Arc mechanism and design method of reinforcement feeding mechanism of tunnel reinforcement trolley

Abstract

The invention discloses a design method for an arc mechanism and a reinforcement feeding mechanism of a tunnel reinforcement trolley, and the method comprises the steps: for two pairs of angular displacements of a given driving rod and a given driven rod, synthesizing an infinite arc four-rod mechanism by changing the lengths of the driving rod and a rack and the range of angle parameters; and according to the design requirements, the arc four-bar mechanism meeting the requirements is retrieved in the infinite arc mechanism to design the reinforcement trolley reinforcement feeding mechanism. The reinforcing steel bar feeding mechanism is composed of a plurality of arc four-bar mechanisms, the reinforcing steel bars are transmitted to the reinforcing steel bar trolley according to a certain radian through relay of the arc four-bar mechanisms, the number of constructors is reduced, the construction efficiency is improved, and the construction safety is improved.

Description

Technical Field

[0001] The present invention relates to an arc mechanism and a design method for the upper reinforcement mechanism of a tunnel steel bar trolley, and specifically belongs to the technical field of tunnel equipment. Background Art

[0002] Linkage mechanisms have been widely used in multiple industrial fields due to their relatively low manufacturing cost and ability to effectively transmit large power. They have a simple structure and high reliability, and are particularly suitable for applications that require bearing large loads and complex motion requirements. The path synthesis of a linkage mechanism refers to the process of determining a linkage mechanism such that a certain point on the linkage plane can achieve a pre-given path. Although many methods have been proposed for the path synthesis problem of linkage mechanisms, the existing atlas method and optimization algorithm have problems such as low efficiency and poor selectivity, and the current research has not systematically analyzed the synthesis method of arc mechanisms.

[0003] With the continuous and rapid advancement of the national railway infrastructure construction, the construction scale and technical level of Chinese railway tunnels have been significantly improved, and the number and length of tunnel projects have both shown a rapid growth trend. However, despite the great progress in tunnel engineering technology, during the actual construction process, the installation of steel bars on the tunnel surface still faces many challenges. Currently, the steel bar laying method adopted in most tunnel constructions still relies on a simple steel bar laying trolley. Due to the large cross-sectional size of the tunnel, when construction workers perform high-altitude operations, they often face difficulties in operation and poor safety. In addition, there are a large number of steel bars with large lengths inside the tunnel, resulting in extremely heavy workload for upper reinforcement, and the labor intensity of construction workers has increased significantly.

[0004] Currently, many people in the market have designed and improved the upper reinforcement mechanism of the steel bar trolley, achieving many functions, but there are also some deficiencies, such as:

[0005] Patent CN202320978309.2, a steel bar trolley, mainly consists of a guiding device, an arc track, and a chain. After the guiding device clamps the steel bar, it is pulled by the chain to slide inside the arc track for upper reinforcement; this device can quickly pull the steel bar to the working position for binding, improving the construction efficiency and reducing the labor intensity of workers. However, this device does not restrain the steel bar vertically, and during the upward pulling process of the steel bar, the steel bar is prone to swinging, which not only easily punctures the waterproof layer but also has a large potential safety hazard.

[0006] Patent CN202311400968.9, a steel bar trolley with an adjustment function, stores the steel bars to be transported through a U-shaped plate, and then starts the cylinder to drive the U-shaped plate to turn over for loading the steel bars. This device can increase the construction efficiency to a certain extent. However, before loading the steel bars, workers need to move the vertically placed steel bars in the tunnel to the horizontal direction and then bend the steel bars and put them into the U-shaped plate. This operation is likely to puncture the waterproof layer of the tunnel and increase the labor intensity of the workers.

[0007] Therefore, at present, how to design a steel bar trolley loading mechanism that can greatly improve the loading efficiency, reduce the deformation of steel bars, and prevent the waterproof layer from being punctured on the premise of ensuring safety has become an urgent problem to be solved. Summary of the Invention

[0008] In order to overcome the above problems, the present invention specifically proposes an arc mechanism and a design method for a steel bar trolley loading mechanism in a tunnel, which solves the problems of low comprehensive efficiency and low precision of the arc mechanism, as well as the problems of low installation efficiency of the arch wall steel bars in the secondary lining construction of workers and high labor intensity to a certain extent.

