Tunnel secondary lining steel precise feeding and intelligent binding device and working method

Abstract

The application discloses a tunnel secondary lining steel precise feeding and intelligent binding device, and relates to the technical field of tunnel construction. The device comprises a walking trolley, a horizontal operation mechanism, a longitudinal feeding structure and a ring direction operation mechanism. The horizontal operation mechanism and the longitudinal feeding structure are both installed on the walking trolley, and the ring direction operation mechanism is installed on the horizontal operation mechanism. The horizontal operation mechanism comprises a horizontal sliding structure and a horizontal driving structure. The application also discloses a working method of the tunnel secondary lining steel precise feeding and intelligent binding device. The device integrates the functions of walking, ring direction steel feeding, longitudinal steel feeding, precise positioning and intelligent binding on a single trolley. The device directly realizes the feeding and positioning of steel in the hole, which can make the construction process more compact and efficient, fundamentally avoid the tedious cooperation and connection waiting time between devices, help realize seamless flow operation between processes, and greatly improve the overall construction efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and more specifically, to a device and method for precise feeding and intelligent binding of steel reinforcement for secondary tunnel lining. Background Technology

[0002] Secondary tunnel lining is a crucial structure for ensuring the long-term stability and load-bearing capacity of the tunnel. Rebar tying is one of the core procedures in secondary lining construction, and its quality and efficiency directly affect the overall progress and safety of the project. However, rebar tying is a challenging construction process. Traditionally, the feeding and tying of lining rebar are mainly done manually, resulting in extremely high labor intensity and inconsistent quality. Problems such as insecure tying and inaccurate spacing are prone to occur.

[0003] In recent years, some automated rebar tying equipment has emerged. For example, utility model patent application number CN202221957504.9 discloses a "Rebar Tying Robot Sensing and Intelligent Control System." This patent application can control a rebar tying robot to tie rebar nodes by moving on wheels, but it cannot be applied to rebar meshes on slopes greater than 25 degrees, nor to double-layer rebar meshes. Utility model patent application number CN202321603571.5 discloses a "Quadrupedal Bionic Rebar Tying Robot." This patent application can only achieve rebar tying, still requiring a large amount of manual labor to complete other processes. In addition, the slow movement of the quadruped and the reliability of long-term walking are insufficient to meet the needs of efficient construction pace. The invention patent application CN202210950693.5 discloses an "Automatic Tie-up Device and Working Method for Climbing Reinforcing Mesh in Tunnel Lining". This patent application can only achieve rebar tying and can stably climb to a higher position in the tunnel using the reinforcing mesh. The machine body is stabilized by a locking device, but the climbing speed is slow and the work efficiency is not high. In addition, the tying device assumes that the reinforcing mesh is already in a stable position, and does not adequately consider the initial positioning and stability of the reinforcing mesh. The invention patent application CN202410301509.3 discloses a "Mechanized Construction Device and Construction Method for Secondary Lining Reinforcing Bars in Tunnel". This patent adopts a main trolley and auxiliary trolley operation mode, which is not flexible in the limited space of the tunnel, has a long intermediate connection and stop time, and the grid steel frame needs to be prefabricated outside the tunnel, and the on-site grid steel frame arrangement is also time-consuming and labor-intensive.

[0004] In summary, such equipment is either bulky and lacks flexibility, or it is limited to horizontal or low-slope steel mesh. Most of it has only one function, usually only able to achieve a single function such as "feeding" or "tying" of steel bars. It cannot cover the entire process from steel bar feeding and precise positioning to intelligent tying. It is difficult to adapt to the complex and ever-changing construction needs of tunnel annular cross-section steel skeleton, and it cannot achieve automatic walking on annular cross-sections. These problems urgently need to be solved to increase the adaptability and practicality of the equipment in tunnel lining steel bar tying scenarios. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a precise feeding and intelligent binding device for secondary lining steel bars in tunnels, so as to achieve integrated operation, eliminate connection stagnation, and enable automated feeding and binding of steel bars on-site in the tunnel. This helps to make the construction process more compact and efficient, and the flexible operation mode with no blind spots can enhance site adaptability. In addition, intelligent binding can ensure uniform and reliable quality, so as to effectively reduce the intensity of manual labor and labor costs, and significantly improve the mechanization, intelligence and industrialization level of secondary lining steel bar construction in tunnels.

[0006] To achieve the above objectives, the present invention provides a precise feeding and intelligent binding device for secondary lining steel bars in tunnels, comprising a traveling trolley, a horizontal running mechanism mounted on the traveling trolley, a longitudinal feeding structure, and a circumferential running mechanism mounted on the horizontal running mechanism: The horizontal running mechanism includes a horizontal sliding structure installed on the left and right sides of the top of the traveling trolley and a horizontal driving structure installed on the left and right sides of the traveling trolley. The horizontal sliding structure includes sliding tracks installed on the left and right sides of the top of the traveling trolley, an annular plate that is C-shaped and surrounds the top of the traveling trolley, and a sliding member installed on the inner side of the annular plate and adapted to slide on the sliding track; the annular plate is provided with an annular toothed ring on the side away from the traveling trolley, and the horizontal driving structure is used to provide driving force to make the annular plate slide on the sliding track. The circumferential running mechanism includes a circumferential feeding structure slidably installed on the outside of the annular plate and a guiding structure installed at both ends of the circumferential feeding structure; The circumferential feeding structure includes a movable block slidably disposed on the outside of the annular plate, an circumferential drive component installed inside the movable block and meshing with the circumferential gear ring, a ring bar clamping component installed on the side of the movable block opposite to the annular plate, and a binding robot installed on one side of the movable block in the width direction; the movable block is equipped with a guide plate slidably connected to the annular plate, the binding robot is adapted to perform binding operations, and the binding robot is equipped with a sensing and recognition component for detecting the intersection of the reinforcing bars; the feeding structure is used to ensure that all parts of the ring bar are in the same vertical plane when the ring bar clamping component clamps and moves the ring bar. The longitudinal feeding structure includes a rotating shaft rotatably mounted on the traveling trolley, a rotary drive component mounted on the traveling trolley for driving the rotating shaft to rotate, two parallel and symmetrically arranged telescopic hydraulic arms respectively mounted at both ends of the rotating shaft, and a longitudinal rib clamping component mounted at the output end of the telescopic hydraulic arms. An absolute encoder is provided on the rotating shaft.

