Mechanical arm type reinforcing steel bar laying device and reinforcing steel bar laying method for tunnel lining

Abstract

The invention belongs to the technical field of steel bar laying equipment, and particularly relates to a mechanical arm type steel bar laying device for tunnel lining and a steel bar laying method. According to the mechanical arm type steel bar laying device for tunnel lining, a conveying chain on the conveying mechanical arm can convey a ring bar manufactured by a ring bar forming machine to the conveying mechanical arm through a first hook, through cooperation of the conveying mechanical arm and the conveying chain, the ring bar is conveyed to a designated position and fixed by a worker, and laying of the ring bar is completed; meanwhile, all the conveying mechanical arms can be matched, the longitudinal bars are lifted by second hooks on the conveying chains, and under the matching of the conveying mechanical arms and the conveying chains, the longitudinal bars are conveyed to a designated position and fixed by workers, so that the arrangement of the longitudinal bars is completed; and manual conveying of the reinforcing steel bars required during tunnel lining is replaced, so that the labor intensity in the reinforcing steel bar laying process is reduced, and the reinforcing steel bar laying efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of rebar laying equipment, and specifically relates to a robotic arm-type rebar laying device and rebar laying method for tunnel lining. Background Technology

[0002] After the tunnel is excavated, anchor spraying is carried out first, followed by fixing of the tunnel reinforcement (including longitudinal bars extending along the tunnel longitudinal direction and ring bars arranged along the tunnel cross section). After the reinforcement is fixed, the secondary lining reinforced concrete is poured to improve the structural stability of the tunnel.

[0003] In the existing technology, the ring reinforcement is installed by manually supporting it so that its plane is parallel to the cross-section of the tunnel, and then fixing the ring reinforcement to the tunnel wall to complete the installation of the ring reinforcement; while the longitudinal reinforcement is mostly installed by workers standing on the ground or on a trolley, lifting the longitudinal reinforcement and fixing it close to the tunnel wall, and fixing the nodes where it intersects with the ring reinforcement to complete the installation of the longitudinal reinforcement. However, both the ring reinforcement and the longitudinal reinforcement have a certain weight. The longitudinal reinforcement must be carried entirely by hand and lifted to be fixed against the tunnel wall, which has a low degree of mechanization and requires a high level of physical strength from the workers. The ring reinforcement, on the other hand, needs to be supported by hand and fixed against the tunnel wall during installation, which consumes a lot of manpower and is labor-intensive. At the same time, when supporting the ring reinforcement, its center of gravity is located in the center of the tunnel, requiring multiple people to work together to stabilize it or to use tools to stabilize it to prevent the ring reinforcement from tilting. This process poses certain safety hazards. Summary of the Invention

[0004] This invention provides a robotic arm-type rebar laying device and method for tunnel lining, which solves the technical problems in the prior art where the laying of rebar relies entirely on manual handling and support, which places very high demands on the physical strength of workers, consumes a lot of manpower, has a high labor intensity, and poses certain safety hazards.

[0005] This invention is achieved through the following technical solution: A robotic arm-type rebar laying device for tunnel lining includes a support trolley, a conveying robotic arm, and at least two transfer robotic arms. The conveying robotic arm is set on the platform of the support trolley. The conveying robotic arm is equipped with a conveying chain, and the conveying chain is equipped with multiple first hooks arranged along the length of the conveying chain. Both sides of the conveying robotic arm are equipped with arc-shaped guide rails. The extension lines of one end of the two guide rails extend to the conveying chain, and the other ends of the two guide rails extend to the two sides of the support trolley respectively. The support trolley is equipped with a ring rib forming machine and a rotary platform; the discharge end of the ring rib forming machine is connected to one of the guide rails near the end of the support trolley; the number of rotary platforms is equal to the number of transmission robotic arms, the line connecting the positions of all rotary platforms is parallel to the long axis of the support trolley, and the rotation axis of the moving end of the rotary platform is perpendicular to the table surface of the support trolley. All the transfer robotic arms are set one-to-one at the moving end of the rotary platform. Each transfer robotic arm is equipped with a transfer chain, and multiple second hooks are arranged along the length of the transfer chain.

[0006] To better realize the present invention, the above structure is further optimized, and the conveying robotic arm includes a support rod and a support arm; The support rod is vertically mounted on the support trolley. A first lifting rod and a second lifting rod are mounted on the end of the support rod away from the support trolley. The direction of movement of the first lifting rod is parallel to the long axis of the support rod. The lifting end of the second lifting rod is inclined towards the conveying robotic arm. The angle between the direction of movement of the second lifting rod and the long axis of the support rod is greater than 0° and less than 90°. Both the lifting ends of the first and second lifting rods are hinged to the support arm. The support arm is equipped with a conveyor motor, a first sprocket, and a second sprocket. The first sprocket and the second sprocket are respectively located at both ends of the support arm, and the conveyor chain is wound around the first sprocket and the second sprocket. The conveyor motor is connected to the first sprocket or the second sprocket for transmission.

[0007] To better realize the present invention, the above structure is further optimized. Both sides of the support rod are provided with telescopic brackets with adjustable length, and two guide rails are respectively provided at the moving ends of the two telescopic brackets.

