Intelligent automatic laying trolley for tunnel waterproof coiled materials and secondary lining steel bars

Abstract

The invention belongs to the technical field of special mechanical equipment for tunnels, and provides an intelligent automatic laying trolley for tunnel waterproof coiled materials and secondary lining steel bars, which comprises a main body bracket, a height adjusting part is arranged at the bottom of the main body bracket, and a plurality of rollers are rotationally connected to the bottom of the height adjusting part; the waterproof roll laying unit is mainly used for sequentially laying geotechnical cloth and a waterproof plate on the wall surface of the tunnel; the reinforcing steel bar positioning unit is used for positioning the positions of annular longitudinal reinforcing steel bars along the wall surface of the tunnel in the tunnel; and the reinforcing steel bar connecting unit is used for connecting the end parts of the two annular reinforcing steel bars and bundling the plurality of transverse reinforcing steel bars and the plurality of annular reinforcing steel bars in the tunnel excavation direction. According to the device, the waterproof coiled materials and the secondary lining steel bars can be automatically and rapidly laid with high quality only through manual feeding.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel-specific mechanical equipment, and in particular relates to an intelligent automatic laying trolley for tunnel waterproofing coils and secondary lining steel bars. Background Art

[0002] With the rapid development of transportation infrastructure construction, the construction of a large number of tunnels under complex geological conditions such as water-rich and broken geological conditions has increased dramatically. In order to effectively prevent stratum water from seeping into the tunnel, most of them use waterproof membranes (geotextiles, waterproof boards) to waterproof the tunnel, and construct reinforced concrete secondary lining to ensure the long-term stability of the tunnel support and surrounding rock structure under the action of stratum pressure.

[0003] At present, the laying of geotextile in tunnels is mainly done manually. First, a geotextile roll with a certain width is fixed to the wall of the arch foot on one side of the tunnel with nails. Then, multiple people will lay the geotextile close to the tunnel excavation contour and lay a certain length along the circumferential direction. Then, it will be fixed to the tunnel wall again with nails until the geotextile covers the entire secondary lining construction range. The laying method of waterproof board is similar to that of geotextile. The difference is that: ① Its fixing method is to use hot melt method to stick the waterproof board to the plastic sheet at the end of the nail that fixes the geotextile; ② Different widths of waterproof boards along the longitudinal direction of the tunnel need to be circumferentially hot-melted to ensure that the waterproof board is a complete seamless, non-porous integral structure, so as to achieve the purpose of effective waterproofing. The secondary lining steel bar includes circumferential main bars, longitudinal connecting bars and stirrups. Its installation method is to manually fix the fixed length circumferential bars with the reserved circumferential bars of the invert arch, adjust its radial position in the tunnel by changing the length of the circumferential bars, and then manually weld or tie the longitudinal bars and stirrups to the circumferential bars, and finally form the secondary lining steel bar structure.

[0004] The main problems with current construction technology and methods are as follows: ① Due to the heavy weight of geotextiles and waterproof sheet rolls and the limited strength of workers, the single width of geotextiles and waterproof sheets can only be reduced to ensure smooth installation, resulting in more circumferential joints in geotextiles, increasing the probability of sand flowing into the back of waterproof sheets, and greatly increasing the possibility of tearing and leaking of circumferential hot-melt welded seams of waterproof sheets; ② In order to avoid unevenness in the initial lining of the tunnel, geotextiles and waterproof sheets must be appropriately laid loose, but the manual control method has a strong subjective dependence and cannot accurately control the loose laying coefficient of waterproof rolls, which is easy to cause puncture or local accumulation of geotextiles and waterproof sheets, resulting in tunnel leakage or hollowing behind the secondary lining; ③ The radial position of the secondary lining steel bars is mainly adjusted by changing the length of the circumferential main bars. Due to the influence of the tunnel section profile and the deadweight of the steel bars, the radial position at different positions cannot be changed arbitrarily. Even if radial bars and stirrups are used for constraint, it still cannot meet the requirements of the design documents. In order to prevent the steel bars from being exposed or intruding, the thickness of the steel bar protective layer is generally exceeded, which increases the risk of cracking and falling of the vault concrete.

[0005] Therefore, there is an urgent need for an intelligent automatic laying trolley for tunnel waterproofing membranes and secondary lining steel bars that can automatically complete high-quality installation of ultra-wide waterproof membranes, precise positioning of secondary lining steel bars, and automatic binding and connection. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent automatic laying trolley for tunnel waterproofing membrane and secondary lining steel bars to solve the above-mentioned problems and achieve the purpose of automatically completing high-quality installation of ultra-wide waterproofing membranes, precise positioning of secondary lining steel bars, automatic binding and connection.