[0007] Furthermore, the traveling trolley includes two sets of parallel support trusses, and four connecting rods are arranged in parallel on one side of the two supporting trusses. The supporting truss includes two uprights, a horizontal bar installed on top of the uprights, a support rod installed at the bottom of the horizontal bar and fixedly connected to the side of the uprights, and a first bracket and a second bracket respectively installed on opposite sides of the two uprights. The second bracket is located below the first bracket, and the length of the first bracket is greater than that of the second bracket. The two ends of the connecting rod are fixedly connected to the uprights on the front and rear supporting trusses respectively.

[0008] Furthermore, a hydraulic lifting component is fixedly connected to the bottom of the upright, and a moving component is fixedly connected to the bottom of the hydraulic lifting component.

[0009] Furthermore, the horizontal drive structure includes a rack rail installed between the front and rear first supports and a horizontal drive component installed on the circumferential gear ring and meshing with the rack rail for transmission.

[0010] Furthermore, the horizontal drive component includes a transmission gear roller rotatably mounted on the circumferential gear ring and meshing with the rack track, a first drive member fixedly mounted on the circumferential gear ring, a horizontal drive gear mounted on the output end of the first drive member and meshing with the transmission gear roller, and a hollow shaft encoder mounted on the transmission gear roller.

[0011] Furthermore, the circumferential drive component includes an annular moving gear rotatably mounted inside the moving block and meshing with the circumferential gear ring, and a second drive member mounted on the side of the moving block away from the binding robot in the width direction, the second drive member being fixedly connected to the annular moving gear.

[0012] Furthermore, the ring rib clamping component includes a first fixed seat installed on the side of the movable block away from the annular plate, a first fixed clamping block installed on the side of the first fixed seat away from the movable block, a first movable clamping block slidably installed on the first fixed seat and corresponding to the position of the first fixed clamping block, a first connecting block installed on the side of the first movable clamping block close to the movable block, a first screw rotatably installed on the first fixed seat and threadedly connected to the first connecting block, and a first miniature driving component installed on one side of the first fixed seat and fixedly connected to the first screw.

[0013] Furthermore, the material guiding structure includes two rotating seats symmetrically installed on both sides of the width direction of the annular plate, a material guiding component rotatably installed on the side of the rotating seat near the annular plate, and a reset traction component installed in the horizontal section of the rotating seat for tightening the material guiding component. The combination of the two material guiding components is suitable for restricting the movement of the circumferential reinforcing bars. Push plates suitable for pushing against the material guiding component are fixedly connected to both sides of the width direction of the moving block. The reset traction component includes a stop plate mounted on the rotating seat to restrict the rotation of the guide member toward the annular plate, a pull rope with one end mounted on the guide member and sliding vertically through the rotating seat, a slider slidably mounted in the horizontal section of the rotating seat and fixedly connected to the other end of the pull rope, an elastic compression member sleeved on the outside of the pull rope and fixedly connected to the slider and the rotating seat, and a damper located on the side of the slider away from the elastic compression member and fixedly connected to the slider and the rotating seat.

[0014] Furthermore, a fixing plate is fixedly connected to the output end of the telescopic hydraulic arm; The longitudinal rib clamping component includes a second fixed seat installed on the side of the fixed plate away from the telescopic hydraulic arm, a second fixed clamping block installed on the side of the second fixed seat away from the fixed plate, a second movable clamping block slidably installed on the second fixed seat and corresponding to the position of the second fixed clamping block, a second connecting block installed on the side of the second movable clamping block near the second fixed seat, a second screw rotatably installed on the second fixed seat and threadedly connected to the second connecting block, a second miniature drive unit installed on one side of the second fixed seat along its length and fixedly connected to the second screw, and a laser rangefinder installed on the side of the second fixed clamping block and the second movable clamping block that are opposite to each other.

[0015] Another objective of this invention is to provide a working method for a precise feeding and intelligent binding device for secondary lining steel bars in tunnels, comprising the following steps: Step S1: Move the traveling trolley to the position in the secondary lining of the tunnel where the circumferential steel mesh is to be tied, and use the horizontal running mechanism to adjust the longitudinal position of the annular plate on the traveling trolley, and move the annular plate to the position on the traveling trolley where the longitudinal steel reinforcement needs to be installed. Step S2: Adjust the circumferential position of the moving block on the annular plate using the circumferential running mechanism, move the moving block to any end of the annular plate, clamp the circumferential reinforcing bar using the circumferential reinforcing bar clamping component on the moving block, and under the operation of the circumferential running mechanism, make the circumferential reinforcing bar clamping component drive the circumferential reinforcing bar to move along the annular plate; during the process of the circumferential reinforcing bar clamping component moving towards the material guiding structure, the push plate is adapted to gradually open the material guiding components on both sides after contacting the material guiding component, so that the circumferential reinforcing bar clamping component can pass through. After the circumferential reinforcing bar clamping component passes through, the material guiding components on both sides will close again and clamp the circumferential reinforcing bar under the action of the reset traction component, so that the circumferential reinforcing bar moves along the preset trajectory with the circumferential reinforcing bar clamping component until the moving block reaches the other end of the annular plate; Step S3: Use the hydraulic lifting component to adjust the height of the traveling trolley so that the circumferential reinforcing bar enters the designated position. Then, use the circumferential running mechanism to adjust the circumferential position of the circumferential feeding structure on the annular plate. Move the binding robot to the position on the annular plate where the binding operation needs to be performed, so that the binding robot binds the circumferential reinforcing bar to the pre-reserved reinforcing bar of the invert arch. After the circumferential reinforcing bar is bound, operate the hydraulic lifting component to lower the traveling trolley, so that the circumferential reinforcing bar can be released from the circumferential reinforcing bar clamping component. Step S4: Repeat steps S1-S3 above until several circumferential reinforcing bars are arranged from one end of the traveling trolley to the other end; Step S5: Use the longitudinal bar clamping component to clamp the longitudinal bar, and adjust the position of the longitudinal bar clamping component by adjusting the rotation of the rotating shaft and the extension of the telescopic hydraulic arm through the rotation drive component, so as to achieve the circumferential position adjustment of the longitudinal bar; Step S6: After adjusting the binding robot to the position corresponding to the longitudinal reinforcement using the circumferential running mechanism, the annular plate is moved horizontally by the horizontal running mechanism so that the intersection of the circumferential reinforcement and the longitudinal reinforcement is detected by the sensing and recognition component in the binding robot during this process, and the binding operation of the circumferential reinforcement and the longitudinal reinforcement is performed at the intersection. Step S7: Repeat steps S5-S6 above until each intersection of several longitudinal reinforcing bars and several circumferential reinforcing bars is tied.

