Tunnel wall ring tendon conveying trolley based on chain type mechanical arm

Abstract

The application belongs to the technical field of steel conveying equipment, and particularly relates to a tunnel wall ring steel conveying trolley based on a chain type mechanical arm. The supporting trolley in the tunnel wall ring steel conveying trolley based on the chain type mechanical arm can be used for supporting the mechanical arm body. The last section of the mechanical arm body can be moved into the inner ring of the ring steel formed by the ring steel forming mechanism. The hook is arranged on the ring steel by driving the conveying chain to act, so that the ring steel is limited and fixed. Then, the ring steel on the mechanical arm body is conveyed to the specified position for fixing by controlling the mechanical arm body to act, so that the conveying of the ring steel is completed by replacing manual work. The labor intensity and safety hazards during the conveying of the ring steel are reduced, and the laying efficiency of the ring steel is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of rebar conveying equipment, and specifically relates to a tunnel wall ring rebar conveying trolley based on a chain-type robotic arm. Background Technology

[0002] The installation of wall reinforcement is an essential step in the tunnel excavation process. Among them, the installation of wall reinforcement involves the installation of ring reinforcement (circumferential reinforcement). In the process of installing wall reinforcement, the ring reinforcement needs to be fixed to the tunnel wall to complete the installation of the ring reinforcement.

[0003] Currently, the installation of ring reinforcement is mostly carried out manually. The ring reinforcement is transported to the designated location (installation position) and then manually supported so that its plane is parallel to the cross-section of the tunnel. The ring reinforcement is then fixed to the tunnel wall to complete the installation. Alternatively, a rebar laying trolley is used to assist in the manual installation of the ring reinforcement. That is, the bent ring reinforcement is transported to the designated location by the rebar laying trolley, and workers stand on the construction platform of the rebar laying trolley to fix the ring reinforcement to the tunnel wall to complete the installation. The ring reinforcement has a certain weight. When it is transported manually, the process of delivering it to the designated position and supporting it requires the cooperation of many people, which consumes a lot of manpower and is labor-intensive. At the same time, when supporting the ring reinforcement, its center of gravity is located at the center of the tunnel, and many people need to work together to stabilize it or use tools to stabilize it to prevent the ring reinforcement from tilting. This process poses certain safety hazards. In the method of using a rebar placement trolley to assist in the placement of ring reinforcement, the rebar placement trolley is limited by its size and can only be used for transporting ring reinforcement in tunnels with certain dimensions (cross-sectional dimensions smaller than the tunnel dimensions), thus limiting its scope of application. Summary of the Invention

[0004] This invention provides a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm to solve the technical problems of high labor intensity and certain safety hazards in the existing technology of manually conveying ring reinforcement.

[0005] This invention is achieved through the following technical solution: A tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm includes a support trolley and a robotic arm body; The support trolley is equipped with a ring bar forming machine for bending steel bars into ring bars and erecting them on the support trolley; The main body of the robotic arm is mounted on a support trolley. A conveyor chain is installed at the end of the main body of the robotic arm. The direction of movement of the conveyor chain is the same as the long axis of the end of the main body of the robotic arm. Multiple hooks are installed on the conveyor chain. The end of the main body of the robotic arm can move to the inner circle of the ring rib. By driving the conveyor chain, the hooks are hooked onto the ring rib. Then, the main body of the robotic arm is controlled to move to transport the ring rib on the conveyor chain to the designated position.