[0008] To better realize the present invention, further optimizations are made to the above structure, wherein the transmission robotic arm includes a large arm, a middle arm, and a small arm; The two ends of the middle arm are hinged to one end of the upper arm and one end of the forearm, respectively; the end of the upper arm away from the middle arm is hinged to the rotary platform. The forearm is equipped with a transmission motor, a third sprocket, and a fourth sprocket. The third sprocket and the fourth sprocket are respectively arranged near the two ends of the forearm, and the transmission chain is wound around the third sprocket and the fourth sprocket. The actuating end of the transmission motor is connected to the third sprocket or the fourth sprocket for transmission.

[0009] To better realize the present invention, the above structure is further optimized. The forearm is provided with a tension sprocket for adjusting the tension of the transmission chain. The tension sprocket is located between the first sprocket and the second sprocket. The transmission chain is wound around the third sprocket, the fourth sprocket, and the tension sprocket.

[0010] To better realize the present invention, the above structure is further optimized, and the transmission chain includes chain links and chain plates; There are multiple links, and two adjacent links are connected by two chain plates, which are respectively located on both sides of the link. The second hook is set on the chain plate; The structure of the conveyor chain is exactly the same as that of the transmission chain, and the first hook is set on the chain plate of the conveyor chain.

[0011] To better realize the present invention, further optimizations are made to the above structure, wherein the support trolley includes a mobile vehicle body and a first construction platform; A lifting support is installed on the top surface of the mobile vehicle body. The lifting support is arranged close to the side of the mobile vehicle body, and the first construction platform is located at the lifting end of the lifting support. Both the conveying robotic arm and the rotary platform are mounted on the top surface of the moving vehicle.

[0012] To better realize the present invention, further optimization is made to the above structure, wherein one side of the first construction platform is hinged to the lifting end of the lifting bracket; A folding hydraulic cylinder is hinged to the middle of the lifting support, and the other end of the folding hydraulic cylinder is hinged to the middle of the first construction platform to adjust the angle between the first construction platform and the horizontal plane.

[0013] To better realize the present invention, the above structure is further optimized by providing a second construction platform on the side wall of the mobile vehicle body.

[0014] A method for laying reinforcing bars in tunnel lining, the method being implemented based on the aforementioned robotic arm-type reinforcing bar laying device for tunnel lining, comprising the following steps: The straight steel bar is bent into a ring rib by the ring rib forming machine and hung on the conveyor chain and the guide rail; Drive the conveyor chain to deliver the ring reinforcement to the conveying robotic arm via the first hook on the conveyor chain; Drive the robotic arm and the chain to deliver the ring reinforcement to the designated position; Fix the ring reinforcement to the tunnel wall; The direction of all the transfer robotic arms is adjusted by the rotary platform so that the plane in which all the transfer robotic arms are located is parallel and the long axis of the support trolley is perpendicular to the plane in which the transfer robotic arms are located. The longitudinal rib is lifted by the second hook on the transfer chain and sent to the designated position. The longitudinal reinforcement bars are fixed to the tunnel wall.

[0015] Compared with the prior art, the present invention has the following advantages: The present invention provides a robotic arm-type rebar laying device for tunnel lining. The conveying chain on the conveying robotic arm can deliver the ring rebar formed by the ring rebar forming machine to the conveying robotic arm via a first hook. Through the cooperation of the conveying robotic arm and the conveying chain, the ring rebar is delivered to a designated position and fixed by a worker, completing the laying of the ring rebar. Simultaneously, the position of the conveying robotic arm can be adjusted via a rotating platform, ensuring that the planes on which all the conveying robotic arms are located are parallel, and that the long axis of the support trolley is perpendicular to the plane on which the conveying robotic arms are located. All the conveying robotic arms can work together, with the second hook on the conveying chain lifting the longitudinal rebar. With the cooperation of the conveying robotic arm and the conveying chain, the longitudinal rebar is delivered to a designated position for fixing by a worker, completing the laying of the longitudinal rebar. This device replaces manual labor in conveying the required rebar for tunnel lining, reducing the labor intensity of the rebar laying process and improving the efficiency of rebar laying. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a robotic arm-type rebar laying device for tunnel lining during the laying of ring reinforcement.

[0018] Figure 2 This is a schematic diagram of the structure of a robotic arm-type rebar laying device for tunnel lining during the laying of longitudinal reinforcement bars, according to the present invention.

[0019] Figure 3 This is a schematic diagram of the conveying robotic arm in a robotic arm-type rebar laying device for tunnel lining according to the present invention.

[0020] Figure 4 This is a schematic diagram of the conveying robotic arm in a robotic arm-type rebar laying device for tunnel lining according to the present invention.

[0021] Figure 5 This is a schematic diagram of the transmission chain in a robotic arm-type rebar laying device for tunnel lining according to the present invention.

[0022] Figure 6 This is a partial view of the transmission chain in a robotic arm-type rebar laying device for tunnel lining according to the present invention.

