Tunnel wall steel bar conveying trolley based on chain type mechanical arm

Abstract

The invention belongs to the technical field of reinforcing steel bar conveying equipment, and particularly relates to a tunnel wall reinforcing steel bar conveying trolley based on a chain type mechanical arm. According to the tunnel wall steel bar conveying trolley based on the chain type mechanical arm, the small arm can move into an inner ring of a ring rib manufactured by a ring rib forming machine, the ring rib is hooked by a second hook by driving the conveying chain to act, limiting and fixing of the ring rib are achieved, and then the ring rib is conveyed to a designated position to be fixed by controlling the mechanical arm body to act; in addition, at least two mechanical arm bodies on the supporting trolley can be used for cooperative operation, the longitudinal bars are conveyed to the position where the small arm is located by means of a feeding chain arranged on the large arm and a first hook arranged on the feeding chain, and then the longitudinal bars are conveyed to the designated position through cooperation of the small arm and the conveying chain and fixed by workers. Conveying of the longitudinal bars is completed; the mechanical arm body, the feeding chain and the conveying chain replace manpower to complete conveying of the wall reinforcing steel bars, and the labor intensity of conveying of the wall reinforcing steel bars is reduced.

Description

Technical Field

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

[0002] The wall reinforcement for tunnels is divided into longitudinal bars (longitudinal bars) that extend along the longitudinal direction of the tunnel and ring bars (circumferential bars) that are laid along the cross-section of the tunnel. During the tunnel excavation process, the laying of wall reinforcement is an essential step. First, the longitudinal bars and ring bars need to be fixed to the tunnel wall, and the intersections of the longitudinal bars and ring bars need to be fixed (welded or tied) to complete the laying of wall reinforcement.

[0003] Currently, the installation of ring reinforcement is done manually by supporting it so that its plane is parallel to the cross-section of the tunnel, and then fixing the ring reinforcement to the tunnel wall to complete the installation of the ring reinforcement; while the installation of longitudinal reinforcement is mostly done by workers standing on the ground or on a trolley, manually lifting the longitudinal reinforcement and fixing it close to the tunnel wall, and fixing the nodes where it intersects with the ring reinforcement to complete the installation of the longitudinal reinforcement. Both longitudinal and circumferential reinforcement bars have a certain weight. During the installation process, they need to be lifted manually and fixed close to the tunnel wall. The whole process is time-consuming, labor-intensive, and has a high labor intensity. When installing circumferential reinforcement bars, they need to be supported. Their center of gravity is located in the center of the tunnel. Multiple people need to work together to stabilize them or use tools to stabilize them to prevent the circumferential reinforcement bars from tilting. This process poses certain safety hazards. Summary of the Invention

[0004] This invention provides a tunnel wall rebar conveying trolley based on a chain-type robotic arm to solve the technical problem that in the prior art, the fixing of longitudinal and circumferential bars must be carried out manually by lifting them and pressing them against the tunnel wall, which is time-consuming, labor-intensive, and labor-intensive.

[0005] This invention is achieved through the following technical solution: A tunnel wall rebar conveying trolley based on a chain-type robotic arm includes a support trolley and at least two robotic arm bodies; The main body of the robotic arm includes a rotary platform, a large arm, and a small arm. 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. One end of the large arm is hinged to the rotary platform, and one end of the small arm is hinged to the other end of the large arm. All the main bodies of the robotic arm are arranged at intervals along the long axis of the support trolley. The side wall of the support trolley is equipped with a ring forming machine for bending the wall steel bars into ring bars and erecting them on the support trolley. The boom is equipped with a feeding chain that moves along the long axis of the boom. The feeding chain has multiple first hooks, all located on the outer edge of the feeding chain and spaced apart along the length of the feeding chain. The forearm is equipped with a conveyor chain that moves along the long axis of the forearm. The conveyor chain has multiple second hooks, all located on the outer edge of the conveyor chain and spaced apart along the length of the conveyor chain. The portion of the feeding chain corresponding to the end of the boom away from the support trolley and the portion of the conveyor chain corresponding to the hinged end of the forearm and boom are alternately spaced.

