Steel coil laying collaborative operation device, trolley comprising same and construction method

Abstract

The invention relates to the technical field of tunnel construction equipment, in particular to a steel coil laying collaborative operation device, a trolley comprising the device and a construction method. The steel coil laying collaborative operation device comprises a hanging basket assembly, a steel coil hanging device, a roller pressing device, a hydraulic system, an electrical system and a main controller. The hanging basket assembly, the steel coil hanging device and the roller pressing device are all arranged at one end of a rotatable working arm frame in the length direction. The main controller is connected with the hanging basket assembly through the hydraulic system and the electrical system; and the main controller is connected with the working arm frame, the steel coil suspension device and the roller pressing device through the hydraulic system. The trolley comprises the steel coil laying collaborative operation device. According to the construction method, intelligent operation can be achieved, the laying efficiency is improved, and the laying precision, the operation safety and the operation comfort can be improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, and in particular to a steel coil laying collaborative operation device, a trolley containing the device, and a construction method thereof. Background Technology

[0002] In tunnel construction, it is necessary to lay protective linings on the tunnel walls, such as steel coils. Due to the large size and weight of the steel coils, laying trolleys are required during installation. However, the existing end-effectors of these trolleys are relatively simple and cannot efficiently and safely complete the entire process of releasing the steel coil, pressing it firmly against the tunnel wall, and manually welding or riveting it to the tunnel wall. In tunnels with larger diameters, even larger trolleys are needed to carry manual work platforms at various angles, resulting in complex structures and low laying efficiency. In short, the existing end-effectors of these trolleys suffer from low laying efficiency and insufficient operational safety when laying steel coils.

[0003] In larger diameter chambers, a more efficient and safer end effector is required on the laying trolley to lay steel coils on the chamber walls.

[0004] Therefore, it is necessary to provide a steel coil laying collaborative operation device, a trolley containing the device, and a construction method to solve the problems of low laying efficiency and insufficient operational safety of the existing laying trolley end actuator. Summary of the Invention

[0005] The purpose of this invention is to provide a steel coil laying collaborative operation device, a trolley containing the device, and a construction method. The specific technical solution is as follows: In a first aspect, the present invention provides a steel coil laying collaborative operation device, which includes a basket assembly, a steel coil suspension device, a roller clamping device, a hydraulic system, an electrical system, and a main controller; The suspended platform assembly, the steel coil suspension device, and the roller clamping device are all located at one end of the rotatable working boom along its length. The main controller is connected to the suspended platform assembly via the hydraulic system and the electrical system; the main controller is also connected to the boom, the steel coil suspension device, and the drum clamping device via the hydraulic system. The suspended platform assembly includes a first directional telescopic boom, a second directional telescopic boom, a rotary reducer, a leveling reducer, and a suspended platform component; The slewing reducer is installed on both the first and second directional telescopic booms, and both are connected to the working boom via the slewing reducer; the first and second directional telescopic booms are connected to the main controller via the hydraulic system; the slewing reducer is connected to the main controller via the electrical system. The leveling reducer is installed at the telescopic end of the first or second telescopic boom; the leveling reducer is connected to the main controller through the electrical system; The suspended platform assembly is disposed between the first directional telescopic arm and the second directional telescopic arm.

[0006] Optionally, both the first telescopic boom and the second telescopic boom include a first telescopic cylinder and a first inner cylinder and a first outer cylinder coaxially sleeved together; a plurality of sliders are spaced apart on the circumferential outer wall of the first inner cylinder; the length direction of each slider is along the length direction of the first inner cylinder; a groove adapted to each slider is provided on the inner wall of the first outer cylinder; the fixed end of the first telescopic cylinder is connected to the first outer cylinder, and its telescopic end is connected to the inner cylinder; the first telescopic cylinder is connected to the main controller through the hydraulic system.

[0007] Optionally, the suspended platform assembly includes a suspended platform assembly, a suspended platform control panel, and a tilt sensor; the suspended platform assembly includes a protective suspended platform for workers to operate in; the tilt sensor is disposed inside the protective suspended platform and connected to the main controller; the suspended platform control panel is disposed inside the protective suspended platform and connected to the main controller through the electrical system.

[0008] Optionally, the steel coil suspension device includes a first telescopic arm, a second telescopic arm, a steel coil device, a first connecting flange, a rotation shaft limiter, and a first correction longitudinal displacement cylinder; The first telescopic arm and the second telescopic arm are respectively connected to the working arm; The steel drum device is installed at the telescopic ends of the first telescopic arm and the second telescopic arm, and both ends of the steel drum device are detachably connected to the first telescopic arm and the second telescopic arm respectively through the first connecting flange; the first telescopic arm and the second telescopic arm are respectively connected to the main controller through the hydraulic system; The rotating shaft limiter is disposed on the rotating shaft body of the steel drum device; Tensioning mechanisms for tensioning the steel coil are provided at both axial ends of the steel coil device; the tensioning mechanism includes a tension-adjustable support rod. The first longitudinal displacement correction cylinder is installed at the telescopic end of the first telescopic arm or the second telescopic arm; the first longitudinal displacement correction cylinder is connected to the main controller through the hydraulic system.