[0023] Figure 7 This is a schematic diagram of the supporting trolley in a robotic arm-type rebar laying device for tunnel lining according to the present invention.

[0024] In the picture: 1. Support trolley; 11. Moving vehicle body; 111. Lifting bracket; 112. Folding cylinder; 12. First construction platform; 13. Second construction platform; 14. Ring reinforcement forming machine; 15. Mounting base; 16. Telescopic support rod; 17. Rotary platform; 2. Conveying robotic arm; 21. Support rod; 22. Support arm; 221. Conveying motor; 222. First sprocket; 223. Second sprocket; 23. Guide rail; 241. First lifting rod; 242. Second lifting rod; 243. Telescopic bracket; 3. Transmission robotic arm; 31. Main arm; 32. Middle arm; 33. Forearm; 331. Third sprocket; 332. Fourth sprocket; 333. Tensioning sprocket; 334. Transmission motor; 34. Fixed base; 351. First telescopic cylinder; 352. Second telescopic cylinder; 353. Third telescopic cylinder; 4. Conveyor chain; 41. First hook; 5. Transmission chain; 51. Chain link; 52. Chain plate; 53. Second hook. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0026] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In the embodiments of this application, such as Figures 1 to 7 As shown, this robotic arm-type rebar placement device can be used for conveying rebar (ring and longitudinal bars) during tunnel lining, that is, delivering the rebar to a designated position for workers to fix and complete the rebar placement; the robotic arm-type rebar placement device includes a support trolley 1, a conveying robotic arm 2, and at least two transfer robotic arms 3, see [link to documentation]. Figure 1 and Figure 2 ; The conveying robotic arm 2 is mounted on the platform of the support trolley 1. A conveying chain 4 is mounted on the conveying robotic arm 2, and multiple first hooks 41 are arranged along the length of the conveying chain 4. Arc-shaped guide rails 23 are mounted on both sides of the conveying robotic arm 2. The extension lines of one end of the two guide rails 23 extend to the conveying chain 4, and the other ends of the two guide rails 23 extend to the two sides of the support trolley 1, respectively. In this embodiment, the two guide rails 23 are located in the same vertical plane, and the plane in which the two guide rails 23 are located is perpendicular to the plane in which the conveying robotic arm 2 is located, so that the conveying robotic arm 2 and the two guide rails 23 are arranged in an alternating manner, so that the ring ribs in the guide rails 23 can be hung on the conveying robotic arm 2. A ring rib forming machine 14 and a rotary platform 17 are provided on one side of the support trolley 1. The discharge end of the ring rib forming machine 14 is connected to one of the guide rails 23 near the end of the support trolley 1. That is, the ring ribs output by the ring rib forming machine 14 can enter the guide rail 23 and move along the guide rail 23 to the conveyor chain 4. After crossing the conveyor chain 4, they enter another guide rail 23 and move along the other guide rail 23 until the ring ribs are prepared. The other end of the ring ribs is then removed from the ring rib forming machine 14, so that the entire ring ribs are hung on the conveyor chain 4 and the guide rail 23. The number of rotary platforms 17 is equal to the number of conveying robotic arms 2. The line connecting the positions of all rotary platforms 17 is parallel to the long axis of the support trolley 1, and the rotation axis of the moving end of the rotary platform 17 is perpendicular to the table surface of the support trolley 1. All the transfer robotic arms 3 are set one-to-one at the moving end of the rotary platform 17. The transfer robotic arms 3 are equipped with a transfer chain 5, and the transfer chain 5 is equipped with multiple second hooks 53 arranged along the length of the transfer chain 5.

