Mother-son type steel bar operation trolley and operation method

Abstract

The invention relates to the field of tunnel reinforcing steel bar operation trolleys, in particular to a primary-secondary type reinforcing steel bar operation trolley and an operation method.The primary-secondary type reinforcing steel bar operation trolley comprises a primary trolley used for advancing and retreating in the length direction of a tunnel and provided with an arc-shaped track arranged along the inner contour line of the tunnel; the at least one sub-vehicle can walk along the arc-shaped track; the linear drivers are fixedly connected to all the sub-vehicles and have the function of stretching out and drawing back in the radial direction of the tunnel; and jigs which are installed on the execution parts of the linear drivers, execute radial movement along with the expansion and contraction of the linear drivers, and are used for arranging reinforcing steel bars in the tunnel. According to the embodiment of the invention, the primary trolley, the secondary trolley and the linear driver are used for moving the jig, and the position of the jig in the tunnel is changed by utilizing the walking of the secondary trolley on the arc-shaped track and the stretching of the linear driver, so that the jig is suitable for tunnels with different diameters and shapes.

Description

Technical Field

[0001] The invention relates to the field of tunnel steel bar operation trolleys, and in particular to a mother-and-child type steel bar operation trolley and an operation method. Background Art

[0002] In traditional tunnel construction, the size and shape of the steel bar operation trolley are designed for specific tunnels and cannot be adjusted during use, making it difficult to adapt to tunnels of different diameters or shapes. When the diameter or shape of the tunnel changes, manual disassembly or installation of parts is required to adjust the trolley. This process is cumbersome, time-consuming, and inefficient. Manual adjustment is prone to errors, making it difficult to ensure the precise position of the steel bar installation. Summary of the invention

[0003] The object of the present invention is to provide a mother-and-child type steel bar operation trolley and an operation method to solve the problem of low efficiency in adjusting the trolley by manual disassembly or installation of components.

[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A mother-and-child type steel bar operation trolley comprises: a mother trolley, which is used to advance and retreat along the length direction of a tunnel and is provided with an arc track arranged along the inner contour line of the tunnel; at least one child trolley, which can travel along the arc track; a linear drive, which is fixedly connected to each of the child trolleys and provides a function of telescoping along the radial direction of the tunnel; a fixture, which is installed on the actuator of each of the linear drives and performs radial movement as the linear drives are telescoping, and is used to set steel bars inside the tunnel.

[0005] Furthermore, it also includes: a distance measuring sensor, fixedly connected to the fixture, for measuring the distance between itself and the inner wall of the tunnel.

[0006] In another embodiment, it also includes: a distance measuring sensor, which is rotatably installed at the center of the mother vehicle around the length direction of the tunnel, and is used to measure the distance between itself and the inner wall of the tunnel; a motor, which is fixedly connected to the mother vehicle and is used to drive the distance measuring sensor to rotate around the length direction of the tunnel; and a photoelectric encoder, which is used to measure the rotation angle of the distance measuring sensor.

[0007] Furthermore, it also includes: a roller-type length measuring sensor, which is fixedly connected to the body of the sub-vehicle and is used to measure the distance that the sub-vehicle moves forward and backward along the arc track.

[0008] Furthermore, the sub-vehicle has a body and at least two pairs of wheels, each of the wheels has a wheel body that abuts against the top wall of the curved track, and a wheel rim that abuts against the side wall of the curved track, so that the wheel can move by clamping the curved track.

[0009] Furthermore, a guide wheel is fixedly connected to the top of the fixture, and the guide wheel contacts the inner wall of the tunnel to support the sub-trolley.

[0010] Furthermore, the inner wall of the tunnel is provided with a steel rail that matches the guide wheel.

[0011] Furthermore, the linear drive includes a scissor-type mechanism and a cylinder, wherein the scissor-type mechanism is used to connect the sub-trolley and the fixture, and the cylinder is used to lift the scissor-type mechanism to extend and retract it.