[0009] Optionally, the rotary shaft limiter includes a limiter housing, a clamping cylinder, and an elastic sleeve; the limiter housing is coaxially sleeved on the rotary shaft body; the elastic sleeve is coaxially sleeved on the rotary shaft body and located inside the limiter housing; the clamping cylinder is disposed inside the limiter housing, and its clamping working end is correspondingly disposed with the elastic sleeve; the clamping cylinder is connected to the main controller through the hydraulic system.

[0010] Optionally, the roller clamping device includes a third telescopic arm, a fourth telescopic arm, a first pitch cylinder, a second pitch cylinder, a roller body, and a second connecting flange. The third telescopic arm and the fourth telescopic arm are respectively connected to the working arm; The roller body is disposed on the telescopic ends of the third telescopic arm and the fourth telescopic arm, and both ends of the roller body are detachably connected to the third telescopic arm and the fourth telescopic arm respectively through the second connecting flange; the third telescopic arm and the fourth telescopic arm are respectively connected to the main controller through the hydraulic system; The fixed ends of the first pitch cylinder and the second pitch cylinder are respectively connected to the working boom, while their pitch working ends are respectively connected to the third telescopic boom and the fourth telescopic boom; the first pitch cylinder and the second pitch cylinder are respectively connected to the main controller through the hydraulic system.

[0011] Optionally, the roller clamping device further includes a second longitudinal correction cylinder; the second longitudinal correction cylinder is disposed on the telescopic end of the third telescopic arm or the fourth telescopic arm; the second longitudinal correction cylinder is connected to the main controller through the hydraulic system.

[0012] Optionally, the boom is arranged along the radial direction of the tunnel in its length direction; the boom is connected to a slewing assembly that drives the boom to rotate; the slewing assembly includes a slewing base, a slewing drive, and a slewing support; the slewing support is located at the center of the boom in its length direction; the slewing base is connected to the slewing support; the fixed end of the slewing drive is located on the slewing base, and its driving end cooperates with the slewing support to drive the slewing support to rotate; the slewing drive is connected to the main controller via the hydraulic system.

[0013] In a second aspect, the present invention provides a trolley containing the aforementioned steel coil laying collaborative operation device, the trolley further comprising a traveling mechanism and a chassis; the chassis is mounted on the traveling mechanism; the working boom is mounted on the chassis via the slewing assembly; the hydraulic system, the electrical system, and the main controller are all mounted on the chassis.

[0014] In a third aspect, the present invention provides a construction method for a trolley comprising the aforementioned steel coil laying collaborative operation device, comprising: Step S1: Use the main controller to control the traveling mechanism to move to the target work point, and adjust the traveling mechanism so that the center of the working boom coincides with the tunnel axis. Step S2: The main controller controls the rotation of the working boom, thereby moving the first telescopic arm and the second telescopic arm in the steel coil suspension device to the predetermined loading position. The main controller controls the extension and retraction of the first telescopic arm and the second telescopic arm until they are connected to the steel coil device. Then, the first connecting flange is installed to complete the steel coil loading operation. Step S3: The operator enters the protective basket assembled in the suspended platform and controls the main controller to control the working boom, the suspended platform assembly, the steel coil suspension device and the roller pressing device to rotate to the position on the tunnel wall where the steel coil is to be laid. Then, the operator controls the first telescopic arm and the second telescopic arm in the steel coil suspension device to link with the steel coil drum device to bring the steel coil close to the position where the steel coil is to be laid. The operator pulls the free end of the steel coil to unwind it. During the unwinding operation, the operator controls the suspended platform control console to control the main controller, which in turn controls the rotation axis limiter to adjust the steel coil device to the required unwinding speed. The operator also controls the first longitudinal correction cylinder to ensure the steel coil unwinding is within the longitudinal error range. The operator controls the third telescopic arm, the fourth telescopic arm, the first pitch cylinder, and the second pitch cylinder in the roller pressing device to work in tandem with the roller body to press the unwound steel coil against the tunnel wall. The operator also controls the second longitudinal correction cylinder in conjunction with the first longitudinal correction cylinder to ensure the steel coil unwinding is within the longitudinal error range. Furthermore, the operator controls the first directional telescopic arm, the second directional telescopic arm, the slewing reducer, and the leveling reducer to work in tandem, thereby ensuring the protective suspended platform remains close to the unwound steel coil. The main controller, based on the tilt angle data of the protective suspended platform fed back by the tilt sensor, controls the leveling reducer in real time to keep the protective suspended platform in a horizontal state. After unwinding 0.5 to 1.5 meters, the workers fix the unwound steel coil to the tunnel wall; unwinding and laying are repeated multiple times until the circumferential laying of the tunnel wall at the current target work point is completed. Step S4: Repeat steps S1 and S3 to complete the steel coil laying operation at the next target work point; wherein, when the steel coil is used up, repeat step S2 to complete the steel coil loading operation.