[0009] The technical solution adopted by the present invention to solve its technical problems is: an arc mechanism and a design method for a steel bar trolley loading mechanism in a tunnel, characterized in that the arc four-bar mechanism (9) includes a driving rod (1), a frame (5), a driven rod (4), a connecting rod (2), and a manipulator (3); the manipulator (3) is installed at the end of the connecting rod (2); the steel bar trolley loading mechanism (12) is composed of a plurality of arc four-bar mechanisms (9), and the arc four-bar mechanisms (9) are uniformly installed on the right side of the steel bar trolley (6) with the center of the cross-sectional arc of the tunnel (11) as the center, and the driven rod (4) of the previous arc four-bar mechanism and the driving rod (1) of the next arc four-bar mechanism are serially installed through a rod (13). The guiding track (10) is installed on the left side of the steel bar trolley (6). After the loading mechanism (12) pulls the steel bar (7) onto the steel bar trolley (6), the leftward movement is restricted by the guiding track (10) for the steel bar (7). Designing the steel bar trolley loading mechanism based on the arc mechanism makes the trajectory of the steel bar during upward pulling an arc, minimizing the problems of excessive deformation of the steel bar, easy puncturing of the waterproof layer, and too low construction efficiency caused by the traditional loading mechanism and manual loading.

[0010] The design method of the arc four-bar mechanism (9) includes the following steps:

[0011] S1. Given two pairs of initial angles α1, α2, β1, β2 of the driving rod and the driven rod, let the frame d = tan(jλ), the driving rod a = tan(iλ), and calculate and solve the coordinates of the unknown hinge point C of the arc mechanism according to the above parameters.

[0012] S12. Establish a coordinate system X-A-Y with A as the coordinate origin and calculate the pole point P12 , P 11 , P 22 coordinates;

[0013] S13. Calculate the included angles δ 12 and BP 12 with respect to the X-axis, and the included angle θ A of the mechanism; B ; 12 ;

[0014] S14. Establish a coordinate system x-P 12 -y with P 12 as the origin, and calculate the coordinates of P 11 , P 22 in this coordinate system;

[0015] S15. Calculate the coordinates of the unknown hinge point C as x C = F(δ M ), y C = G(δ M );

[0016] S2. Let the angular parameter δ = kλ, and solve for the coordinates of the link points where the coupler curve is a circular arc;

[0017] S21. Calculate the coordinates of the corresponding center point as x M = f(δ), y M = g(δ);

[0018] S22. Calculate the coordinates of the corresponding link points as x E = F(δ E ), y E = G(δ E );

[0019] S3. Increment the iteration count k by 1, and loop through S21 - S22. When kλ > 180°, proceed to the next step and set k = 1;

[0020] S4. Increment the iteration count i by 1, and loop through S12 - S3. When iλ ≥ 90°, exit the loop and proceed to the next step and set i = 1;

[0021] S5. Increment the iteration count j by 1, and loop through S12 - S4. When jλ ≥ 90°, store the calculated mechanism parameters and then exit the loop;

[0022] S6. Retrieve the calculated mechanism data according to the design requirements, and select a four-bar mechanism with a circular arc coupler curve that meets the requirements for the design of the upper reinforcement mechanism of the steel bar trolley.

[0023] The synthesis of the circular arc mechanism by the analytical method avoids the problems of low precision in the traditional graphical method and low efficiency caused by the need to construct a graphical library in the graphical atlas method, improving the design efficiency and design accuracy.

[0024] Preferably, the installation direction of the manipulator (3) at the end of the connecting rod (2) is the radial direction of the circular arc; when the manipulator clamps and pulls up the steel bar, the moving direction of the steel bar can always be the tangent direction of the circular arc trajectory, preventing the steel bar from piercing the tunnel waterproof layer when moving.

