Prefabricated reinforcement cage mounting device for drilling and blasting method tunnel secondary lining

Abstract

The prefabricated reinforcement cage mounting device for the drilling and blasting method tunnel secondary lining comprises a trolley, and a walking mechanism is arranged at the bottom of the trolley; the movable working platform slides front and back in the longitudinal direction of the trolley. The reinforcement cage grabbing and rotating device is located in the middle of the trolley and comprises a rotating large arm, a telescopic arm and a mechanical arm, the rotating large arm is rotatably connected to the trolley, the rotating axis of the rotating large arm is parallel to the longitudinal direction of the trolley, the rotating large arm is connected with the fixed end of the telescopic arm, and the telescopic direction of the telescopic arm is perpendicular to the rotating axis of the rotating large arm; the tail end of the telescopic arm is connected with a mechanical arm rotating mechanism, the rotating axis of the mechanical arm rotating mechanism is parallel to the telescopic direction of the telescopic arm, and the mechanical arm is connected with the telescopic arm through the mechanical arm rotating mechanism. The installation efficiency of the prefabricated reinforcement cage can be remarkably improved, the manpower requirement for installation is lowered, and the installation precision and the construction safety are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction, and in particular relates to a prefabricated steel cage installation device for a secondary lining of a drill and blast tunnel. Background Art

[0002] In the wave of modern infrastructure construction, tunnel engineering plays a core role in connecting regions and driving economic development. Its construction efficiency and quality are directly related to the success or failure of the entire project. In the tunnel support structure, the steel cage, as a key component, plays an irreplaceable role in ensuring the stability and safety of the tunnel. However, the traditional steel cage installation process mainly relies on manual handling and assembly. This method is not only labor-intensive and inefficient, but also has huge safety hazards when constructed in the complex and changeable environment of the tunnel.

[0003] In the mainstream construction process of the secondary lining steel bar binding of drilled and blasted tunnels, the raw steel bar materials are usually transported to the inside of the tunnel and placed at the front end of the steel bar binding trolley. Subsequently, workers need to manually cold-press the circumferential steel bars according to the designed length, and the binding requirements are extremely strict. This operation method requires 10-12 workers each time, which not only has a large workload and prominent safety hazards, but also has low binding efficiency and difficult to control binding accuracy. Based on the background of the existing technology, many problems are exposed in the process of steel bar binding of the secondary lining of the tunnel. For example, the frequent occurrence of steel bar dislocation or omission seriously weakens the strength of the tunnel structure, thereby affecting the overall safety performance; during the handling and installation process, the steel bar is easily bent or damaged, which damages its use effect and the bearing capacity of the tunnel structure; the improper application of welding technology will lead to a decrease in the strength of the steel bar connection part, further exacerbating the safety hazard. In addition, steel bars are extremely susceptible to rust and corrosion in harsh construction environments, shortening their service life and reducing safety. At the same time, omissions in construction management are also an important factor causing steel bar binding quality problems, such as lax supervision by on-site management personnel and poor implementation of construction processes.

[0004] In view of the above challenges, it is particularly urgent to develop a prefabricated steel cage installation device suitable for the secondary lining of drill and blast tunnels. Summary of the invention

[0005] The purpose of the present invention is to provide a prefabricated steel cage installation device for the secondary lining of a drill and blast tunnel, which improves the installation accuracy, speeds up the tunnel construction progress, and significantly improves the safety of the tunnel project, providing better protection for construction personnel.

[0006] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a prefabricated steel cage installation device for the secondary lining of a drill and blast tunnel, comprising a trolley, a traveling mechanism is arranged at the bottom of the trolley for moving along a track in the tunnel; A mobile working platform is slidably arranged on the trolley to provide an operating platform for personnel to fix the prefabricated steel cage, and the mobile working platform slides forward and backward along the longitudinal direction of the trolley; The steel cage grabbing and rotating device is located in the middle of the trolley, and includes a swivel arm, a telescopic arm and a manipulator. The swivel arm is rotatably connected to the trolley, and the swivel axis of the swivel arm is parallel to the longitudinal direction of the trolley. The swivel arm is connected to the fixed end of the telescopic arm, and the telescopic direction of the telescopic arm is perpendicular to the swivel axis of the swivel arm. The end of the telescopic arm is connected to a manipulator swivel mechanism, and the swivel axis of the manipulator swivel mechanism is parallel to the telescopic direction of the telescopic arm. The manipulator is connected to the telescopic arm through the manipulator swivel mechanism, and the manipulator is used to grab the prefabricated steel cage to be installed.