[0016] Compared with the prior art, the present invention has the following advantages and effects: 1. The precision feeding and intelligent binding device for secondary tunnel lining reinforcement in this invention can flexibly adjust the position of the circumferential feeding structure by utilizing the combined action of the horizontal and circumferential running mechanisms to achieve circumferential feeding and all-round intelligent binding operations. Combined with the feeding operation of the longitudinal feeding structure for longitudinal reinforcement and the height adjustment of the traveling trolley by the hydraulic lifting component, it can automatically lay out and bind the complex inner and outer layers of the complex steel mesh of the secondary tunnel lining while meeting the construction requirements of the complex and ever-changing tunnel annular cross-section reinforcement skeleton. Moreover, the device has a high degree of automation and low dependence on manual labor, which helps to improve the binding efficiency and quality while ensuring the integrity of the circumferential reinforcement mesh surface structure and the uniformity of stress, shorten the construction period and reduce the intensity of manual labor, thereby increasing the adaptability and practicality of the device in the tunnel lining reinforcement binding scenario, and effectively improving the mechanization, intelligence and industrialization level of tunnel secondary lining reinforcement construction.

[0017] 2. The tunnel secondary lining reinforcement precision feeding and intelligent binding device of this invention has a hollow shaft encoder on the transmission toothed roller that can detect and provide feedback on the horizontal displacement of the annular plate, so that the annular plate moves according to the design requirements of the circumferential reinforcement binding spacing; and the laser rangefinder on the longitudinal reinforcement clamping component can detect and provide feedback on the spacing between two adjacent longitudinal reinforcements, so that the longitudinal reinforcement clamping component moves according to the design requirements of the longitudinal reinforcement binding spacing. Thus, when feeding longitudinal and circumferential reinforcements, the device can accurately position the longitudinal or circumferential reinforcements, effectively avoiding quality problems caused by differences in manual operation and ensuring the quality of reinforcement binding. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the precision feeding and intelligent binding device for secondary lining steel bars in a tunnel according to an embodiment of the present invention. Figure 2 This is a front view structural diagram of the tunnel secondary lining steel reinforcement precision feeding and intelligent binding device in an embodiment of the present invention; Figure 3 This is a front view cross-sectional schematic diagram of the horizontal sliding structure of the tunnel secondary lining steel reinforcement precision feeding and intelligent binding device in an embodiment of the present invention; Figure 4 This is a front view cross-sectional structural diagram of the horizontal drive component of the tunnel secondary lining steel reinforcement precision feeding and intelligent binding device in an embodiment of the present invention. Figure 5 This is a side view sectional view of the circumferential feeding structure of the tunnel secondary lining steel reinforcement precision feeding and intelligent binding device in an embodiment of the present invention. Figure 6 This is a side cross-sectional view of the material guiding structure of the precision feeding and intelligent binding device for secondary lining steel bars in a tunnel according to an embodiment of the present invention. Figure 7 for Figure 6 Schematic diagram of the structure at point A; Figure 8 This is a top-view cross-sectional structural diagram of the rotating seat and guide component of the precision feeding and intelligent binding device for secondary lining steel bars in a tunnel according to an embodiment of the present invention. Figure 9 This is a top view of the longitudinal reinforcement clamping component of the tunnel secondary lining reinforcement precision feeding and intelligent binding device in an embodiment of the present invention. Figure 10 This is a rear view structural schematic diagram of the longitudinal bar clamping component of the tunnel secondary lining steel bar precision feeding and intelligent binding device in an embodiment of the present invention. Figure 11 This is a front view cross-sectional structural schematic diagram of an example of the rotary drive component of the tunnel secondary lining steel reinforcement precision feeding and intelligent binding device in an embodiment of the present invention. Figure 12 This is a schematic diagram of the installation structure of the binding robot for the precise feeding and intelligent binding device of the secondary lining steel bars in the tunnel, as described in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1-Traveling trolley; 11-Upright pole; 111-Hydraulic lifting component; 112-Moving component; 12-Horizontal pole; 13-Support pole; 14-Connecting pole; 15-First support; 16-Second support; 2-Horizontal sliding structure; 21-Sliding track; 22-Annular plate; 221-Circular toothed ring; 23-Sliding component; 231-Guide rail seat; 232-Vertical limiting roller; 233-Horizontal limiting roller; 3-Horizontal drive structure; 31-Rack and pinion track; 32-Horizontal drive component; 321-Transmission gear roller; 322-First drive component; 323-Horizontal drive gear; 324-Hollow shaft encoder; 4- Circumferential feeding structure; 41- Moving block; 411- Guide plate; 412- Push plate; 42- Circumferential drive component; 421- Second drive component; 422- Circumferential moving gear; 43- Circumferential rib clamping component; 431- First fixed seat; 432- First fixed clamping block; 433- First micro drive component; 434- First screw; 435- First connecting block; 436- First moving clamping block; 44- Binding robot; 5-Guiding structure; 51-Rotating seat; 511-First guide roller; 52-Guiding component; 53-Reset traction component; 531-Suppressor plate; 5311-Second guide roller; 532-Pull rope; 533-Slider; 534-Elastic compression component; 535-Damper; 6-Mounting structure; 61-Mounting bracket; 62-Mounting plate; 7-Longitudinal feeding structure; 71-Rotating shaft; 711-Absolute encoder; 72-Rotary drive component; 721-Housing; 722-Transmission gear; 723-Third drive component; 724-Rotating gear; 73-Telescopic hydraulic arm; 731-Fixing plate; 74-Longitudinal rib clamping component; 741-Second fixed seat; 742-Second fixed clamping block; 743-Second micro drive component; 744-Second screw; 745-Second connecting block; 746-Second moving clamping block; 747-Laser rangefinder. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Please see Figure 1-12 As shown, this embodiment of the invention provides a precise feeding and intelligent binding device for secondary lining steel bars in tunnels, including a traveling trolley 1, a horizontal running mechanism, a longitudinal feeding structure 7, and a circumferential running mechanism. The horizontal running mechanism and the longitudinal feeding structure 7 are both installed on the traveling trolley 1, and the circumferential running mechanism is installed on the horizontal running mechanism.

[0023] The horizontal running mechanism includes a horizontal sliding structure 2 and a horizontal driving structure 3. The horizontal sliding structure 2 is installed on the left and right sides of the top of the traveling trolley 1, and the horizontal driving structure 3 is installed on the left and right sides of the traveling trolley 1.