[0025] Preferably, the rod member (13) is connected to the circular arc four-bar mechanism (9) by a revolute pair; the rod member, the driven rod of the previous circular arc four-bar mechanism, and the driving rod of the latter circular arc mechanism form a new four-bar mechanism, improving the motion stability.

[0026] Preferably, using a telescopic cylinder to control the clamping and loosening of the manipulator (3) has the advantages of large clamping force, stable action, and vibration resistance.

[0027] Preferably, when the circular arc four-bar mechanism (9) is installed, the center of its circular arc trajectory coincides with the center of the tunnel (11) cross-section to ensure that the circular arc trajectory and the circular arc of the tunnel cross-section are concentric circular arcs.

[0028] Preferably, the upper end of the guiding track (10) is grooved along the arc direction to facilitate the removal and tying of the steel bars.

[0029] Preferably, the mechanical buckle (14) is installed between two circular arc four-bar mechanisms (9) and the installation direction is the radial direction of the circular arc; when the manipulator releases and returns, the mechanical buckle clamps the steel bar to prevent the steel bar from sliding off the steel bar trolley.

[0030] Preferably, the driving rod (1) of the circular arc four-bar mechanism (9) is driven by a hydraulic cylinder (8) to reciprocate within a fixed angle, so that the motion trajectory of the manipulator is always a circular arc.

[0031] Preferably, the driving rod (1) of the latter circular arc four-bar mechanism is powered by the driven rod (4) of the previous circular arc four-bar mechanism, and multiple circular arc four-bar mechanisms form a linkage, reducing the number of drives and the complexity of the control system, and improving the working stability of the steel bar feeding mechanism.

[0032] Preferably, the coordinates of each pole point in step S12 are specifically:

[0033]

[0034] Preferably, the included angles δ A , δ B and the rotation angle θ 12 are specifically:

[0035]

[0036] θ 12 = 2(δ A - δ B )

[0037] Preferably, in step S14, in the rectangular coordinate system x-P 12 -y, the coordinates of the pole points P 11 and P 22 are specifically:

[0038] Preferably, in step S15, δ M is the included angle between the straight line DP 12 and the x-axis, and its magnitude is specifically:

[0039] Preferably, in step S15, the coordinates of the hinge point C are specifically:

[0040]

[0041] Preferably, in step S21, the coordinates of the center point x M , y M are specifically:

[0042]

[0043] In the formula, the parameters j1, j2, j3, j4 are determined by the coordinates of the pole points P 11 , P 22 , and their magnitudes are specifically;

[0044]

[0045] Preferably, in step S22, δ E is the included angle between the straight line P 12 E and the x-axis, and its magnitude is specifically:

[0046]

[0047] Through the above technical solutions, the present invention discloses and provides an arc mechanism and a design method for the upper reinforcement mechanism of a tunnel steel formwork trolley. Compared with the existing technology, it has the following beneficial effects:

[0048] A method for synthesizing the trajectory of an arc mechanism under a given angular displacement is proposed. By changing the driving rod a, the frame d, and the angular parameters, an arc mechanism can be quickly generated. According to the design requirements, a compliant arc four-bar mechanism can be retrieved from the calculated mechanism data, avoiding the blindness of mechanism selection and improving the design efficiency. Compared with a simple steel bar trolley, by using an arc mechanism to design the automatic steel bar loading mechanism of the steel bar trolley, the steel bars can be automatically pulled onto the steel bar trolley from the tunnel floor according to the designed curvature, reducing the number of construction workers, improving the construction efficiency, and increasing the construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is the mathematical model of the arc mechanism synthesis theory of the present invention.

[0050] Figure 2 is the flowchart of the design method of the arc four-bar mechanism of the present invention.

[0051] Figure 3 is the schematic diagram of the arc four-bar mechanism calculated by the arc mechanism synthesis theory of the present invention.

[0052] Figure 4 is the structure diagram of the arc four-bar mechanism of the present invention.