[0006] To better realize the present invention, further optimizations are made to the above structure, wherein the boom includes a main arm, a telescopic arm, and a tensioning assembly for adjusting the tension of the feeding chain; The fixed end of the main arm is hinged to the rotary platform via a pin. The main arm is equipped with a first drive motor and a first sprocket. The first sprocket is arranged close to the fixed end of the main arm, and the first drive motor is connected to the first sprocket for transmission. The main arm has a cavity inside, and the movable end of the main arm has an opening communicating with the cavity. The main arm is also equipped with a first telescopic cylinder and a second telescopic cylinder. The other end of the first telescopic cylinder is hinged to the rotary platform and is used to adjust the angle between the main arm and the platform. The sliding end of the telescopic arm slides through the opening and is slidably set in the cavity. The other end of the second telescopic cylinder is connected to the telescopic arm and is used to adjust the relative position of the main arm and the telescopic arm. The telescopic arm is rotatably set on the side of the main arm where the first sprocket is set. The second sprocket is arranged close to the movable end of the telescopic arm. The rotation axis of the first sprocket and the rotation axis of the second sprocket are both parallel to the axis of the pin. One end of the forearm is hinged to the movable end of the telescopic arm. A third telescopic cylinder is provided on the forearm, and the other end of the third telescopic cylinder is hinged to the telescopic arm to adjust the angle between the forearm and the telescopic arm. The tensioning assembly is disposed between the first sprocket and the second sprocket, and the feeding chain is wound around the first sprocket, the second sprocket and the tensioning assembly.

[0007] To better realize the present invention, further optimizations are made to the above structure, wherein the tensioning assembly includes a first tensioning sprocket and a second tensioning sprocket; The telescopic arm is provided with a fixing plate on its side wall. The free end of the fixing plate extends toward the fixed end of the main arm. The first tension sprocket is rotatably mounted on the fixing plate close to the free end of the fixing plate. The second tension sprocket is rotatably mounted on the main arm close to the movable end of the main arm. The rotation axis of the first tension sprocket and the rotation axis of the second tension sprocket are both parallel to the axis of the pin. One end of the feeding chain passes sequentially around the first sprocket, the second sprocket, the first tension sprocket, and the second tension sprocket before connecting to the other end of the feeding chain.

[0008] To better realize the present invention, the above structure is further optimized by providing a second drive motor, a third sprocket and a fourth sprocket on the forearm; The third and fourth sprockets are arranged close to both ends of the forearm. The rotation axes of the third and fourth sprockets are parallel to the axis of the pin shaft, and the axis of the third sprocket coincides with the axis of the second sprocket. The actuating end of the second drive motor is connected to the third or fourth sprocket. The conveyor chain is wound around the third and fourth sprockets.

[0009] To better realize the present invention, the above structure is further optimized, the forearm is an arc-shaped structure; when the two ends of the forearm are at the same height, the upper end surface of the forearm is a convex surface.

[0010] To better realize the present invention, the above structure is further optimized, and the feeding 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 first hook is disposed on the chain plate; The structure of the conveyor chain is exactly the same as that of the feeding chain, and the second hook is set on the chain plate of the conveyor chain.

[0011] 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 main body of the robotic arm is mounted on the top surface of the supporting body; The side wall of the support body is provided with multiple telescopic brackets, which are arranged along the long axis of the support body. The moving end of the telescopic bracket 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.

[0012] 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.

[0013] 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.

[0014] To better realize the present invention, the above structure is further optimized by rotatably providing a roller on the guardrail; 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.

[0015] Compared with the prior art, the present invention has the following advantages: The tunnel wall rebar conveying trolley based on a chain-type robotic arm provided by this invention allows the forearm to move into the inner ring of a ring rebar formed by a ring rebar forming machine. By driving the conveyor chain, the second hook on the conveyor chain hooks the ring rebar, achieving limiting and fixing the ring rebar. Then, by controlling the movement of the robotic arm body and the conveyor chain, the ring rebar is conveyed to a designated position for fixing. In addition, at least two robotic arm bodies on the support trolley can work together. The first hook lifts the longitudinal rebar, and the feeding chain on the upper arm conveys the longitudinal rebar to the position of the forearm. When the first hook with the longitudinal rebar moves to the end of the upper arm away from the support trolley, the longitudinal rebar in the first hook will fall into the second hook on the conveyor chain. With the cooperation of the forearm and the conveyor chain, the longitudinal rebar is delivered to the designated position, and then fixed by the worker, completing the conveying of the longitudinal rebar. The robotic arm body and the feeding chain and conveyor chain on the robotic arm body can replace manual labor to complete the conveying of wall rebar, thereby reducing the labor intensity of wall rebar conveying and improving the laying efficiency of wall rebar. 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 steel reinforcement conveying trolley based on a chain-type robotic arm according to the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of a tunnel wall rebar conveying trolley based on a chain-type robotic arm during the conveying of ring rebar according to the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of a tunnel wall steel bar conveying trolley based on a chain robotic arm during the conveying of longitudinal steel bars according to the present invention.