[0007] To achieve the above object, the present invention provides the following solution: an intelligent automatic laying trolley for tunnel waterproofing coil and secondary lining steel bar, comprising:

[0008] A main body support, wherein a height adjustment portion is provided at the bottom of the main body support, and a plurality of rollers are rotatably connected to the bottom of the height adjustment portion, and the rollers are used to make the main body support slide along the excavation direction of the tunnel;

[0009] A waterproofing coiled material laying unit, which is arranged on the main support and mainly functions to lay the geotextile and the waterproof board on the tunnel wall in sequence;

[0010] A steel bar positioning unit, the steel bar positioning unit is arranged on the main support, and the steel bar positioning unit is used to position the ring longitudinal steel bars along the tunnel wall in the tunnel to improve the laying quality of the steel bars;

[0011] A steel bar connection unit is arranged on the main support, and is used to connect the circumferential steel bars and bundle a plurality of transverse steel bars along the tunnel excavation direction with a plurality of circumferential steel bars, thereby finally completing the installation of the secondary lining steel bars.

[0012] Preferably, the waterproofing membrane laying unit comprises two groups of arc tracks fixedly connected to the two ends of the main support, the arc tracks are adapted to the inner wall of the tunnel, the two groups of arc tracks are respectively slidably connected with a self-propelled shell, a moving drive part is arranged between the self-propelled shell and the arc tracks, a reel is rotatably connected between the two groups of the self-propelled shells, the reel is horizontally arranged, the geotextile or the waterproof board is respectively fixedly mounted on the reel, a first motor is fixedly connected to one of the self-propelled shells, the output shaft of the first motor is coaxially fixedly connected to one end of the reel, and an automatic fixing part is arranged between the two groups of the self-propelled shells.

[0013] Preferably, the automatic fixing part includes a slide rail fixedly connected between the two groups of the self-propelled shells, the slide rail is horizontally arranged, and the bottom of the slide rail is slidably connected to two groups of mechanical arms, and a first sliding drive part is arranged between the two groups of the mechanical arms and the slide rail, the free end of one of the mechanical arms is detachably connected to a nail gun or a heat drying gun, and the free end of the other mechanical arm is connected to a scanning gun, the nail gun is used to shoot special nails when laying geotextile, and nail the geotextile to the tunnel wall, the heat drying gun is used to bake special nails when laying waterproof board, and bond the waterproof board to the special nails, and the scanning gun is used to scan the tunnel wall.

[0014] Preferably, the steel bar positioning unit includes a plurality of horizontally arranged support rods, and telescopic parts are respectively provided between the plurality of support rods and the main support, and the telescopic parts are used to adjust the distance between the support rods and the tunnel wall. A plurality of clamping parts are provided on the support rods, and the clamping parts are used to clamp the annular steel bars, so as to facilitate the precise positioning of the annular steel bars.

[0015] Preferably, the telescopic part includes a plurality of outward hydraulic cylinders fixedly connected to the main body support, the plurality of outward hydraulic cylinders respectively coincide with the radial direction of the tunnel cross-section, the telescopic ends of the plurality of outward hydraulic cylinders are respectively fixedly connected to the support rod, a laser displacement sensor is fixedly connected to the side wall of the support rod close to the outward hydraulic cylinder, a mirror body is fixedly connected to the bottom of one of the outward hydraulic cylinders, the mirror body is arranged corresponding to the laser displacement sensor, and the laser displacement sensor is used to monitor the extension length of the outward hydraulic cylinder.

[0016] Preferably, the clamping part includes a fixed clamp block and a sliding clamp block, the fixed clamp block is fixedly connected to the side wall of the support rod away from the outward hydraulic cylinder, the sliding clamp block is slidably connected to the side wall of the support rod away from the outward hydraulic cylinder, a clamping drive assembly is arranged between the fixed clamp block and the sliding clamp block, and the annular steel bar is correspondingly arranged between the fixed clamp block and the sliding clamp block.

[0017] Preferably, the steel bar connecting unit includes two groups of inner arc tracks fixedly connected to the main body support, a self-propelled slide rail is slidably connected between the two groups of inner arc tracks, the self-propelled slide rail is transmission-connected to the inner arc track through a second moving drive unit, a base is slidably connected to the self-propelled slide rail, a second sliding drive unit is arranged between the base and the self-propelled slide rail, the second sliding drive unit is used to move the base along the excavation direction of the tunnel, a lifting arm is arranged on the base, a tightening shell is fixedly connected to the end of the lifting arm, a threaded tightening unit is arranged in the tightening shell, the threaded tightening unit is used to thread the ends of two annular steel bars through a sleeve, and a steel bar bundling machine is fixedly connected to the tightening shell, the steel bar bundling machine is used to bundle the annular steel bars with the transverse steel bars.

