A prefabricated reinforcement cage mounting device for the secondary lining of a drill and blast tunnel

Abstract

The present application relates to a kind of prefabricated reinforcement cage installation device for drill and blast method tunnel secondary lining, including trolley, trolley bottom is equipped with traveling mechanism;Mobile work platform is set along the longitudinal front and back of trolley sliding;Reinforcement cage grabbing rotary device, located in the middle of trolley, including rotary large arm, telescopic arm and manipulator, rotary large arm is rotatably connected in trolley, the rotary axis of rotary large arm is parallel with the longitudinal direction of trolley, rotary large arm is connected with telescopic arm fixed end, the telescopic direction of telescopic arm is perpendicular to the rotary axis of rotary large arm, the end of telescopic arm is connected with manipulator rotary mechanism, the rotary axis of manipulator rotary mechanism is parallel with the telescopic direction of telescopic arm, and manipulator is connected with telescopic arm by manipulator rotary mechanism.The present application can significantly improve the installation efficiency of prefabricated reinforcement cage, reduce the manpower demand of installation, improve installation precision and the safety of construction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tunnel construction, and particularly relates to a prefabricated reinforcement cage installation device for drill-and-blast method tunnel secondary lining. BACKGROUND

[0002] In the wave of modern infrastructure construction, tunnel engineering plays a core role in connecting regions and driving economic development, and its construction efficiency and quality directly affect the success of the entire project. In the tunnel support structure, reinforcement cage, as a key component, plays an irreplaceable role in ensuring the stability and safety of the tunnel. However, the traditional reinforcement cage installation process mainly relies on manual handling and assembly, which not only has high labor intensity and low operation efficiency, but also has huge safety hazards in the complex and variable environment of the tunnel.

[0003] In the mainstream construction process of drill-and-blast tunnel secondary lining reinforcement binding, the steel reinforcement raw materials usually need to be transported to the inside of the tunnel and placed at the front end of the reinforcement binding trolley. Then, workers need to manually cold-press butt joint the ring-shaped steel reinforcement 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 high labor intensity and outstanding safety hazards, but also has low binding efficiency and difficult-to-control binding precision. Based on the background of the prior art, many problems are exposed in the process of tunnel secondary lining reinforcement binding. For example, the misplacement or omission of steel reinforcement frequently occurs, which seriously weakens the strength of the tunnel structure and further affects the overall safety performance; in the process of handling and installation, the steel reinforcement is easy to bend or break, which damages its use effect and the load-bearing capacity of the tunnel structure; improper application of welding technology reduces the strength of the steel reinforcement connection part, further aggravating the safety hazards. In addition, the steel reinforcement is easily corroded and eroded in the harsh construction environment, which shortens its service life and reduces the safety. At the same time, the negligence of construction management is also an important factor causing the quality problems of steel reinforcement binding, such as insufficient supervision by on-site management personnel and poor execution of construction technology.

[0004] In view of the above challenges, it is particularly urgent to develop a prefabricated reinforcement cage installation device suitable for drill-and-blast method tunnel secondary lining. SUMMARY

[0005] The purpose of the present application is to provide a prefabricated reinforcement cage installation device for drill-and-blast method tunnel secondary lining, which improves the installation precision, speeds up the tunnel construction progress, and significantly improves the safety of the tunnel engineering, providing better protection for construction personnel.

[0006] In order to achieve the above purpose, the technical solution adopted by the present application is: a prefabricated reinforcement cage installation device for drill-and-blast method tunnel secondary lining, comprising a trolley, the bottom of the trolley is provided with a traveling mechanism for moving along the track in the tunnel;

[0007] The mobile working platform is slidably arranged on the trolley and provides an operation platform for workers to fix prefabricated reinforcement cages.

[0008] The reinforcement cage grabbing and rotating device is arranged in the middle of the trolley and comprises a rotating large arm, an extension arm and a mechanical hand.

[0009] The reinforcement cage grabbing and rotating device can grab a group of longitudinally arranged prefabricated reinforcement cages, rotate the prefabricated reinforcement cages by 90 degrees through the rotation of the mechanical hand rotating mechanism, lift the extension arm to a position to be installed by the rotating large arm, extend the extension arm to place the prefabricated reinforcement cage at the installation position of the hole wall, and then move the mobile working platform to the prefabricated reinforcement cage to be fixed by workers.