[0006] To better realize the present invention, further optimizations are made to the above structure, wherein the main body of the robotic arm includes a fixed base, an upper arm, and a lower arm; A fixed seat is set on the platform of the support trolley. A first telescopic cylinder is hinged to the fixed seat. One end of the boom is hinged to the fixed seat. The actuating end of the first telescopic cylinder is hinged to the boom and is used to adjust the angle between the boom and the plane of the fixed seat. One end of the forearm is hinged to the end of the upper arm away from the fixed base. A second telescopic cylinder is installed on the upper arm, and the actuating end of the second telescopic cylinder is hinged to the forearm to adjust the angle between the forearm and the upper arm. A drive motor, a first sprocket, and a second sprocket are installed on the forearm. The first sprocket and the second sprocket are respectively arranged close to the two ends of the forearm, and the rotation axes of the first sprocket and the second sprocket are parallel to the horizontal plane. The actuating end of the drive motor is connected to the first sprocket or the second sprocket for transmission. The conveyor chain is wound around the first sprocket and the second sprocket, and the plurality of hooks are located on the outer edge of the conveyor chain and are arranged at equal intervals along the length of the conveyor chain.

[0007] To better realize the present invention, the above structure is further optimized, and the conveyor chain includes chain links and chain plates; There are multiple links, and two adjacent links are connected by two chain plates, which are respectively located on both sides of the link. The hook is mounted on the chain plate.

[0008] To better realize the present invention, the above structure is further optimized, and the upper arm includes a main arm and a telescopic arm; One end of the main arm is hinged to the fixed base. The main arm has a cavity inside. The end of the main arm away from the fixed base has an opening that communicates with the cavity. A third telescopic cylinder is provided on the main arm. One end of the telescopic arm slides through the opening and is set in the cavity, while one end of the forearm is hinged to the end of the telescopic arm away from the main arm. The end of the third telescopic cylinder furthest from the main arm is connected to the telescopic arm and is used to adjust the relative position of the main arm and the telescopic arm. The fixed end of the second telescopic cylinder is hinged to the telescopic arm.

[0009] To better realize the present invention, further optimizations are made to the above structure, and the tunnel wall ring reinforcement conveying trolley based on the chain robotic arm also includes a rotary platform. The rotary platform is set on the platform of the support trolley, and the rotation axis of the moving end of the rotary platform is perpendicular to the platform of the support trolley. The main body of the robotic arm is set on the moving end of the rotary platform.

[0010] To better realize the present invention, the above structure is further optimized by providing rollers on both sides of the support trolley. The rotation axis of the idler roller is parallel to the long axis of the support trolley, and the position of the idler roller is in the same vertical plane as the discharge port of the ring rib forming machine.

[0011] To better realize the present invention, the above structure is further optimized, and the number of the robotic arm bodies is multiple, and the multiple robotic arm bodies are arranged at intervals along the long axis of the support trolley.

[0012] To better realize the present invention, further optimizations are made to the above structure, wherein the support trolley includes a support body and a construction platform; The ring reinforcement forming machine is located on the side of the support body, and the robotic arm body is located on the top surface of the support body; Multiple telescopic supports are provided on the side of the support body. The multiple telescopic supports are arranged along the long axis of the support body. The moving end of the telescopic support can move towards or away from the center of the support body. The construction platform is located at the moving end of multiple telescopic supports.

[0013] To better realize the present invention, the above structure is further optimized by providing a deformation cylinder on the support body; The fixed end of the telescopic bracket is hinged to the side wall of the support body, and the other end of the deformable cylinder is hinged to the telescopic bracket to adjust the angle between the telescopic bracket's telescopic direction and the side wall of the support body.

[0014] To better realize the present invention, the above structure is further optimized by providing a guardrail on the side of the construction platform away from the center of the supporting body.

[0015] Compared with the prior art, the present invention has the following advantages: The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm provided by this invention has a support trolley that can support the main body of the robotic arm. The end of the main body of the robotic arm can move into the inner circle of the ring reinforcement formed by the ring reinforcement forming machine. By driving the conveying chain, the hook is hooked onto the ring reinforcement to achieve the limiting and fixing of the ring reinforcement. Then, by controlling the movement of the main body of the robotic arm, the ring reinforcement on the main body of the robotic arm is conveyed to the designated position for fixing, replacing manual labor to complete the conveying of the ring reinforcement, thereby reducing the labor intensity and safety hazards during the conveying of the ring reinforcement and improving the laying efficiency of the ring reinforcement. Attached Figure Description

[0016] 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 these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm, provided by the present invention, in which multiple robotic arm bodies cooperate to convey ring reinforcement.