[0012] A method for operating a mother-and-child type steel bar operation trolley, the method using the mother-and-child type steel bar operation trolley, the method comprising the following steps: step 1, according to the inner contour line of the tunnel, calculating the laying position of each steel bar, and then obtaining the target position of each sub-trolley on the arc track; step 2, after the sub-trolley arrives at the target position, the distance measuring sensor measures the distance between the fixture and the inner wall of the tunnel, calculates the telescopic length of the linear drive, and makes the fixture reach the specified radial position.

[0013] A method for operating a mother-and-child type steel bar operation trolley, the method using the mother-and-child type steel bar operation trolley, the method comprising the following steps: step 1, the distance measuring sensor rotates around the length direction of the tunnel under the drive of the motor, scans the inner wall of the tunnel, obtains distance data at different angles, and calculates the inner contour line of the tunnel; step 2, according to the inner contour line of the tunnel, calculates the laying position of each steel bar, and then obtains the target position of each sub-trolley on the arc track, and the telescopic length of the linear drive; step 3, after the sub-trolley arrives at the target position, the linear drive telescopes the corresponding length, so that the fixture reaches the specified radial position.

[0014] Compared with the prior art, this application has the following beneficial effects: Provided are a mother-and-child type steel bar operation trolley and an operation method. An embodiment of the present invention uses a mother trolley, a child trolley and a linear drive to move a fixture, and utilizes the movement of the child trolley on an arc track and the extension and retraction of the linear drive to change the position of the fixture inside a tunnel, so that the fixture is suitable for tunnels of different diameters and shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0016] Figure 1 A front view of a first embodiment of the present invention; Figure 2 A perspective view of a sub-vehicle according to a first embodiment of the present invention; Figure 3 A side view of a sub-vehicle according to a first embodiment of the present invention; Figure 4 A front view of a second embodiment of the present invention; The numbers in the figure represent the following: 1-tunnel; 11-inner contour line; 12-rail; 2-mother car; 21-arc track; 22-outer contour line; 3-sub-car; 31-car body; 32-wheel; 321-wheel body; 322-wheel rim; 4-linear drive; 41-scissor mechanism; 42-cylinder; 5-jig; 51-guide wheel; 6-distance sensor; 7-motor. DETAILED DESCRIPTION

[0017] 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.

[0018] In order to achieve the purpose of enabling the size and shape of the steel bar operation trolley to change in real time following the changes in the diameter and shape of the tunnel 1, a mother-and-child type steel bar operation trolley is provided below.

[0019] (First embodiment) Combination Figure 1 , the steel bar operation trolley includes: The mother vehicle 2 is used to move forward and backward along the length direction of the tunnel 1 and has an arc track 21; At least one sub-vehicle 3 is capable of moving along a curved track 21, the shape of an outer contour line 22 of the curved track 21 follows the shape of an inner contour line 11 of the tunnel 1, and a gap is left between the curved track 21 and the tunnel 1 for the sub-vehicle 3 to move; A linear drive 4, fixedly connected to each sub-carriage 3, provides a function of telescoping along the radial direction of the tunnel 1; The jig 5 is installed on the execution part of each linear drive 4 , and is used to set the steel bars inside the tunnel 1 , and performs radial movement as the linear drive 4 is extended and retracted.

[0020] The inner contour line 11 of the tunnel 1 refers to a line formed by the inner wall of the tunnel 1 on the cross section of the tunnel 1 .

[0021] The working principle of the steel bar operation trolley is: The mother vehicle 2 provides support for the sub-vehicle 3 and the fixture 5, and also provides overall movement function. The arc track 21 is suitable for the tunnel 1 with the smallest diameter and the narrowest shape. The sub-vehicle 3 and the linear drive 4 are used to drive the fixture 5 to move to compensate for the size difference between the arc track 21 and the inner contour line 11 of the tunnel 1.

[0022] When there is a deviation between the diameter and shape of the arc track 21 and the inner contour line 11 of the tunnel 1, or when the diameter and shape of the inner contour line 11 of the tunnel 1 change, the sub-vehicle 3 moves forward and backward along the arc track 21, and the linear drive 4 drives the jig 5 to move along the radial direction of the tunnel 1, so that the jig 5 moves to any position between the inner wall of the tunnel 1 and the outer wall of the arc track 21, so that the jig 5 can follow the movement of the tunnel 1 of any diameter and shape, and can also adapt to the changes in the diameter and shape of the inner contour line 11 of the tunnel 1.