[0007] Its beneficial effects are as follows: in the present invention, the steel cage grabbing and rotating device can grab a group of prefabricated steel cages placed longitudinally, and the rotation of the manipulator rotating mechanism drives the manipulator to rotate the prefabricated steel cage 90°, and then the rotating arm drives the telescopic arm to lift to the position where it needs to be installed, and then the telescopic arm extends to place the prefabricated steel cage at the installation position on the tunnel wall, and then the mobile work platform can be moved to the prefabricated steel cage, and the workers will tie and fix the steel bars. This device improves the installation accuracy of the steel cage and speeds up the progress of tunnel construction. The rotating arm can realize the alternating installation of the steel cages on both sides of the tunnel, and as the trolley moves along the track, the installation and tying construction of the second lining steel bars in the tunnel are completed ring by ring. In the process of grabbing and adjusting the position of the steel cage grabbing and rotating device, the mobile work platform can maintain a certain distance from the steel cage grabbing and rotating device, which significantly improves the safety of the tunnel project and provides better protection for the construction personnel.

[0008] Furthermore, the manipulator is hinged to the rotating part of the manipulator rotating mechanism, and is provided with a manipulator swing mechanism capable of linear extension and retraction, and both ends of the manipulator swing mechanism are respectively hinged to the manipulator and the rotating part of the manipulator rotating mechanism.

[0009] The beneficial effect is that the manipulator swing mechanism can adjust the pitch angle of the manipulator and the prefabricated steel cage, which is convenient for adjusting the position angle when the prefabricated steel cage is placed at the installation position, so that the prefabricated steel cage can better fit the cave wall and dock with the installed steel cage.

[0010] Furthermore, the manipulator includes a manipulator fixing plate, a clamping mechanism and a clamping claw that can be linearly extended and retracted. The manipulator fixing plate is used to be hinged to the rotating part of the manipulator rotating mechanism. The clamping claws are relatively arranged on both sides of the manipulator fixing plate, and the middle part of the clamping claws is hinged to the manipulator fixing plate. The clamping end of the clamping claw is provided with a hook body, and the connecting ends of the two relatively arranged clamping claws are respectively hinged to the two ends of the clamping mechanism. The clamping mechanism drives the clamping claws to swing through linear extension and retraction to clamp or release the prefabricated steel cage.

[0011] The beneficial effect is that a manipulator structure with simple structure and easy implementation is proposed.

[0012] Furthermore, the manipulator fixing plate is also fixedly provided with a wear-resistant plate capable of pressing on the prefabricated steel cage, and the surface of the wear-resistant plate is also densely covered with grooves.

[0013] The beneficial effect is that the wear-resistant plate can reduce the wear of the steel cage on the manipulator, and the grooves can increase the friction between the steel cage and the manipulator, thereby playing an anti-slip role.

[0014] As an embodiment, a translation adjustment mechanism is also provided on the swivel arm, and the translation adjustment mechanism is used to drive the telescopic arm to translate axially along the swivel arm; the translation adjustment mechanism includes a sliding linear guide rail and a slider and a longitudinal translation drive mechanism for controlling the sliding of the slider, the linear guide rail is fixed on the swivel arm, the slider is fixedly connected to the side of the telescopic arm, and the longitudinal translation drive mechanism is a linear telescopic mechanism, one end of which is hinged to the swivel arm, and the other end is hinged to the slider.

[0015] The beneficial effect is that the translation adjustment mechanism can adjust the longitudinal position of the telescopic arm, so as to facilitate adjustment to a suitable position when the prefabricated steel cage is installed.

[0016] As another embodiment, auxiliary swing arms are respectively provided on the left and right sides of the trolley, and the auxiliary swing arms have a working position. When the auxiliary swing arms are in the working position, the prefabricated steel cage can be pressed against the wall of the tunnel.

[0017] The beneficial effect is that the auxiliary swing arm can be pressed on the prefabricated steel cage when installing the prefabricated steel cage, thereby releasing the manipulator, and then grabbing and installing the next group of prefabricated steel cages, thereby improving the installation efficiency of the prefabricated steel cages.

[0018] Specifically, the auxiliary swing arm includes a swing arm, a swing arm rotating mechanism and a pressure plate. The swing arm rotating mechanism is installed on a trolley. One end of the swing arm is connected to the swing arm rotating mechanism. The swing arm is driven by the swing arm rotating mechanism to swing a certain angle in the horizontal direction. The other end of the swing arm is hinged to the pressure plate.