[0024] The horizontal sliding structure 2 includes a sliding track 21, an annular plate 22, and a sliding member 23. The sliding track 21 is installed on the left and right sides of the top of the traveling trolley 1. The annular plate 22 is C-shaped and surrounds the top of the traveling trolley 1. The sliding member 23 is installed on the inner side of the annular plate 22 and is slidably adapted to the sliding track 21. A circumferential toothed ring 221 is provided on the side of the annular plate 22 away from the traveling trolley 1. The horizontal drive structure 3 is used to provide driving force to make the annular plate 22 slide on the sliding track 21.

[0025] As a further description of the above solution, the sliding member 23 includes a guide rail seat 231, a vertical limiting roller 232, and a horizontal limiting roller 233. The guide rail seat 231 is fixedly installed at the bottom of the annular plate 22 and corresponds to the position of the sliding track 21. The guide rail seat 231 covers the top outer side of the sliding track 21. The vertical limiting roller 232 is horizontally rotatably installed inside the guide rail seat 231 and is in contact with the top of the sliding track 21. The vertical limiting roller 232 can roll on the sliding track 21. The two horizontal limiting rollers 233 are symmetrically installed on the guide rail seat 231, and the two horizontal limiting rollers 233 are respectively located on both sides of the width direction of the sliding track 21. The outer periphery of the horizontal limiting rollers 233 is in contact with the sliding track 21. Through the combined action of the guide rail seat 231, the vertical limiting roller 232, and the horizontal limiting rollers 233, the annular plate 22 can effectively maintain smooth and stable sliding when sliding on the sliding track 21.

[0026] As a further preferred embodiment of the above scheme, the guide rail seat 231 in this application is exemplified by an H-shape, and the sliding track 21 is exemplified by an I-shape. The cooperation between the guide rail seat 231 and the sliding track 21 is as follows: Figure 1-3 As shown.

[0027] The circumferential running mechanism includes a circumferential feeding structure 4 and a guiding structure 5. The circumferential feeding structure 4 is slidably installed on the outside of the annular plate 22, and the guiding structure 5 is installed at both ends of the circumferential feeding structure 4.

[0028] The circumferential feeding structure 4 includes a moving block 41, a circumferential drive component 42, a ring bar clamping component 43, and a binding robot 44. The moving block 41 is slidably disposed on the outside of the annular plate 22. The circumferential drive component 42 is installed inside the moving block 41 and meshes with the circumferential gear ring 221 for transmission. The ring bar clamping component 43 is installed on the side of the moving block 41 away from the annular plate 22. The binding robot 44 is installed on one side of the moving block 41 in the width direction. A guide plate 411 that is slidably connected to the annular plate 22 is installed on the moving block 41. The binding robot 44 is suitable for performing binding operations and is equipped with a sensing and recognition component for detecting the intersection of the reinforcing bars. The material guiding structure 5 is used to ensure that all parts of the ring bar are in the same vertical plane when the ring bar clamping component 43 clamps and moves the ring bar, and at the same time improves the activity stability of the ring bar.

[0029] As a further description of the above scheme, the annular plate 22 has a movable slide groove on the side away from the traveling trolley 1, and the circumferential gear ring 221 is disposed in the movable slide groove. A part of the circumferential drive component 42 extends into the movable slide groove to realize the meshing transmission between the circumferential drive component 42 and the circumferential gear ring 221. In addition, a limiting slide groove is provided on the annular plate 22 on the inner side wall of the movable slide groove, and the guide plate 411 is slidably adapted to the limiting slide groove to prevent the moving block 41 from moving away from the annular plate 22.

[0030] As a preferred embodiment of the above solution, the binding robot 44 in this application can perform a series of binding operations such as automatic wire feeding, wrapping the reinforcing bar, tightening and fixing, and cutting the wire ends under the control of the controller.

[0031] The longitudinal feeding structure 7 includes a rotating shaft 71, a rotary drive component 72, a telescopic hydraulic arm 73, and a longitudinal rib clamping component 74. The rotating shaft 71 is rotatably mounted on the traveling trolley 1. The rotary drive component 72 is mounted on the traveling trolley 1 to drive the rotating shaft 71 to rotate. The two telescopic hydraulic arms 73 are arranged in parallel and symmetrically, and are respectively mounted at both ends of the rotating shaft 71. The longitudinal rib clamping component 74 is mounted at the output end of the telescopic hydraulic arm 73. An absolute encoder 711 is provided on the rotating shaft 71 to facilitate the detection of the absolute position of the rotating shaft 71, so as to accurately adjust the rotation angle of the rotating shaft 71 and ensure that the circumferential position of the longitudinal rib clamping component 74 on the telescopic hydraulic arm 73 meets the binding requirements.

[0032] Please see Figure 1 As shown, the traveling trolley 1 includes two sets of parallel support trusses at the front and rear, and four connecting rods 14 are arranged in parallel on one side opposite to the front and rear support trusses. The supporting truss includes two uprights 11, a horizontal bar 12 installed on the top of the uprights 11, a support rod 13 installed on the bottom of the horizontal bar 12 and fixedly connected to the side of the uprights 11, and a first bracket 15 and a second bracket 16 respectively installed on opposite sides of the two uprights 11. The second bracket 16 is located below the first bracket 15, and the length of the first bracket 15 is greater than that of the second bracket 16. The two ends of the connecting rod 14 are fixedly connected to the uprights 11 on the front and rear supporting trusses respectively.

[0033] As a further description of the above scheme, flat plates can be laid on the horizontal bar 12, the first support 15, and the second support 16 to serve as containers for tools and materials or as aids for climbing.

[0034] Please see Figure 1-2 As shown, a hydraulic lifting component 111 is fixedly connected to the bottom of the upright 11, and a moving component 112 is fixedly connected to the bottom of the hydraulic lifting component 111; so as to use the hydraulic lifting component 111 to adjust the overall height of the traveling trolley 1. The moving component 112 is designed to make the traveling trolley 1 easy to move. In this application, the moving component 112 is exemplified by a caster wheel.

[0035] Please see Figure 1-2 and Figure 4 As shown, the horizontal drive structure 3 includes a rack and pinion track 31 and a horizontal drive component 32. The rack and pinion track 31 is installed between the front and rear first supports 15, and the horizontal drive component 32 is installed on the circumferential gear ring 221 and meshes with the rack and pinion track 31 for transmission.