[0029] During the tunnel lining process up to the rebar placement stage, workers can send the robotic arm-type rebar placement device into the tunnel and adjust the position of a transmission robotic arm 3 adjacent to the transmission robotic arm 2. This moves the transmission chain 5 on the transmission robotic arm 3 to the output end of the transmission chain 4 for the placement of the ring reinforcement. See [link to documentation]. Figure 1 In this embodiment, the support trolley 1 includes a mobile body 11, which can be moved freely by the operator to improve its mobility. Workers feed the prepared straight steel bars into the ring forming machine 14, which bends the steel bars into rings and places them on the conveyor chain 4 and guide rail 23. Specifically, workers feed the straight steel bars into the ring forming machine 14, which bends the steel bars and outputs them from their discharge end. At this time, the ring extending from the discharge end of the ring forming machine 14 enters the guide rail 23 and moves along the guide rail 23 towards the position of the conveyor chain 4. Subsequently, after crossing the conveyor chain 4, it enters the guide rail 23 on the other side of the support trolley 1 (the side opposite to where the ring forming machine 14 is located) until the ring is completed, that is, the other end of the ring is removed from the ring forming machine 14. See [link to relevant documentation]. Figure 1 ; Subsequently, the staff can control the movement of the conveyor chain 4 so that the first hook 41 on the conveyor chain 4 can hook the ring reinforcement and transport the ring reinforcement to the location of the transmission chain 5. After the conveyor chain 4 moves a unit distance, it stops. The ring reinforcement forming machine 14 repeats the above operation to continue preparing the ring reinforcement until the conveyor chain 4 is full of ring reinforcement, or after a sufficient amount of ring reinforcement is hung, the ring reinforcement forming machine 14 stops working. When the ring bar falls from the output end of the conveyor chain 4 onto the transmission chain 5 under the drive of the conveyor chain 4 and the first hook 41, the operator can control the movement of the transmission chain 5 to transport the ring bar to the end away from the conveyor chain 4. During the operation of the transmission chain 5, the rings on the transmission chain 4 fall into the two adjacent second hooks 53 on the transmission chain 5 one by one until all the rings on the transmission chain 4 fall into the transmission chain 5, at which point the transmission chain 4 and the transmission chain 5 stop operating. At this point, the staff can control the movement of the conveyor arm 3 to adjust the position of the conveyor chain 5 in the tunnel and move the conveyor chain 5 to the designated position, that is, to the location where the ring reinforcement is laid; then the staff will fix the ring reinforcement to complete the laying of the ring reinforcement. When longitudinal reinforcement is required, workers can adjust the direction of the transfer robotic arms 3 via the rotary platform 17 to ensure that the planes containing all the transfer robotic arms 3 are parallel and that the major axis of the support trolley 1 is perpendicular to the plane containing the transfer robotic arms 3. (See [reference]). Figure 2 ; Then, the staff can adjust the state of the conveyor arm 3 so that the conveyor chain 5 is vertical; At this point, the staff can place the prepared longitudinal ribs one by one on the multiple second hooks 53 of the transmission chain 5. Specifically, the longitudinal ribs are hung on the transmission chain 5 of all the transmission robotic arms 3. The second hooks 53 at the same position (at the same horizontal height) of the transmission chain 5 of all the transmission robotic arms 3 jointly support the longitudinal ribs until the transmission chain 5 is full of longitudinal ribs, or until enough longitudinal ribs are hung. Then, the staff controls the movement of the robotic arm 3, see [link / reference]. Figure 2 The conveying robotic arm 3 carries the longitudinal rib and places it close to the position where the longitudinal rib is to be laid. Then, the staff fixes the longitudinal rib (by binding or welding) to complete the laying of the longitudinal rib.

[0030] The above method of transporting steel bars is relatively simple and eliminates the need for workers to support the ring bars. Instead, it replaces manual labor in delivering the steel bars to the tunnel wall, thus saving the labor intensity of transporting steel bars and improving the efficiency of steel bar placement.

[0031] In addition, the extension state of the transfer robotic arm 3 can be freely adjusted, enabling it to deliver steel bars to different positions and distances for placement, thereby increasing the working range of the robotic arm-type steel bar placement device.

[0032] It is worth noting that the unit distance mentioned above refers to the distance that the conveyor chain 4 moves (which can be set). In this embodiment, the distance (unit distance) is the spacing between the two first hooks 41. When the first first hook 41 hooks a ring rib, the conveyor chain 4 can convey the ring rib to the transmission chain 5 through the first hook 41. After moving a unit distance, the spacing between the second first hook 41 and the first first hook 41 can accommodate the ring rib. When the ring rib forming machine 14 makes the second ring rib and hangs it on the conveyor chain 4 and the guide rail 23, the second first hook 41 can hook the ring rib. By repeating the above steps, the conveyor chain 4 can be fully hung with ring ribs, or a sufficient number of ring ribs can be hung.

[0033] The aforementioned ring reinforcement refers to a circular or horseshoe-shaped steel bar with an opening on one side. See [link / reference]. Figure 1 During the hanging process, the position of the opening corresponds to the position of the conveying robotic arm 2, so that when the conveying chain 4 conveys the ring reinforcement to the transmission chain 5, the opening on the ring reinforcement can pass smoothly through the conveying robotic arm 2, making the conveying of the ring reinforcement more stable and smooth.

[0034] Of course, when conveying the ring reinforcement, all the conveying robotic arms 3 can be used together. All the conveying robotic arms 3 can increase the conveying distance of the ring reinforcement and the number of ring reinforcements that can be hung at one time, so as to further improve the laying efficiency of the ring reinforcement.

[0035] In some embodiments, the aforementioned conveying robotic arm 2 includes a support rod 21 and a support arm 22, and the aforementioned conveying chain 4 is disposed on the support arm 22, with its direction of movement parallel to the long axis of the support arm 22. (See also...) Figure 1 and Figure 2 ;in, The support rod 21 is vertically mounted on the support trolley 1, and the end of the support rod 21 away from the support trolley 1 is provided with an adjustable first lifting rod 241 and a second lifting rod 242. The direction of movement of the first lifting rod 241 is parallel to the long axis of the support rod 21; The lifting end of the second lifting rod 242 is inclined toward the direction of the transmission robotic arm 3. The angle between the direction of movement of the second lifting rod 242 and the long axis of the support rod 21 is greater than 0° and less than 90°. The lifting ends of the first lifting rod 241 and the second lifting rod 242 are both hinged to the support arm 22, and the lifting ends of the first lifting rod 241 and the second lifting rod 242 are not in the same position. The operator can change the tilt angle of the support arm 22 by adjusting the length of the first lifting rod 241 or the second lifting rod 242; Alternatively, the height of the support arm 22 can be changed by synchronously adjusting the lengths of the first lifting rod 241 and the second lifting rod 242 (so that the lifting distance between the lifting ends of the first lifting rod 241 and the second lifting rod 242 is consistent), so that the support arm 22 can be connected with the guide rail 23 and the transmission mechanical arm 3, thereby better completing the conveying of the ring reinforcement.