[0015] The application of the technical solution of the present invention has at least the following beneficial effects: (1) The steel coil laying collaborative operation device provided by the present invention can operate intelligently, improve laying efficiency, and solve the problem of low laying efficiency of existing laying trolleys. Specifically, the operator enters the basket assembly, the main controller controls the working boom to link the basket assembly, the steel coil suspension device and the roller clamping device to rotate to the position of the steel coil to be laid on the tunnel wall, and then controls the steel coil suspension device to link the steel coil to the position of the steel coil to be laid, and the operator pulls the free end of the steel coil to perform the unwinding operation; during the unwinding operation, the main controller controls the roller clamping device to press the unwound steel coil to the tunnel wall; after unwinding 0.5~1.5m, the operator fixes the unwound steel coil to the tunnel wall; multiple unwinding and multiple laying operations are performed until the circumferential laying operation of the tunnel wall of the current target operation point is completed; this process is repeated to complete the steel coil laying operation of the next target operation point. In the steel coil laying operation, the hydraulic system and the electrical system provide kinetic energy for the steel coil laying operation. Furthermore, this invention can improve operational safety and comfort. Specifically, it employs a main controller to coordinate the operation of the first and second directional telescopic booms, the slewing reducer, and the leveling reducer, thereby ensuring the protective basket remains close to the released steel coil, thus improving operational safety and comfort. Specifically, the main controller's control of the first and second directional telescopic booms during the telescopic operation of the protective basket prevents swaying, further enhancing operational safety and comfort. The main controller's real-time control of the leveling reducer keeps the protective basket in a horizontal position, further improving operational safety and comfort.

[0016] (2) The construction method of the trolley containing the aforementioned steel coil laying collaborative operation device provided by the present invention not only enables intelligent operation and improves laying efficiency, but also improves laying accuracy, operational safety, and operational comfort. Specifically: In terms of improving laying efficiency, the construction method adopted in the embodiments of the present invention is an integrated construction method that combines steel coil feeding and steel coil laying, which greatly improves laying efficiency. To improve laying accuracy, a main controller is used to control the rotating shaft limiter to adjust the steel roll device to the required unwinding speed, avoiding unwinding too fast and exceeding the longitudinal displacement error. The main controller is also used to control the first longitudinal displacement correction cylinder to adjust the unwinding of the steel roll device within the longitudinal displacement error. Furthermore, the main controller controls the third telescopic arm, fourth telescopic arm, first pitch cylinder, and second pitch cylinder in the roller pressing device to work together with the roller body to press the released steel roll onto the tunnel wall. The second longitudinal displacement correction cylinder is also controlled in conjunction with the first longitudinal displacement correction cylinder to adjust the unwinding of the steel roll device within the longitudinal displacement error, thereby improving the unwinding laying accuracy. To improve operational safety and comfort, a main controller is used to coordinate the operation of the first and second directional telescopic booms, the slewing reducer, and the leveling reducer, thereby ensuring the protective basket remains close to the released steel coil. Specifically, the main controller's control of the first and second directional telescopic booms during the telescopic operation of the protective basket prevents swaying, improving both safety and comfort. Based on the tilt angle data from the tilt sensor, the main controller controls the leveling reducer in real-time to keep the protective basket horizontal, further enhancing safety and comfort. Additionally, the main controller controls the rotation shaft limiter to adjust the steel coil unwinding device to the required speed, preventing excessively fast unwinding and potential safety risks, thus improving overall operational safety.

[0017] (3) The construction method of the trolley containing the steel coil laying collaborative operation device provided by the present invention is applicable to the steel coil laying operation in large-span chambers. Specifically, the working boom, steel coil suspension device and roller pressing device of appropriate size can be set according to the inner diameter of the chamber.