[0036] Please see Figure 1-2 and Figure 4 As shown, the horizontal drive component 32 includes a transmission gear roller 321, a first drive member 322, a horizontal drive gear 323, and a hollow shaft encoder 324. The transmission gear roller 321 is rotatably mounted on the circumferential gear ring 221 and meshes with the rack and pinion track 31. The first drive member 322 is fixedly mounted on the circumferential gear ring 221. The horizontal drive gear 323 is mounted on the output end of the first drive member 322 and meshes with the transmission gear roller 321. The hollow shaft encoder 324 is mounted on the transmission gear roller 321.

[0037] As a further description of the above scheme, the first driving member 322 is configured to drive the transmission toothed roller 321 to rotate by means of the horizontal driving gear 323, so as to drive the annular plate 22 to move horizontally by means of the meshing action of the transmission toothed roller 321 and the rack and pinion track 31.

[0038] Please refer to the figure. Figure 1-2 and Figure 5 As shown, the circumferential drive component 42 includes a ring moving gear 422 and a second drive member 421. The ring moving gear 422 is rotatably mounted inside the moving block 41 and meshes with the circumferential gear ring 221. The second drive member 421 is mounted on the side of the moving block 41 away from the binding robot 44 in the width direction, and the second drive member 421 is fixedly connected to the ring moving gear 422. By using the operation of the second drive member 421 to drive the ring moving gear 422 to rotate, the moving block 41 can be moved on the annular plate 22 through the meshing action of the ring moving gear 422 and the circumferential gear ring 221.

[0039] Please see Figure 1-2 and Figure 5 As shown, the ring rib clamping component 43 includes a first fixed base 431, a first fixed clamping block 432, a first movable clamping block 436, a first connecting block 435, a first screw 434, and a first micro drive component 433. The first fixed base 431 is installed on the side of the movable block 41 away from the annular plate 22. The first fixed clamping block 432 is installed on the side of the first fixed base 431 away from the movable block 41. The first movable clamping block 436 is slidably installed on the first fixed base 431 and corresponds to the position of the first fixed clamping block 432. The first connecting block 435 is installed on the side of the first movable clamping block 436 close to the movable block 41. The first screw 434 is rotatably installed on the first fixed base 431 and threadedly connected to the first connecting block 435. The first micro drive component 433 is installed on one side of the first fixed base 431 and is fixedly connected to the first screw 434.

[0040] As a preferred embodiment of the above scheme, the first movable clamping block 436 and the first fixed clamping block 432 in this application are symmetrically arranged arc-shaped or semi-circular structures, and when the first movable clamping block 436 and the first fixed clamping block 432 are brought together and fitted, the arc structures on the first movable clamping block 436 and the first fixed clamping block 432 are coaxial; the arc surface dimensions of the first movable clamping block 436 and the first fixed clamping block 432 are less than or equal to the outer circumferential dimensions of the clamped circumferential reinforcing bars.

[0041] As a further description of the above solution, the operation of the first micro-drive component 433 can drive the first screw 434 to rotate, so that the first connecting block 435 drives the first movable clamping block 436 to move with the rotation of the first screw 434; when the first movable clamping block 436 and the first fixed clamping block 432 are far apart, it helps to smoothly and quickly place the circumferential reinforcing bar between the first movable clamping block 436 and the first fixed clamping block 432; when the first movable clamping block 436 and the first fixed clamping block 432 are tightly attached to the circumferential reinforcing bar, the first movable clamping block 436 and the first fixed clamping block 432 can play the role of clamping the circumferential reinforcing bar and maintaining its stability; when the first movable clamping block 436 and the first fixed clamping block 432 are slightly separated, the cooperation of the first movable clamping block 436 and the first fixed clamping block 432 can prevent the circumferential reinforcing bar from falling off the circumferential reinforcing bar clamping component 43, so as to avoid the circumferential reinforcing bar from rotating due to the movement of the circumferential reinforcing bar clamping component 43.

[0042] Please see Figure 1-2 and Figure 6-9 As shown, the material guiding structure 5 includes a rotating seat 51, a material guiding component 52, and a reset traction component 53. Two rotating seats 51 are symmetrically installed on both sides of the annular plate 22 in the width direction. The material guiding component 52 is rotatably installed on the side of the rotating seat 51 close to the annular plate 22. The reset traction component 53 is installed in the horizontal section of the rotating seat 51 and is used to tighten the material guiding component 52. The combination of the two material guiding components 52 is suitable for restricting the movement of the circumferential reinforcing bars. The reset traction component 53 is suitable for pulling the material guiding component 52, so that the material guiding component 52 has a tendency to rotate towards the annular plate 22. Push plates 412 suitable for pushing the material guiding component 52 are fixedly connected to both sides of the moving block 41 in the width direction.

[0043] The reset traction component 53 includes a stop plate 531, a pull rope 532, a slider 533, an elastic compression member 534, and a damper 535. The stop plate 531 is mounted on the rotating seat 51 to restrict the guide member 52 from rotating toward the annular plate 22. One end of the pull rope 532 is mounted on the guide member 52 and slides vertically through the rotating seat 51. The slider 533 is slidably mounted in the horizontal section of the rotating seat 51 and is fixedly connected to the other end of the pull rope 532. The elastic compression member 534 is sleeved on the outside of the pull rope 532 and is fixedly connected to the slider 533 and the rotating seat 51. The damper 535 is located on the side of the slider 533 away from the elastic compression member 534 and is fixedly connected to the slider 533 and the rotating seat 51.

[0044] As a preferred embodiment of the above solution, a second guide roller 5311 suitable for assisting the pull rope 532 in turning is rotatably installed inside the abutment plate 531, and a first guide roller 511 suitable for assisting the pull rope 532 in turning is rotatably installed inside the rotating seat 51, so as to reduce the scratch damage to the bent part of the pull rope 532 by the abutment plate 531 and the rotating seat 51 using the arrangement of the first guide roller 511 and the second guide roller 5311.

[0045] As a further description of the above scheme, when the moving block 41 drives the circumferential reinforcing bar through a certain guide structure 5, the push plate 412 will push the guide members 52 to both sides when the moving block 41 passes through the guide structure 5, so that the circumferential reinforcing bar clamping component 43 can pass smoothly between the two guide members 52, thereby avoiding the guide members 52 from obstructing the movement of the circumferential reinforcing bar clamping component 43 as a whole; after the moving block 41 passes and moves away, the guide members 52 on both sides will lose the support of the moving block 41 and will move back together under the action of the reset traction component 53, so that the two guide members 52 combine to restrict the movement of the circumferential reinforcing bar, and make all parts of the circumferential reinforcing bar in the same vertical plane during the movement of the circumferential reinforcing bar.