[0036] In some embodiments, the support arm 22 described above is provided with a conveying motor 221, a first sprocket 222, and a second sprocket 223. (See also...) Figure 3 ; The first sprocket 222 and the second sprocket 223 are respectively set at both ends of the support arm 22. The conveying chain 4 is wound around the first sprocket 222 and the second sprocket 223. The conveying motor 221 is driven to the first sprocket 222 or the second sprocket 223. In this embodiment, the conveying motor 221 is driven to the first sprocket 222. The conveying motor 221 drives the first sprocket 222 to rotate, and the teeth on the first sprocket 222 can drive the conveying chain 4 to move, thereby completing the conveying of the ring reinforcement.

[0037] In some embodiments, adjustable telescopic brackets 243 are provided on both sides of the support rod 21, and two guide rails 23 are respectively provided at the moving ends of the two telescopic brackets 243. See [reference needed] Figure 3 ; When it is necessary to transport the ring reinforcement to the transmission chain 5 via the conveyor chain 4, the operator can control the telescopic bracket 243 to retract, that is, shorten the length of the telescopic bracket 243, so as to drive the guide rail 23 to move closer to the support rod 21, so that the guide rail 23 is separated from the ring reinforcement, and the conveyor chain 4 can easily transport the ring reinforcement to the transmission chain 5. When the ring reinforcement moves one unit distance in the direction of the transmission chain 5, the ring reinforcement moves out of the position of the guide rail 23. The staff can control the telescopic bracket 243 to extend so as to drive the guide rail 23 to move back to the initial position, so as to guide the ring reinforcement to be prepared later and to better complete the preparation of the ring reinforcement.

[0038] Preferably, the guide rail 23 is detachably installed at the moving end of the telescopic support 243, so as to replace the appropriate guide rail 23 according to the tunnel diameter requirements, thereby better completing the preparation of the ring reinforcement.

[0039] In some embodiments, the support trolley 1 described above is provided with a mounting base 15, see [reference]. Figure 1 , Figure 2 and Figure 3 ; A telescopic support rod 16 is hinged to the mounting base 15; The support rod 21 is hinged to the support trolley 1. The telescopic end of the telescopic support rod 16 is hinged to the side wall of the support rod 21. This is used to adjust the angle between the long axis of the support rod 21 and the plane where the mounting base 15 is located, so as to increase the working space of the conveying robotic arm 2. This allows the robotic arm-type rebar laying device to complete the conveying of ring rebar more flexibly in the tunnel.

[0040] In some embodiments, the aforementioned transfer robotic arm 3 includes a large arm 31, a middle arm 32, and a small arm 33, see [reference needed]. Figure 4 and Figure 5 ;in, The two ends of the middle arm 32 are respectively hinged to one end of the upper arm 31 and one end of the forearm 33; the end of the upper arm 31 away from the middle arm 32 is hinged to the rotary platform 17; The aforementioned transmission chain 5 is mounted on the forearm 33. Specifically, the forearm 33 is equipped with a transmission motor 334, a third sprocket 331, and a fourth sprocket 332. The third sprocket 331 and the fourth sprocket 332 are respectively arranged near both ends of the forearm 33. The transmission chain 5 is wound around the third sprocket 331 and the fourth sprocket 332. The actuating end of the transmission motor 334 is driven by the third sprocket 331 or the fourth sprocket 332. In this embodiment, the transmission motor 334 is driven by the third sprocket 331. The transmission motor 334 drives the third sprocket 331 to rotate, which in turn drives the transmission chain 5 through the teeth on the third sprocket 331, thereby completing the conveying of the ring reinforcement.

[0041] In some embodiments, the upper arm 31 is provided with a fixed seat 34 at the end away from the middle arm 32. The upper arm 31 is hinged to the fixed seat 34. The fixed seat 34 is provided on the rotary platform 17. A first telescopic cylinder 351 is provided on the fixed seat 34. The telescopic end of the first telescopic cylinder 351 is hinged to the side wall of the upper arm 31. A second telescopic cylinder 352 is hinged to the upper arm 31, and the other end of the second telescopic cylinder 352 is hinged to the middle arm 32. A third telescopic cylinder 353 is installed on the middle arm 32, and the other end of the third telescopic cylinder 353 is hinged to the forearm 33. By controlling the movement of the first telescopic cylinder 351, the second telescopic cylinder 352 and / or the third telescopic cylinder 353, the position of the forearm 33 can be adjusted to better deliver the steel bars to the designated position and complete the steel bar delivery.