[0018] Preferably, the threaded tightening portion includes an opening provided on one side of the tightening shell, and clamping wheels are rotatably connected to two opposite side walls of the opening, and the sleeve is correspondingly arranged between the two groups of clamping wheels. An end of the clamping wheel is coaxially fixedly connected to a first pulley, and a second motor is fixedly connected inside the tightening shell, a second pulley is fixedly sleeved on the output shaft of the second motor, and a belt is wound around the first pulley and the second pulley.

[0019] Preferably, the clamping drive assembly includes a screw rod rotatably connected to the support rod, the screw rod passes through the bottom of the sliding clamp block and is transmission-connected to the sliding clamp block, one end of the screw rod is fixedly sleeved with a second bevel gear, a rotating rod is rotatably connected in the fixed clamp block, both ends of the rotating rod are coaxially fixedly connected with a handwheel and a first bevel gear, the first bevel gear is meshed with the second bevel gear, and the handwheel is located on the outside of the fixed clamp block.

[0020] Compared with the prior art, the present invention has the following advantages and technical effects: the main function of the height adjustment part is to make the waterproofing coiled material laying unit and the steel bar positioning unit better adapt to the tunnel wall by adjusting the height of the main support; the roller realizes the position movement of the main support by sliding on the track laid in advance; the main function of the waterproofing coiled material laying unit is to automatically lay the geotextile and waterproof board with a larger width on the wall of the tunnel in sequence; the main function of the steel bar positioning unit is to accurately locate the position of the annular longitudinal steel bar to improve the laying quality of the final secondary lining steel bar; the main function of the steel bar connection unit is to automatically complete the connection between the ends of two adjacent steel bars in the secondary lining steel bar, and between the annular steel bar and the transverse steel bar. On the whole, the present invention can save a lot of manual labor. Only workers need to load the materials to automatically complete the laying of the waterproofing coiled material and the secondary lining steel bar in the tunnel. The laying speed is fast and the quality is high, which can effectively shorten the construction time and improve the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of a paving trolley of the present invention;

[0023] Figure 2 It is a front view of the paving trolley of the present invention;

[0024] Figure 3 It is a left side view of the waterproofing membrane laying unit of the present invention;

[0025] Figure 4 It is a left side view of the steel bar positioning unit of the present invention;

[0026] Figure 5 is a cross-sectional view of a steel bar connection unit of the present invention;

[0027] Figure 6 A schematic diagram of the mechanical arm of the present invention connected to a heat drying gun;

[0028] Among them, 1. main bracket; 2. arc track; 3. self-propelled shell; 4. mechanical arm; 5. supporting hydraulic cylinder; 6. roller; 7. first motor; 8. reel; 9. slide rail; 10. supporting rod; 11. outward hydraulic cylinder; 12. laser displacement sensor; 13. mirror body; 14. base; 15. lifting arm; 16. tightening shell; 17. clamping wheel; 19. first pulley; 20. second pulley; 21. belt; 22. second motor; 23. steel bar binding machine; 27. fixed clamp block; 28. sliding clamp block; 29. ​​hand wheel; 30. first bevel gear; 31. second bevel gear; 32. screw rod; 33. nail gun; 34. heat drying gun; 35. self-propelled slide rail; 36. inner arc track; 37. scanning gun. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Reference Figure 1-Figure 6 As shown, the present invention provides a tunnel waterproofing coil and secondary lining steel bar intelligent automatic laying trolley, comprising:

[0032] The main support 1 is provided with a height adjustment part at the bottom, and a plurality of rollers 6 are rotatably connected to the bottom of the height adjustment part, and the rollers 6 are used to make the main support 1 slide along the excavation direction of the tunnel;

[0033] A waterproofing coiled material laying unit is arranged on the main support 1. The main function of the waterproofing coiled material laying unit is to lay the geotextile and the waterproof board on the tunnel wall in sequence;

[0034] A steel bar positioning unit, which is arranged on the main support 1 and is used to position the longitudinal steel bars along the tunnel wall in the tunnel, thereby improving the laying quality of the steel bars;

[0035] The steel bar connection unit is arranged on the main support 1. The steel bar connection unit is used to connect the circumferential steel bars and bundle a number of transverse steel bars along the tunnel excavation direction with a number of circumferential steel bars, and finally complete the installation of the secondary lining steel bars.