[0010] Further, the mechanical hand is hingedly connected to the rotating part of the mechanical hand rotating mechanism and is provided with a mechanical hand swing mechanism capable of linear extension and retraction.

[0011] The mechanical hand swing mechanism can adjust the pitch angle of the mechanical hand and the prefabricated reinforcement cage, facilitate the adjustment of the position angle when the prefabricated reinforcement cage is placed at the installation position, and make the prefabricated reinforcement cage better fit the hole wall and be connected with the installed reinforcement cage.

[0012] Further, the mechanical arm comprises a mechanical arm fixing plate, a clamping mechanism capable of linear extension and retraction, and a clamping jaw, the mechanical arm fixing plate is used for being hinged to the rotating part of the mechanical arm rotating mechanism, the clamping jaws are oppositely arranged on the two sides of the mechanical arm fixing plate, the middle part of the clamping jaw is hinged to the mechanical arm fixing plate, the clamping end of the clamping jaw is provided with a hook body, the connecting ends of the oppositely arranged two clamping jaws are respectively hinged to the two ends of the clamping mechanism, and the clamping mechanism drives the clamping jaw to swing through linear extension and retraction, so as to clamp or release the prefabricated reinforcement cage.

[0013] The beneficial effect is that a mechanical arm structure with simple structure and easy implementation is provided.

[0014] Further, the mechanical arm fixing plate is further fixedly provided with a wear-resistant plate capable of being pressed on the prefabricated reinforcement cage, and the plate surface of the wear-resistant plate is further densely provided with grooves.

[0015] The beneficial effect is that the wear-resistant plate can reduce the abrasion of the mechanical arm by the prefabricated reinforcement cage, and the grooves arranged can increase the friction between the wear-resistant plate and the prefabricated reinforcement cage, thereby playing a role of anti-skid.

[0016] As an implementation mode, the rotating large arm is further provided with a translation adjustment mechanism, the translation adjustment mechanism is used for driving the telescopic arm to translate along the axial direction of the rotating large arm, the translation adjustment mechanism comprises a linear guide rail and a sliding block in sliding cooperation, and a longitudinal translation driving mechanism for controlling the sliding of the sliding block, the linear guide rail is fixed on the rotating large arm, the sliding block is fixedly connected with the side surface of the telescopic arm, and the longitudinal translation driving mechanism is a linear extension and retraction mechanism, one end of which is hinged to the rotating large arm, and the other end is hinged to the sliding block.

[0017] The beneficial effect is that the translation adjustment mechanism can adjust the position of the telescopic arm in the longitudinal direction, so that the prefabricated reinforcement cage can be adjusted to a suitable position during installation.

[0018] As another implementation mode, the left and right sides of the trolley are respectively provided with auxiliary swing arms, the auxiliary swing arms have a working position, and the auxiliary swing arms can press the prefabricated reinforcement cage on the hole wall of the tunnel when the auxiliary swing arms are in the working position.

[0019] The beneficial effect is that the auxiliary swing arms can be pressed on the prefabricated reinforcement cage during installation of the prefabricated reinforcement cage, so that the mechanical arm is loosened, and then the next group of prefabricated reinforcement cages is grasped and installed, thereby improving the installation efficiency of the prefabricated reinforcement cage.

[0020] Specifically, the auxiliary swing arm comprises a swing arm, a swing arm rotating mechanism, and a pressing plate, the swing arm rotating mechanism is installed on the trolley, one end of the swing arm is connected with the swing arm rotating mechanism, the swing arm is swung by a certain angle in the horizontal direction by the swing arm rotating mechanism, and the other end of the swing arm is hinged to the pressing plate.

[0021] Its beneficial effect is: give an auxiliary swing arm structure, wherein the pressing plate is hinged in a way that the pressing plate can move freely, adaptively adjust its angle, and better press on the prefabricated reinforcement cage.

[0022] Further, the same side of the trolley is provided with two auxiliary swing arms.

[0023] Its beneficial effect is: two auxiliary swing arms on the same side can press on the same prefabricated reinforcement cage, further improving the pressing effect on the prefabricated reinforcement cage, avoiding the sliding or falling of the prefabricated reinforcement cage during binding, and ensuring the smooth completion of the installation and fixing process.

[0024] Further, the auxiliary swing arm is installed on the mobile working platform.