[0046] As a preferred embodiment of the above solution, at least one arc-shaped structure is provided at both ends of the moving block 41 and the side of the guide member 52 near the annular plate 22 in this application, so that the guide member 52 can smoothly rotate to both sides of the annular plate 22 when the moving block 41 contacts the guide member 52. This application takes the side of the guide member 52 near the annular plate 22 as an example to provide an arc-shaped structure.

[0047] As another preferred embodiment of the above scheme, the guide 52 provided in this application includes a rotating plate and an arc plate. One end of the rotating plate is rotatably mounted on the rotating seat 51, and the other end of the rotating plate is fixedly connected to the arc plate. The guides 52 on both sides of the annular plate 22 are symmetrically arranged. The arc plates on the two guides 52 can be combined together to cover the circumferential steel bars to restrict the movement of the circumferential steel bars.

[0048] Please see Figure 1-2 and Figure 10As shown, the output end of the telescopic hydraulic arm 73 is fixedly connected to a fixing plate 731; the longitudinal rib clamping component 74 includes a second fixing seat 741, a second fixed clamping block 742, a second movable clamping block 746, a second connecting block 745, a second screw 744, a second micro drive component 743, and a laser rangefinder 747. The second fixed seat 741 is installed on the side of the fixed plate 731 away from the telescopic hydraulic arm 73. The second fixed clamping block 742 is installed on the side of the second fixed seat 741 opposite to the fixed plate 731. The second movable clamping block 746 is slidably installed on the second fixed seat 741 and corresponds to the position of the second fixed clamping block 742. The second connecting block 745 is installed on the side of the second movable clamping block 746 close to the second fixed seat 741. The second screw 744 is rotatably installed on the second fixed seat 741 and threadedly connected to the second connecting block 745. The second micro drive 743 is installed on one side of the second fixed seat 741 along its length and is fixedly connected to the second screw 744. The laser rangefinder 747 is installed on the side of the second fixed clamping block 742 and the second movable clamping block 746 that are away from each other.

[0049] As a further description of the above solution, the operation of the second micro-drive component 743 in the longitudinal reinforcement clamping component 74 can drive the second screw 744 to rotate, so that the second connecting block 745 drives the second fixed clamping block 742 to slide within the second fixed seat 741, thereby adjusting the distance between the second fixed clamping block 742 and the second movable clamping block 746. When the second fixed clamping block 742 and the second movable clamping block 746 are close together, the longitudinal reinforcement is clamped. The laser rangefinder 747 can be used to detect the distance between the clamped longitudinal reinforcement and the previous longitudinal reinforcement during the process of the longitudinal reinforcement clamping component 74 driving the longitudinal reinforcement to move, so as to ensure the installation spacing between two adjacent longitudinal reinforcements.

[0050] Please see Figure 1-2 and Figure 11 As shown, the tunnel secondary lining steel reinforcement precision feeding and intelligent binding device also includes an installation structure 6. The installation structure 6 includes an installation plate 62 and an installation bracket 61. The installation plate 62 is located between the front and rear support trusses. The installation bracket 61 is fixedly installed on both sides of the width direction of the installation plate 62. The other end of the installation bracket 61 located on the left and right sides of the installation plate 62 is connected to the left and right symmetrically distributed support rods 13 to maintain the installation stability of the installation plate 62.

[0051] As a further description of the above solution, a rotating bearing seat adapted to the outer wall of the rotating shaft 71 is fixedly connected to the mounting plate 62, so as to fix the rotating shaft 71 to the mounting plate 62 through the rotating bearing seat, and the rotating drive component 72 is fixedly installed on the mounting plate 62.

[0052] Please see Figure 1-2 and Figure 11As shown, an example of the rotary drive component 72 in this invention includes a housing 721, a transmission gear 722, a third drive component 723, and a rotating gear 724. The housing 721 is mounted on the top surface of the mounting plate 62. The transmission gear 722 is fixedly mounted on the outer periphery of the rotating shaft 71 and located inside the housing 721. The third drive component 723 is fixedly mounted inside the housing 721. The output end of the third drive component 723 is fixedly connected to the rotating gear 724, which meshes with the transmission gear 722, so that when the third drive component 723 is running, the meshing transmission action of the rotating gear 724 and the transmission gear 722 can drive the rotating shaft 71 to rotate.

[0053] Please see Figure 1-12 As shown, the present invention also provides a method for operating a self-propelled tying device for tunnel lining reinforcement, comprising the following steps: Step S1: Move the traveling trolley 1 to the position in the secondary lining of the tunnel where the circumferential steel mesh needs to be tied, and use the horizontal running mechanism to adjust the longitudinal position of the ring plate 22 on the traveling trolley 1, and move the ring plate 22 to the position on the traveling trolley 1 where the longitudinal steel reinforcement needs to be installed. Step S2: Adjust the circumferential position of the moving block 41 on the annular plate 22 using the circumferential running mechanism, move the moving block 41 to any end of the annular plate 22, use the annular bar clamping component 43 on the moving block 41 to clamp the annular bar, and under the operation of the circumferential running mechanism, the annular bar clamping component 43 drives the annular bar to move along the annular plate 22. During the movement of the guide structure 5, the push plate 412 is adapted to gradually open the guide components 52 on both sides after contacting the guide component 52, so that the annular bar clamping component 43 can pass through. After the annular bar clamping component 43 passes through, the guide components 52 on both sides will close again and clamp the annular bar under the action of the reset traction component 53, so that the annular bar moves along the preset trajectory with the annular bar clamping component 43 until the moving block 41 reaches the other end of the annular plate 22. Step S3: Use the hydraulic jacking component 111 to adjust the height of the traveling trolley 1 so that the circumferential reinforcing bar enters the designated position. Use the circumferential running mechanism again to adjust the circumferential position of the circumferential feeding structure 4 on the annular plate 22. Move the binding robot 44 to the position on the annular plate 22 where the binding operation needs to be performed so that the binding robot 44 binds the circumferential reinforcing bar to the reserved reinforcing bar of the invert arch. After the circumferential reinforcing bar is bound, operate the hydraulic jacking component 111 to lower the traveling trolley 1 so that the circumferential reinforcing bar can be released from the circumferential reinforcing bar clamping component 43. Step S4: Repeat steps S1-S3 above until several circumferential reinforcing bars are arranged from one end of the traveling trolley 1 to the other end; Step S5: Use the longitudinal bar clamping component 74 to clamp the longitudinal bar, and adjust the position of the longitudinal bar clamping component 74 by adjusting the rotation of the rotating shaft 71 and the extension and retraction of the telescopic hydraulic arm 73 through the rotation drive component 72, so as to achieve the circumferential position adjustment of the longitudinal bar. Step S6: After adjusting the binding robot 44 to the position corresponding to the longitudinal reinforcement using the circumferential running mechanism, the ring plate 22 is moved horizontally under the action of the horizontal running mechanism. During this process, the sensing and recognition components in the binding robot 44 detect the intersection of the circumferential reinforcement and the longitudinal reinforcement, and the binding operation of the circumferential reinforcement and the longitudinal reinforcement is performed at the intersection. Step S7: Repeat steps S5-S6 above until each intersection of several longitudinal reinforcing bars and several circumferential reinforcing bars is tied.