[0036] The main function of the height adjustment unit is to adjust the height of the main support 1 so that the waterproofing coiled material laying unit and the steel bar positioning unit can better adapt to the tunnel wall; the roller 6 realizes the position movement of the main support 1 by sliding on the track laid in advance; the main function of the waterproofing coiled material laying unit is to automatically lay the geotextile and waterproof board with a larger width on the wall of the tunnel in sequence; the main function of the steel bar positioning unit is to accurately locate the position of the annular steel bar to improve the laying quality of the final secondary lining steel bar; the main function of the steel bar connection unit is to automatically complete the connection between the ends of two adjacent steel bars in the secondary lining steel bar, and between the annular steel bar and the transverse steel bar. On the whole, the present invention can save a lot of manual labor. Only workers need to load the materials to automatically complete the laying of the waterproofing coiled material and the secondary lining steel bar in the tunnel. The laying speed is fast and the quality is high, which can effectively shorten the construction time and improve the construction quality.

[0037] According to a further optimized solution, the height adjustment part includes a plurality of supporting hydraulic cylinders 5 fixedly connected to both sides of the bottom of the main support 1, and a plurality of rollers 6 are rotatably connected to the ends of the shortened ends of the supporting hydraulic cylinders 5 respectively.

[0038] like Figure 1As shown, when the trolley slides in the tunnel, the height of the main support 1 can be lowered by shortening the length of the supporting hydraulic cylinder 5, thereby increasing the distance between the trolley and the tunnel wall and avoiding bumping against the tunnel wall. Before construction, the height of the main support 1 can be raised by controlling the supporting hydraulic cylinder 5 to extend the telescopic cylinder, thereby reducing the distance between the waterproofing coil laying unit and the steel bar positioning unit and the tunnel wall, thereby facilitating construction.

[0039] A further optimized solution is that the waterproof membrane laying unit includes two sets of arc tracks 2 fixedly connected to the two ends of the main support 1, the arc tracks 2 are adapted to the inner wall of the tunnel, and the two sets of arc tracks 2 are respectively slidably connected with self-propelled shells 3, a mobile driving part is arranged between the self-propelled shells 3 and the arc tracks 2, a reel 8 is rotatably connected between the two sets of self-propelled shells 3, the reel 8 is arranged horizontally, the geotextile or the waterproof board is respectively fixedly mounted on the reel 8, a first motor 7 is fixedly connected to a self-propelled shell 3, the output shaft of the first motor 7 is coaxially fixedly connected to one end of the reel 8, and an automatic fixing part is arranged between the two sets of self-propelled shells 3.

[0040] In a further optimized solution, the mobile driving unit includes a driving motor (not shown in the figure) and a driving wheel (not shown in the figure) fixedly connected to the self-propelled housing 3. The driving wheel is in contact with the arc track 2, and the driving motor is used to drive the driving wheel to rotate.

[0041] like Figure 2 As shown, when laying the geotextile, the rolled geotextile is fixedly mounted on the reel 8, and the driving reel 8 is moved to the bottom of one side of the tunnel. The driving motor drives the driving wheel to rotate, and when the driving wheel rotates, it drives the self-propelled shell 3 to slide on the arc track 2. When the two groups of self-propelled shells 3 slide synchronously on the arc track 2, the reel 8 and the geotextile on the reel 8 will be driven to move along the arc track 2. Since the cross-sectional shape of the arc track 2 corresponds to the tunnel wall, the rolled geotextile can be moved along the tunnel wall. At the same time, the first motor 7 is controlled to rotate, driving the reel 8 to rotate, and the reel 8 drives the rolled geotextile to rotate. The geotextile rotates and unfolds while moving along the tunnel wall, thereby realizing the laying of the geotextile on the tunnel wall.

[0042] After the geotextile is laid, the reel 8 moves to the bottom of the other side of the tunnel. Then, the main support 1 is moved forward, the self-propelled shell moves in the opposite direction, and the reel 8 is moved in the opposite direction from the bottom of the other side of the tunnel to continue laying the geotextile. Repeat the above actions to complete the laying of the geotextile in the tunnel; then, the rolled waterproof sheet is fixedly mounted on the reel 8, the main support 1 is moved in the opposite direction, and the reciprocating movement of the reel 8 on the arc track 2 is coordinated to complete the laying of the waterproof sheet in the tunnel. That is, during construction, one back and forth movement of the main support 1 in the tunnel is considered a completed laying cycle.

[0043] Since the above process is machine-operated, the waterproof panels and geotextiles can be made of larger widths, which reduces the number of waterproof membranes laid on the tunnel wall, thereby reducing the number of joints and improving the waterproofing effect.

