic transmission rod The hydraulic telescopic arm is fixedly connected, and the telescopic end of the hydraulic telescopic arm is fixedly connected to the spray mechanism; the spray mechanism includes a connecting rod, a nozzle and a motor, the connecting rod is detachably and fixedly connected to the telescopic end of the hydraulic telescopic arm, and a cross-section scan is installed on the connecting rod. instrument and angle sensor, the feed inlet of the nozzle is connected to the feed pipe, the feed pipe is arranged along the telescopic swing arm mechanism and the trolley body, the feed inlet of the feed pipe is removably and fixedly connected to the feed port of the feed mechanism, the base of the nozzle is connected to the motor Connected and installed together on the connecting rod, the motor, section scanner and angle sensor are respectively connected to the control system.

Preferably, the two ends of the hydraulic transmission rod are rotatably connected to the brackets on the top of the front and rear ends of the trolley body, the output end of the hydraulic drive arm is connected to the middle part of the hydraulic transmission rod, the two ends of the hydraulic transmission rod are respectively connected to the hydraulic telescopic arm, and the hydraulic drive arm is The signal control of the control system drives the hydraulic transmission rod and the hydraulic telescopic arm to rotate. The hydraulic telescopic arm is controlled by the signal of the control system, so that the injection mechanism maintains an appropriate distance from the tunnel arch.

Preferably, both ends of the connecting rod are respectively connected to the telescopic end of the hydraulic telescopic arm, and several nozzles and motors are installed on the connecting rod at even intervals, and each motor is controlled individually or in clusters by the control system.

Preferably, it also includes a vibrating and scraping mechanism, which includes a mounting frame, a scraper and a vibrating hammer. Both ends of the mounting frame are respectively connected to the hydraulic telescopic arm through a rotating shaft, and the rotating shaft is connected to the rotating motor. connection, the rotating motor is connected to the control system, the scraper is installed in parallel on the outside of the installation frame, the top of the scraper is detachably fixed with a screw and installed with a scraper, the scraper has an arc surface that fits the tunnel arch, and several ramming hammers Set it on the inside of the mounting bracket through a U-shaped fixing bracket and fasten it with screws.

Preferably, the feeding pipe is detachably and fixedly connected to the feeding port of the feeding mechanism through a connecting head. The feeding pipe is also detachably and fixedly connected to the high-pressure water pipe outlet and the high-pressure air pipe outlet through the connecting head. A control valve is provided on the connecting head to control The valve is connected to the control system.

Preferably, the nozzle head is also provided with an air jet head. The air jet head is annularly installed along the outer wall of the nozzle head. A spiral blade is provided at the air outlet of the air jet head. The air inlet of the air jet head is connected to a high-pressure air pipe through a hose. The hose is arranged along the feeding pipe. The hose and the high-pressure air pipe are detachably and fixedly connected, and a pneumatic valve is provided at the connection between the two, and the pneumatic valve is connected to the control system.

Preferably, the trolley body includes a trolley mast, a hydraulic support foot is provided at the bottom of the trolley mast, a hydraulic sliding foot is arranged on one side of the hydraulic supporting foot, a track is laid below the hydraulic sliding foot, and the hydraulic supporting foot and the hydraulic sliding foot are Move the feet to connect to the control system respectively.

A construction method of tunnel support 3D printing robot, including the following steps:

S1. The 3D printing robot starts to move from the previous construction surface to the next construction surface, and the cross-section scanner scans the tunnel cross-section to obtain tunnel outline data;

S2. The control system generates printing trajectories based on tunnel contour data;

S3. The control system controls the telescopic swing arm mechanism according to the printing trajectory and printing thickness to drive the spraying mechanism to rotate along the tunnel arch at a predetermined speed and distance from the arch. At the same time, it controls each nozzle to spray the concrete according to the preset angle, flow rate, and flow rate. Spray onto the arch surface to form a fixed-point, quantitative, one-time search for full-coverage shotcrete support for the longitudinal section of the entire construction surface; repeat the above steps to complete the initial support printing;