[0019] Figure 3 This is a schematic diagram of the structure of a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm, provided by the present invention, when the construction platform is in the unfolded state.

[0020] Figure 4 This is a schematic diagram of the structure of a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm, provided by the present invention, when the construction platform is in a folded state.

[0021] Figure 5 This is a schematic diagram of the main body of the robotic arm in a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm, provided by the present invention.

[0022] Figure 6 This is a schematic diagram of the conveying chain in a tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm, provided by the present invention.

[0023] Figure 7 yes Figure 6 A magnified view of part A in the middle.

[0024] In the picture: 1. Support trolley; 11. Support body; 111. Telescopic bracket; 112. Deformation cylinder; 113. Idler roller; 12. Construction platform; 121. Guardrail; 13. Ring reinforcement forming machine; 2. Main body of the robotic arm; 21. Fixed base; 22. Upper arm; 221. Main arm; 222. Telescopic arm; 23. Lower arm; 231. First sprocket; 232. Second sprocket; 233. Drive motor; 241. First telescopic cylinder; 242. Second telescopic cylinder; 243. Third telescopic cylinder; 25. Rotary platform; 3. Conveyor chain; 31. Chain link; 32. Chain plate; 33. Hook. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0026] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In the embodiments of this application, such as Figure 1 As shown in Figure 7, the tunnel wall reinforcement conveying trolley uses a chain-type robotic arm to convey the reinforcement bars, replacing manual labor in delivering the bars to the designated locations where workers can then fix them in place, completing the installation of the reinforcement bars in the tunnel wall. The trolley includes a support trolley 1 and a robotic arm body 2; The support trolley 1 is equipped with a ring bar forming machine 13, which can bend steel bars into ring bars and erect them on the support trolley 1. See [link / reference]. Figure 1 ; The main body 2 of the robotic arm is mounted on the support trolley 1. A conveyor chain 3 is provided at the end of the main body 2. The direction of movement of the conveyor chain 3 is the same as the direction of the long axis of the end of the main body 2. Multiple hooks 33 are provided on the conveyor chain 3.

[0029] When the tunnel construction reaches the process of fixing the ring reinforcement, the workers can send the ring reinforcement conveying trolley into the tunnel and send the prepared steel bars to the ring reinforcement forming machine 13. The ring reinforcement forming machine 13 bends the steel bars into rings and erects them on the support trolley 1. Specifically, the workers send the steel bars to the ring reinforcement forming machine 13, which bends the steel bars into rings and conveys them to the top of the support trolley 1, so that one end of the ring reinforcement can pass through the side, top and other side of the support trolley 1 in sequence. At this time, the parts of the ring reinforcement near the two ends are respectively attached to the two sides of the support trolley 1, so that the ring reinforcement is erected on the support trolley 1. Subsequently, the staff can control the movement of the robotic arm body 2, so that the end of the robotic arm body 2 moves to the inner circle of the ring rib, and drive the conveyor chain 3 to move, so that the hook 33 on the conveyor chain 3 can hook the ring rib and convey it to the end of the robotic arm body 2. During the operation of the conveyor chain 3, the ring reinforcement forming machine 13 continues to operate. The ring reinforcements prepared later are located above the support trolley 1 and can be directly hung on the end of the robotic arm body 2. The support trolley 1 and the end of the robotic arm body 2 form a three-point support to support the ring reinforcement and prevent it from tilting, thereby improving the safety of the construction process. Multiple ring ribs are made using the ring rib forming machine 13 and are respectively attached to multiple hooks 33; When the end section of the robotic arm body 2 is fully covered or has enough ring reinforcements, the operator can control the movement of the robotic arm body 2 to adjust the position of the end section of the robotic arm body 2, so that the end section of the robotic arm body 2 moves to the designated position, that is, to the location where the ring reinforcements are laid; at this time, the operator can fix the ring reinforcements.