[0044] By adjusting the rotation speed of the first motor 7, the rotation frequency of the reel 8 can be made proportional to the moving distance of the self-propelled shell 3, that is, the distance between the front and rear adjacent nails can be controlled, so that the laying length of the geotextile and the waterproof board can be adjusted according to the flatness of the tunnel rock wall to ensure that the relaxation coefficient meets the construction requirements. Relaxation coefficient = laying length / rock wall distance, where the relaxation coefficient of geotextile is generally 1.1-1.2, and that of waterproof board is 1.1-1.3.

[0045] A further optimized solution is provided, wherein the automatic fixing part comprises a slide rail 9 fixedly connected between two groups of self-propelled shells 3, the slide rail 9 being arranged horizontally, and two groups of mechanical arms 4 being slidably connected to the bottom of the slide rail 9, and a first sliding driving part being arranged between the two groups of mechanical arms 4 and the slide rail 9, and a nail gun 33 or a heat drying gun 34 being detachably connected to the free end of one mechanical arm 4, and a scanning gun 37 being connected to the free end of the other mechanical arm 4, the nail gun 33 being used for shooting out special nails when laying geotextile, and nailing the geotextile to the tunnel wall, the heat drying gun 34 being used for baking special nails when laying waterproof board, and bonding the waterproof board to the special nails, and the scanning gun 37 being used for scanning the tunnel wall.

[0046] To further optimize the solution, the first sliding drive unit uses a GX150 heavy-duty ball screw slide to achieve lateral sliding of the robot arm 4 on the slide rail 9.

[0047] like Figure 2 and Figure 5 As shown, the nail gun 33 or the heat drying gun 34 is connected to the robot arm 4 via the LTC-0020E quick-change disk, so that the worker can quickly operate when replacing the nail gun 33 or the heat drying gun 34.

[0048] Due to the unavoidable flatness problem in tunnel excavation, the required laying length of the geotextile at different positions is not fixed. In order to ensure the laying quality, the laying length needs to be determined based on the aforementioned loosening coefficient. Therefore, a scanning gun 37 needs to be set up to scan the actual flatness of the tunnel wall, so as to facilitate the determination of the extension distance of the robot arm 4 connected to the nail gun 33 or the heat drying gun 34 at any position.

[0049] When laying geotextile, workers install nail gun 33 on mechanical arm 4, and then extend scanning gun 37 to the front end of reel 8 through mechanical arm 4. First, the tunnel wall is scanned by scanning gun 37. Through the scanning structure of scanning gun 37, another mechanical arm 4 controls nail gun 33. After reel 8 lays geotextile on the tunnel wall, the mechanical arm 4 immediately uses nail gun 33 to arrange several special nails horizontally into the tunnel wall. Through scanning-rolling-nailing synchronously, the special nails can fix the geotextile on the tunnel wall. At the same time, since the movements of the mechanical arm are all electronically controlled, the position of each special nail can be memorized. When laying the subsequent waterproof board, the mechanical arm 4 can drive the hot drying gun 34 to bake at the position of the nail.

[0050] When laying the waterproof board, the worker installs the heat drying gun 34 on the mechanical arm 4. After the reel lays the waterproof board on the tunnel wall, the inner wall of the waterproof board can be brought into contact with the soluble part of the end of the special nail. Since the mechanical arm 4 has a memory of the position of the previous special nail, the mechanical arm 4 can accurately align the heat drying gun with the contact position of the waterproof board and the special nail to bake, so that the waterproof board and the special nail are adhered, and finally the waterproof board is fixed.

[0051] A further optimized solution is that the steel bar positioning unit includes a number of horizontally arranged support rods 10, and telescopic parts are respectively arranged between the support rods 10 and the main support 1, and the telescopic parts are used to adjust the distance between the support rods 10 and the tunnel wall. A number of clamping parts are arranged on the support rods 10, and the clamping parts are used to clamp the annular steel bars, so as to facilitate the precise positioning of the annular steel bars.

[0052] The positioning unit can clamp the prefabricated stirrups in the corresponding position, and insert the annular reinforcement corresponding to the four points of the stirrups, thereby ensuring the position of the annular reinforcement and the bearing capacity of the secondary lining.

[0053] A further optimized solution is provided, in which the telescopic portion comprises a plurality of outward extension hydraulic cylinders 11 fixedly connected to the main support 1, the plurality of outward extension hydraulic cylinders 11 respectively coincide with the radial direction of the tunnel cross section, the telescopic ends of the plurality of outward extension hydraulic cylinders 11 are respectively fixedly connected to the support rods 10, a laser displacement sensor 12 is fixedly connected to the side wall of the support rods 10 close to the outward extension hydraulic cylinders 11, a mirror body 13 is fixedly connected to the bottom of an outward extension hydraulic cylinder 11, the mirror body 13 is arranged corresponding to the laser displacement sensor 12, and the laser displacement sensor 12 is used to monitor the extension length of the outward extension hydraulic cylinder 11.