[0018] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the trolley containing the steel coil laying collaborative operation device in the embodiment; Figure 2 This is a schematic diagram of the steel coil laying collaborative operation device in the embodiment; Figure 3 This is a structural schematic diagram of the suspended platform assembly in the embodiment; Figure 4 This is a schematic diagram of the steel coil suspension device in the embodiment; Figure 5 This is a schematic diagram of the structure of the roller pressing device in the embodiment; Figure 6 This is a schematic diagram of the structure when the trolley containing the steel coil laying collaborative operation device moves to the target operation point in the tunnel and the center of the working boom coincides with the tunnel axis. Figure 7This is a schematic diagram of the structure in which workers inside the protective basket peel off the adhesive from the steel coil and pull the free end of the steel coil to unwind it; Figure 8 This is a schematic diagram of a roller pressing device that presses the released steel coil against the tunnel wall. Figure 9 This is a schematic diagram of the structure by which workers fix the released steel coils to the tunnel wall; Explanation of icon numbers: 1. Suspended platform assembly; 1.1. First directional telescopic boom; 1.2. Second directional telescopic boom; 1.3. Slewing reducer; 1.4. Leveling reducer; 1.5. Suspended platform assembly; 1.6. Suspended platform control panel; 2. Steel coil suspension device, 2.1 First telescopic arm, 2.2 Second telescopic arm, 2.3 Steel coil device, 2.3.1 Rotating shaft body, 2.3.2 Tensioning mechanism, 2.4 First connecting flange, 2.5 Rotating shaft limiter, 2.6 First correction longitudinal movement cylinder; 3. Roller clamping device; 3.1 Third telescopic arm; 3.2 Fourth telescopic arm; 3.3 First pitch cylinder; 3.4 Second pitch cylinder; 3.5 Roller body; 3.6 Second connecting flange; 3.7 Second longitudinal correction cylinder. 4. Working boom; 5. Walking mechanism; 6. Chassis; W, tunnel. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not 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 effort are within the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0023] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0026] Example: See Figures 1-9 The steel coil laying collaborative operation device includes a suspended platform assembly 1, a steel coil suspension device 2, a roller clamping device 3, a hydraulic system (not shown in the figure), an electrical system (not shown in the figure), and a main controller (such as a PLC controller, not shown in the figure). The suspended platform assembly 1, the steel coil suspension device 2, and the roller pressing device 3 are all located at one end of the length direction of the rotatable working boom 4, while a counterweight is located at the other end of the length direction of the working boom 4. The main controller is connected to the suspended platform assembly 1 through the hydraulic system and the electrical system; the main controller is connected to the working boom 4, the steel coil suspension device 2 and the drum clamping device 3 through the hydraulic system; See Figure 3 The suspended platform assembly 1 includes a first directional telescopic arm 1.1, a second directional telescopic arm 1.2, a rotary reducer 1.3, a leveling reducer 1.4, and a suspended platform component; The rotary reducer 1.3 is installed on both the first telescopic boom 1.1 and the second telescopic boom 1.2, and both are connected to the working boom 4 through the rotary reducer 1.3; the first telescopic boom 1.1 and the second telescopic boom 1.2 are connected to the main controller through the hydraulic system; the rotary reducer 1.3 is connected to the main controller through the electrical system. The leveling reducer 1.4 is installed at the telescopic end of the first telescopic boom 1.1 or the second telescopic boom 1.2; the leveling reducer 1.4 is connected to the main controller through the electrical system; The suspended platform assembly is disposed between the first directional telescopic arm 1.1 and the second directional telescopic arm 1.2.

[0027] Both the first telescopic arm 1.1 and the second telescopic arm 1.2 include a first telescopic cylinder and a first inner cylinder and a first outer cylinder coaxially sleeved together; a plurality of sliders are spaced apart on the circumferential outer wall of the first inner cylinder; the length direction of each slider is along the length direction of the first inner cylinder; a groove adapted to each slider is provided on the inner wall of the first outer cylinder; the fixed end of the first telescopic cylinder is connected to the first outer cylinder, and its telescopic end is connected to the inner cylinder; the first telescopic cylinder is connected to the main controller through the hydraulic system.

[0028] The suspended platform assembly includes a suspended platform assembly 1.5, a suspended platform control panel 1.6, and a tilt sensor (not shown in the figure); the suspended platform assembly 1.5 includes a protective suspended platform for workers; the tilt sensor is located inside the protective suspended platform and is connected to the main controller; the suspended platform control panel 1.6 is located inside the protective suspended platform and is connected to the main controller through the electrical system.

[0029] See Figure 4 The steel coil suspension device 2 includes a first telescopic arm 2.1, a second telescopic arm 2.2, a steel coil device 2.3, a first connecting flange 2.4, a rotation shaft limiter 2.5, and a first correction longitudinal movement cylinder 2.6; The first telescopic arm 2.1 and the second telescopic arm 2.2 are respectively connected to the working arm 4; The steel drum device 2.3 is installed at the telescopic ends of the first telescopic arm 2.1 and the second telescopic arm 2.2, and both ends of the steel drum device 2.3 are detachably connected to the first telescopic arm 2.1 and the second telescopic arm 2.2 respectively through the first connecting flange 2.4; the first telescopic arm 2.1 and the second telescopic arm 2.2 are respectively connected to the main controller through the hydraulic system; The rotating shaft limiter 2.5 is mounted on the rotating shaft body 2.3.1 of the steel drum device 2.3; Tensioning mechanisms 2.3.2 for tensioning the steel coil are provided at both axial ends of the steel coil device 2.3. The tensioning mechanism 2.3.2 includes an adjustable tensioning strut. The adjustable tensioning strut includes a limiting locking component and a first strut and a second strut arranged coaxially. The first strut is a hollow strut. The second strut is a solid strut, and one end of the second strut is coaxially sleeved in the first strut. Multiple threaded holes are provided through the first strut wall along its length. The limiting locking component is a bolt and is adapted to fit the threaded holes. When the second strut is adjusted relative to the first strut to be tight against the inner lining of the steel coil, the limiting locking component is screwed into the threaded hole to lock the second strut and the first strut together, thereby achieving the tensioning effect on the steel coil. The first longitudinal displacement hydraulic cylinder 2.6 is installed at the telescopic end of the first telescopic arm 2.1 or the second telescopic arm 2.2; the first longitudinal displacement hydraulic cylinder 2.6 is connected to the main controller through the hydraulic system and is used to correct the axial deviation of the steel coil.