[0042] It should be noted that the first telescopic cylinder 351, the second telescopic cylinder 352, the third telescopic cylinder 353, the telescopic bracket 243 and the telescopic support rod 16 mentioned above are all hydraulic cylinders, and are supplied with oil by the hydraulic pump station installed on the support trolley 1. Workers can operate the hydraulic pump station to change the extension and retraction states of the first telescopic cylinder 351, the second telescopic cylinder 352, the third telescopic cylinder 353, the telescopic bracket 243, and the telescopic support rod 16, so as to adjust the state of the conveying robotic arm 2 and / or the transmission robotic arm 3. The hydraulic pump station, the first telescopic cylinder 351, the second telescopic cylinder 352, the third telescopic cylinder 353, the telescopic bracket 243, and the telescopic support rod 16 are all commercially available hydraulic pump stations and cylinders.

[0043] Preferably, the aforementioned transmission chain 5 includes chain links 51 and chain plates 52, see [reference needed]. Figure 5 and Figure 6 ;in, There are multiple links 51. Each link 51 includes two inner plates (inner chain plates) and two pins. The two inner plates and the two pins are arranged opposite each other, and the two ends of the pins extend from the two sides of the inner plates. Two adjacent chain links 51 are connected by two chain plates 52 (outer chain plates). That is, the chain plates 52 are hinged to the end of the pin and arranged close to the inner plate. The two chain plates 52 are respectively arranged on both sides of the chain link 51. The second hook 53 is set on the chain plate 52.

[0044] The structure of the conveyor chain 4 described above is exactly the same as that of the transmission chain 5. The first hook 41 is set on the chain plate 52 in the conveyor chain 4. For details, please refer to [reference needed]. Figure 5 and Figure 6 .

[0045] In this embodiment, both the conveying chain 4 and the transmission chain 5 are commonly used chains in mechanical structures, and their structures are simple and practical. Setting the first hook 41 and the second hook 53 on the chain plate 52 can limit the movement of the reinforcing bars, so as to facilitate the conveying of the reinforcing bars.

[0046] Preferred, see Figure 7 The second hook 53 and the chain plate 52 are integrally formed components to make the structure of the transmission chain 5 more stable and improve the service life of the transmission chain 5.

[0047] In some embodiments, the forearm 33 described above is provided with a tension sprocket 333 for adjusting the tension of the transmission chain 5, see [link to relevant documentation]. Figure 4 The tension sprocket 333 is located between the third sprocket 331 and the fourth sprocket 332; Specifically, a fixing plate is provided on the forearm 33, and a waist-shaped hole is provided on the fixing plate. The long axis of the waist-shaped hole is perpendicular to the long axis of the forearm 33. The tension sprocket 333 is located at the position of the waist-shaped hole, and the transmission chain 5 is wrapped around the third sprocket 331, the fourth sprocket 332 and the tension sprocket 333. The tension of the transmission chain 5 is adjusted by adjusting the position of the tension sprocket 333 within the oblong hole, so that the transmission chain 5 is always taut, thereby better completing the transmission of the reinforcing bars.

[0048] In some embodiments, the forearm 33 described above has an arc-shaped structure; when the forearm 33 moves to the point where both ends are at the same height, the upward-facing side of the forearm 33 is the upper end surface, which is a convex surface, see [reference]. Figure 4 The long axis of the aforementioned waist-shaped hole is perpendicular to the tangent of the mounting position of the forearm corresponding to the fixed plate; the part of the transmission chain 5 corresponding to the upper end face of the forearm 33 is the working section of the transmission chain 5. When conveying longitudinal reinforcement, the upper end face of the forearm 33 can fit against the arc-shaped tunnel wall and match the cross-sectional shape of the tunnel wall, thus better completing the conveying of longitudinal reinforcement.

[0049] Preferably, a plurality of support sprockets (not shown in the figure) are provided between the third sprocket 331 and the fourth sprocket 332 to support the transmission chain 5, ensuring that the direction of the transmission chain 5 matches the shape of the forearm 33, thereby better completing the transmission of the longitudinal ribs.

[0050] The aforementioned support arm 22 is also equipped with a tension sprocket 333. The tension of the conveying chain 4 can be adjusted by the tension sprocket 333 on the support arm 22 to better complete the conveying of the ring reinforcement.

[0051] In some embodiments, the aforementioned support trolley 1 further includes a first construction platform 12, see [link to previous document]. Figure 1 , Figure 2 and Figure 7 ; A lifting bracket 111 is provided on the top surface of the mobile vehicle body 11. The lifting bracket 111 is arranged close to the side of the mobile vehicle body 11. The first construction platform 12 is set at the lifting end of the lifting bracket 111. The height of the first construction platform 12 can be adjusted by adjusting the length of the lifting bracket 111, so that workers can fix the longitudinal reinforcement at different heights and improve the convenience of the construction process. Both the conveying robotic arm 2 and the transmission robotic arm 3 are mounted on the top surface of the mobile vehicle body 11. Neither the conveying robotic arm 2 nor the transmission robotic arm 3 interferes with the first construction platform 12, thereby better completing the conveying of steel bars.