[0023] Furthermore, in order to realize the adaptive movement of the fixture 5, the steel bar operation trolley also includes: The distance measuring sensor 6 is fixedly connected to the fixture 5 and is used to measure the distance between itself and the inner wall of the tunnel 1; The roller-type length measuring sensor is fixedly connected to the body 31 of the sub-trolley 3 and is used to measure the distance the sub-trolley 3 moves forward and backward along the arc track 21. The roller-type length measuring sensor is not shown in the figure.

[0024] The controller calculates the Y-axis (width direction of tunnel 1) and Z-axis (height direction of tunnel 1) coordinates of the jig 5 according to the signals output by the distance measuring sensor 6 and the roller length measuring sensor, and calculates the distance between the jig 5 and the inner wall of tunnel 1, and then sends a working signal to the sub-trolley 3 and the linear drive 4. The sub-trolley 3 drives the jig 5 to move to the position for laying steel bars, and the linear drive 4 drives the jig 5 to approach or move away from the inner wall of tunnel 1, so that the distance between the jig 5 and the inner wall of tunnel 1 is always constant during the advance and retreat of the mother vehicle 2.

[0025] Specific, combined Figure 2 The sub-cart 3 is designed to be able to move along the curved track 21. The sub-cart 3 has a body 31 and at least two pairs of wheels 32. Each wheel 32 has a wheel body 321 that abuts against the outer wall of the curved track 21, and a wheel rim 322 that abuts against the side wall of the curved track 21, so that the wheels 32 can move by clamping the two side walls of the curved track 21 to prevent the sub-cart 3 from falling from both sides of the curved track 21 during the movement.

[0026] The curved track 21 is designed to be able to guide and position the rail vehicle so that the rail vehicle will not fall off the curved track 21 during travel, such as the shape of a traditional rail.

[0027] In addition, combined Figure 3A guide wheel 51 is fixedly connected to the top of the fixture 5, and the guide wheel 51 contacts the rail 12 fixedly installed on the inner wall of the tunnel 1, playing a guiding role, ensuring that the fixture 5 can accurately run along the predetermined trajectory when moving along the cross section of the tunnel 1, while preventing the sub-car 3 from overturning at the edge of the curved track 21.

[0028] The linear drive 4 includes a scissor mechanism 41 and a cylinder 42. The scissor mechanism 41 is used to connect the sub-trolley 3 and the fixture 5, and the cylinder 42 is used to lift the scissor mechanism 41 to make it extend and retract. The cylinder 42 not only drives the scissor mechanism 41 to extend and retract, but also serves as a spring and damper for the scissor mechanism 41. The cylinder 42 can adaptively extend and retract when the sub-trolley 3 is moving, thereby adapting to the change in the distance between the inner contour line 11 of the tunnel 1 and the outer contour line 22 of the curved track 21.

[0029] (Second embodiment) Combination Figure 4 The distance measuring sensor 6 is installed at the center position of the mother vehicle 2 and is located on the central axis of the tunnel 1. A motor 7 for driving the distance measuring sensor 6 to rotate around the X-axis (the length direction of the tunnel 1) is installed at the center position of the mother vehicle 2. The motor 7 drives the distance measuring sensor 6 to rotate in the cross-sectional plane (YZ plane) of the tunnel 1, scans the contour of the inner wall of the tunnel 1, and obtains the distance between the center position of the mother vehicle 2 and the inner contour line 11 of the tunnel 1.

[0030] The output shaft of the motor 7 is connected to a photoelectric encoder, which is used to obtain the rotation angle of the distance sensor 6. The photoelectric encoder is not shown in the figure.

[0031] The controller receives the signals output by the distance measuring sensor 6 and the photoelectric encoder, combines the angle and the corresponding distance data into a set of polar coordinate data, and then converts the polar coordinate data into rectangular coordinates to draw the inner wall contour of the cross section of the tunnel 1, thereby identifying the shape, size, and any irregularities of the cross section of the tunnel 1. Then, the controller calculates the position that needs to be reached on the curved track 21 on the sub-vehicle 3 and the telescopic length of the linear drive 4 according to the actual contour of the inner wall of the tunnel 1, so that the steel bars on the jig 5 fit the inner contour line 11 of the tunnel 1.