[0030] The above method of conveying the ring reinforcement is relatively simple and does not require workers to carry or support the ring reinforcement, thus reducing the labor intensity of ring reinforcement conveying. Furthermore, multiple hooks 33 can be used to hang multiple ring reinforcements at one time, completing the conveying of multiple ring reinforcements, thereby effectively improving the conveying efficiency of ring reinforcement.

[0031] In addition, the extension state of the main body 2 of the robotic arm can be freely adjusted, and together with the conveying chain 3, it forms a chain robotic arm. The curvature of the ring reinforcement produced by the ring reinforcement forming machine 13 can be adjusted according to the usage requirements, so that the tunnel wall ring reinforcement conveying trolley can be used for conveying ring reinforcement in tunnels of various sizes, thereby increasing the applicability of the tunnel wall ring reinforcement conveying trolley.

[0032] In some embodiments, the robotic arm body 2 described above includes a fixed base 21, a large arm 22, and a small arm 23, see [reference needed]. Figure 5 ;in, The fixed seat 21 is set on the platform of the support trolley 1. The first telescopic cylinder 241 is hinged on the fixed seat 21. One end of the boom 22 is hinged to the fixed seat 21. The actuating end of the first telescopic cylinder 241 is hinged to the boom 22 and is used to adjust the angle between the boom 22 and the plane where the fixed seat 21 is located. One end of the forearm 23 is hinged to the end of the upper arm 22 away from the fixed base 21. A second telescopic cylinder 242 is provided on the upper arm 22. The actuating end of the second telescopic cylinder 242 is hinged to the forearm 23 and is used to adjust the angle between the forearm 23 and the upper arm 22. A drive motor 233, a first sprocket 231 and a second sprocket 232 are provided on the forearm 23. The first sprocket 231 and the second sprocket 232 are respectively arranged close to the two ends of the forearm 23, and the rotation axes of the first sprocket 231 and the second sprocket 232 are parallel to the horizontal plane. The actuating end of the drive motor 233 is connected to the first sprocket 231 or the second sprocket 232. In this embodiment, the first sprocket 231 is located at the end of the forearm 23 close to the upper arm 22, and the drive motor 233 is connected to the first sprocket 231. The end of the above-mentioned robotic arm body 2 is the forearm 23. The conveyor chain 3 is wound around the first sprocket 231 and the second sprocket 232. Multiple hooks 33 are located on the outer edge of the conveyor chain 3 and are evenly spaced along the length of the conveyor chain 3 to facilitate hooking the ring ribs erected on the support trolley 1.

[0033] It is worth noting that the aforementioned ring reinforcement refers to a circular or horseshoe-shaped steel bar with an opening on one side. See [link to relevant documentation]. Figure 1 During the installation process, the position of the opening corresponds to the position of the boom 22, so that when the conveying chain 3 conveys the ring rib to the end of the forearm 23 away from the boom 22, the opening on the ring rib can smoothly pass through the boom 22 and the support trolley 1, so that the conveying of the ring rib is more stable and smooth.

[0034] In some embodiments, the conveyor chain 3 described above includes chain links 31 and chain plates 32, see [link to previous document]. Figure 6 and Figure 7 ;in, There are multiple links 31. Each link 31 includes two inner plates (inner chain plates) and two pins. The two inner plates and the two pins are arranged opposite each other, and the two ends of the pins extend from the two sides of the inner plates. Two adjacent chain links 31 are connected by two chain plates 32 (outer chain plates). That is, the chain plates 32 are hinged to the end of the pin and arranged close to the inner plate. The two chain plates 32 are respectively set on both sides of the chain link 31. Hook 33 is mounted on chain plate 32.