[0054] A further optimized solution is that the clamping part includes a fixed clamp block 27 and a sliding clamp block 28. The fixed clamp block 27 is fixedly connected to the side wall of the support rod 10 away from the extension hydraulic cylinder 11, and the sliding clamp block 28 is slidably connected to the side wall of the support rod 10 away from the extension hydraulic cylinder 11. A clamping drive assembly is arranged between the fixed clamp block 27 and the sliding clamp block 28, and an annular steel bar is correspondingly arranged between the fixed clamp block 27 and the sliding clamp block 28.

[0055] like Figure 4 As shown, when laying the secondary lining steel bars, it is necessary to lay several circumferential steel bars first. By extending several outward hydraulic cylinders 11, the support rod 10 is closer to the tunnel wall. After the workers firmly place the circumferential steel bars on the support rod 10, the laser displacement sensor 12 can accurately control the extension length of the outward hydraulic cylinder 11, thereby achieving the position locking of the support rod 10. Afterwards, the workers operate the clamping drive assembly to clamp the steel bars between the fixed clamp block 27 and the sliding clamp block 28, so as to achieve the positioning of the circumferential steel bars.

[0056] A further optimization scheme can use the scanning result of the aforementioned scanning gun 37 to provide a basis for the extension distance of the outward extension hydraulic cylinder 11.

[0057] The steel bar connection unit includes two groups of inner arc tracks 36 fixedly connected to the main support 1, a self-propelled slide rail 35 is slidably connected between the two groups of inner arc tracks 36, the self-propelled slide rail 35 is transmission-connected to the inner arc track 36 through a second moving drive unit, a base 14 is slidably connected to the self-propelled slide rail 35, a second sliding drive unit is arranged between the base 14 and the self-propelled slide rail 35, the second sliding drive unit is used to move the base 14 along the excavation direction of the tunnel, a lifting arm 15 is arranged on the base 14, a tightening shell 16 is fixedly connected to the end of the lifting arm 15, a threaded tightening part is arranged in the tightening shell 16, the threaded tightening part is used to thread the ends of the two annular steel bars through a sleeve, a steel bar bundling machine 23 is fixedly connected to the tightening shell 16, and the steel bar bundling machine 23 is used to bundle the annular steel bars with the transverse steel bars.

[0058] To further optimize the solution, the second sliding drive unit uses a GX150 heavy-duty ball screw slide to achieve the lateral sliding of the base 14 on the main support 1. The structure of the second mobile drive unit can refer to the structure of the mobile drive unit, so it will not be repeated.

[0059] like Figure 1 As shown, the main support 1 and the inner arc track 36 are both arranged along the inner wall of the tunnel, which can ensure the laying of geotextiles and the erection of steel bars while allowing vehicles in the tunnel to pass normally.

[0060] A further optimized solution is that the threaded tightening part includes an opening provided on one side of the tightening shell 16, and clamping wheels 17 are rotatably connected to the two opposite side walls of the opening, and the sleeve is correspondingly arranged between the two groups of clamping wheels 17. The end of one clamping wheel 17 is coaxially fixedly connected to a first pulley 19, and a second motor 22 is fixedly connected inside the tightening shell 16. A second pulley 20 is fixedly sleeved on the output shaft of the second motor 22, and a belt 21 is wound around the first pulley 19 and the second pulley 20.

[0061] A rubber sleeve is fixedly provided on the outer wall of the clamping wheel 17, and the rubber sleeve is used to increase the friction between the clamping wheel 17 and the sleeve, so that the clamping wheel 17 can smoothly drive the sleeve to rotate.

[0062] The annular longitudinal reinforcement is composed of a plurality of steel bars, and the ends of two adjacent steel bars are connected by threading. Specifically, after the lifting arm 15 guides and fixes a plurality of steel bars to a plurality of support rods 10 to form a group of annular reinforcements, a sleeve is placed between two clamping wheels 17, and the self-propelled slide rail 35 and the base 14 cooperate to move the lifting arm 15 to a suitable position, and then the lifting arm 15 drives the tightening housing 16 to move to the connection between the two steel bars, so that the sleeve is connected to the connection between the two steel bars, and the second motor 22 is started, and the second motor 22 rotates to drive the second pulley 20 to rotate, and the second pulley 20 drives the first pulley 19 to rotate through the belt 21, thereby driving a group of clamping wheels 17 to rotate, and the clamping wheel 17 rotates and drives the sleeve to rotate, without manual operation, to achieve the effect of connecting the two groups of steel bars with the sleeve and controlling the length of the annular longitudinal reinforcement.