S4. After the reinforcement mesh inside and outside the current construction area is laid, the 3D printing robot is ready to be in place, and the cross-section scanner scans the tunnel cross-section to obtain tunnel outline data;

S5. The control system generates printing trajectories based on tunnel contour data;

S6. The control system controls the telescopic swing arm mechanism according to the printing trajectory and printing thickness to drive the spraying mechanism to rotate along the tunnel arch at a predetermined speed and distance from the arch. At the same time, each nozzle sprays concrete according to the preset angle, flow rate, and flow rate. to the arch surface, forming a fixed-point, quantitative one-time full-coverage shotcrete printing of the longitudinal section of the entire construction surface; due to the high thickness of the secondary lining, a layer-by-layer printing and layer-by-layer bonding method is adopted to realize the secondary lining printing of the tunnel arch surface;

S7. Repeat steps S4-S6. After the secondary lining printing is completed, remove the spraying mechanism, install the scraping and vibrating mechanism, and the control system controls the scraping and vibrating mechanism to vibrate, compact and smooth the second concrete lining surface;

S8. After the initial support spraying or secondary lining printing of the tunnel is completed, remove the connection between the feeding mechanism and the feeding pipe, connect the high-pressure water pipe and the high-pressure air pipe respectively through the connectors, and use high-pressure water and high-pressure gas to realize the connection between the feeding pipe and the feeding pipe. Cleaning of nozzles.

A printing material for tunnel support 3D printing robots.

The printing material is made of concrete material mixed with basalt fiber material, which explains the requirements for printing materials.

Compared with the existing technology, the beneficial effects of the present invention are:

1) This invention uses 3D printing robots to use corresponding printing materials to 3D print the initial support and secondary lining of the tunnel, solving the quality problems caused by the current wet spray and dry spray support modes and manual construction, especially the avoidance of The risk of voiding caused by wet spraying ensures the integrity of the tunnel support structure and the stress state of close contact between the surrounding rock and the primary support, and improves the binding force on the surrounding rock; secondly, it reduces the use of formwork and support formwork and The time required to remove the formwork is reduced, the formwork cost is reduced, and there is no damage and pollution to the concrete during the formwork removal process. In particular, the time-consuming and labor-intensive formwork setting and removal of some special-shaped components and the quality control are improved; in addition, fully automatic 3D robot printing , greatly reduces the labor intensity of workers, improves construction efficiency, shortens the construction period, is easy to maintain, and standardizes shotcrete, solving the current problem of secondary lining formwork concrete that is prone to honeycomb pitting, insufficient flatness, and voids due to construction technology level and formwork reasons. , gaps and interlayers, exposed reinforcement, insufficient strength, poor homogeneity, surface cracks, surface water seepage and other problems, greatly improving the support effect of shotcrete and the control of project quality.

2) In order to improve the injection efficiency, a row of nozzles is installed at the execution end of the injection system to cover the entire longitudinal construction surface of the arch wall and spray construction simultaneously. The injection mechanism adopts two control modes: clustering and decentralization. Each nozzle can independently control the injection attitude, injection flow rate and The speed can be controlled centrally, thereby achieving rapid spray construction of large areas of tunnel arches, and precise printing of specific special-shaped constructions;

3) In view of the construction requirements of the secondary lining, in order to ensure that the inside of the secondary lining is dense and the outside is flat, the present invention integrates a scraping and vibrating mechanism on the 3D printing robot, and the tamping hammer receives the vibration signal from the controller to carry out the spraying on the concrete of the secondary lining. Vibration, the scraper receives the scraping signal and the scraper moves up and down along the arch surface to scrape the concrete to form a dense and smooth secondary lining surface. This device is used in conjunction with the concrete spraying mechanism for automated construction, which not only saves manpower, but also improves the concrete after spraying in a timely manner, improving construction efficiency and secondary lining construction quality;