[0035] The conveyor chain 3 in this embodiment is a chain commonly used in mechanical structures for chain drives. It has a simple and practical structure. Setting the hook 33 on the chain plate 32 can limit the movement of the ring reinforcement, so as to facilitate the conveying of the ring reinforcement.

[0036] Preferred, see Figure 7 The hook 33 and the chain plate 32 are integrally formed components to make the structure of the conveyor chain 3 more stable and improve the service life of the conveyor chain 3.

[0037] In some embodiments, the aforementioned upper arm 22 includes a main arm 221 and a telescopic arm 222, see [link to previous document]. Figure 1 , Figure 2 and Figure 5 ;in, One end of the main arm 221 is hinged to the fixed base 21. The main arm 221 has a cavity inside. The end of the main arm 221 away from the fixed base 21 has an opening that communicates with the cavity. The main arm 221 is also equipped with a third telescopic cylinder 243. One end of the telescopic arm 222 is slidably disposed in the cavity through the opening, and one end of the forearm 23 is hinged to the end of the telescopic arm 222 away from the main arm 221. The third telescopic cylinder 243 is connected to the telescopic arm 222 at the end away from the main arm 221. It is used to adjust the relative position of the main arm 221 and the telescopic arm 222 so that the length of the boom 22 can be adjusted according to the usage, thereby making it more suitable for conveying ring reinforcement in tunnels of various sizes. The fixed end of the second telescopic cylinder 242 is hinged to the telescopic arm 222 to facilitate the adjustment of the angle between the forearm 23 and the telescopic arm 222, thereby better completing the conveying of the ring reinforcement.

[0038] In some embodiments, the forearm 23 described above has an arc-shaped structure, that is, the major axis of the forearm 23 is an arc, see [reference]. Figure 1 , Figure 2 and Figure 5 When both ends of the forearm 23 are at the same height, the upper end surface of the forearm 23 is a convex surface, and the actuating end of the second telescopic cylinder 242 is hinged to the lower end surface of the forearm 23, that is, hinged to the concave surface of the forearm 23. When laying the ring reinforcement, the workers can first control the end of the forearm 23 away from the upper arm 22 to be close to the tunnel wall. At this time, the other positions of the forearm 23 are at a certain distance from the tunnel wall (tunnel top wall). In this state, the ring reinforcement on the part of the forearm 23 away from the upper arm 22 can be tightly attached to the longitudinal reinforcement of the tunnel wall, and the ring reinforcement on other parts of the forearm 23 will naturally fall down under the action of gravity, without interfering with the fixation of the ring reinforcement on the part of the forearm 23 away from the upper arm 22, so as to facilitate the workers to fix the ring reinforcement. After the ring reinforcement is fixed (welded or tied) at the above-mentioned position, the workers can adjust the state of the forearm 23 so that the end of the forearm 23 away from the main arm 22 moves away from the tunnel wall. At this time, there is a certain gap between both ends of the forearm 23 and the tunnel wall, while the middle part of the forearm 23 is close to the longitudinal reinforcement of the tunnel wall. The ring reinforcement on the part of the forearm 23 close to the main arm 22 hangs down naturally under the action of gravity and will not interfere with the fixing of the ring reinforcement on the middle part of the forearm 23, so as to facilitate the workers to fix the ring reinforcement. After the ring reinforcement on the middle part of the forearm 23 is fixed, the staff will adjust the state of the forearm 23 again, so that the end of the forearm 23 away from the upper arm 22 and the middle part of the forearm 23 move away from the tunnel wall, and the end of the forearm close to the upper arm 22 is in close contact with the longitudinal reinforcement of the tunnel wall, and all the ring reinforcements on this part hang down naturally and are in close contact with the longitudinal reinforcement of the tunnel wall, so as to facilitate the staff to fix the ring reinforcement.

[0039] Fixing the ring reinforcement in the above manner can improve the fixing efficiency of the ring reinforcement.