[0054] As a further description of the above scheme, during the construction of the tunnel lining steel mesh, it is often necessary to set up inner and outer steel meshes. The inner and outer steel meshes have similar structures, only differing in height. Therefore, after the outer steel mesh is installed, this application can repeat steps S1-S7 to install the inner steel mesh after adjusting the specified height of the steel mesh installation.

[0055] As a preferred embodiment of the above scheme, after completing steps S1-S7, in order to ensure the firmness and stability of the connection between the circumferential reinforcing bars and the reserved reinforcing bars of the invert arch, it is necessary to weld or mechanically connect and fix the connection points between the circumferential reinforcing bars and the reserved reinforcing bars of the invert arch. In order to ensure the alignment, continuity, structural integrity and structural strength of the longitudinal reinforcing bar skeleton, it is also necessary to weld and fix the longitudinal reinforcing bars to the existing longitudinal reinforcing bars at the same height as the previous mold. This application can use manual welding or mechanical connection operations after completing steps S1-S7, or it can replace the binding robot 44 with a welding robot to perform welding operations, so as to improve the overall structural stability of the tunnel lining reinforcing bar mesh.

[0056] It should be noted that this application also includes an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The computer program is executed by the processor to perform the above-described self-tying method for tunnel lining reinforcement.

[0057] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. A precise feeding and intelligent binding device for secondary lining steel bars in tunnels, characterized in that, It includes a traveling trolley (1), a horizontal running mechanism and a longitudinal feeding structure (7) mounted on the traveling trolley (1), and a circumferential running mechanism mounted on the horizontal running mechanism: The horizontal running mechanism includes a horizontal sliding structure (2) installed on the left and right sides of the top of the traveling trolley (1) and a horizontal driving structure (3) installed on the left and right sides of the traveling trolley (1). The horizontal sliding structure (2) includes sliding rails (21) installed on the left and right sides of the top of the traveling trolley (1), an annular plate (22) that is C-shaped and surrounds the top of the traveling trolley (1), and a sliding member (23) installed on the inner side of the annular plate (22) and slidingly adapted to the sliding rails (21); the annular plate (22) is provided with an annular toothed ring (221) on the side away from the traveling trolley (1), and the horizontal driving structure (3) is used to provide driving force to make the annular plate (22) slide on the sliding rails (21); The circumferential running mechanism includes a circumferential feeding structure (4) that is slidably installed on the outside of the annular plate (22) and a number of guiding structures (5) installed on both sides of the width direction of the annular plate (22). The circumferential feeding structure (4) includes a movable block (41) slidably disposed on the outside of the annular plate (22), an annular drive component (42) installed inside the movable block (41) and meshing with the annular gear ring (221), a ring bar clamping component (43) installed on the side of the movable block (41) away from the annular plate (22), and a binding robot (44) installed on one side of the movable block (41) in the width direction; the movable block (41) is equipped with a guide plate (411) slidably connected to the annular plate (22), the binding robot (44) is adapted to perform binding operations, and the binding robot (44) is provided with a sensing and recognition component for detecting the intersection of the reinforcing bars, and the feeding structure (5) is used to ensure that each part of the ring bar is in the same vertical plane when the ring bar clamping component (43) clamps and moves the ring bar; The material guiding structure (5) includes two rotating seats (51) symmetrically installed on both sides of the annular plate (22) in the width direction, a material guiding component (52) rotatably installed on the side of the rotating seat (51) near the annular plate (22), and a reset traction component (53) installed in the horizontal section of the rotating seat (51) for tightening the material guiding component (52). The combination of the two material guiding components (52) is suitable for restricting the movement of the circumferential reinforcing bars. Push plates (412) suitable for pushing against the material guiding component (52) are fixedly connected to both sides of the moving block (41) in the width direction. The reset traction component (53) includes a stop plate (531) mounted on the rotating seat (51) to restrict the rotation of the guide (52) toward the annular plate (22), a pull rope (532) with one end mounted on the guide (52) and sliding vertically through the rotating seat (51), a slider (533) slidably mounted in the horizontal section of the rotating seat (51) and fixedly connected to the other end of the pull rope (532), an elastic compression member (534) sleeved on the outside of the pull rope (532) and fixedly connected to the slider (533) and the rotating seat (51), and a damper (535) located on the side of the slider (533) away from the elastic compression member (534) and fixedly connected to the slider (533) and the rotating seat (51). The longitudinal feeding structure (7) includes a rotating shaft (71) rotatably mounted on the traveling trolley (1), a rotary drive component (72) mounted on the traveling trolley (1) for driving the rotating shaft (71) to rotate, two parallel and symmetrically arranged telescopic hydraulic arms (73) respectively mounted on both ends of the rotating shaft (71), and a longitudinal rib clamping component (74) mounted on the output end of the telescopic hydraulic arms (73). An absolute encoder (711) is provided on the rotating shaft (71).

2. The precision feeding and intelligent binding device for secondary tunnel lining reinforcement according to claim 1, characterized in that, The traveling trolley (1) includes two sets of parallel support trusses, and four connecting rods (14) are arranged in parallel on one side opposite to the front and rear support trusses. The support truss includes two uprights (11), a horizontal bar (12) installed on the top of the uprights (11), a support rod (13) installed on the bottom of the horizontal bar (12) and fixedly connected to the side of the uprights (11), and a first bracket (15) and a second bracket (16) respectively installed on opposite sides of the two uprights (11). The second bracket (16) is located below the first bracket (15), and the length of the first bracket (15) is greater than that of the second bracket (16). The two ends of the connecting rod (14) are fixedly connected to the uprights (11) on the front and rear support trusses respectively.