[0053] Figure 5 is the schematic diagram of the steel bar loading mechanism on the steel bar trolley of the present invention.

[0054] In the figure, the reference numerals are as follows:

[0055] 1. Driving rod; 2. Connecting rod; 3. Manipulator; 4. Driven rod; 5. Frame; 6. Steel bar trolley; 7. Steel bar; 8. Hydraulic cylinder; 9. Arc four-bar mechanism; 10. Guide track; 11. Tunnel; 12. Steel bar loading mechanism; 13. Rod; 14. Mechanical buckle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] A design method for an arc mechanism and a steel bar loading mechanism on a tunnel steel bar trolley is proposed herein, as shown in Figure 4 and Figure 5As shown, the circular arc four-bar mechanism (9) comprises an active rod (1), a frame (5), a driven rod (4), a connecting rod (2), and a manipulator (3); the manipulator (3) is installed at the end of the connecting rod (2); the reinforcing bar trolley reinforcement mechanism (12) is composed of a plurality of circular arc four-bar mechanisms (9); the circular arc four-bar mechanisms (9) are evenly installed on the right side of the reinforcing bar trolley (6) with the center of the circular arc of the tunnel (11) section as the center, and the driven rod (4) of the previous circular arc four-bar mechanism and the active rod (1) of the next circular arc four-bar mechanism are installed in series through a rod (13); the guide rail (10) is installed on the left side of the reinforcing bar trolley (6); after the reinforcing bar mechanism (12) pulls the reinforcing bar (7) onto the reinforcing bar trolley (6), the left side travel is constrained by the guide rail (10) to the reinforcing bar (7). The steel bar trolley reinforcement mechanism is designed based on an arc mechanism so that the trajectory of the steel bar when being pulled up is an arc, which minimizes the problems caused by traditional reinforcement mechanisms and manual reinforcement, such as excessive deformation of the steel bar, easy penetration of the waterproof layer, and low construction efficiency.

[0058] like Figure 2 As shown, the design method of the circular arc four-bar mechanism (9) comprises the following steps, wherein the mathematical model is as follows: Figure 1 As shown:

[0059] S1. Given two pairs of initial angles α1, α2, β1, β2 of the active rod and the driven rod, let the frame d = tan(jλ) and the active rod a = tan(iλ), and calculate and solve the coordinates of the unknown hinge point C of the arc mechanism based on the above parameters;

[0060] S12. Establish coordinate system XAY with A as the origin and calculate the pole P 12 , P 11 , P 22 The coordinates of

[0061] S13. Calculate straight line AP 12 and BP 12 Angle δ to the X axis A and δ B 、Mechanism rotation angle θ 12 ;

[0062] S14.P 12 Establish coordinate system xP for the origin 12 -y, calculate P in this coordinate system 11 , P 22 The coordinates of

[0063] S15. Calculate the coordinates of the unknown hinge point C as x C =F(δ M ), y C =G(δ M );

[0064] S2. Let the angular parameter δ = kλ, and solve the coordinates of the connecting rod points where the connecting rod curve is an arc;

[0065] S21. Calculate the coordinates of the corresponding center point as x M = f(δ), y M = g(δ);

[0066] S22. Calculate the coordinates of the corresponding connecting rod points as x E = F(δ E ), y E = G(δ E );

[0067] S3. Increase the iteration count by k + 1, loop through S21 - S22. When kλ > 180°, proceed to the next step and set k = 1;

[0068] S4. Increase the iteration count by i + 1, loop through S12 - S3. When iλ ≥ 90°, exit the loop and proceed to the next step and set i = 1;

[0069] S5. Increase the iteration count by j + 1, loop through S12 - S4. When jλ ≥ 90°, store the mechanism parameters calculated above and then exit the loop;

[0070] S6. Retrieve the mechanism data calculated according to the design requirements, and select a circular arc four-bar mechanism that meets the requirements for the design of the upper reinforcement mechanism of the steel bar trolley.