[0040] If the forearm 23 is designed as a straight structure, the ring ribs will sway slightly during transportation. When the forearm 23 is in contact with the tunnel wall, the ring reinforcement is compressed and its position no longer changes. However, when the ring reinforcement swings, it may get stuck between the ring reinforcement and the longitudinal reinforcement in front or behind, affecting the fixation of the ring reinforcement. The workers can only repeatedly adjust the state of the forearm 23 so that the ring reinforcement on the forearm 23 can hang down completely naturally before the forearm 23 can be in close contact with the tunnel wall and the ring reinforcement can be fixed, which affects the fixing efficiency of the ring reinforcement.

[0041] In some embodiments, the tunnel wall reinforcement conveying trolley further includes a rotary platform 25, see [link to relevant documentation]. Figure 1 , Figure 2 and Figure 5 ;in, The rotary platform 25 is set on the platform of the support trolley 1, and the rotation axis of the moving end of the rotary platform 25 is perpendicular to the platform of the support trolley 1. The main body 2 of the robotic arm is set on the moving end of the rotary platform 25. The orientation of the robotic arm body 2 can be adjusted by the rotating platform 25, so that the tunnel wall ring reinforcement conveying trolley can quickly complete the conveying of ring reinforcement even at the turning position of the tunnel, thus making the use of the tunnel wall ring reinforcement conveying trolley more convenient.

[0042] In some embodiments, both sides of the aforementioned support trolley 1 are provided with rollers 113, see [reference]. Figure 1 and Figure 2 ;in, The rotation axis of the idler roller 113 is parallel to the long axis of the support trolley 1, and the position of the idler roller 113 is in the same vertical plane as the position of the discharge port of the ring rib forming machine 13. When the ring bar forming machine 13 bends the steel bar and conveys it to the top of the support trolley 1, one end of the ring bar will fit against the circumferential surface of the roller 113 on the same side as the ring bar forming machine 13, and continue to move to the top of the support trolley 1. The roller 113 reduces the friction between the ring bar and the support trolley 1, so that the ring bar is made more smoothly. As one end of the ring reinforcement passes around the highest point and gradually moves downward, the end of the ring reinforcement will pass the roller 113 on the opposite side of the ring reinforcement forming machine 13 and continue to move downward to the support trolley 1 until the ring reinforcement is completed. At this time, the other end of the ring reinforcement is released from the ring reinforcement forming machine 13, and the ring reinforcement is mounted on the support trolley 1 and the main body of the robotic arm 2 to prevent the ring reinforcement from tipping over and improve the safety of the ring reinforcement conveying process.

[0043] In some embodiments, the number of the aforementioned robotic arm bodies 2 is multiple, see [reference]. Figure 1 and Figure 2 Multiple robotic arm bodies 2 are arranged at intervals along the long axis of the support trolley 1. The forearms 23 in the multiple robotic arm bodies 2 can overlap one after the other, so that the ring reinforcement can be transferred sequentially through the forearms 23 in the multiple robotic arm bodies 2, increasing the conveying distance and the number of ring reinforcements conveyed, thereby further improving the ring reinforcement conveying efficiency.

[0044] In some embodiments, the aforementioned support trolley 1 includes a support body 11 and a construction platform 12, see [link / reference] Figure 3 and Figure 4 ;in, The ring reinforcement forming machine 13 is set on the side of the support body 11, and the robotic arm body 2 is set on the table of the support body 11; Multiple telescopic brackets 111 are provided on the side of the support body 11. The multiple telescopic brackets 111 are arranged along the long axis of the support body 11. The moving end of the telescopic bracket 111 can move towards or away from the center of the support body 11. The construction platform 12 is set at the moving end of multiple telescopic supports 111 to facilitate the adjustment of the distance between the construction platform 12 and the tunnel wall, and to facilitate the workers to fix the reinforcing bars on the construction platform 12, that is, to tie or weld the ring bars and longitudinal bars on the construction platform 12, thereby improving the efficiency and convenience of fixing the reinforcing bars.