[0025] Its beneficial effect is: the mobile working platform can move the auxiliary swing arm during movement, on the one hand, avoiding the influence of the auxiliary swing arm on the grabbing and rotation process during grabbing, and on the other hand, being closer to the prefabricated reinforcement cage during binding, further ensuring the pressing effect on the prefabricated reinforcement cage.

[0026] As another embodiment, the bottom of the trolley is provided with a telescopic leg, and the telescopic leg is provided with the walking mechanism.

[0027] Its beneficial effect is: the telescopic leg can increase the height of the whole trolley, facilitating the binding operation of the upper reinforcement cage and the top reinforcement cage.

[0028] The beneficial effect of the present application is: 1. Significantly improve the construction efficiency and greatly reduce the labor demand: At present, the two lining steel raw materials are transported to the tunnel in whole bundles, and after being scattered, the annular steel is cold-pressed and connected according to the designed length by manual operation, and the installation method relies on a large amount of manpower, and the operation is complicated and inefficient. The present application realizes accurate grabbing of the reinforcement cage through the grabbing of the mechanical hand on the reinforcement cage grabbing and rotating device, the angle adjustment of the mechanical hand swing mechanism, and the rotation of the mechanical hand rotating mechanism, and accurately places the reinforcement cage to the predetermined position through the extension and retraction of the telescopic arm and the rotation of the rotating arm, thereby greatly reducing the labor demand, reducing the labor intensity of the construction personnel, and improving the installation efficiency.

[0029] 2. By introducing a multi-stage telescopic arm structure and a translation adjustment mechanism, our device can quickly adapt to different tunnel sections and reinforcement cage sizes, realize efficient and continuous reinforcement cage installation operation, and further improve the work efficiency.

[0030] 3. In terms of improving construction safety, the device reduces the risk of accidents by reducing the opportunity for personnel to directly contact the reinforcement cage through mechanized operation. Meanwhile, the design of the mobile work platform not only provides sufficient operating space during the grabbing and placing of the reinforcement cage, allowing the construction personnel on the platform to be away from the reinforcement cage during installation, thereby improving the safety of the construction environment, but also allows the platform to be moved to the inside of the reinforcement cage after the reinforcement cage is placed in position, enabling the construction personnel to conveniently perform the binding and fixing of the reinforcement cage on the platform, thereby improving the safety and comfort of the construction personnel.

[0031] 4. In terms of reinforcement cage installation precision, the device can achieve precise positioning and installation of the reinforcement cage through the design of the precise manipulator, telescopic arm, rotary boom, and auxiliary swing arm, further contributing to the stability and safety of the tunnel support structure and improving the overall quality of the tunnel project.

[0032] The appearance of the present application promotes the innovation and development of tunnel construction technology. Its innovative design concept and technical means provide new solutions and ideas for the tunnel engineering industry, abandoning the traditional manual binding method, and contributing to the improvement of the technical level and competitiveness of the entire industry. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the prefabricated reinforcement cage installation device described in embodiment 1;

[0035] Figure 2 FIG. 2 is a schematic diagram of the structure of the reinforcement cage grabbing and rotating device in embodiment 1;

[0036] Figure 3 FIG. 3 is a side view of the reinforcement cage grabbing and rotating device in embodiment 1;

[0037] Figure 4 FIG. 4 is a schematic diagram of the structure of the manipulator in embodiment 1;

[0038] Figure 5 FIG. 5 is a schematic diagram of the structure of the auxiliary swing arm in embodiment 1;

[0039] Figure 6 FIG. 6 is a schematic diagram of the mobile work platform in the prefabricated reinforcement cage installation device described in embodiment 1 in a separated state;

[0040] Figure 7 Figure 6 is a schematic diagram of the state of the prefabricated reinforcement cage installation device described in Example 1 approaching the state of the mobile working platform on the same side of the front and rear ends;

[0041] Figure 8 Figure 7 is a schematic diagram of the state of the prefabricated reinforcement cage installation device described in Example 1 grabbing the prefabricated reinforcement cage;

[0042] Figure 9 Figure 8 is a schematic diagram of the state of the prefabricated reinforcement cage installation device described in Example 1 rotating to the installation position after grabbing the prefabricated reinforcement cage;

[0043] Figure 10 Figure 9 is an exploded view of the circumferential reinforcement structure of the secondary lining of the drill-and-blast tunnel according to the present application in Example 2;

[0044] Figure 11 Figure 10 is a schematic diagram of the state of the present application in the tunnel in Example 2;