[0052] Preferably, the aforementioned mobile vehicle body 11 includes a car and a trailer, with the car towing the trailer to improve its mobility and thus move better in the tunnel; The aforementioned conveying robotic arm 2, transmission robotic arm 3, and lifting support 111 are all mounted on the trailer.

[0053] In some embodiments, one side of the first construction platform 12 is hinged to the lifting end of the lifting bracket 111, see [reference]. Figure 4 ; A folding hydraulic cylinder 112 is hinged to the middle of the lifting support 111, and the other end of the folding hydraulic cylinder 112 is hinged to the first construction platform 12 for adjusting the angle between the first construction platform 12 and the horizontal plane. When not using the robotic arm-type rebar laying device, the operator can shorten the folding cylinder 112, and the first construction platform 12 will rotate downward around its hinge until the plane of the first construction platform 12 is perpendicular to the horizontal plane, thereby reducing the space occupied by the robotic arm-type rebar laying device and making it more convenient for the robotic arm-type rebar laying device to move in the tunnel.

[0054] In some embodiments, a second construction platform 13 is provided on the side wall of the mobile vehicle body 11. The height of the second construction platform 13 is lower than that of the first construction platform 12. Both construction platforms (the first construction platform 12 and the second construction platform 13) can meet the standing requirements of workers during operation, so that multiple workers can fix the steel bars at the same time, thereby improving the efficiency of steel bar laying.

[0055] Preferably, the second construction platform 13 is hinged to the side wall of the mobile vehicle body 11, and a limit plate is provided on the side wall of the mobile vehicle body 11. When the second construction platform 13 rotates around its hinge to a horizontal position, the lower end face of the second construction platform 13 is in contact with the limiting plate, and the limiting plate supports the second construction platform 13, so that the second construction platform 13 can maintain a horizontal position, making it convenient for workers to stand on the second construction platform 13 to carry out operations. When not using the robotic arm-type rebar laying device, the worker can rotate the side of the second construction platform 13 away from the mobile vehicle body 11 upward around its hinge point so that the plane of the second construction platform 13 is perpendicular to the top surface of the mobile vehicle body 11, and reduce the space occupied by the robotic arm-type rebar laying device by shrinking and fixing it to the frame of the trailer. Meanwhile, the vertical second construction platform 13 and the vertical first construction platform 12 can together form a protective structure to protect the conveying robotic arm 2 and the transmission robotic arm 3 in the mobile vehicle body 11.

[0056] Based on the above-described robotic arm-type rebar placement device, this embodiment provides a rebar placement method, which includes the following steps: The straight steel bar is bent into a ring bar by the ring bar forming machine 14 and hung on the conveyor chain 4 and the guide rail 23. Drive the conveyor chain 4 to deliver the ring reinforcement to the conveying robotic arm 3 via the first hook 41 on the conveyor chain 4; Drive the robotic arm 3 and the chain 5 to deliver the ring reinforcement to the designated position; The ring reinforcement is fixed to the tunnel wall to complete the layout of the ring reinforcement; The direction of all the transmission robotic arms 3 is adjusted by the rotary platform 17 so that the planes on which all the transmission robotic arms 3 are located are parallel and the long axis of the support trolley 1 is perpendicular to the plane on which the transmission robotic arms 3 are located. The longitudinal rib is lifted by the second hook 53 on the transmission chain 5 and sent to the designated position. The longitudinal reinforcement is fixed to the tunnel wall, and the circumferential reinforcement is then laid out.

[0057] The above method can reduce the labor intensity of rebar laying. The conveying robotic arm 2 and the transmission robotic arm 3 replace manual labor to transport longitudinal and circumferential bars, which are then fixed manually, thereby improving the efficiency of rebar laying. In addition, during the laying of circumferential bars, there is no need for manual support of the circumferential bars, thus reducing the safety hazards during the laying process.

[0058] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robotic arm-type rebar laying device for tunnel lining, characterized in that: It includes a support trolley (1), a conveying robotic arm (2), and at least two transfer robotic arms (3); The conveying robotic arm (2) is set on the platform of the support trolley (1). The conveying robotic arm (2) is equipped with a conveying chain (4). The conveying chain (4) is equipped with multiple first hooks (41) arranged along the length direction of the conveying chain (4). Both sides of the conveying robotic arm (2) are equipped with arc-shaped guide rails (23). The extension lines of one end of the two guide rails (23) extend to the conveying chain (4), and the other ends of the two guide rails (23) extend to both sides of the support trolley (1). The support trolley (1) is equipped with a ring rib forming machine (14) and a rotary platform (17); the discharge end of the ring rib forming machine (14) is connected to one of the guide rails (23) near the end of the support trolley (1); the number of rotary platforms (17) is equal to the number of transmission robotic arms (3), the line connecting the positions of all rotary platforms (17) is parallel to the long axis of the support trolley (1), and the rotation axis of the moving end of the rotary platform (17) is perpendicular to the table surface of the support trolley (1); All the transfer robotic arms (3) are set one-to-one at the action end of the rotary platform (17). The transfer robotic arms (3) are equipped with a transfer chain (5), and the transfer chain (5) is equipped with multiple second hooks (53) arranged along the length direction of the transfer chain (5).