[0045] Preferably, the aforementioned support body 11 includes a support platform and two support parts. The two support parts are both located on the lower end face of the support platform and are arranged on both sides of the support platform to ensure sufficient space between the two support parts. When the workers send the support trolley 1 into the tunnel, the long axis of the support trolley 1 is parallel to the longitudinal direction of the tunnel, and the space between the two support parts is sufficient for personnel and vehicles to pass through the tunnel, so that the support trolley 1 does not interfere with other construction workers and vehicles.

[0046] It is worth noting that the aforementioned support includes multiple legs, which are arranged sequentially along the long axis of the support platform to provide more stable support for the platform.

[0047] In some embodiments, the aforementioned support body 11 is provided with a deformation cylinder 112, see [link to previous document]. Figure 3 and Figure 4 ;in, The fixed end of the telescopic bracket 111 is hinged to the side wall of the support body 11, and the other end of the deformable cylinder 112 is hinged to the telescopic bracket 111 to adjust the angle between the telescopic bracket 111 and the side wall of the support body 11. When the tunnel wall reinforcement conveying trolley is not in operation, the operator can control the deformation cylinder 112 to retract, causing the moving end of the telescopic support 111 to rotate downwards around its fixed end. This reduces the angle between the telescopic support 111's extension / retraction direction and the side wall of the supporting body 11, until the extension / retraction direction of the telescopic support 111 coincides with the side wall of the supporting body 11. (See [reference]). Figure 4 The construction platform 12, which is set on the telescopic support 111, changes from an unfolded state to a folded state to reduce the space occupied by the tunnel wall ring reinforcement conveying trolley, making transportation more convenient.

[0048] In this embodiment, the first telescopic cylinder 241, the second telescopic cylinder 242, the third telescopic cylinder 243 and the deformable cylinder 112 are all controlled by hydraulic oil supplied by a hydraulic pump station to achieve telescopic action. The hydraulic pump station is installed on the support body 11. The hydraulic pump station, the first telescopic cylinder 241, the second telescopic cylinder 242, the third telescopic cylinder 243, and the deformable cylinder 112 are all commercially available hydraulic pump stations and cylinders, and their structures are relatively simple, so they will not be described in detail here.

[0049] In some embodiments, a guardrail 121 is provided on the side of the construction platform 12 away from the center of the supporting body 11, see [reference]. Figure 1 and Figure 3 The guardrail 121 can effectively improve the safety of the tunnel wall ring reinforcement conveying trolley during use, and prevent workers from falling from the side of the construction platform 12 away from the center of the supporting body 11.