[0019] The beneficial effect is that a structure of an auxiliary swing arm is provided, wherein the pressing plate is hinged in such a way that the pressing plate can move freely and adjust its own angle adaptively, so that the pressing plate can be better pressed on the prefabricated steel cage.

[0020] Furthermore, two auxiliary swing arms are arranged on the same side of the trolley.

[0021] The beneficial effect is that the two auxiliary swing arms on the same side can be pressed on the same prefabricated steel cage, further improving the pressing effect on the prefabricated steel cage, avoiding the prefabricated steel cage from sliding or falling during the binding process, and ensuring the smooth completion of the installation and fixing process.

[0022] Furthermore, the auxiliary swing arm is installed on the mobile working platform.

[0023] The beneficial effect is that the mobile working platform can drive the auxiliary swing arm to move when it moves. On the one hand, during the grabbing process, the auxiliary swing arm is prevented from affecting the grabbing and rotation process. On the other hand, during the binding process, it can be closer to the prefabricated steel cage, further ensuring the tightening effect on the prefabricated steel cage.

[0024] As another embodiment, the bottom of the trolley is provided with telescopic legs, and the walking mechanism is installed at the bottom of the telescopic legs.

[0025] The beneficial effect is that the setting of the telescopic legs can raise the height of the entire trolley, making it easier to tie up the upper steel cage and the top steel cage.

[0026] The beneficial effects of the present invention are: 1. Significantly improve construction efficiency and greatly reduce manpower requirements: At present, the raw materials of the secondary lining steel bars are transported to the tunnel in bundles, and after being broken up, the circumferential steel bars are manually cold-pressed and butted according to the designed length. The installation method relies on a large amount of manpower, and the operation is cumbersome and inefficient. The present invention realizes accurate grasping of the steel cage by the grasping of the manipulator on the steel cage grasping and rotating device, the angle adjustment of the manipulator swing mechanism, and the rotation of the manipulator slewing mechanism, and accurately places the steel cage at the predetermined position by the telescopic arm and the rotation of the slewing arm, thereby greatly reducing the manpower requirements, reducing the labor intensity of the construction personnel, and improving the installation efficiency.

[0027] 2. By introducing a multi-stage telescopic arm structure and a translation adjustment mechanism, our device can quickly adapt to different tunnel sections and steel cage sizes, achieving efficient and continuous steel cage installation operations, further improving work efficiency.

[0028] 3. In terms of improving construction safety, this device reduces the chances of direct contact between personnel and steel cages through mechanized operation, reducing the risk of safety accidents. At the same time, the design of the mobile work platform can not only leave enough operating space during the grabbing and placement of the steel cage, so that the construction personnel on the platform are away from the steel cage during the installation process, improving the safety of the construction environment, but also can move to the inner side of the steel cage that needs to be tied and fixed after the steel cage is placed in place, so that the construction personnel can easily tie and fix the steel cage on the platform, improving the safety and comfort of the construction personnel.

[0029] 4. In terms of steel cage installation accuracy, this device can achieve accurate positioning and installation of the steel cage through the design of precise manipulator, telescopic arm, rotating arm and auxiliary swing arm, and further help to ensure the stability and safety of the tunnel support structure and improve the overall quality of the tunnel project.

[0030] The emergence of this invention has promoted the innovation and development of tunnel construction technology. Its innovative design concept and technical means have provided new solutions and ideas for the tunnel engineering industry, abandoned the original traditional method of manual binding, and helped to improve the technical level and competitiveness of the entire industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 or the description of the prior art 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.