[0063] The above-mentioned sleeve adopts a specific straight threaded steel bar connection sleeve, and the steel bar can form a corresponding thread after processing. In particular, the thread directions of the two connecting ports of the specific sleeve are opposite.

[0064] The steel bar bundling machine 23 adopts existing products. When laying transverse steel bars, workers place a transverse steel bar at a suitable position of a plurality of annular steel bars. The base 14 slides on the main support 1 and cooperates with the action of the lifting arm 15 to realize the position change of the steel bar bundling machine 23, thereby bundling all the connection points between the transverse steel bars and the plurality of annular steel bars.

[0065] To further optimize the solution, the clamping drive assembly includes a screw rod 32 rotatably connected to the support rod 10, the screw rod 32 passes through the bottom of the sliding clamp block 28 and is transmission connected to the sliding clamp block 28, one end of the screw rod 32 is fixedly sleeved with a second bevel gear 31, and a rotating rod is rotatably connected in the fixed clamp block 27, and the two ends of the rotating rod are coaxially fixedly connected with a handwheel 29 and a first bevel gear 30, the first bevel gear 30 is meshed with the second bevel gear 31, and the handwheel 29 is located on the outside of the fixed clamp block 27.

[0066] like Figure 4 As shown, when constructing the annular reinforcement, the worker places the reinforcement on the support rod 10 and turns the hand wheel 29. The hand wheel 29 drives the first bevel gear 30 to rotate through the rotating rod, and the rotation of the first bevel gear 30 drives the second bevel gear 31 to rotate, and the second bevel gear 31 drives the screw rod 32 to rotate, thereby moving the sliding clamp 28 toward the fixed clamp 27 through the threaded transmission to achieve the clamping of the reinforcement.

[0067] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0068] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent automatic laying trolley for tunnel waterproofing coil and secondary lining steel bar, characterized in that: include: A main frame (1), wherein a height adjustment portion is provided at the bottom of the main frame (1), and a plurality of rollers (6) are rotatably connected to the bottom of the height adjustment portion, and the rollers (6) are used to enable the main frame (1) to slide along the excavation direction of the tunnel; A waterproofing coiled material laying unit, the waterproofing coiled material laying unit being arranged on the main support (1), the main function of the waterproofing coiled material laying unit being to lay the geotextile and the waterproofing board on the tunnel wall in sequence; A steel bar positioning unit, the steel bar positioning unit being arranged on the main support (1), and being used to position the longitudinal steel bars along the tunnel wall in the tunnel, thereby improving the laying quality of the steel bars; A steel bar connection unit is arranged on the main support (1), and is used to connect the annular steel bars and to bundle a plurality of transverse steel bars along the tunnel excavation direction with a plurality of annular steel bars, thereby finally completing the installation of the secondary lining steel bars.

2. The intelligent automatic laying trolley for tunnel waterproofing coil and secondary lining steel bar according to claim 1 is characterized by: The waterproofing coiled material laying unit comprises two groups of arc tracks (2) fixedly connected to the two ends of the main support (1), the arc tracks (2) being adapted to the inner wall of the tunnel, the two groups of the arc tracks (2) being slidably connected to self-propelled shells (3), a moving drive unit being arranged between the self-propelled shells (3) and the arc tracks (2), a reel (8) being rotatably connected between the two groups of the self-propelled shells (3), the reel (8) being arranged horizontally, the geotextile or the waterproofing board being fixedly sleeved on the reel (8), a first motor (7) being fixedly connected to one of the self-propelled shells (3), the output shaft of the first motor (7) being coaxially fixedly connected to one end of the reel (8), and an automatic fixing unit being arranged between the two groups of the self-propelled shells (3).

3. The intelligent automatic laying trolley for tunnel waterproofing coiled material and secondary lining steel bars according to claim 2 is characterized by: The automatic fixing part comprises a slide rail (9) fixedly connected between two groups of the self-propelled shells (3), the slide rail (9) being arranged horizontally, and two groups of mechanical arms (4) being slidably connected to the bottom of the slide rail (9), and a first sliding driving part being arranged between the two groups of the mechanical arms (4) and the slide rail (9), and a nail gun (33) or a heat drying gun (34) being detachably connected to the free end of one of the mechanical arms (4), and a scanning gun (37) being connected to the free end of the other mechanical arm (4), the nail gun (33) being used to shoot special nails when laying geotextiles, so as to nail the geotextiles to the tunnel wall surface, the heat drying gun (34) being used to bake special nails when laying waterproof boards, so as to bond the waterproof boards to the special nails, and the scanning gun (37) being used to scan the tunnel wall surface.