[0030] The rotary shaft limiter 2.5 includes a limiter housing, a clamping cylinder, and an elastic sleeve (such as a rubber sleeve); the limiter housing is coaxially sleeved on the rotary shaft body 2.3.1; the elastic sleeve is coaxially sleeved on the rotary shaft body 2.3.1 and located inside the limiter housing; the clamping cylinder is disposed inside the limiter housing, and its clamping working end is correspondingly disposed with the elastic sleeve; the clamping cylinder is connected to the main controller through the hydraulic system.

[0031] See Figure 5 The roller clamping device 3 includes a third telescopic arm 3.1, a fourth telescopic arm 3.2, a first pitch cylinder 3.3, a second pitch cylinder 3.4, a roller body 3.5, and a second connecting flange 3.6; The third telescopic arm 3.1 and the fourth telescopic arm 3.2 are respectively connected to the working arm 4; The roller body 3.5 is disposed on the telescopic ends of the third telescopic arm 3.1 and the fourth telescopic arm 3.2, and both ends of the roller body 3.5 are detachably connected to the third telescopic arm 3.1 and the fourth telescopic arm 3.2 respectively through the second connecting flange 3.6; the third telescopic arm 3.1 and the fourth telescopic arm 3.2 are respectively connected to the main controller through the hydraulic system; The fixed ends of the first pitch cylinder 3.3 and the second pitch cylinder 3.4 are respectively connected to the working boom 4, and their pitch working ends are respectively connected to the third telescopic boom 3.1 (specifically, boom number 1) and the fourth telescopic boom 3.2 (specifically, boom number 1); the first pitch cylinder 3.3 and the second pitch cylinder 3.4 are respectively connected to the main controller through the hydraulic system.

[0032] The roller pressing device 3 further includes a second longitudinal correction cylinder 3.7; the second longitudinal correction cylinder 3.7 is disposed on the telescopic end of the third telescopic arm 3.1 or the fourth telescopic arm 3.2; the second longitudinal correction cylinder 3.7 is connected to the main controller through the hydraulic system and is used to drive the roller body 3.5 to move slightly along the axial direction of the roller body 3.5 to ensure that the roller body 3.5 can accurately center and press on the released steel coil.

[0033] The first telescopic boom 2.1, the second telescopic boom 2.2, the third telescopic boom 3.1, and the fourth telescopic boom 3.2 each include a telescopic drive cylinder, a first boom, and a second boom; the first boom and the second boom are coaxially arranged, and the end of the first boom away from the second boom is connected to the working boom 4, while the end of the second boom away from the first boom is the telescopic end; the fixed end of the telescopic drive cylinder is connected to the first boom, while the telescopic end is connected to the second boom; the telescopic drive cylinder is connected to the main controller through the hydraulic system.

[0034] The working boom 4 is arranged along the radial direction of the tunnel W along its length; the working boom 4 is connected to a slewing assembly that drives the working boom 4 to rotate; the slewing assembly includes a slewing base, a slewing drive, and a slewing support; the slewing support is located at the center of the working boom 4 along its length; the slewing base is connected to the slewing support; the fixed end of the slewing drive is located on the slewing base, and its driving end cooperates with the slewing support to drive the slewing support to rotate; the slewing drive is connected to the main controller via the hydraulic system.

[0035] See Figure 1 and Figure 6 The trolley containing the aforementioned steel coil laying collaborative operation device also includes a traveling mechanism 5 and a chassis 6; the chassis 6 is mounted on the traveling mechanism 5; the working boom 4 is mounted on the chassis 6 via the slewing assembly; the hydraulic system, the electrical system, and the main controller are all mounted on the chassis 6.

[0036] See Figure 1 The number of the working booms 4 is two sets, and they are symmetrically arranged on the front end and rear end of the chassis 6 in the direction of the tunnel W axis, respectively; the two sets of working booms 4 are connected by a synchronous shaft to facilitate the synchronous movement of the two sets of working booms 4.