[0045] Figure 12 Figure 11 is a schematic diagram of the state of the present application in the installation of the bottom reinforcement cage on the left side of the tunnel in Example 2;

[0046] Figure 13 Figure 12 is a schematic diagram of the state of the present application in the installation of the upper reinforcement cage on the left side of the tunnel in Example 2;

[0047] Figure 14 Figure 13 is a schematic diagram of the state of the present application in the installation of the bottom reinforcement cage on the right side of the tunnel in Example 2;

[0048] Figure 15 Figure 14 is a schematic diagram of the state of the present application in the installation of the upper reinforcement cage on the right side of the tunnel in Example 2;

[0049] Figure 16 Figure 15 is a schematic diagram of the state of the present application in the installation of the top reinforcement cage of the tunnel in Example 2;

[0050] Figure 16 is a schematic diagram of the state of the present application in the installation of the top reinforcement cage of the tunnel in Example 2;

[0051] 3, reinforcement cage grabbing and rotating device, 301, rotating large arm, 302, telescopic arm, 302-1, fixed arm, 302-2, second-stage telescopic arm, 302-3, first-stage telescopic arm, 303, linear guide rail, 304, sliding block, 305, longitudinal translation driving mechanism, 306, mechanical hand fixing plate, 307, mechanical hand oscillation mechanism, 308, clamping mechanism, 309, clamping jaw, 310, mechanical hand rotating mechanism, 311, wear-resistant plate,

[0052] 4, auxiliary oscillation arm, 401, oscillation arm, 402, oscillation arm rotating mechanism, 403, pressing plate;

[0053] 5, walking mechanism, 501, driving motor, 502, transmission wheel, 503, walking wheel;

[0054] 6. Fixed working platform; 7. Telescopic outriggers;

[0055] 8. Precast steel cage, 801. Bottom steel cage, 802. Upper steel cage, 803. Top steel cage;

[0056] 9. Tunnel, 10. Circumferential reinforcement, 11. Track. Detailed Implementation

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the invention in any way.

[0058] Example 1: As Figure 1 As shown, a precast steel cage installation device for secondary lining of drill-and-blast tunnels includes a trolley 1 and a mobile working platform 2, a steel cage gripping and rotating device 3, an auxiliary swing arm 4, and a fixed working platform 6 mounted on the trolley 1. The trolley 1 has a traveling mechanism 5 at its bottom, facilitating the entire device's forward and backward movement along a track within the tunnel. The mobile working platform 2 and the fixed working platform 6 are distributed on both sides of the trolley 1 in the direction of travel and are set at different heights to facilitate workers in fixing steel cages at different heights within the tunnel.

[0059] Furthermore, the trolley 1 adopts a large-frame gantry structure, and the large clearance at the bottom ensures the normal passage of other vehicles in the tunnel.

[0060] The structure of the steel cage gripping and rotating device 3 is as follows: Figure 2 , 3, 4, including a rotary jib 301, a telescopic arm 302 and a manipulator, the rotary jib 301 is arranged on the longitudinal beam of the trolley 1, the rotary jib 301 is internally provided with a rotary mechanism, such as a rotary oil cylinder or an electric cylinder, the two ends of the rotary jib 301 are respectively connected with the longitudinal beam of the trolley 1, and the rotary axis of the rotary jib 301 is parallel to the longitudinal beam of the trolley 1; the telescopic arm 302 is connected on the rotary part of the rotary jib 301, the telescopic direction of the telescopic arm 302 is perpendicular to the rotary axis of the rotary jib 301, the telescopic arm 302 is a multi-stage telescopic arm driven by electricity or hydraulic pressure, and includes a fixed arm 302-1, a two-stage telescopic arm 302-2 and a one-stage telescopic arm 302-3 which are sequentially and slidably connected, the fixed arm 302-1 is connected with the rotary jib 301, and the end of the one-stage telescopic arm 302-3 is connected with a manipulator rotary mechanism 310, and the manipulator rotary mechanism 310 is connected with the manipulator. The manipulator includes a manipulator fixed plate 306, a manipulator swing mechanism 307, a clamping mechanism 308 and a clamping jaw 309; the manipulator fixed plate 306 is hinged to the rotary part of the manipulator rotary mechanism 310, the manipulator rotary mechanism is a rotary 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 rotary part of the manipulator rotary mechanism 310, the other end is hinged to the manipulator fixed plate 306, the clamping jaw 309 is provided with at least two pairs, the two clamping jaws of each pair are oppositely arranged on the two sides of the manipulator fixed plate 306, the middle part of the clamping jaw 309 is hinged to the manipulator fixed plate 306, and the lower part of the clamping jaw 309 is provided with a hook body capable of hooking a steel bar; the clamping mechanism 308 is a linear telescopic mechanism, such as a hydraulic rod or an electric telescopic rod, and the two ends thereof are respectively hinged to the upper parts of the two clamping jaws 309, with the telescoping of the clamping mechanism 308, the hook bodies of the two clamping jaws 309 connected with the clamping mechanism 308 are opened or closed, so that the clamping or loosening of the steel bars in the prefabricated reinforcement cage is realized.