[0032] The second embodiment only requires one distance measuring sensor 6 to operate the linear actuators 4 of the plurality of sub-carriages 3 to extend and retract, so that the plurality of fixtures 5 can move adaptively.

[0033] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A mother-and-child type steel bar operation trolley, characterized in that: include: A mother vehicle, used for moving forward and backward along the length direction of the tunnel, and having an arc track arranged along the inner contour line of the tunnel; At least one sub-vehicle capable of traveling along the arc-shaped track; A linear drive, fixedly connected to each of the sub-carriages, providing a function of telescoping along the radial direction of the tunnel; A jig is installed on the actuator of each linear drive and moves radially with the extension and retraction of the linear drive, and is used to set steel bars inside the tunnel.

2. The mother-and-child type steel bar operation trolley according to claim 1, characterized in that: Also includes: The distance measuring sensor is fixedly connected to the fixture and is used to measure the distance between itself and the inner wall of the tunnel.

3. The mother-and-child type steel bar operation trolley according to claim 1, characterized in that: Also includes: A distance measuring sensor is rotatably mounted at the center of the mother vehicle around the length direction of the tunnel, and is used to measure the distance between itself and the inner wall of the tunnel; A motor, fixedly connected to the mother vehicle, for driving the distance measuring sensor to rotate along the length direction of the tunnel; The photoelectric encoder is used to measure the rotation angle of the distance measuring sensor.

4. A mother-and-child type steel bar operation trolley according to claim 2 or 3, characterized in that: Also includes: A roller-type length measuring sensor is fixedly connected to the body of the sub-trolley and is used to measure the distance that the sub-trolley moves forward and backward along the arc track.

5. The mother-and-child type steel bar operation trolley according to claim 4, characterized in that: The sub-vehicle has a body and at least two pairs of wheels, each of which has a wheel body against the top wall of the arc track and a wheel rim against the side wall of the arc track, so that the wheel can move by clamping the arc track.

6. The mother-and-child type steel bar operation trolley according to claim 4, characterized in that: A guide wheel is fixedly connected to the top of the fixture, and the guide wheel contacts the inner wall of the tunnel to support the sub-trolley.

7. The mother-and-child type steel bar operation trolley according to claim 6, characterized in that: The inner wall of the tunnel is provided with a steel rail which matches the guide wheel.

8. The mother-and-child type steel bar operation trolley according to claim 6, characterized in that: The linear drive comprises a scissor mechanism and a cylinder. The scissor mechanism is used to connect the sub-trolley and the fixture, and the cylinder is used to lift the scissor mechanism to make it extend and retract.

9. An operating method of a mother-and-child type steel bar operating trolley, characterized in that: The operation method uses the mother-and-child type steel bar operation trolley according to claim 2, and the operation method comprises the following steps: Step 1: Calculate the laying position of each steel bar according to the inner contour of the tunnel, and then obtain the target position of each sub-vehicle on the curved track; Step 2: After the sub-vehicle arrives at the target position, the distance measuring sensor measures the distance between the fixture and the inner wall of the tunnel, calculates the telescopic length of the linear actuator, and enables the fixture to reach the specified radial position.

10. An operating method of a mother-and-child type steel bar operating trolley, characterized in that: The operation method uses the mother-and-child type steel bar operation trolley according to claim 3, and the operation method comprises the following steps: Step 1: The distance measuring sensor is driven by the motor to rotate around the length direction of the tunnel, scan the inner wall of the tunnel, obtain distance data at different angles, and calculate the inner contour line of the tunnel; Step 2: Calculate the laying position of each steel bar according to the inner contour of the tunnel, and then obtain the target position of each sub-vehicle on the curved track and the telescopic length of the linear drive; Step 3: After the sub-carriage reaches the target position, the linear actuator is extended or retracted by a corresponding length so that the fixture reaches a specified radial position.

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