[0037] See Figures 6-9 The construction method of the trolley containing the aforementioned steel coil laying collaborative operation device includes the following steps: Step S1: Use the main controller to control the walking mechanism 5 to move to the target work point, and adjust the walking mechanism 5 so that the center of the working boom 4 coincides with the tunnel W axis. Step S2: The main controller controls the rotation of the working boom 4, thereby moving the first telescopic boom 2.1 and the second telescopic boom 2.2 in the steel coil suspension device 2 to the predetermined loading point. The main controller controls the extension and retraction of the first telescopic boom 2.1 and the second telescopic boom 2.2 until they are connected to the steel coil device 2.3. Then, the first connecting flange 2.4 is installed to complete the steel coil loading operation. Step S3: The operator enters the protective basket of the suspended basket assembly 1.5, and controls the main controller through the control panel 1.6 of the suspended basket to control the working boom 4 to rotate the suspended basket assembly 1, the steel coil suspension device 2 and the roller pressing device 3 to the position on the tunnel W wall where the steel coil is to be laid. Then, the operator controls the first telescopic arm 2.1 and the second telescopic arm 2.2 in the steel coil suspension device 2 to link with the steel coil drum device 2.3 to bring the steel coil close to the position where the steel coil is to be laid. The operator pulls the free end of the steel coil to unwind it. During the unwinding operation, the operator controls the suspended platform control panel 1.6 to control the main controller, which in turn controls the rotation axis limiter 2.5 to adjust the steel drum device 2.3 to the required unwinding speed. The operator also controls the first longitudinal correction cylinder 2.6 to ensure the unwinding of the steel drum device 2.3 is within the longitudinal displacement error range. The operator then controls the third telescopic arm 3.1, the fourth telescopic arm 3.2, the first pitch cylinder 3.3, and the second pitch cylinder 3.4 in the drum pressing device 3 to work in conjunction with the drum body 3.5 to press the unwound steel coil against the tunnel wall W. The system controls the second longitudinal shifting cylinder 3.7 to work in conjunction with the first longitudinal shifting cylinder 2.6 to adjust the unwinding of the steel coil device 2.3 within the longitudinal shift error range; it also controls the first directional telescopic arm 1.1, the second directional telescopic arm 1.2, the rotary reducer 1.3, and the leveling reducer 1.4 to work together, thereby ensuring that the protective basket remains close to the unwound steel coil; wherein, the main controller controls the leveling reducer 1.4 in real time to keep the protective basket in a horizontal state based on the tilt angle data of the protective basket fed back by the tilt angle sensor; After unwinding 0.5 to 1.5 meters, the workers fix the unwound steel coil to the tunnel wall W. The unwinding and laying are repeated until the circumferential laying of the tunnel wall W at the current target work point is completed. Step S4: Repeat steps S1 and S3 to complete the steel coil laying operation at the next target work point; when the steel coil is used up, repeat step S2 to complete the steel coil loading operation; if the steel coil is not used up after the circumferential laying operation on the tunnel wall at the current target work point is completed, it needs to be cut before the steel coil can be transferred to the next target work point.

[0038] The pitch angle of the first pitch cylinder 3.3 and the second pitch cylinder 3.4 linked to the roller body 3.5 is less than or equal to 40°, which facilitates pressing the steel coil onto the tunnel wall. The rotation angle range of the working boom 4 is limited by the structure of the traveling mechanism 5 and the chassis 6 assembly. Its rotation angle range can be 36°~288°. The rotation angle range can be adjusted appropriately according to the working conditions. For example, the size of the traveling mechanism 5 and the chassis 6 assembly structure can be changed to adjust the rotation angle range, thereby facilitating the completion of tunnel W wall grinding and steel coil laying operations at the maximum angle.

[0039] The construction method of the trolley containing the aforementioned steel coil laying collaborative operation device provided in the embodiments of the present invention not only enables intelligent operation and improves laying efficiency, but also improves laying accuracy, operational safety, and operational comfort. Specifically: In terms of improving laying efficiency, the construction method adopted in the embodiments of the present invention is an integrated construction method that combines steel coil feeding and steel coil laying, which greatly improves laying efficiency. To improve laying accuracy, the main controller controls the rotating shaft limiter 2.5 to adjust the steel drum device 2.3 to the required unwinding speed, avoiding excessive unwinding that would exceed the longitudinal displacement error. The main controller also controls the first correction longitudinal displacement cylinder 2.6 to adjust the unwinding of the steel drum device 2.3 within the longitudinal displacement error range. Furthermore, the main controller controls the third telescopic arm 3.1, the fourth telescopic arm 3.2, the first pitch cylinder 3.3, and the second pitch cylinder 3.4 in the drum pressing device 3 to work in conjunction with the drum body 3.5 to press the unwound steel drum onto the tunnel wall W. The second correction longitudinal displacement cylinder 3.7, in conjunction with the first correction longitudinal displacement cylinder 2.6, adjusts the unwinding of the steel drum device 2.3 within the longitudinal displacement error range, thereby improving the unwinding laying accuracy. To improve operational safety and comfort, a main controller is used to coordinate the operation of the first directional telescopic boom 1.1, the second directional telescopic boom 1.2, the slewing reducer 1.3, and the leveling reducer 1.4, thereby ensuring the protective basket remains close to the released steel coil. Specifically, the main controller's control of the first and second directional telescopic booms 1.1 and 1.2 during the telescopic operation of the protective basket prevents swaying, improving both safety and comfort. Based on the tilt angle data from the tilt sensor, the main controller controls the leveling reducer 1.4 in real time to keep the protective basket level, further enhancing safety and comfort. Additionally, the main controller controls the rotation axis limiter 2.5 to adjust the steel coil device 2.3 to the required unwinding speed, preventing excessively fast unwinding and potential safety risks, thus improving overall operational safety.