[0061] The clamping mechanism 308 of the manipulator can drive the clamping jaw 309 to rotate to clamp the prefabricated reinforcement cage, so that the prefabricated reinforcement cage is gripped; the manipulator rotary mechanism 310 can drive the manipulator and the gripped prefabricated reinforcement cage to rotate by a suitable angle, so as to facilitate the installation of the prefabricated reinforcement cage; the telescopic arm 302 has a multi-stage telescopic function, which is used for the extension and retraction of the manipulator, and meets the installation and positioning requirements of the prefabricated reinforcement cage on both sides and the top of the hole wall; the manipulator swing mechanism 307 can drive the manipulator to swing, so as to adjust the inclination angle of the manipulator fixed plate 306, and facilitate the fine adjustment of the angle of the prefabricated reinforcement cage when the prefabricated reinforcement cage is installed on the tunnel hole wall; the rotary jib 301 can drive the telescopic arm 302 and the manipulator to rotate in the tunnel, and place the gripped prefabricated reinforcement cage at the installation position.

[0062] Preferably, the rotation range of the rotary arm 301 is 360°, the rotation angle range of the manipulator rotary mechanism 310 is 0°-90°, and the swing angle range of the manipulator swing mechanism 307 is ±25°.

[0063] Preferably, as shown in Figure 4 Preferably, the side of the manipulator fixing plate 306 facing the prefabricated reinforcement cage is also fixedly provided with a wear-resistant plate 311 to reduce the wear of the manipulator by the prefabricated reinforcement cage. The surface of the wear-resistant plate 311 is also densely provided with grooves to increase the friction with the prefabricated reinforcement cage and play a role of anti-skid.

[0064] As another embodiment of the present embodiment, the manipulator can also adopt the form of a pneumatic clamp, a three-jaw chuck, a finger-type gripper, a suction cup gripping structure, or a magnetic suction gripping structure.

[0065] Preferably, a translation adjustment mechanism is further arranged between the telescopic arm 302 and the rotary arm 301 to realize the translation of the telescopic arm 302 along the rotary arm 301. The translation adjustment mechanism comprises a linear guide rail 303 arranged on the rotary arm 301, a sliding block 304 in sliding connection with the linear guide rail 303, and a longitudinal translation driving mechanism 305. The telescopic arm 302 is fixed on the sliding block 304, and the longitudinal translation driving mechanism 305 is a hydraulic cylinder or an electric cylinder for realizing linear telescopic movement, one end of which is hinged to the rotary arm 301 and the other end of which is hinged to the sliding block 304. The longitudinal translation driving mechanism 305 can drive the telescopic arm 302 to translate longitudinally, so that the longitudinal position of the prefabricated reinforcement cage can be finely adjusted during the installation of the prefabricated reinforcement cage.

[0066] Continuing to refer to Figure 1 As a further extension of the present embodiment, the trolley 1 is further provided with auxiliary swing arms 4. In the present embodiment, four auxiliary swing arms 4 are arranged, which are evenly distributed on the left and right sides of the rotary arm 301, i.e., two auxiliary swing arms 4 are arranged on the same side of the trolley 1. Figure 5As shown, it comprises a swing arm 401, a swing arm rotating mechanism 402, which is a rotary oil cylinder or an electric cylinder, installed on the trolley 1, and a pressing plate 403. One end of the swing arm 402 is connected with the swing arm rotating mechanism 402, and the swing arm 401 is swung in the horizontal direction by a certain angle driven by the swing arm rotating mechanism 402, and the other end of the swing arm 401 is hinged with the pressing plate 403. Specifically, the swing range of the auxiliary swing arm 4 is 0-90°, and the initial position is parallel to the longitudinal direction of the trolley 1, and after swinging to the working position, it 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 the appropriate position, the two auxiliary swing arms 4 on the side are swung to the working position, and the pressing plate 403 is pressed on the prefabricated steel cage to prevent the prefabricated steel cage from falling, and then the worker fixes the prefabricated steel cage. At this time, the manipulator can be released, the telescopic arm 302 is retracted, and the next group of prefabricated steel cages is grabbed and installed.