[0020] Figure 4 This is a front view of a tunnel wall steel bar conveying trolley based on a chain-type robotic arm during the conveying of longitudinal steel bars, according to the present invention.

[0021] Figure 5This is a schematic diagram of the main body of the robotic arm in a tunnel wall rebar conveying trolley based on a chain-type robotic arm according to the present invention.

[0022] Figure 6 yes Figure 5 A magnified view of part A in the middle.

[0023] Figure 7 This is a schematic diagram of the main body of the robotic arm in a tunnel wall rebar conveying trolley based on a chain-type robotic arm, from another perspective.

[0024] Figure 8 This is a schematic diagram of the structure of the main arm of a tunnel wall steel bar conveying trolley based on a chain-type robotic arm, when the main arm is extended.

[0025] Figure 9 This is a partial view of the feeding chain in a tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to the present invention.

[0026] Figure 10 This is a schematic diagram of the supporting trolley in a tunnel wall rebar conveying trolley based on a chain-type robotic arm according to the present invention.

[0027] Figure 11 This is a structural diagram of the supporting trolley of a tunnel wall rebar conveying trolley based on a chain-type robotic arm, with the construction platform in a folded state.

[0028] 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. Upper arm; 211. Main arm; 2111. First drive motor; 2112. First sprocket; 212. Telescopic arm; 2121. Fixing plate; 2122. Second sprocket; 213. Tensioning assembly; 2131. First tensioning sprocket; 2132. Second tensioning sprocket; 22. Forearm; 221. Second drive motor; 222. Third sprocket; 223. Fourth sprocket; 231. First telescopic cylinder; 232. Second telescopic cylinder; 233. Third telescopic cylinder; 24. Rotary platform; 3. Feeding chain; 31. Chain link; 32. Chain plate; 33. First hook; 4. Conveyor chain; 41. Second hook. Detailed Implementation

[0029] 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.

[0030] 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.

[0031] 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.

[0032] In the embodiments of this application, such as Figures 1 to 11 As shown, the tunnel wall rebar conveying trolley, based on a chain-type robotic arm, can convey the wall rebar (longitudinal and ring bars), thereby reducing the labor intensity of rebar conveying; the tunnel wall rebar conveying trolley includes a support trolley 1 and at least two robotic arm bodies 2; wherein, The main body 2 of the robotic arm includes a rotary platform 24, a large arm 21, and a small arm 22, see [link / reference]. Figure 1 and Figure 5 The rotary platform 24 is set on the platform of the support trolley 1. The rotation axis of the moving end of the rotary platform 24 is perpendicular to the platform of the support trolley 1. One end of the upper arm 21 is hinged to the rotary platform 24. The rotation axis of the upper arm 21 is parallel to the horizontal plane. One end of the lower arm 22 is hinged to the other end of the upper arm 21. All the robotic arm bodies 2 are arranged at intervals along the long axis of the support trolley 1. The side wall of the support trolley 1 is provided with a ring bar forming machine 13 for bending steel bars into ring bars and erecting them on the support trolley 1. The boom 21 is provided with a feeding chain 3 that moves along the long axis of the boom 21. This refers to the working section of the feeding chain 3 (the section used to transport longitudinal ribs) moving along the long axis of the boom 21. That is, the section of the feeding chain 3 used to transport longitudinal ribs moves along the long axis of the boom 21. The feeding chain 3 is provided with a plurality of first hooks 33, all of which are located on the outer edge of the feeding chain 3 and are arranged at intervals along the length of the feeding chain 3. A conveyor chain 4 is provided on the forearm 22, moving along the long axis of the forearm 22. This refers to the working section of the conveyor chain 4 (the section used to convey longitudinal or circular ribs) moving along the long axis of the forearm 22. That is, the section of the conveyor chain 4 used to convey longitudinal or circular ribs moves along the long axis of the forearm 22. Multiple second hooks 41 are provided on the conveyor chain 4, all located on the outer edge of the conveyor chain 4 and spaced apart along its length. The robotic arm body 2, together with the feeding chain 3 and the conveyor chain 4, constitute a chain-type robotic arm. The portion of the feeding chain 3 corresponding to the end of the upper arm 21 away from the supporting trolley 1 and the portion of the conveyor chain 4 corresponding to the hinged end of the forearm 22 and the upper arm 21 are alternately interleaved. See [reference needed]. Figure 6 When the first hook 33 with the longitudinal rib is moved to the end of the boom 21 away from the support trolley 1, the longitudinal rib in the first hook 33 can fall into the second hook 41.