[0040] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A steel coil laying collaborative operation device, characterized in that, Includes a suspended platform assembly (1), a steel coil suspension device (2), a roller clamping device (3), a hydraulic system, an electrical system, and a main controller; The suspended platform assembly (1), the steel coil suspension device (2) and the roller pressing device (3) are all located at one end of the rotatable working boom (4) along its length. The main controller is connected to the suspended platform assembly (1) through the hydraulic system and the electrical system; the main controller is connected to the working boom (4), the steel coil suspension device (2) and the roller clamping device (3) through the hydraulic system; The suspended platform assembly (1) includes a first directional telescopic boom (1.1), a second directional telescopic boom (1.2), a rotary reducer (1.3), a leveling reducer (1.4), and a suspended platform assembly; The rotary reducer (1.3) is installed on both the first telescopic boom (1.1) and the second telescopic boom (1.2), and both are connected to the working boom (4) through the rotary reducer (1.3); the first telescopic boom (1.1) and the second telescopic boom (1.2) are connected to the main controller through the hydraulic system; the rotary reducer (1.3) is connected to the main controller through the electrical system. The leveling reducer (1.4) is installed at the telescopic end of the first telescopic boom (1.1) or the second telescopic boom (1.2); the leveling reducer (1.4) is connected to the main controller through the electrical system; The suspended platform assembly is disposed between the first directional telescopic arm (1.1) and the second directional telescopic arm (1.2).

2. The steel coil laying collaborative operation device as described in claim 1, characterized in that, Both the first telescopic boom (1.1) and the second telescopic boom (1.2) include a first telescopic cylinder and a first inner cylinder and a first outer cylinder coaxially sleeved together; a plurality of sliders are spaced apart on the circumferential outer wall of the first inner cylinder; the length direction of each slider is arranged along the length direction of the first inner cylinder; a groove adapted to each slider is provided on the inner wall of the first outer cylinder; the fixed end of the first telescopic cylinder is connected to the first outer cylinder, and its telescopic end is connected to the inner cylinder; the first telescopic cylinder is connected to the main controller through the hydraulic system.

3. The steel coil laying collaborative operation device as described in claim 2, characterized in that, The suspended platform assembly includes a suspended platform assembly (1.5), a suspended platform control panel (1.6), and a tilt sensor; the suspended platform assembly (1.5) includes a protective suspended platform for workers; the tilt sensor is located inside the protective suspended platform and is connected to the main controller; the suspended platform control panel (1.6) is located inside the protective suspended platform and is connected to the main controller through the electrical system.

4. The steel coil laying collaborative operation device as described in claim 3, characterized in that, The steel coil suspension device (2) includes a first telescopic arm (2.1), a second telescopic arm (2.2), a steel coil device (2.3), a first connecting flange (2.4), a rotation shaft limiter (2.5), and a first correction longitudinal displacement cylinder (2.6). The first telescopic boom (2.1) and the second telescopic boom (2.2) are respectively connected to the working boom (4); The steel drum device (2.3) is installed at the telescopic ends of the first telescopic arm (2.1) and the second telescopic arm (2.2), and both ends of the steel drum device (2.3) are detachably connected to the first telescopic arm (2.1) and the second telescopic arm (2.2) respectively through the first connecting flange (2.4); the first telescopic arm (2.1) and the second telescopic arm (2.2) are respectively connected to the main controller through the hydraulic system; The rotating shaft limiter (2.5) is disposed on the rotating shaft body (2.3.1) of the steel drum device (2.3); Tensioning mechanisms (2.3.2) for tensioning the steel coil are provided at both axial ends of the steel coil device (2.3); the tensioning mechanism (2.3.2) includes a tension adjustable support rod; The first longitudinal displacement correction cylinder (2.6) is installed on the telescopic end of the first telescopic arm (2.1) or the second telescopic arm (2.2); the first longitudinal displacement correction cylinder (2.6) is connected to the main controller through the hydraulic system.

5. The steel coil laying collaborative operation device as described in claim 4, characterized in that, The rotary shaft limiter (2.5) includes a limiter housing, a clamping cylinder, and an elastic sleeve; the limiter housing is coaxially sleeved on the rotary shaft body (2.3.1); the elastic sleeve is coaxially sleeved on the rotary shaft body (2.3.1) and located inside the limiter housing; the clamping cylinder is disposed inside the limiter housing, and its clamping working end is correspondingly disposed with the elastic sleeve; the clamping cylinder is connected to the main controller through the hydraulic system.