[0071] Using the analytical method for the synthesis of the circular arc mechanism avoids problems such as low accuracy of the traditional graphical method and low efficiency caused by the need to construct a graph library in the graphical atlas method, improving the design efficiency and design accuracy.

[0072] To further implement the above technical solution, the installation direction of the manipulator (3) at the end of the connecting rod (2) is the radial direction of the arc; when the manipulator clamps and pulls the steel bar, the moving direction of the steel bar can always be the tangent direction of the arc trajectory, preventing the steel bar from piercing the tunnel waterproof layer when moving.

[0073] To further implement the above technical solution, the rod (13) is connected to the circular arc four-bar mechanism (9) by a revolute pair; the rod forms a new four-bar mechanism with the driven rod of the previous circular arc four-bar mechanism and the driving rod of the next circular arc mechanism, improving the motion stability.

[0074] To further implement the above technical solution, using a telescopic cylinder to control the clamping and loosening of the manipulator (3) has the advantages of large clamping force, smooth movement, and vibration resistance.

[0075] To further implement the above technical solution, when the circular arc four-bar mechanism (9) is installed, the center of its circular arc trajectory coincides with the center of the tunnel (11) cross-section to ensure that the circular arc trajectory and the tunnel cross-section arc are concentric circular arcs.

[0076] To further implement the above technical solution, the upper end of the guiding track (10) is grooved in an arc direction to facilitate the removal and binding of steel bars.

[0077] To further implement the above technical solution, the mechanical buckle (14) is installed between two circular arc four-bar mechanisms (9) and the installation direction is the radial direction of the circular arc. When the manipulator releases and returns, the mechanical buckle clamps the steel bar to prevent the steel bar from sliding off the steel bar trolley.

[0078] To further implement the above technical solution, the driving rod (1) of the circular arc four-bar mechanism (9) is driven by a hydraulic cylinder (8) to reciprocate within a fixed angle so that the movement trajectory of the manipulator is always a circular arc.

[0079] To further implement the above technical solution, the driving rod (1) of the latter circular arc four-bar mechanism is powered by the driven rod (4) of the previous circular arc four-bar mechanism. Multiple circular arc four-bar mechanisms form a linkage, reducing the number of drives and the complexity of the control system, and improving the working stability of the upper reinforcement mechanism.

[0080] To further implement the above technical solution, the coordinates of each pole in step S12 are specifically:

[0081]

[0082] To further implement the above technical solution, the included angles δ A , δ B and the rotation angle θ 12 in step S13 are specifically:

[0083]

[0084] θ 12 = 2(δ A - δ B )

[0085] To further implement the above technical solution, in step S14, the coordinates of the poles P 12 -y in the rectangular coordinate system x-P 11 and P 22 are specifically:

[0086]

[0087] To further implement the above technical solution, in step S15, δ M is the included angle between the straight line DP 12 and the x-axis, and its magnitude is specifically:

[0088]

[0089] To further implement the above technical solution, the coordinates of the hinge point C in step S15 are specifically as follows:

[0090]

[0091] To further implement the above technical solution, the x coordinate of the center point in step S21 M and y M are specifically as follows:

[0092]

[0093] In the formula, the parameters j1, j2, j3, and j4 are determined by the coordinates of the poles P 11 and P 22 , and their magnitudes are specifically as follows;

[0094]

[0095] To further implement the above technical solution, in step S22, δ E is the angle between the straight line P 12 E and the x-axis, and its magnitude is specifically as follows:

[0096]

[0097] It should be noted that in this example, the two pairs of initial angles of the driving rod and the driven rod are given as α1 = 90°, α2 = 165°, β1 = 78°, and β2 = 116°.

[0098] According to the tunnel cross-section radius, the design radius of the circular arc mechanism is selected as 6.5 meters. Retrieve the circular arc mechanism that meets the requirements from the calculated mechanism data, and its sketch is as Figure 3 shown. Finally, as Figure 4 and Figure 5 shown, based on this circular arc mechanism, the design of the upper reinforcement mechanism of the steel bar trolley is carried out. The upper reinforcement mechanism of the steel bar trolley transfers the steel bars to the steel bar trolley at a certain radian through the relay of multiple circular arc four-bar mechanisms, reducing the number of construction workers, improving the construction efficiency, and increasing the construction safety.