[0033] When the tunnel construction reaches the stage of fixing the wall reinforcement, the workers can send the tunnel wall reinforcement conveying trolley into the tunnel. When conveying and laying ring reinforcement is required, the operator can adjust the orientation of the robotic arm body 2 via the rotary platform 24, so that the plane where the robotic arm body 2 is located and the long axis of the support trolley 1 are in the same vertical plane. (See [reference]) Figure 2 The conveying and placement of the ring reinforcement bars are carried out. Workers can feed the prepared steel bars into the ring forming machine 13, and use the ring forming machine 13 to bend the wall steel bars into rings and erect them on the support trolley 1. Specifically, workers feed the wall steel bars into the ring forming machine 13, the ring forming machine 13 bends the wall steel bars into rings and conveys them to the top of the support trolley 1, so that one end of the ring bar can pass through the side wall, top and other side of the support trolley 1 in sequence. At this time, the two ends of the ring bar are respectively clamped on both sides of the support trolley 1, and the support trolley 1 supports the ring bar. Subsequently, the staff can control the movement of the main body 2 of the robotic arm, so that the forearm 22 moves to the inner circle of the ring reinforcement, and the long axis of the forearm 22 is in the same direction as the axis of the tunnel, and drive the conveyor chain 4 to move, so that the second hook 41 on the conveyor chain 4 can hook the ring reinforcement and convey it to the end of the forearm 22 away from the main arm 21. During the operation of the conveyor chain 4, the ring reinforcement forming machine 13 continues to operate. The ring reinforcement located above the support trolley 1 can be directly hung on the forearm 22. The two sides of the support trolley 1 and the forearm 22 form a three-point support to support the ring reinforcement and prevent it from tilting, thereby improving the safety of the construction process. Multiple rings are made using the ring forming machine 13 and are respectively attached to the multiple second hooks 41 of the conveyor chain 4. When the forearm 22 is fully or has enough ring reinforcements, the staff can control the movement of the upper arm 21 and the forearm 22 to adjust the position of the forearm 22 and move it to the designated position, that is, to the location where the ring reinforcements are laid; at this time, the staff can fix the ring reinforcements.

[0034] When longitudinal reinforcement needs to be transported, workers can prepare the reinforcement and place it on the support trolley 1. Simultaneously, the orientation of the robotic arm body 2 is adjusted via the rotary platform 24 so that the plane containing the robotic arm body 2 (the same plane containing the major axis of the upper arm 21 and the major axis of the lower arm 22) is parallel to the tunnel cross-section. (See [reference]) Figure 3 The longitudinal reinforcement is transported and laid out. The staff can place the longitudinal ribs one by one on the multiple first hooks 33 of the feeding chain 3. Specifically, the longitudinal ribs are set on the feeding chain 3 of all the robotic arm bodies 2. In all the robotic arm bodies 2, the first hooks 33 at the same position of the feeding chain 3 jointly support the longitudinal ribs, and the longitudinal ribs are smoothly transported to the position of the forearm 22 through the feeding chain 3. Furthermore, when the first hook 33 with the longitudinal ribs moves to the end of the boom 21 away from the support trolley 1, the longitudinal ribs in the first hook 33 will fall onto the second hook 41 corresponding to its position, and the second hook 41 will continue to support the longitudinal ribs; at this time, the conveyor chain 4 continues to move, driving the second hook 41 with the longitudinal ribs to the end of the forearm 22 away from the boom 21, until the second hook 41 with the longitudinal ribs moves to the end of the forearm 22 away from the boom 21 and stops; during this process, the feeding chain 3 continuously feeds the longitudinal ribs to the conveyor chain 4, so that the working section of the conveyor chain 4 is full of longitudinal ribs; Then, the staff controls the movement of the forearm 22 to make it close to the position where the longitudinal reinforcement is to be laid, and the staff fixes the longitudinal reinforcement to complete the laying of the longitudinal reinforcement.