4) The present invention introduces high-pressure water and high-pressure air into the feeding pipe to clean the feeding pipe and nozzle in time to avoid pipeline blockage caused by concrete condensation. At the same time, a jet head is installed at the nozzle, and a spiral blade is provided at the outlet of the jet head. , spray spiral high-pressure air to the outlet of the nozzle to clean out the concrete material attached to the outlet of the nozzle after being blown out during cleaning to prevent it from affecting the discharge effect of the next spray.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic structural diagram of the injection mechanism of the present invention;

Figure 3 is a schematic structural diagram of the vibrating and scraping mechanism of the present invention;

Figure 4 is a schematic structural diagram of the jet head of the present invention;

Marked in the figure: 1. Trolley body, 101. Trolley mast, 102. Hydraulic support feet, 103. Hydraulic sliding feet; 2. Telescopic swing arm mechanism, 201. Hydraulic drive arm, 202. Hydraulic transmission rod, 203. Hydraulic telescopic arm; 3. Cross-section scanner; 4. Injection mechanism, 401, connecting rod, 402, nozzle, 403, motor, 5. Shaving and vibrating mechanism, 501, mounting frame, 502, scraper, 5021, scraper , 503. Vibrating hammer, 6. Feed pipe, 7. Jet head.

Detailed ways

The present invention will be further explained below in conjunction with the description and drawings to facilitate better understanding by those skilled in the art.

Example 1

As shown in Figure 1-4, a tunnel support 3D printing robot includes a trolley body 1. The trolley body 1 is equipped with a telescopic swing arm mechanism 2, a cross-section scanner 3, and a spray mechanism 4 that are respectively connected to the control system. and vibrating and scraping mechanism 5.

The trolley body 1 includes a trolley mast 101. The bottom end of the trolley mast 101 is provided with a hydraulic support foot 102. One side of the hydraulic support foot 102 is provided with a hydraulic sliding foot 103. A track is laid below the hydraulic sliding foot 103 to provide hydraulic support. The foot 102 and the hydraulic sliding foot 103 are respectively connected to the control system. The vehicle body 1 is controlled to move through the signal of the control system.

The telescopic swing arm mechanism 2 includes a hydraulic drive arm 201, a hydraulic transmission rod 202 and a hydraulic telescopic arm 203. The base of the hydraulic drive arm 201 is fixed on the upper part of the trolley body 1. The output end of the hydraulic drive arm 202 is connected to the hydraulic transmission rod 202. The rod 202 is rotatably connected to the trolley body 1, and the hydraulic transmission rod 202 is fixedly connected to the hydraulic telescopic arm 203, and the telescopic end of the hydraulic telescopic arm 203 is fixedly connected to the injection mechanism 4. Specifically, the two ends of the hydraulic transmission rod 202 are rotationally connected to the brackets on the top of the front and rear ends of the trolley body 1 respectively. The output end of the hydraulic drive arm 201 is connected to the middle part of the hydraulic transmission rod 202. The two ends of the hydraulic transmission rod 202 are respectively connected to the hydraulic telescopic arm. 203. The hydraulic drive arm 201 is controlled by the signal from the control system to drive the hydraulic transmission rod 202 and the hydraulic telescopic arm 203 to rotate. The hydraulic telescopic arm 203 is controlled by the signal from the control system to keep the injection mechanism 4 at an appropriate distance from the tunnel arch.

The spray mechanism 4 includes a connecting rod 401, a nozzle 402 and a motor 403. Both ends of the connecting rod 401 are detachably and fixedly connected to the telescopic end of the hydraulic telescopic arm 203. A cross-section scanner 3 and an angle sensor are installed on the connecting rod 401. The feed port of the nozzle 402 is connected to the feed pipe 6. The feed pipe 6 is arranged along the telescopic swing arm mechanism 2 and the trolley body 1. The feed port of the feed pipe 6 is removably and fixedly connected to the feed port of the feed mechanism. The base of the nozzle 402 It is connected with the motor 403 and installed together on the connecting rod 401. Several nozzles 402 and motors 403 are installed on the connecting rod 401 at even intervals. Each motor 403 is controlled individually or in a cluster by the control system. The motor 403, the cross-section scanner 3 and The angle sensors are respectively connected to the control system.

