为解决运营铁路隧道衬砌缺陷整治过程中凿毛工序存在的机械化程度低、施作人员数量多、劳动强度大、占用天窗时间长、凿毛连续性差、凿毛区域覆盖不全等问题，调研分析运营铁路隧道已有管线布局方式、机械化凿毛装置应用现状及凿毛施工需求，研制一款可实现隧道衬砌环向连续机械化凿毛施工的凿毛台车。该台车集成多自由度机械臂及拟合隧道轮廓的连续铣刨凿毛装置，提出可拟合隧道轮廓轨迹的环向贴壁连续铣刨凿毛新工艺，具有混凝土渣土自动跟踪回收、凿毛路径自我规划防碰撞检测、多重应急回收等关键技术，并已在某铁路提质改造工程隧道套衬加固施工中进行应用。应用结果表明： 1）相对现有气动冲击凿毛作业方式，该台车可以实现隧道环向连续铣刨凿毛及粉尘渣土自动回收。 2）相对传统人工搭建脚手架手持电锤敲击作业方式，作业人员数量由30~35人减少至10~12人，凿毛效率由10 m²/h提升至40 m²/h，实现了在人员减少1/2以上的情况下凿毛作业施工效率提升了2倍以上的目标。

Chiseling operations in an operating tunnel lining defect treatment process have various disadvantages, such as low mechanization, high labor consumption and intensity, prolonged time-window occupation, discontinuous chiseling, and incomplete target-area coverage. To address these issues, existing pipeline layouts, application status of mechanized chiseling devices, and chiseling construction needs in railway tunnels are investigated and analyzed to propose a novel chiseling trolley that achieves continuous, circumferential, mechanized chiseling construction for tunnel lining. The proposed trolley integrates a multidegree-of-freedom robotic arm and a continuous milling and chiseling device to realize a novel continuous chiseling technique for tunnel lining, which can well fit the tunnel profile. The trolley exhibits various advantages, including automatic tracking and recovery of concrete debris, self-planning of chiseling paths with anticollision detection, and multiple emergency recovery mechanisms. The trolley is applied to the tunnel lining reinforcement construction of a railway quality improvement project. The application results indicate the following. (1) Compared with the existing pneumatic impact chiseling method, the proposed trolley enables continuous circumferential milling and chiseling of tunnel linings, along with automated dust and debris recovery. (2) Compared with traditional manual handheld electric hammer operations at scaffolds, the labor consumption can be reduced from 30－35 to 10－12 and the chiseling efficiency can be improved from 10 to 40 m²/h, construction efficiency is improved by more than two times that of traditional chiseling, with half the labor consumption.