[0035] The above method for conveying wall reinforcement (longitudinal bars and ring bars) is relatively simple and does not require workers to carry or support the ring bars, thus reducing the labor intensity of wall reinforcement conveying. Furthermore, multiple first hooks 33 can hang multiple longitudinal bars at once, and multiple second hooks 41 can hang multiple ring bars at once, completing the conveying of multiple longitudinal bars and ring bars, thereby effectively improving the conveying efficiency of wall reinforcement.

[0036] In this embodiment, the feeding chain 3 and the conveying chain 4 are respectively arranged on both sides of the main body 2 of the robotic arm. That is, there is a gap in the horizontal direction between the plane where the feeding chain 3 is located and the plane where the conveying chain 4 is located, and the end of the feeding chain 3 away from the support trolley 1 and the end of the conveying chain 4 near the upper arm 21 partially overlap, and the two intersect on the projection plane. When the first hook 33 with the longitudinal rib is moved to the end of the upper arm 21 away from the support trolley 1, the longitudinal rib in the first hook 33 will fall into the second hook 41, completing the transfer of the longitudinal rib.

[0037] 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 2 During the installation process, the position of the opening corresponds to the position of the boom 21, so that when the conveyor chain 4 conveys the ring rib to the end of the forearm 22 away from the boom 21, the opening on the ring rib can smoothly pass through the boom 21 and the support trolley 1, so that the conveying of the ring rib is more stable and smooth.

[0038] Preferably, the tunnel wall steel reinforcement conveying trolley also includes a longitudinal reinforcement feeding and transporting mechanism, which is set on the support trolley 1. It can transport the longitudinal reinforcement one by one to the position of the robotic arm body 2, so that the first hook 33 on the feeding chain 3 can hook the longitudinal reinforcement and transport it to the position of the forearm 22 under the drive of the feeding chain 3, so as to further reduce the labor intensity of longitudinal reinforcement conveying.

[0039] In some embodiments, the aforementioned boom 21 includes a main boom 211, a telescopic boom 212, and a tensioning assembly 213 for adjusting the tension of the feeding chain 3. (See also...) Figures 5 to 8 ;in, The fixed end of the main arm 211 is hinged to the rotary platform 24 via a pin, allowing the main arm 211 to rotate freely around the axis of the pin, thus realizing the swinging of the main arm 211. The main arm 211 is equipped with a first drive motor 2111 and a first sprocket 2112. The first sprocket 2112 is arranged close to the fixed end of the main arm 211, and the first drive motor 2111 is connected to the first sprocket 2112 in a transmission connection. The main arm 211 has a cavity inside, and the movable end of the main arm 211 has an opening communicating with the cavity. The main arm 211 is also equipped with a first telescopic cylinder 231 and a second telescopic cylinder 232. The other end of the first telescopic cylinder 231 is hinged to the rotary platform 24 and is used to adjust the angle between the main arm 211 and the platform. The sliding end of the telescopic arm 212 is slidably disposed in the cavity through the opening. The other end of the second telescopic cylinder 232 is connected to the telescopic arm 212 and is used to adjust the relative position of the main arm 211 and the telescopic arm 212. (See [reference]) Figure 7The telescopic arm 212 has a second sprocket 2122 rotatably mounted on the side of the main arm 211 where the first sprocket 2112 is located. The second sprocket 2122 is arranged close to the movable end of the telescopic arm 212. The rotation axes of both the first sprocket 2112 and the second sprocket 2122 are parallel to the axis of the pin. (See [reference]) Figure 5 ; One end of the forearm 22 is hinged to the movable end of the telescopic arm 212. A third telescopic cylinder 233 is provided on the forearm 22. The other end of the third telescopic cylinder 233 is hinged to the telescopic arm 212 and is used to adjust the angle between the forearm 22 and the telescopic arm 212. The aforementioned tensioning component 213 is disposed between the first sprocket 2112 and the second sprocket 2122, and the feeding chain 3 is wound around the first sprocket 2112, the second sprocket 2122 and the tensioning component 213.

[0040] When it is necessary to control the movement of the main body 2 of the robotic arm, the operator can adjust the relative position of the main arm 211 and the telescopic arm 212 by controlling the movement of the second telescopic cylinder 232, that is, adjust the length of the main arm 21. See [link to documentation]. Figure 5 and Figure 8 This allows the tunnel wall steel reinforcement conveying trolley to be applicable to tunnels of various sizes. The tensioning component 213 keeps the feeding chain 3 taut when the distance between the fixed end of the main arm 211 and the movable end of the telescopic arm 212 changes, that is, when the length of the main arm 21 changes. It can also adapt to the change in the distance between the first sprocket 2112 and the second sprocket 2122, thereby meeting the feeding requirements of the longitudinal ribs.