Among them, the conveying mechanism is an existing technology, and a concrete mixer truck with a conveying function can be used, which will not be described in detail here.

The tamping and scraping mechanism 5 includes a mounting frame 501, a scraper 502 and a tamping hammer 503. Both ends of the mounting frame 501 are rotationally connected to the hydraulic telescopic arm 203 through a rotating shaft. The rotating shaft is connected to a rotating motor, and the rotating motor is connected to the control unit. System, the scraper 502 is installed in parallel on the outside of the installation frame 501. The top of the scraper 502 is removably fixed with a scraper 5021 through screws. The scraper 5021 is an arc surface that fits the tunnel arch. Several ramming hammers 503 The U-shaped fixing bracket 504 is sleeved on the inside of the mounting bracket 501 and fastened with screws.

The feeding pipe is detachably and fixedly connected to the feeding port of the feeding mechanism through a connector. In addition, the feeding pipe 6 is also detachably and fixedly connected to the outlet of the high-pressure water pipe and the outlet of the high-pressure air pipe 9 through the connector. A control valve is provided on the connector. , the control valve is connected to the control system, and the circulation between the pipelines and the flow rate of the material are controlled through the control valve. High-pressure water is introduced into the feeding pipe through a high-pressure water pipe, and high-pressure air is fed into the feeding pipe through a high-pressure air pipe to clean the feeding pipe 6 and the nozzle 402 .

The nozzle 402 is also provided with a jet head 7. The jet head 7 is annularly installed along the outer wall of the nozzle 402. The air outlet of the jet head 7 is provided with a spiral blade 701. The air inlet of the jet head 7 is connected to the high-pressure air pipe 9 through a hose. The hose Arranged along the feeding pipe 6, the hose and the high-pressure air pipe 9 are detachably and fixedly connected, and a pneumatic valve is provided at the connection between the two, and the pneumatic valve is connected to the control system.

Among them, the vibrating and scraping mechanism 5 is set up independently. After the spraying mechanism 4 completes the injection, the spraying mechanism 4 can be dismantled, the scraping and vibrating mechanism 5 can be reinstalled, and the control system of the scraping and vibrating mechanism 5 can be ensured.

Example 2

A construction method of tunnel support 3D printing robot, including the following steps:

S1. The 3D printing robot starts to move from the previous construction surface to the next construction surface, and the cross-section scanner scans the tunnel cross-section to obtain tunnel outline data;

S2. The control system generates printing trajectories based on tunnel contour data;

S3. The control system controls the telescopic swing arm mechanism according to the printing trajectory and printing thickness to drive the spraying mechanism to rotate along the tunnel arch at a predetermined speed and distance from the arch. At the same time, it controls each nozzle to spray the concrete according to the preset angle, flow rate, and flow rate. Spray onto the arch surface to form a fixed-point, quantitative, one-time search for full-coverage shotcrete support for the longitudinal section of the entire construction surface; repeat the above steps to complete the initial support printing;

S4. After the reinforcement mesh inside and outside the current construction area is laid, the 3D printing robot is ready to be in place, and the cross-section scanner scans the tunnel cross-section to obtain tunnel outline data;

S5. The control system generates printing trajectories based on tunnel contour data;

S6. The control system controls the telescopic swing arm mechanism according to the printing trajectory and printing thickness to drive the spraying mechanism to rotate along the tunnel arch at a predetermined speed and distance from the arch. At the same time, each nozzle sprays concrete according to the preset angle, flow rate, and flow rate. To the arch surface, the longitudinal section of the entire construction surface is formed by fixed-point, quantitative, one-time full-coverage shotcrete printing; due to the high thickness of the secondary lining, a layer-by-layer printing and layer-by-layer bonding method is adopted to realize the secondary lining printing of the tunnel arch surface;

S7. Repeat steps S4-S6. After the secondary lining printing is completed, remove the spraying mechanism, install the scraping and vibrating mechanism, and the control system controls the scraping and vibrating mechanism to vibrate, compact and smooth the second concrete lining surface;

S8. After the initial support spraying or secondary lining printing of the tunnel is completed, remove the connection between the feeding mechanism and the feeding pipe, connect the high-pressure water pipe and the high-pressure air pipe respectively through the connectors, and use high-pressure water and high-pressure gas to realize the connection between the feeding pipe and the feeding pipe. Cleaning of nozzles.