[0032] Figure 1 This is a schematic diagram of the overall structure of the prefabricated steel cage installation device described in Example 1; Figure 2 It is a structural schematic diagram of the steel cage grabbing and rotating device in Example 1; Figure 3 It is a side view of the steel cage grabbing and rotating device in Example 1; Figure 4 It is a structural schematic diagram of the manipulator in Example 1; Figure 5 is a schematic structural diagram of the auxiliary swing arm in Example 1; Figure 6 This is a schematic diagram of the separation state of the mobile working platforms at the front and rear ends of the same side of the prefabricated steel cage installation device described in Example 1; Figure 7 This is a schematic diagram of the mobile working platforms at the front and rear ends of the same side of the prefabricated steel cage installation device described in Example 1 being brought together; Figure 8This is a schematic diagram of the state of the prefabricated steel cage installation device in Example 1 grabbing the prefabricated steel cage; Fig. 9 This is a schematic diagram of the state in which the prefabricated steel cage installation device described in Example 1 grabs the prefabricated steel cage and rotates to the installation position; Fig.10 An exploded view of the annular reinforcement structure of the secondary lining of a tunnel using the drill and blast method of the present invention in Example 2; Fig.11 This is a schematic diagram of the state of the present invention in the tunnel in Example 2; Fig.12 This is a schematic diagram of the state of the bottom reinforcement cage on the left side of the tunnel installed in the present invention in Example 2; Fig.13 It is a schematic diagram of the state of the upper reinforcement cage on the left side of the tunnel installed in the present invention in Example 2; Fig.14 This is a schematic diagram of the state of the bottom reinforcement cage on the right side of the tunnel being installed in the present invention in Example 2; Fig.15 This is a schematic diagram of the state of the upper reinforcement cage on the right side of the tunnel being installed in the present invention in Example 2; Fig.16 This is a schematic diagram of the state of installing the steel cage on the top of the tunnel in the present invention in Example 2; Markings in the figure: 1, trolley, 2, mobile working platform; 3. Steel cage grabbing and rotating device, 301. Rotating arm, 302. Telescopic arm, 302-1. Fixed arm, 302-2. Secondary telescopic arm, 302-3. Primary telescopic arm, 303. Linear guide, 304. Slider, 305. Longitudinal translation drive mechanism, 306. Manipulator fixed plate, 307. Manipulator swing mechanism, 308. Clamping mechanism, 309. Clamping claw, 310. Manipulator rotating mechanism, 311. Wear-resistant plate, 4. Auxiliary swing arm, 401. swing arm, 402. swing arm rotating mechanism, 403. pressing plate; 5. Traveling mechanism, 501. driving motor, 502. transmission wheel, 503. traveling wheel; 6. Fixed working platform, 7. Telescopic legs; 8. Prefabricated steel cage, 801, bottom steel cage, 802, upper steel cage, 803, top steel cage; 9. Tunnel, 10. Circumferential reinforcement, 11. Track. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the invention in any way.

[0034] Example 1: Figure 1As shown, a prefabricated steel cage installation device for the secondary lining of a drill and blast tunnel comprises a trolley 1 and a mobile working platform 2, a steel cage grabbing and rotating device 3, an auxiliary swing arm 4 and a fixed working platform 6 arranged on the trolley 1. A walking mechanism 5 is arranged at the bottom of the trolley 1 to facilitate the whole device to move forward and backward on the track in the tunnel. The mobile working platform 2 and the fixed working platform 6 are distributed on both sides of the walking direction of the trolley 1 and are arranged at different heights, so that workers can fix the steel cages at different heights in the tunnel.

[0035] Furthermore, the trolley 1 adopts a large-frame portal structure, and the large clearance at the bottom ensures the normal passage of other vehicles in the tunnel.

[0036] The structure of the steel cage grabbing and rotating device 3 is as follows Figure 2 , 3 As shown in , 4, it includes a slewing arm 301, a telescopic arm 302 and a manipulator, the slewing arm 301 is arranged on the longitudinal beam of the trolley 1, and the slewing arm 301 is built with a slewing mechanism, such as a slewing oil cylinder or an electric cylinder, the two ends of the slewing arm 301 are respectively connected to the longitudinal beam of the trolley 1, and the slewing axis of the slewing arm 301 is parallel to the longitudinal beam of the trolley 1; the telescopic arm 302 is connected to the slewing part of the slewing arm 301, the telescopic direction of the telescopic arm 302 is perpendicular to the slewing axis of the slewing arm 301, the telescopic arm 302 is an electrically or hydraulically driven multi-stage telescopic arm, including a fixed arm 302-1, a secondary telescopic arm 302-2 and a primary telescopic arm 302-3 which are slidably connected in sequence, the fixed arm 302-1 is connected to the slewing arm 301, the end of the primary telescopic arm 302-3 is connected to a manipulator slewing mechanism 310, and the manipulator slewing mechanism 310 is connected to the manipulator. The manipulator comprises a manipulator fixed plate 306, a manipulator swing mechanism 307, a clamping mechanism 308 and a clamping claw 309; the manipulator fixed plate 306 is hinged to the rotating part of the manipulator rotating mechanism 310, and the manipulator rotating mechanism is a rotating oil cylinder or an electric cylinder; the manipulator swing mechanism 307 is a linear telescopic mechanism, such as a hydraulic rod or an electric telescopic rod, one end of the manipulator swing mechanism 307 is hinged to the rotating part of the manipulator rotating mechanism 310, and the other end is hinged to the manipulator fixed plate 306, and the clamping claw At least two pairs of clamps 309 are provided, and the two clamps of each pair are relatively arranged on both sides of the manipulator fixing plate 306, and the middle part of the clamp 309 is hinged to the manipulator fixing plate 306, and the lower part of the clamp 309 is provided with a hook body capable of hooking the steel bar; the clamping mechanism 308 is a linear telescopic mechanism such as a hydraulic rod or an electric telescopic rod, and its two ends are respectively hinged to the upper part of the two pairs of clamps 309. As the clamping mechanism 308 is extended and retracted, the hook body parts of the two connected clamps 309 are driven to open or close, thereby realizing the clamping or loosening of the steel bars in the prefabricated steel cage.