2. The robotic arm-type rebar laying device for tunnel lining according to claim 1, characterized in that: The conveying robotic arm (2) includes a support rod (21) and a support arm (22); The support rod (21) is vertically mounted on the support trolley (1). The end of the support rod (21) away from the support trolley (1) is provided with a first lifting rod (241) and a second lifting rod (242). The direction of movement of the first lifting rod (241) is parallel to the long axis of the support rod (21). The lifting end of the second lifting rod (242) is inclined towards the direction of the transmission robotic arm (3). The angle between the direction of movement of the second lifting rod (242) and the long axis of the support rod (21) is greater than 0° and less than 90°. The lifting ends of the first lifting rod (241) and the second lifting rod (242) are both hinged to the support arm (22). The support arm (22) is equipped with a conveyor motor (221), a first sprocket (222) and a second sprocket (223). The first sprocket (222) and the second sprocket (223) are respectively located at both ends of the support arm (22). The conveyor chain (4) is wound around the first sprocket (222) and the second sprocket (223). The conveyor motor (221) is connected to the first sprocket (222) or the second sprocket (223) for transmission.

3. The robotic arm-type rebar laying device for tunnel lining according to claim 2, characterized in that: Both sides of the support rod (21) are provided with telescopic brackets (243) with adjustable length, and two guide rails (23) are respectively provided at the moving ends of the two telescopic brackets (243).

4. The robotic arm-type rebar laying device for tunnel lining according to claim 1, characterized in that: The transfer robotic arm (3) includes a large arm (31), a medium arm (32), and a small arm (33). The two ends of the middle arm (32) are respectively hinged to one end of the upper arm (31) and one end of the forearm (33); the end of the upper arm (31) away from the middle arm (32) is hinged to the rotary platform (17); The forearm (33) is equipped with a transmission motor (334), a third sprocket (331) and a fourth sprocket (332). The third sprocket (331) and the fourth sprocket (332) are arranged close to both ends of the forearm (33), and the transmission chain (5) is wound around the third sprocket (331) and the fourth sprocket (332). The actuating end of the transmission motor (334) is connected to the third sprocket (331) or the fourth sprocket (332) for transmission.

5. The robotic arm-type rebar laying device for tunnel lining according to claim 4, characterized in that: The forearm (33) is provided with a tension sprocket (333) for adjusting the tension of the transmission chain (5), and the tension sprocket (333) is located between the first sprocket (222) and the second sprocket (223); The transmission chain (5) is wound around the third sprocket (331), the fourth sprocket (332) and the tension sprocket (333).

6. The robotic arm-type rebar laying device for tunnel lining according to claim 5, characterized in that: The transmission chain (5) includes chain links (51) and chain plates (52); There are multiple links (51), and two adjacent links (51) are connected by two chain plates (52), which are respectively set on both sides of the link (51); The second hook (53) is disposed on the chain plate (52); The structure of the conveying chain (4) is exactly the same as that of the transmission chain (5), and the first hook (41) is set on the chain plate (52) of the conveying chain (4).

7. The robotic arm-type rebar laying device for tunnel lining according to any one of claims 1 to 6, characterized in that: The support trolley (1) includes a mobile vehicle body (11) and a first construction platform (12). A lifting bracket (111) is provided on the top surface of the mobile vehicle body (11). The lifting bracket (111) is arranged close to the side of the mobile vehicle body (11). The first construction platform (12) is located at the lifting end of the lifting bracket (111). The conveying robotic arm (2) and the rotary platform (17) are both located on the top surface of the moving vehicle body (11).

8. The robotic arm-type rebar laying device for tunnel lining according to claim 7, characterized in that: One side of the first construction platform (12) is hinged to the lifting end of the lifting bracket (111); A folding cylinder (112) is hinged in the middle of the lifting support (111), and the other end of the folding cylinder (112) is hinged in the middle of the first construction platform (12) to adjust the angle between the first construction platform (12) and the horizontal plane.

9. The robotic arm-type rebar laying device for tunnel lining according to claim 7, characterized in that: A second construction platform (13) is provided on the side wall of the mobile vehicle (11).

10. A method for arranging reinforcing bars, characterized in that: The method is implemented based on the robotic arm-type rebar laying device for tunnel lining as described in any one of claims 1 to 9, and includes the following steps: The straight steel bar is bent into a ring bar by the ring bar forming machine (14) and hung on the conveyor chain (4) and the guide rail (23); Drive the conveyor chain (4) to send the ring reinforcement to the conveyor robot arm (3) through the first hook (41) on the conveyor chain (4); Drive the transfer robotic arm (3) and the transfer chain (5) to deliver the ring reinforcement to the designated position; Fix the ring reinforcement to the tunnel wall; The direction of all the transmission robotic arms (3) is adjusted by the rotary platform (17) so that the planes on which all the transmission robotic arms (3) are located are parallel and the long axis of the support trolley (1) is perpendicular to the plane on which the transmission robotic arms (3) are located. The longitudinal rib is lifted by the second hook (53) on the transmission chain (5) and sent to the designated position. The longitudinal reinforcement bars are fixed to the tunnel wall.

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