A printing material used for tunnel support 3D printing robots. The printing material is made of concrete material and basalt fiber material added.

The above are only preferred embodiments of the present invention. It should be noted that those of ordinary skill in the art can also make several improvements and modifications without departing from the technical principles of the present invention. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (10)

1. A tunnel support 3D printing robot, which is characterized in that it includes a trolley body (1). The trolley body (1) is equipped with a telescopic swing arm mechanism (2) and a spray mechanism (4) that are respectively connected to the control system. ) and a cross-sectional scanner (3); the telescopic swing arm mechanism (2) includes a hydraulic drive arm (201), a hydraulic transmission rod (202) and a hydraulic telescopic arm (203). The base of the hydraulic drive arm (201) is fixed on the table. On the upper part of the trolley body (1), the output end of the hydraulic drive arm (201) is connected to the hydraulic transmission rod (202). The hydraulic transmission rod (202) is rotationally connected to the trolley body (1), and the hydraulic transmission rod (202) is fixedly connected to the hydraulic telescopic Arm (201), the telescopic end of the hydraulic telescopic arm (201) is fixedly connected to the injection mechanism (4); the injection mechanism (4) includes a connecting rod (401), a nozzle (402) and a motor (403), and the connecting rod (401) 401) is detachably and fixedly connected to the telescopic end of the hydraulic telescopic arm (201). A cross-section scanner (3) and an angle sensor are installed on the connecting rod (401). The feed port of the nozzle (402) is connected to the feeding pipe (6). The material pipe (6) is arranged along the telescopic swing arm mechanism (2) and the trolley body (1). The feeding port of the feeding pipe and the feeding port of the feeding mechanism are detachably and fixedly connected. The base of the nozzle (402) is connected to the motor (403) Connected and installed together on the connecting rod (401), the motor (403), the cross-section scanner (3) and the angle sensor are respectively connected to the control system. 2. A tunnel support 3D printing robot according to claim 1, characterized in that the two ends of the hydraulic transmission rod (202) are rotationally connected to the brackets at the top of the front and rear ends of the trolley body (101), and the hydraulic The output end of the driving arm (201) is connected to the middle part of the hydraulic transmission rod (202), and both ends of the hydraulic transmission rod (202) are connected to the hydraulic telescopic arm (203). The hydraulic driving arm (201) is controlled by the signal of the control system to drive the hydraulic transmission rod. (202) and the hydraulic telescopic arm (203) rotate, and the hydraulic telescopic arm (203) is controlled by the signal of the control system, so that the injection mechanism (4) maintains an appropriate distance from the tunnel arch surface. 3. A tunnel support 3D printing robot according to claim 2, characterized in that the two ends of the connecting rod (401) are respectively connected to the telescopic end of the hydraulic telescopic arm (203), and a plurality of nozzles (402) The motors (403) are evenly spaced on the connecting rod (401), and each motor (403) is controlled individually or in clusters by the control system. 4. A tunnel support 3D printing robot according to claim 1, characterized in that it also includes a vibrating and scraping mechanism (5), and the tamping and scraping mechanism (5) includes a mounting frame (501) , scraper (502) and tamping hammer (503), the two ends of the mounting frame (501) are rotationally connected to the hydraulic telescopic arm (203) through a rotating shaft, the rotating shaft is connected to the rotating motor, and the rotating motor is connected to the control system. The scraper (502) is installed parallel to the outside of the installation frame (501). The top of the scraper (502) is detachably fixed with a scraper (5021) through screws. The scraper (5021) has an arc surface that fits the tunnel arch. Several ramming hammers (503) are set inside the mounting frame (501) through a U-shaped fixing frame and are fastened with screws. 