[0037] The clamping mechanism 308 of the manipulator can drive the clamping claw 309 to rotate to clamp the prefabricated steel cage, thereby grabbing the prefabricated steel cage; the manipulator rotating mechanism 310 can drive the manipulator and the grabbed prefabricated steel cage to rotate to a suitable angle, thereby facilitating the installation of the prefabricated steel cage; the telescopic arm 302 has a multi-stage telescopic function, which is used for the manipulator to extend and grab and retract to meet the installation and positioning requirements of the prefabricated steel cage on both sides and the top of the tunnel wall; the manipulator swinging mechanism 307 can drive the manipulator to swing to adjust the inclination angle of the manipulator mounting plate 306, thereby facilitating fine-tuning the angle of the prefabricated steel cage when installing the prefabricated steel cage on the tunnel wall; the rotating arm 301 can drive the telescopic arm 302 and the manipulator to rotate in the tunnel, thereby placing the grabbed prefabricated steel cage in the position to be installed.

[0038] Preferably, the rotation range of the rotating arm 301 is 360°; the rotation angle range of the manipulator rotating mechanism 310 is 0°-90°; and the swing angle range of the manipulator swing mechanism 307 is ±25°.

[0039] Preferably, Figure 4 As shown, a wear-resistant plate 311 is fixedly provided on one side of the manipulator fixing plate 306 facing the prefabricated steel cage to reduce the wear of the prefabricated steel cage on the manipulator. The surface of the wear-resistant plate 311 is also densely covered with grooves, which can increase the friction with the prefabricated steel cage and play an anti-slip role.

[0040] As another implementation of this embodiment, the manipulator may also be in the form of a pneumatic clamp, a three-jaw chuck, a finger-type gripper, a suction cup gripping structure, or a magnetic gripping structure.

[0041] Preferably, a translation adjustment mechanism is further provided between the telescopic arm 302 and the slewing arm 301 to achieve the translation of the telescopic arm 302 along the axial direction of the slewing arm 301. The translation adjustment mechanism includes a linear guide rail 303 provided on the slewing arm 301, a slider 304 slidably connected to the linear guide rail 303, and a longitudinal translation driving mechanism 305. The telescopic arm 302 is fixed on the slider 304, and the longitudinal translation driving mechanism 305 is a hydraulic cylinder or an electric cylinder for achieving linear telescopic movement, one end of which is hinged to the slewing arm 301, and the other end is hinged to the slider 304. The longitudinal translation driving mechanism 305 can drive the telescopic arm 302 to translate longitudinally, so that the longitudinal position of the prefabricated steel cage can be finely adjusted during the installation process of the prefabricated steel cage.