[0067] As shown in Figure 6 , 7 , the mobile working platforms 2 are distributed at the front and rear ends of the trolley 1, and are designed in a split type distributed at different heights. The mobile working platforms 2 at different heights can slide relatively independently, having greater flexibility. The steel cage grabbing and rotating device 3 is located between the mobile working platforms 2 at the front and rear ends of the trolley 1. After the mobile working platforms 2 at the front and rear ends of the trolley 1 are folded, personnel can bind and fix the prefabricated steel cage on the mobile working platforms 2.

[0068] As a specific embodiment of the present embodiment, the mobile working platform 2 can be docked with the fixed working platform 6 on the trolley 1, facilitating personnel to pass up and down. In the present embodiment, the mobile working platform 2 is driven by a hydraulic mechanism or an electric mechanism to realize the translation of the mobile working platform 2.

[0069] As still another specific embodiment of the present embodiment, as shown in Figure 8 , 9 , the fixed working platform 6 is no longer arranged on the trolley 1, and the integral mobile working platforms 2 are slidably arranged at the two ends of the trolley 1. The integral mobile working platforms 2 have multiple workstations at different heights. The auxiliary swing arms 4 are installed on the mobile working platforms 2 at the front and rear ends of the trolley 1. As the two mobile working platforms 2 at the ends approach each other, the distance between the adjacent auxiliary swing arms 4 on the same side decreases, which can better press the prefabricated steel cage 8. Under normal circumstances, when the steel cage grabbing and rotating device 3 grabs the prefabricated steel cage 8, as shown in Figure 8 , the mobile working platforms 2 at the two ends are away from each other, leaving a rotating and telescoping space for the steel cage grabbing and rotating device 3 after grabbing; then, as shown in Figure 9As shown in the figure, the mechanical arm of the reinforcement cage grabbing and rotating device 3 rotates 90°, and the slewing jib 301 rotates to lift the prefabricated reinforcement cage 8 to a suitable height. The telescopic arm 302 extends, and the prefabricated reinforcement cage 8 is placed against the hole wall of the tunnel. Then the two movable working platforms 2 move close to each other, the auxiliary swing arm 4 swings to the working position to press the prefabricated reinforcement cage 8, and then workers fix the prefabricated reinforcement cage 8. At this time, the mechanical arm can be released, the telescopic arm 302 is retracted, and the next group of prefabricated reinforcement cages 8 is grabbed and installed.

[0070] It should be noted that the auxiliary swing arm 4 is mainly used for the installation of the prefabricated reinforcement cage 8 at the upper position of the two sides of the tunnel. The prefabricated reinforcement cage 8 at the lower position of the two sides of the tunnel and the prefabricated reinforcement cage 8 at the top of the tunnel are still pressed by the mechanical arm when fixed.

[0071] Further, as shown in the figure, Figure 7 The lower part of the trolley 1 is also provided with a telescopic supporting leg 7, and the bottom of the telescopic supporting leg 7 is connected to the traveling mechanism 5. When installing the prefabricated reinforcement cage at the top of the tunnel, the height of the trolley 1 can be raised by extending the telescopic supporting leg 7, which facilitates the installation of the prefabricated reinforcement cage at the top.

[0072] The structure of the traveling mechanism 5 can refer to Figure 1 As shown in the figure, it includes a driving motor 501, a transmission wheel 502, and a traveling wheel 503. The driving motor 501 drives the transmission wheel 502 and the traveling wheel 503 to rotate through a chain or a synchronous belt. The traveling wheel 503 rotates along the track 11 in the tunnel, driving the entire trolley 1 to move back and forth, as shown in the figure. Figure 11

[0073] Embodiment 2: This embodiment mainly uses the prefabricated reinforcement cage installation device described in Embodiment 1 to install a ring reinforcement 10 as an example to illustrate the use method of the device.