5. A tunnel support 3D printing robot according to claim 1, characterized in that the feeding pipe (6) is detachably and fixedly connected to the feeding port of the feeding mechanism through a connector, and the feeding pipe (6) The high-pressure water pipe outlet and the high-pressure air pipe outlet are removably and fixedly connected through a connector. A control valve is provided on the connector, and the control valve is connected to the control system. 6. A tunnel support 3D printing robot according to claim 5, characterized in that the nozzle (402) is also provided with an air jet head (7), and the air jet head (7) is annular along the outer wall of the nozzle (402). During installation, a spiral blade is provided at the outlet of the jet head (7). The air inlet of the jet head (7) is connected to the high-pressure air pipe through a hose. The hose is arranged along the feeding pipe. The hose and the high-pressure air pipe are detachably and fixedly connected, and both There is an air pressure valve at the connection, and the air pressure valve is connected to the control system. 7. A tunnel support 3D printing robot according to claim 1, characterized in that the trolley body (1) includes a trolley mast (101), and a hydraulic support is provided at the bottom of the trolley mast (101). foot (102), a hydraulic sliding foot (103) is provided on one side of the hydraulic supporting foot (102), a track is laid below the hydraulic sliding foot (103), and the hydraulic supporting foot (102) and the hydraulic sliding foot (103) are connected respectively Control System. 8. The construction method of a tunnel support 3D printing robot according to any one of claims 1 to 7, characterized in that it includes the following steps: S1. The 3D printing robot starts to move from the previous construction surface to the next construction surface, and the cross-section scanner scans the tunnel cross-section to obtain tunnel outline data; S2. The control system generates printing trajectories based on tunnel contour data; S3. The control system controls the telescopic swing arm mechanism according to the printing trajectory and printing thickness to drive the spraying mechanism to rotate along the tunnel arch at a predetermined speed and distance from the arch. At the same time, it controls each nozzle to spray the concrete according to the preset angle, flow rate, and flow rate. Spray onto the arch surface to form a fixed-point, quantitative, one-time search for full-coverage shotcrete support for the longitudinal section of the entire construction surface; repeat the above steps to complete the initial support printing; S4. After the reinforcement mesh inside and outside the current construction area is laid, the 3D printing robot is ready to be in place, and the cross-section scanner scans the tunnel cross-section to obtain tunnel outline data; S5. The control system generates printing trajectories based on tunnel contour data; S6. The control system controls the telescopic swing arm mechanism according to the printing trajectory and printing thickness to drive the spraying mechanism to rotate along the tunnel arch at a predetermined speed and distance from the arch. At the same time, each nozzle sprays concrete according to the preset angle, flow rate, and flow rate. To the arch surface, the longitudinal section of the entire construction surface is formed by fixed-point, quantitative, one-time full-coverage shotcrete printing; due to the high thickness of the secondary lining, a layer-by-layer printing and layer-by-layer bonding method is adopted to realize the secondary lining printing of the tunnel arch surface; S7. Repeat steps S4-S6. After the secondary lining printing is completed, remove the spraying mechanism, install the scraping and vibrating mechanism, and the control system controls the scraping and vibrating mechanism to vibrate, compact and smooth the second concrete lining surface; S8. After the initial support spraying or secondary lining printing of the tunnel is completed, remove the connection between the feeding mechanism and the feeding pipe, connect the high-pressure water pipe and the high-pressure air pipe respectively through the connectors, and use high-pressure water and high-pressure gas to realize the connection between the feeding pipe and the feeding pipe. Cleaning of nozzles. 9. A printing material for the tunnel support 3D printing robot according to any one of claims 1-7. 10. The printing material according to claim 9, characterized in that it is made of concrete material mixed with basalt fiber material.