6. The steel coil laying collaborative operation device as described in claim 4, characterized in that, The roller clamping device (3) includes a third telescopic arm (3.1), a fourth telescopic arm (3.2), a first pitch cylinder (3.3), a second pitch cylinder (3.4), a roller body (3.5), and a second connecting flange (3.6). The third telescopic arm (3.1) and the fourth telescopic arm (3.2) are respectively connected to the working arm (4); The roller body (3.5) is disposed on the telescopic ends of the third telescopic arm (3.1) and the fourth telescopic arm (3.2), and both ends of the roller body (3.5) are detachably connected to the third telescopic arm (3.1) and the fourth telescopic arm (3.2) respectively through the second connecting flange (3.6); the third telescopic arm (3.1) and the fourth telescopic arm (3.2) are respectively connected to the main controller through the hydraulic system; The fixed ends of the first pitch cylinder (3.3) and the second pitch cylinder (3.4) are respectively connected to the working boom (4), and their pitch working ends are respectively connected to the third telescopic boom (3.1) and the fourth telescopic boom (3.2); the first pitch cylinder (3.3) and the second pitch cylinder (3.4) are respectively connected to the main controller through the hydraulic system.

7. The steel coil laying collaborative operation device as described in claim 6, characterized in that, The roller pressing device (3) further includes a second longitudinal correction cylinder (3.7); the second longitudinal correction cylinder (3.7) is located at the telescopic end of the third telescopic arm (3.1) or the fourth telescopic arm (3.2); the second longitudinal correction cylinder (3.7) is connected to the main controller through the hydraulic system.

8. The steel coil laying collaborative operation device as described in claim 7, characterized in that, The working boom (4) is arranged along the radial direction of the tunnel in the length direction; the working boom (4) is connected to a slewing assembly that drives the working boom (4) to rotate; the slewing assembly includes a slewing seat, a slewing drive, and a slewing support; the slewing support is located at the center of the working boom (4) in the length direction; the slewing seat is connected to the slewing support; the fixed end of the slewing drive is located on the slewing seat, and its driving end cooperates with the slewing support to drive the slewing support to rotate; the slewing drive is connected to the main controller via the hydraulic system.

9. A trolley comprising the steel coil laying collaborative operation device as described in claim 8, characterized in that, The trolley also includes a traveling mechanism (5) and a chassis (6); the chassis (6) is mounted on the traveling mechanism (5); the working boom (4) is mounted on the chassis (6) via the slewing assembly; the hydraulic system, the electrical system and the main controller are all mounted on the chassis (6).

10. A construction method for a trolley containing the steel coil laying collaborative operation device as described in claim 9, characterized in that, include: Step S1: Use the main controller to control the walking mechanism (5) to move to the target work point, and use the walking mechanism (5) to move and adjust the center of the working boom (4) to coincide with the tunnel axis; Step S2: The main controller controls the rotation of the working boom (4), thereby linking the first telescopic boom (2.1) and the second telescopic boom (2.2) in the steel coil suspension device (2) to move to the predetermined loading point. The main controller controls the telescopic operation of the first telescopic boom (2.1) and the second telescopic boom (2.2) until they are connected to the steel coil device (2.3). Then, the first connecting flange (2.4) is installed to complete the steel coil loading operation. Step S3: The operator enters the protective basket of the suspended basket assembly (1.5), controls the suspended basket control panel (1.6), and then controls the main controller to control the working boom (4) to link the suspended basket assembly (1), the steel coil suspension device (2) and the roller pressing device (3) to rotate to the position on the tunnel wall where the steel coil is to be laid. Then, the operator controls the first telescopic arm (2.1) and the second telescopic arm (2.2) in the steel coil suspension device (2) to link the steel coil drum device (2.3) to bring the steel coil close to the position where the steel coil is to be laid. The operator pulls the free end of the steel coil to unwind it. During the unwinding operation, the operator controls the suspended platform control panel (1.6) to control the main controller to control the rotation axis limiter (2.5) to adjust the steel drum device (2.3) to the required unwinding speed, and controls the first correction longitudinal displacement cylinder (2.6) to adjust the unwinding of the steel drum device (2.3) within the longitudinal displacement error; controls the third telescopic arm (3.1), the fourth telescopic arm (3.2), the first pitch cylinder (3.3), and the second pitch cylinder (3.4) in the drum pressing device (3) to work together with the drum body (3.5) to press the unwound steel coil against the tunnel wall. On the surface, by controlling the second correction longitudinal displacement cylinder (3.7) in coordination with the first correction longitudinal displacement cylinder (2.6), the unwinding of the steel coil device (2.3) is adjusted to be within the longitudinal displacement error; the first directional telescopic arm (1.1), the second directional telescopic arm (1.2), the rotary reducer (1.3) and the leveling reducer (1.4) are controlled to work together, thereby controlling the protective basket to always be close to the unwound steel coil; wherein, the main controller controls the leveling reducer (1.4) in real time to keep the protective basket in a horizontal state based on the tilt angle data of the protective basket fed back by the tilt angle sensor; After unwinding 0.5 to 1.5 meters, the workers fix the unwound steel coil to the tunnel wall; unwinding and laying are repeated multiple times until the circumferential laying of the tunnel wall at the current target work point is completed. Step S4: Repeat steps S1 and S3 to complete the steel coil laying operation at the next target work point; wherein, when the steel coil is used up, repeat step S2 to complete the steel coil loading operation.

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