[0042] Continue to refer Figure 1As shown, as a further extension of this embodiment, the trolley 1 is further provided with an auxiliary swing arm 4. In this embodiment, a total of four auxiliary swing arms 4 are provided, evenly distributed on the left and right sides of the axial direction of the rotating arm 301, that is, two auxiliary swing arms 4 are provided on the same side of the trolley 1. The structure of the auxiliary swing arm is as shown in FIG. Figure 5 As shown, it includes a swing arm 401, a swing arm rotating mechanism 402 and a pressing plate 403. The swing arm rotating mechanism 402 is a rotating oil cylinder or an electric cylinder, which is installed on the trolley 1. One end of the swing arm 402 is connected to the swing arm rotating mechanism 402, and the swing arm 401 is driven by the swing arm rotating mechanism 402 to swing a certain angle in the horizontal direction. The other end of the swing arm 401 is hinged to the pressing plate 403. Specifically, the swing amplitude of the auxiliary swing arm 4 is 0-90°, and its initial position is parallel to the longitudinal direction of the trolley 1. After swinging to the working position, its direction is perpendicular to the longitudinal direction of the trolley 1. After the steel cage grabbing and rotating device 3 grabs the prefabricated steel cage to a suitable position, the two auxiliary swing arms 4 on this side swing to the working position, and the pressing plate 403 presses on the prefabricated steel cage to prevent the prefabricated steel cage from falling. Then the worker fixes the prefabricated steel cage. At this time, the manipulator can be released, and the telescopic arm 302 can be retracted to grab and install the next group of prefabricated steel cages.

[0043] like Figure 6 , 7 As shown, the mobile working platforms 2 are distributed at the front and rear ends of the trolley 1, and adopt a split design distributed at different heights. The mobile working platforms 2 at different heights can slide relatively independently, which has greater flexibility. The steel cage grabbing and rotating device 3 is located between the front and rear end mobile working platforms 2. After the mobile working platforms 2 at the front and rear ends of the trolley are closed, personnel can tie and fix the prefabricated steel cage on the mobile working platforms 2.

[0044] As a specific implementation of this embodiment, the mobile work platform 2 can be docked with the fixed work platform 6 on the trolley 1 to facilitate the up and down movement of personnel. In this embodiment, the mobile work platform 2 is driven by a hydraulic mechanism or an electric mechanism to achieve translation of the mobile work platform 2.

[0045] As another specific implementation of this embodiment, Figure 8 , 9 As shown, the trolley 1 is no longer provided with a fixed work platform 6, and an integral mobile work platform 2 is slidably provided at both ends of the trolley 1, and the integral mobile work platform 2 has a plurality of workstations at different heights. The auxiliary swing arm 4 is installed on the mobile work platforms 2 at the front and rear ends of the trolley 1. As the mobile work platforms 2 at both ends are brought closer, the distance between the adjacent auxiliary swing arms 4 on the same side is reduced, so that the prefabricated steel cage 8 can be better pressed. Generally, when the steel cage grabbing and rotating device 3 grabs the prefabricated steel cage 8, as shown in FIG. Figure 8 As shown, the mobile working platforms 2 at both ends are away from each other, leaving space for the rotation and expansion of the steel cage grabbing and rotating device 3 after grabbing; then, as shown in FIG. Fig. 9 As shown, the manipulator of the steel cage grabbing and rotating device 3 rotates 90°, and the rotating arm 301 is turned to lift the prefabricated steel cage 8 to a suitable height, and the telescopic arm 302 is extended to press the prefabricated steel cage 8 against the wall of the tunnel, and then the mobile working platforms 2 at both ends are close to each other, and the auxiliary swing arm 4 is swung to the working position to press the prefabricated steel cage 8, and then the workers fix the prefabricated steel cage 8. At this time, the manipulator can be released, and the telescopic arm 302 can be retracted to grab and install the next group of prefabricated steel cages 8.

[0046] It should be noted that the auxiliary swing arm 4 is mainly used for the installation of the prefabricated steel cages 8 at the upper positions on both sides of the tunnel. The prefabricated steel cages 8 at the lower positions on both sides of the tunnel and the prefabricated steel cages 8 at the top of the tunnel are still pressed by the manipulator when fixed.

[0047] Further, such as Figure 7 As shown, the lower part of the trolley 1 is also provided with a telescopic leg 7, and the bottom of the telescopic leg 7 is connected to the walking mechanism 5. When installing the prefabricated steel cage on the top of the tunnel, the height of the trolley 1 can be raised by extending the telescopic leg 7, which is convenient for the installation of the prefabricated steel cage on the top.

[0048] The structure of the walking mechanism 5 can be referred to Figure 1 As shown, it includes a driving motor 501, a transmission wheel 502 and a running wheel 503. The driving motor 501 drives the transmission wheel 502 and the running wheel 503 to rotate through a chain or a synchronous belt. The running wheel 503 rotates along the track 11 in the tunnel, driving the entire trolley 1 to move forward and backward. Fig.11 shown.

[0049] Embodiment 2: This embodiment mainly adopts the prefabricated steel cage installation device described in Embodiment 1, and takes the installation of a circumferential steel bar 10 as an example to illustrate the use of this device.