[0050] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm, characterized in that: Includes a support trolley (1) and a robotic arm body (2); The support trolley (1) is equipped with a ring bar forming machine (13) for bending steel bars into ring bars and erecting them on the support trolley (1). The main body (2) of the robotic arm is set on the support trolley (1). The end of the main body (2) of the robotic arm is provided with a conveyor chain (3). The direction of movement of the conveyor chain (3) is the same as the direction of the long axis of the end of the main body (2) of the robotic arm. Multiple hooks (33) are provided on the conveyor chain (3). The end of the main body (2) of the robotic arm can move to the inner circle of the ring rib. By driving the conveyor chain (3) to move, the hooks (33) hook the ring rib. Then, the main body (2) of the robotic arm is controlled to move to transport the ring rib on the conveyor chain (3) to the designated position. The main body (2) of the robotic arm includes a fixed base (21), a large arm (22) and a small arm (23); The fixed seat (21) is set on the platform of the support trolley (1). A first telescopic cylinder (241) is hinged on the fixed seat (21). One end of the boom (22) is hinged to the fixed seat (21). The actuating end of the first telescopic cylinder (241) is hinged to the boom (22) to adjust the angle between the boom (22) and the plane where the fixed seat (21) is located. One end of the forearm (23) is hinged to the end of the upper arm (22) away from the fixed seat (21). A second telescopic cylinder (242) is provided on the upper arm (22). The actuating end of the second telescopic cylinder (242) is hinged to the forearm (23) and is used to adjust the angle between the forearm (23) and the upper arm (22). A drive motor (233), a first sprocket (231) and a second sprocket (232) are provided on the forearm (23). The first sprocket (231) and the second sprocket (232) are respectively arranged close to the two ends of the forearm (23), and the rotation axes of the first sprocket (231) and the second sprocket (232) are parallel to the horizontal plane. The actuating end of the drive motor (233) is connected to the first sprocket (231) or the second sprocket (232) for transmission. The conveying chain (3) is wound around the first sprocket (231) and the second sprocket (232), and the multiple hooks (33) are located on the outer edge of the conveying chain (3) and are evenly spaced along the length of the conveying chain (3); The boom (22) includes a main boom (221) and a telescopic boom (222). One end of the main arm (221) is hinged to the fixed seat (21). The main arm (221) has a cavity inside. The end of the main arm (221) away from the fixed seat (21) has an opening that communicates with the cavity. A third telescopic cylinder (243) is provided on the main arm (221). One end of the telescopic arm (222) is slidably disposed in the cavity through the opening, and one end of the forearm (23) is hinged to the end of the telescopic arm (222) away from the main arm (221); The end of the third telescopic cylinder (243) away from the main arm (221) is connected to the telescopic arm (222) and is used to adjust the relative position of the main arm (221) and the telescopic arm (222); The fixed end of the second telescopic cylinder (242) is hinged to the telescopic arm (222); The forearm (23) described above has an arc-shaped structure. When the two ends of the forearm (23) are at the same height, the upper surface of the forearm (23) is a convex surface.

2. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: The conveyor chain (3) includes chain links (31) and chain plates (32); There are multiple links (31), and two adjacent links (31) are connected by two chain plates (32), which are respectively set on both sides of the link (31); The hook (33) is disposed on the chain plate (32).

3. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: It also includes a slewing platform (25); The rotary platform (25) is set on the platform of the support trolley (1), and the rotation axis of the moving end of the rotary platform (25) is perpendicular to the platform of the support trolley (1). The main body (2) of the robotic arm is set on the moving end of the rotary platform (25).

4. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: Both sides of the support trolley (1) are provided with rollers (113). The rotation axis of the idler roller (113) is parallel to the long axis of the support trolley (1), and the position of the idler roller (113) is in the same vertical plane as the position of the discharge port of the ring rib forming machine (13).

5. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: The number of robotic arm bodies (2) is multiple, and the multiple robotic arm bodies (2) are arranged at intervals along the long axis of the support trolley (1).

6. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: The support trolley (1) includes a support body (11) and a construction platform (12). The ring reinforcement forming machine (13) is located on the side of the support body (11), and the robotic arm body (2) is located on the top surface of the support body (11); Multiple telescopic brackets (111) are provided on the side of the support body (11). The multiple telescopic brackets (111) are arranged along the long axis of the support body (11). The moving end of the telescopic bracket (111) can move towards or away from the center of the support body (11). The construction platform (12) is set at the moving end of multiple telescopic supports (111).

7. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 6, characterized in that: A deformation cylinder (112) is provided on the support body (11). The fixed end of the telescopic bracket (111) is hinged to the side wall of the support body (11), and the other end of the deformable cylinder (112) is hinged to the telescopic bracket (111) to adjust the angle between the telescopic bracket (111) and the side wall of the support body (11).

8. The tunnel wall ring reinforcement conveying trolley based on a chain-type robotic arm according to claim 6, characterized in that: The construction platform (12) is provided with a guardrail (121) on the side away from the center of the supporting body (11).

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