[0074] As shown in the figure, Figure 10 A ring reinforcement 10 in the tunnel is composed of three types of prefabricated reinforcement cages 8, and the three types of prefabricated reinforcement cages 8 are divided into five segments according to their positions, which are bottom reinforcement cages 801, upper reinforcement cages 802, and top reinforcement cages 803. The three types of prefabricated reinforcement cages 8 are prefabricated outside the tunnel and then transported to the installation position by a trolley. The three types of prefabricated reinforcement cages 8 are installed in the order of from bottom to top and left to right alternately. The length of the prefabricated reinforcement cage 8 transported to the tunnel is approximately the same as the direction of the tunnel (as shown in the figure). Figure 8 ​After the prefabricated reinforcement cage 8 is grabbed by the reinforcement cage grabbing and rotating device 3, the mechanical arm rotating mechanism first needs to drive the prefabricated reinforcement cage to rotate 90°, and then the rotating large arm 301 rotates and lifts the prefabricated reinforcement cage 8 to a suitable position, and then the telescopic arm 302 is extended, so that the outer circular surface of the prefabricated reinforcement cage 8 can be attached to the tunnel wall; if the prefabricated reinforcement cage 8 is the upper reinforcement cage 802, the auxiliary swing arm 4 also needs to be rotated to the working position to press the upper reinforcement cage 802 on the wall (as shown in Figure 9 The worker fixes the upper reinforcement cage 802; if the prefabricated reinforcement cage 8 is the bottom reinforcement cage 801 or the top reinforcement cage 803, the reinforcement cage grabbing and rotating device 3 is still pressed, and the worker fixes the bottom reinforcement cage 801 or the top reinforcement cage 803.

[0075] It should be noted that when the prefabricated reinforcement cage 8 is grabbed by the reinforcement cage grabbing and rotating device 3, the mechanical arm swinging mechanism 307 can also adjust the appropriate angle, so that the clamping jaw 309 can smoothly enter the prefabricated reinforcement cage; during the process of placing the grabbed prefabricated reinforcement cage 8 to the installation position, the mechanical arm swinging mechanism 307 can cooperate with the longitudinal translation driving mechanism 305 to adjust the installation position of the prefabricated reinforcement cage 8, so as to realize accurate positioning and installation.

[0076] Figures 12-16 The installation sequence of three types of prefabricated reinforcement cages 8 is given:

[0077] (1) As shown in Figure 12 , the installation of the bottom reinforcement cage 801 on the left side is carried out, and after the bottom reinforcement cage 801 is installed in place, the reinforcement cage grabbing and rotating device 3 is kept pressed on the bottom reinforcement cage 801, and the movable working platform 2 is moved to the inside of the bottom reinforcement cage 801 to fix the bottom reinforcement cage 801;

[0078] (2) As shown in Figure 13 , after the installation of the bottom reinforcement cage 801 on the left side is completed, the installation of the upper reinforcement cage 802 on the left side is carried out, and at this time the auxiliary swing arm 4 is needed to press the upper reinforcement cage 802, and after the reinforcement cage grabbing and rotating device 3 is separated from the upper reinforcement cage 802, it is rotated to the lowest position to prepare for clamping the next group of reinforcement cages, and the worker fixes the upper reinforcement cage 802 on the left side on the movable working platform 2;

[0079] (3) As shown in Figure 14 , the installation and fixation of the bottom reinforcement cage 801 on the right side are completed in the manner of step (1);

[0080] (4) As shown in Figure 15 , the installation and fixation of the upper reinforcement cage 802 on the right side are completed in the manner of step (2);

[0081] (5) As shown in Figure 16As shown, the reinforcement cage grabbing and rotating device 3 is rotated to the highest position after clamping the top reinforcement cage 803, and the top reinforcement cage 803 is placed in position, and then workers fix the top reinforcement cage 803. Thus, the construction of one ring of reinforcement 10 is completed, and the trolley is continuously driven to move forward by the walking mechanism, and the construction of the next ring is prepared.

[0082] When the installation and construction of the upper reinforcement cage 802 and the top reinforcement cage 803 are performed, the telescopic legs 7 at the bottom of the trolley 1 are extended, and the height of the trolley 1 is raised, so as to facilitate the installation of the upper reinforcement cage 802 and the top reinforcement cage 803.