[0050] like Fig.10 As shown, a ring-shaped steel bar 10 in the tunnel is composed of three types of prefabricated steel cages 8. The three types of prefabricated steel cages 8 have a total of five sections, which are divided into a bottom steel cage 801, an upper steel cage 802 and a top steel cage 803 according to their locations. The three types of prefabricated steel cages 8 are all prefabricated outside the tunnel and then transported to the location where they need to be installed by a trolley. The three types of prefabricated steel cages 8 are installed in a sequence from bottom to top and alternating left to right. The length direction of the prefabricated steel cages 8 transported to the tunnel is roughly the same as the direction of the tunnel (e.g. Figure 8As shown in the figure, after the steel cage grabbing and rotating device 3 grabs the prefabricated steel cage 8, the manipulator rotary mechanism is first required to drive the prefabricated steel cage to rotate 90°, and then the rotary arm 301 is rotated to lift the prefabricated steel cage 8 to a suitable position, and then the telescopic arm 302 is extended so that the outer circumference of the prefabricated steel cage 8 can fit the tunnel wall; if the prefabricated steel cage 8 is the upper steel cage 802, the auxiliary swing arm 4 is also required to rotate to the working position to press the upper steel cage 802 on the tunnel wall (as shown in the figure). Fig. 9 As shown), the workers fix the upper steel cage 802; if the prefabricated steel cage 8 is the bottom steel cage 801 or the top steel cage 803, the steel cage grasping and rotating device 3 is still kept pressed, and the workers fix the bottom steel cage 801 or the top steel cage 803.

[0051] It should be noted that when the steel cage grasping and rotating device 3 grasps the prefabricated steel cage 8, the manipulator swing mechanism 307 can also adjust the appropriate angle so that the clamp 309 can smoothly enter the prefabricated steel cage; in the process of placing the grasped prefabricated steel cage 8 to the installation position, the manipulator swing mechanism 307 can cooperate with the longitudinal translation drive mechanism 305 to adjust the installation position of the prefabricated steel cage 8 to achieve precise positioning and installation.

[0052] Figure 12-16 The installation sequence of three types of prefabricated reinforcement cages 8 is given: (1) If Fig.12 As shown, the bottom steel cage 801 on the left is installed. After the bottom steel cage 801 is installed in place, the steel cage grabbing and rotating device 3 is kept pressing the bottom steel cage 801, and the mobile working platform 2 is moved to the inner side of the bottom steel cage 801 to fix the bottom steel cage 801; (2) If Fig.13 As shown, after the installation of the left bottom steel cage 801 is completed, the left upper steel cage 802 is installed. At this time, the auxiliary swing arm 4 needs to be used to press the upper steel cage 802. After the steel cage grabbing and rotating device 3 is separated from the upper steel cage 802, it rotates to the lowest position to prepare to clamp the next group of steel cages, and the worker fixes the left upper steel cage 802 on the mobile working platform 2; (3) If Fig.14 As shown, the installation and fixation of the bottom steel cage 801 on the right side is completed according to step (1); (4) If Fig.15 As shown, the installation and fixation of the upper steel cage 802 on the right side is completed according to step (2); (5) If Fig.16As shown, the steel cage grabbing and rotating device 3 clamps the top steel cage 803 and rotates to the highest position, placing the top steel cage 803 in place, and then the worker fixes the top steel cage 803. At this point, the construction of one ring of steel bars 10 is completed, and the trolley is driven by the walking mechanism to continue moving forward to prepare for the construction of the next ring.

[0053] When installing the upper reinforcement cage 802 and the top reinforcement cage 803 , the telescopic legs 7 at the bottom of the trolley 1 are extended to raise the height of the trolley 1 , thereby facilitating the installation of the upper reinforcement cage 802 and the top reinforcement cage 803 .

[0054] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Those skilled in the art should understand that the specific implementation modes of the present invention may be modified or replaced by equivalents with reference to the above embodiments. Any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention are within the scope of protection of the pending claims.