4. The intelligent automatic laying trolley for tunnel waterproofing coiled material and secondary lining steel bars according to claim 1 is characterized by: The steel bar positioning unit comprises a plurality of horizontally arranged support rods (10), telescopic parts are respectively arranged between the plurality of support rods (10) and the main support (1), the telescopic parts are used to adjust the distance between the support rods (10) and the tunnel wall surface, and a plurality of clamping parts are arranged on the support rods (10), the clamping parts are used to clamp the annular steel bars, so as to facilitate accurate positioning of the annular steel bars.

5. The intelligent automatic laying trolley for tunnel waterproofing coil and secondary lining steel bar according to claim 4 is characterized by: The telescopic portion comprises a plurality of outward extension hydraulic cylinders (11) fixedly connected to the main support (1), the plurality of outward extension hydraulic cylinders (11) respectively coincide with the radial direction of the tunnel cross section, the telescopic ends of the plurality of outward extension hydraulic cylinders (11) are respectively fixedly connected to the support rod (10), a laser displacement sensor (12) is fixedly connected to the side wall of the support rod (10) close to the outward extension hydraulic cylinder (11), a mirror body (13) is fixedly connected to the bottom of one of the outward extension hydraulic cylinders (11), the mirror body (13) and the laser displacement sensor (12) are arranged correspondingly, and the laser displacement sensor (12) is used to monitor the extension length of the outward extension hydraulic cylinder (11).

6. The intelligent automatic laying trolley for tunnel waterproofing coiled material and secondary lining steel bars according to claim 5 is characterized by: The clamping portion comprises a fixed clamping block (27) and a sliding clamping block (28), wherein the fixed clamping block (27) is fixedly connected to the side wall of the support rod (10) away from the extension hydraulic cylinder (11), and the sliding clamping block (28) is slidably connected to the side wall of the support rod (10) away from the extension hydraulic cylinder (11), and a clamping drive assembly is arranged between the fixed clamping block (27) and the sliding clamping block (28), and a circumferential steel bar is correspondingly arranged between the fixed clamping block (27) and the sliding clamping block (28).

7. The intelligent automatic laying trolley for tunnel waterproofing coil and secondary lining steel bar according to claim 1 is characterized by: The steel bar connection unit comprises two groups of inner arc tracks (36) fixedly connected to the main support (1), a self-propelled slide rail (35) is slidably connected between the two groups of inner arc tracks (36), the self-propelled slide rail (35) is transmission-connected to the inner arc tracks (36) via a second moving drive unit, a base (14) is slidably connected to the self-propelled slide rail (35), a second sliding drive unit is provided between the base (14) and the self-propelled slide rail (35), and the second sliding drive unit is used to move the self-propelled slide rail (35) The base (14) moves along the excavation direction of the tunnel. A lifting arm (15) is provided on the base (14). The end of the lifting arm (15) is fixedly connected to a tightening shell (16). A threaded tightening part is provided in the tightening shell (16). The threaded tightening part is used to thread the ends of two annular steel bars through a sleeve. A steel bar bundling machine (23) is fixedly connected to the tightening shell (16). The steel bar bundling machine (23) is used to bundle the annular steel bars with the transverse steel bars.

8. The intelligent automatic laying trolley for tunnel waterproofing coiled material and secondary lining steel bars according to claim 7 is characterized by: The threaded tightening portion comprises an opening provided on one side of the tightening housing (16), and clamping wheels (17) are rotatably connected to two opposite side walls of the opening respectively, and the sleeve is correspondingly arranged between two groups of the clamping wheels (17), and a first pulley (19) is coaxially fixedly connected to the end of one of the clamping wheels (17), and a second motor (22) is fixedly connected inside the tightening housing (16), and a second pulley (20) is fixedly sleeved on the output shaft of the second motor (22), and a belt (21) is wound around the first pulley (19) and the second pulley (20).

9. The intelligent automatic laying trolley for tunnel waterproofing coiled material and secondary lining steel bars according to claim 6 is characterized by: The clamping drive assembly comprises a screw rod (32) rotatably connected to the support rod (10), the screw rod (32) passes through the bottom of the sliding clamp block (28) and is transmission-connected to the sliding clamp block (28), one end of the screw rod (32) is fixedly sleeved with a second bevel gear (31), a rotating rod is rotatably connected to the fixed clamp block (27), and two ends of the rotating rod are coaxially fixedly connected to a hand wheel (29) and a first bevel gear (30), the first bevel gear (30) is meshed with the second bevel gear (31), and the hand wheel (29) is located on the outside of the fixed clamp block (27).

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