[0099] The above detailed description is a specific description of the feasible embodiments of the present invention. This embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification without departing from the present invention shall be included in the patent scope of this case.

Claims

1. A circular arc mechanism and a method for designing a reinforcement trolley for tunnel reinforcement, characterized in that: The circular arc four-bar mechanism (9) comprises an active rod (1), a frame (5), a driven rod (4), a connecting rod (2), and a manipulator (3); the manipulator (3) is installed at the end of the connecting rod (2); the reinforcing bar trolley reinforcement mechanism (12) is composed of a plurality of circular arc four-bar mechanisms (9) and a mechanical buckle (14); the circular arc four-bar mechanism (9) is evenly installed on the right side of the reinforcing bar trolley (6) with the center of the circular arc of the tunnel (11) cross section as the center, and the driven rod (4) of the previous circular arc four-bar mechanism and the active rod (1) of the next circular arc four-bar mechanism are installed in series through a rod (13); the guide track (10) is installed on the left side of the reinforcing bar trolley (6); The design method of the circular arc four-bar mechanism (9) comprises the following steps: S1. Given two pairs of initial angles α1, α2, β1, β2 of the active rod and the driven rod, let the frame d = tan(jλ) and the active rod a = tan(iλ), and calculate and solve the coordinates of the unknown hinge point C of the arc mechanism based on the above parameters; S12. Establish coordinate system XAY with A as the origin and calculate the pole P 12 , P 11 , P 22 The coordinates of S13. Calculate straight line AP 12 and BP 12 Angle δ to the X axis A and δ B 、Mechanism rotation angle θ 12 ; S14.P 12 Establish coordinate system xP for the origin 12 -y, calculate P in this coordinate system 11 , P 22 The coordinates of S15. Calculate the coordinates of the unknown hinge point C as x C =F(δ M ),y C =G(δ M ); S2. Let the angle parameter δ = kλ, and solve the coordinates of the connecting rod points when the connecting rod curve is an arc; S21. Calculate the corresponding center point coordinates as x M =f(δ),y M =g(δ); S22. Calculate the corresponding link point coordinates as x E =F(δ E ),y E =G(δ E ); S3. Iterate k+1, loop S21-S22, when kλ>180°, go to the next step and set k=1; S4. Iterate i+1, loop S12-S3, when iλ≥90°, exit the loop and go to the next step and set i=1; S5. Iterate j+1, loop S12-S4, when jλ≥90°, store the calculated mechanism parameters and exit the loop; S6. Retrieve the calculated mechanism data according to the design requirements and select the arc four-bar mechanism that meets the requirements to design the reinforcement trolley reinforcement mechanism.

2. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized in that: The installation direction of the manipulator (3) at the end of the connecting rod (2) is the radial direction of the arc.

3. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized by: The rod member (13) and the circular arc four-bar mechanism (9) are connected by a revolute pair to form a new four-bar mechanism.

4. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized in that: The clamping and loosening of the manipulator (3) is controlled by a telescopic cylinder.

5. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized by: When the circular arc four-bar mechanism (9) is installed, the center of its circular arc track coincides with the center of the cross section of the tunnel (11).

6. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized in that: The upper end of the guide rail (10) is grooved along an arc direction.

7. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized by: The mechanical buckle (14) is installed between two circular arc four-bar mechanisms (9) and the installation direction is the radial direction of the circular arc.

8. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1 are characterized by: The active rod (1) of the circular arc four-bar mechanism (9) is driven by a hydraulic cylinder (8) to reciprocate within a fixed angle.

9. The arc mechanism and the method for designing a reinforcement mechanism for a tunnel reinforcement trolley according to claim 1, characterized in that: The active rod (1) of the rear circular arc four-bar mechanism is powered by the driven rod (4) of the front circular arc four-bar mechanism.

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