Claims

1. A prefabricated steel cage installation device for the secondary lining of a drill and blast tunnel, characterized in that: It comprises a trolley (1), wherein a running mechanism (5) is arranged at the bottom of the trolley (1) for moving along a track (11) in a tunnel; A mobile working platform (2) is slidably arranged on the trolley (1) to provide an operating platform for personnel to fix the prefabricated steel cage, and the mobile working platform (2) slides forward and backward in the longitudinal direction of the trolley (1); The steel cage grabbing and rotating device (3) is located in the middle of the trolley (1), and comprises a swivel arm (301), a telescopic arm (302) and a manipulator. The swivel arm (301) is rotatably connected to the trolley (1), the swivel axis of the swivel arm (301) is parallel to the longitudinal direction of the trolley (1), the swivel arm (301) is connected to the fixed end of the telescopic arm (302), the telescopic direction of the telescopic arm (302) is perpendicular to the swivel axis of the swivel arm (301), the end of the telescopic arm (302) is connected to a manipulator swivel mechanism (310), the swivel axis of the manipulator swivel mechanism (310) is parallel to the telescopic direction of the telescopic arm (302), the manipulator is connected to the telescopic arm (302) via the manipulator swivel mechanism (310), and the manipulator is used to grab the prefabricated steel cage (8) to be installed.

2. The prefabricated steel cage installation device according to claim 1 is characterized in that: The manipulator is hinged to the rotating part of the manipulator rotating mechanism (310), and is provided with a manipulator swing mechanism (307) capable of linear extension and contraction, wherein both ends of the manipulator swing mechanism (307) are respectively hinged to the manipulator and the rotating part of the manipulator rotating mechanism (310).

3. The prefabricated steel cage installation device according to claim 1 or 2, characterized in that: The manipulator comprises a manipulator fixing plate (306), a clamping mechanism (308) capable of linear extension and retraction, and a clamping claw (309); the manipulator fixing plate (306) is used to be hinged to the rotating part of the manipulator rotating mechanism (310); the clamping claw (309) is relatively arranged on both sides of the manipulator fixing plate (306), and the middle part of the clamping claw (309) is hinged to the manipulator fixing plate (306); the clamping end of the clamping claw (309) is provided with a hook body, and the connecting ends of the two relatively arranged clamping claws (309) are respectively hinged to the two ends of the clamping mechanism (308); the clamping mechanism (308) drives the clamping claw (309) to swing by linear extension and retraction to clamp or release the prefabricated steel cage.

4. The prefabricated steel cage installation device according to claim 3 is characterized in that: A wear-resistant plate (311) capable of pressing onto the prefabricated steel cage (8) is also fixedly disposed on the manipulator fixing plate (306), and the surface of the wear-resistant plate (311) is densely covered with grooves.

5. The prefabricated steel cage installation device according to claim 1, characterized in that: The slewing arm (301) is also provided with a translation adjustment mechanism, which is used to drive the telescopic arm (302) to translate along the axial direction of the slewing arm (301); the translation adjustment mechanism comprises a linear guide rail (303) and a slider (304) that are slidably matched, and a longitudinal translation driving mechanism (305) that controls the sliding of the slider (304); the linear guide rail (303) is fixed on the slewing arm (301), the slider (304) is fixedly connected to the side of the telescopic arm (302), and the longitudinal translation driving mechanism (305) is a linear telescopic mechanism, one end of which is hinged to the slewing arm (301), and the other end of which is hinged to the slider (304).

6. The prefabricated steel cage installation device according to claim 1, characterized in that: Auxiliary swing arms (4) are respectively arranged on the left and right sides of the trolley (1); the auxiliary swing arms (4) have a working position; when the auxiliary swing arms (4) are in the working position, the prefabricated steel cage (8) can be pressed against the wall of the tunnel.

7. The prefabricated steel cage installation device according to claim 6, characterized in that: The auxiliary swing arm (4) comprises a swing arm (401), a swing arm rotating mechanism (402) and a pressure plate (403); the swing arm rotating mechanism (402) is mounted on the trolley (1); one end of the swing arm (402) is connected to the swing arm rotating mechanism (402); the swing arm (401) is driven by the swing arm rotating mechanism (402) to swing at a certain angle in the horizontal direction; the other end of the swing arm (401) is hinged to the pressure plate (403).

8. The prefabricated steel cage installation device according to claim 7, characterized in that: Two auxiliary swing arms (4) are arranged on the same side of the trolley (1).

9. The prefabricated steel cage installation device according to claim 7 or 8, characterized in that: The auxiliary swing arm (4) is mounted on the mobile working platform (2).

10. The prefabricated steel cage installation device according to claim 1, characterized in that: The bottom of the trolley (1) is provided with a telescopic support leg (7), and the bottom of the telescopic support leg (7) is installed with the walking mechanism (5).

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