[0041] Specifically, the aforementioned tensioning assembly 213 includes a first tensioning sprocket 2131 and a second tensioning sprocket 2132, see [link / reference]. Figure 5 , Figure 7 and Figure 8 ;in, A fixing plate 2121 is provided on the side wall of the telescopic arm 212. The fixed end of the fixing plate 2121 is close to the movable end of the telescopic arm 212, and the free end of the fixing plate 2121 extends toward the fixed end of the main arm 211. The first tensioning sprocket 2131 is rotatably mounted on the fixing plate 2121 close to the free end of the fixing plate 2121. The second tension sprocket 2132 is rotatably mounted on the main arm 211 close to the movable end of the main arm 211, such that the first sprocket 2112, the first tension sprocket 2131, the second tension sprocket 2132 and the second sprocket 2122 are arranged sequentially from the fixed end of the main arm 21 to the movable end of the main arm 21, and the rotation axis of the first tension sprocket 2131 and the rotation axis of the second tension sprocket 2132 are both parallel to the axis of the pin. One end of the feeding chain 3 passes sequentially around the first sprocket 2112, the second sprocket 2122, the first tension sprocket 2131, and the second tension sprocket 2132 before connecting to the other end of the feeding chain 3.

[0042] When the distance between the fixed end of the main arm 211 and the movable end of the telescopic arm 212 increases (the main arm 21 extends), the distance between the first tension sprocket 2131 and the second tension sprocket 2132 decreases. This shortens the length of the feeding chain 3 that wraps around the first tension sprocket 2131 and the second tension sprocket 2132. The extra portion can extend between the first sprocket 2112 and the second sprocket 2122, that is, increasing the length of the working section of the feeding chain 3 to meet the changing length requirements of the main arm 21 and to keep the feeding chain 3 always taut. See [reference needed]. Figure 8 ; When the distance between the fixed end of the main arm 211 and the movable end of the telescopic arm 212 decreases (the main arm 21 shortens), the distance between the first tension sprocket 2131 and the second tension sprocket 2132 increases, causing the length of the feeding chain 3 wound around the first sprocket 2112 and the second sprocket 2122 to shorten. That is, the length of the working section of the feeding chain 3 is reduced. The extra portion can extend between the first tension sprocket 2131 and the second tension sprocket 2132, satisfying the requirement of shortening the main arm 21 and keeping the feeding chain 3 always taut. (See [reference]) Figure 5 .

[0043] Preferably, to avoid interference when the feeding chain 3 is wound around the tensioning component 213, a first guide sprocket and a second guide sprocket are provided on the main arm 211, see [reference]. Figure 5 and Figure 8 The first guide sprocket and the second guide sprocket are arranged sequentially from the movable end of the main body arm 211 to the fixed end of the main body arm 211, and the rotation axes of the first guide sprocket and the second guide sprocket are parallel to the axis of the pin. After passing the second tension sprocket 2132, one end of the feeding chain 3 goes around the first guide sprocket, so that one end of the feeding chain 3 extends away from the main body arm 211, thereby increasing the distance between the feeding chain 3 and the main body arm 211 at this position. Subsequently, the second guide sprocket is bypassed, causing one end of the feeding chain 3 to extend towards the first sprocket 2112 and connect with the other end of the feeding chain 3. The second guide sprocket can prevent the feeding chain 3 from contacting the first tension sprocket 2131 at this position, which would cause interference or friction, and thus lead to damage to the feeding chain 3 or failure to work properly.

[0044] In some embodiments, the forearm 22 described above is provided with a second drive motor 221, a third sprocket 222, and a fourth sprocket 223. (See also...) Figure 7 ; The third sprocket 222 and the fourth sprocket 223 are respectively arranged close to both ends of the forearm 22. The rotation axes of the third sprocket 222 and the fourth sprocket 223 are parallel to the axis of the pin shaft, and the axis of the third sprocket 222 coincides with the axis of the second sprocket 2122. The actuating end of the second drive motor 221 is connected to the third sprocket 222 or the fourth sprocket 223. In this embodiment, the actuating end of the second drive motor 221 is connected to the third sprocket 222. The conveyor chain 4 is wound around the third sprocket 222 and the fourth sprocket 223.