3. The precision feeding and intelligent binding device for secondary lining steel bars in tunnels according to claim 2, characterized in that, The bottom of the upright (11) is fixedly connected to a hydraulic lifting component (111), and the bottom of the hydraulic lifting component (111) is fixedly connected to a moving component (112).

4. The precision feeding and intelligent binding device for secondary lining steel bars in tunnels according to claim 2, characterized in that, The horizontal drive structure (3) includes a rack rail (31) installed between the front and rear first supports (15) and a horizontal drive component (32) installed on the circumferential gear ring (221) and meshing with the rack rail (31).

5. The precision feeding and intelligent binding device for secondary lining steel bars in tunnels according to claim 4, characterized in that, The horizontal drive component (32) includes a transmission toothed roller (321) rotatably mounted on the circumferential toothed ring (221) and meshing with the rack track (31), a first drive member (322) fixedly mounted on the circumferential toothed ring (221), a horizontal drive gear (323) mounted on the output end of the first drive member (322) and meshing with the transmission toothed roller (321), and a hollow shaft encoder (324) mounted on the transmission toothed roller (321).

6. The precision feeding and intelligent binding device for secondary tunnel lining reinforcement according to claim 1, characterized in that, The circumferential drive component (42) includes an annular moving gear (422) rotatably mounted inside the moving block (41) and meshing with the circumferential gear ring (221) and a second drive member (421) mounted on the side of the moving block (41) away from the binding robot (44) in the width direction, the second drive member (421) being fixedly connected to the annular moving gear (422).

7. The precision feeding and intelligent binding device for secondary tunnel lining reinforcement according to claim 1, characterized in that, The ring rib clamping component (43) includes a first fixed seat (431) installed on the side of the moving block (41) away from the annular plate (22), a first fixed clamping block (432) installed on the side of the first fixed seat (431) away from the moving block (41), a first movable clamping block (436) slidably installed on the first fixed seat (431) and corresponding to the position of the first fixed clamping block (432), a first connecting block (435) installed on the side of the first movable clamping block (436) close to the moving block (41), a first screw (434) rotatably installed on the first fixed seat (431) and threadedly connected to the first connecting block (435), and a first micro drive component (433) installed on one side of the first fixed seat (431) and fixedly connected to the first screw (434).

8. The precision feeding and intelligent binding device for secondary lining steel bars in tunnels according to claim 1, characterized in that, The output end of the telescopic hydraulic arm (73) is fixedly connected to a fixing plate (731). The longitudinal rib clamping component (74) includes a second fixed seat (741) installed on the side of the fixed plate (731) away from the telescopic hydraulic arm (73), a second fixed clamping block (742) installed on the side of the second fixed seat (741) away from the fixed plate (731), a second movable clamping block (746) slidably installed on the second fixed seat (741) and corresponding to the position of the second fixed clamping block (742), a second connecting block (745) installed on the side of the second movable clamping block (746) close to the second fixed seat (741), a second screw (744) rotatably installed on the second fixed seat (741) and threadedly connected to the second connecting block (745), a second micro drive (743) installed on one side of the second fixed seat (741) in the length direction and fixedly connected to the second screw (744), and a laser rangefinder (747) installed on the side of the second fixed clamping block (742) and the second movable clamping block (746) that are separated.

9. A working method for a precise feeding and intelligent binding device for secondary lining steel bars in tunnels based on any one of claims 1-8, characterized in that, Includes the following steps: Step S1: Move the traveling trolley (1) to the position where the circumferential steel mesh needs to be tied in the secondary lining of the tunnel, and use the horizontal running mechanism to adjust the longitudinal position of the annular plate (22) on the traveling trolley (1), and move the annular plate (22) to the position on the traveling trolley (1) where the longitudinal steel reinforcement needs to be installed. Step S2: Adjust the circumferential position of the moving block (41) on the annular plate (22) using the circumferential running mechanism, move the moving block (41) to any end of the annular plate (22), use the annular bar clamping component (43) on the moving block (41) to clamp the annular bar, and under the operation of the circumferential running mechanism, make the annular bar clamping component (43) drive the annular bar to move along the annular plate (22); the annular bar clamping component (43) moves towards the material guiding structure (5) During the process, the push plate (412) is adapted to gradually open the guides (52) on both sides after contacting the guide (52) so that the ring bar clamping component (43) can pass through. After the ring bar clamping component (43) passes through, the guides (52) on both sides will close again and clamp the circumferential steel bar under the action of the reset traction component (53) so that the circumferential steel bar moves along the preset trajectory with the ring bar clamping component (43) until the moving block (41) reaches the other end of the ring plate (22). Step S3: Use the hydraulic lifting component (111) to adjust the height of the traveling trolley (1) so that the circumferential reinforcing bar enters the designated position. Use the circumferential running mechanism again to adjust the circumferential position of the circumferential feeding structure (4) on the annular plate (22). Move the binding robot (44) to the position on the annular plate (22) where the binding operation needs to be performed so that the binding robot (44) binds the circumferential reinforcing bar to the reserved reinforcing bar of the invert arch. After the circumferential reinforcing bar is bound, operate the hydraulic lifting component (111) to lower the traveling trolley (1) so that the circumferential reinforcing bar can be separated from the circumferential reinforcing bar clamping component (43). Step S4: Repeat steps S1-S3 above until several circumferential reinforcing bars are arranged from one end of the traveling trolley (1) to the other end; Step S5: Use the longitudinal bar clamping component (74) to clamp the longitudinal bar, and adjust the position of the longitudinal bar clamping component (74) by adjusting the rotation of the rotating shaft (71) and the extension of the telescopic hydraulic arm (73) through the rotation drive component (72) to achieve circumferential position adjustment of the longitudinal bar; Step S6: After adjusting the binding robot (44) to the position corresponding to the longitudinal reinforcement using the circumferential running mechanism, the ring plate (22) is moved horizontally under the action of the horizontal running mechanism, so that the intersection of the circumferential reinforcement and the longitudinal reinforcement is detected by the sensing and recognition component in the binding robot (44) during this process, and the binding operation of the circumferential reinforcement and the longitudinal reinforcement is performed at the intersection. Step S7: Repeat steps S5-S6 above until each intersection of several longitudinal reinforcing bars and several circumferential reinforcing bars is tied.

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