[0083] The above examples are only used to illustrate the technical solutions of the present application but not to limit it, and those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced by equivalents according to the above examples, and any modification or equivalent replacement without departing from the spirit and scope of the present application is within the protection scope of the claims.

Claims

1. A precast steel cage installation device for the secondary lining of drill-and-blast tunnels, characterized in that: Includes a trolley (1), with a traveling mechanism (5) at the bottom of the trolley (1) for moving along the track (11) inside the tunnel; The mobile work platform (2) is slidably set on the trolley (1) to provide an operating platform for personnel to fix the precast steel cage. The mobile work platform (2) slides back and forth along the longitudinal direction of the trolley (1). The steel cage gripping and rotating device (3) is located in the middle of the trolley (1) and includes a rotating arm (301), a telescopic arm (302) and a robot arm. The rotating arm (301) is rotatably connected to the trolley (1). The rotation axis of the rotating arm (301) is parallel to the longitudinal direction of the trolley (1). The rotating arm (301) is connected to the fixed end of the telescopic arm (302). The extension and retraction direction of the telescopic arm (302) is perpendicular to the rotation axis of the rotating arm (301). The end of the telescopic arm (302) is connected to a robot arm rotation mechanism (310). The rotation axis of the robot arm rotation mechanism (310) is parallel to the extension and retraction direction of the telescopic arm (302). The robot arm is connected to the telescopic arm (302) through the robot arm rotation mechanism (310). The robot arm is used to grip the precast steel cage (8) to be installed. The slewing boom (301) is also provided with a translation adjustment mechanism, which is used to drive the telescopic boom (302) to translate along the axial direction of the slewing boom (301). The translation adjustment mechanism includes a slidingly fitted linear guide rail (303) and a slider (304) and a longitudinal translation drive mechanism (305) for controlling the sliding of the slider (304). The linear guide rail (303) is fixed on the slewing boom (301). The slider (304) is fixedly connected to the side of the telescopic boom (302). The longitudinal translation drive mechanism (305) is a linear telescopic mechanism, with one end hinged to the slewing boom (301) and the other end hinged to the slider (304). The trolley (1) is provided with auxiliary swing arms (4) on the left and right sides respectively. The auxiliary swing arms (4) have a working position. When the auxiliary swing arms (4) are in the working position, they can press the precast steel cage (8) onto the tunnel wall. The auxiliary swing arms (4) include a swing arm (401), a swing arm rotation mechanism (402) and a pressure plate (403). The swing arm rotation mechanism (402) is installed on the trolley (1). One end of the swing arm (401) is connected to the swing arm rotation mechanism (402). The swing arm rotation mechanism (402) drives the swing arm (401) 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).

2. The precast steel cage installation device according to claim 1, characterized in that: The robotic arm is hinged to the rotating part of the robotic arm rotation mechanism (310) and is provided with a robotic arm swing mechanism (307) that can extend and retract linearly. The two ends of the robotic arm swing mechanism (307) are respectively hinged to the robotic arm and the rotating part of the robotic arm rotation mechanism (310).

3. The precast steel cage installation device according to claim 1 or 2, characterized in that: The robotic arm includes a robotic arm fixing plate (306), a clamping mechanism (308) capable of linear extension and retraction, and grippers (309). The robotic arm fixing plate (306) is hinged to the rotating part of the robotic arm rotation mechanism (310). The grippers (309) are arranged opposite to each other on both sides of the robotic arm fixing plate (306), and the middle part of the grippers (309) is hinged to the robotic arm fixing plate (306). The clamping end of the grippers (309) is provided with a hook. The connecting ends of the two opposite grippers (309) are respectively hinged to the two ends of the clamping mechanism (308). The clamping mechanism (308) drives the grippers (309) to swing through linear extension and retraction to clamp or release the precast steel cage.

4. The precast steel cage installation device according to claim 3, characterized in that: The robotic arm fixing plate (306) is also fixedly provided with a wear-resistant plate (311) that can press on the precast steel cage (8), and the surface of the wear-resistant plate (311) is also densely covered with grooves.

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

6. The precast steel cage installation device according to claim 1 or 5, characterized in that: The auxiliary swing arm (4) is mounted on the mobile work platform (2).

7. The precast steel cage installation device according to claim 1, characterized in that: The bottom of the trolley (1) is provided with telescopic outriggers (7), and the walking mechanism (5) is installed at the bottom of the telescopic outriggers (7).

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