[0045] The position of the feeding chain 3 corresponding to the second sprocket 2122 is staggered with the position of the conveying chain 4 at the third sprocket 222, so that the longitudinal rib in the first hook 33 at that position will be dislodged from the first hook 33 and fall onto the second hook 41 corresponding to its position, thus completing the transfer of the longitudinal rib.

[0046] It is worth noting that the opening of the first hook 33 on the working section of the feeding chain 3 is set away from the support body 11 so that it can stably lift the longitudinal rib and transport it away from the support body 11. The opening of the second hook 41 on the working section of the conveying chain 4 is set towards the boom 21 so that the longitudinal rib that comes out of the first hook 33 will fall into the second hook 41 corresponding to its position, thus completing the transfer of the longitudinal rib.

[0047] In some embodiments, the forearm 22 has an arc-shaped structure; when both ends of the forearm 22 are at the same height, the upper surface of the forearm 22 is a convex surface; During the conveying of longitudinal reinforcement, the upper end face of the forearm 22 can fit against the tunnel wall, see [reference]. Figure 4 It is adapted to the cross-sectional shape of the tunnel wall, thereby better completing the delivery of longitudinal reinforcement.

[0048] In some embodiments, the feeding chain 3 described above includes chain links 31 and chain plates 32, see [reference]. Figure 9 ;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. The first hook 33 mentioned above is provided on the chain plate 32; The structure of the conveyor chain 4 is exactly the same as that of the feeding chain 3, and the second hook 41 is set on the chain plate 32 of the conveyor chain 4.

[0049] In this embodiment, the feeding chain 3 and the conveying chain 4 are commonly used chains in mechanical structures, which are simple and practical. Setting the first hook 33 and the second hook 41 on the chain plate 32 can limit the longitudinal ribs and the ring ribs, so as to facilitate the conveying of the longitudinal ribs and the ring ribs.

[0050] In some embodiments, the aforementioned support trolley 1 includes a support body 11 and a construction platform 12, see [link / reference] Figure 10 ;in, The main body 2 of the robotic arm is set on the top surface of the supporting body 11, and the top surface of the supporting body 11 is the platform of the supporting trolley 1; The side wall of the support body 11 is provided with multiple telescopic brackets 111, which 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 wall reinforcement on the construction platform 12, that is, to tie or weld the longitudinal reinforcement on the construction platform 12, thereby improving the efficiency and convenience of fixing the wall reinforcement.

[0051] Preferably, the aforementioned support body 11 includes a support platform and two support parts. The robotic arm body 2 is disposed on the top surface of the support platform, and the two support parts are disposed on the bottom surface of the support platform and are respectively arranged on both sides of the support platform so that there is 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 personnel and vehicles.

[0052] 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. The aforementioned telescopic bracket 111 is connected by two support tubes, one of which can be slidably installed in the other support tube, and the two are connected by a telescopic hydraulic cylinder. By controlling the extension and retraction of the telescopic hydraulic cylinder, the relative position of the two support tubes can be changed, that is, the length of the telescopic bracket 111 can be adjusted.

[0053] In some embodiments, the support trolley 1 described above further includes a deformable hydraulic cylinder 112, see [link to previous document]. Figure 10 and Figure 11 ; The fixed end of the telescopic bracket 111 is hinged to the side wall of the support body 11, and the two ends of the deformable cylinder 112 are respectively hinged to the telescopic bracket 111 and the side wall of the support body 11, and are used to adjust the angle between the telescopic bracket 111 and the side wall of the support body 11. When the tunnel wall steel reinforcement conveying trolley is not in operation, workers 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. The construction platform 12 mounted on the telescopic support 111 then changes from an unfolded state to a folded state. (See attached diagram.) Figure 11 This reduces the space occupied by the steel reinforcement conveying trolley in the tunnel wall, making transportation more convenient.

[0054] In this embodiment, the first telescopic cylinder 231, the second telescopic cylinder 232, the third telescopic cylinder 233 and the deformable cylinder 112 are all supplied with hydraulic oil by a hydraulic pump station to perform telescopic movements. The hydraulic pump station is installed on the support body 11. The hydraulic pump station, the first telescopic cylinder 231, the second telescopic cylinder 232, the third telescopic cylinder 233, 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.

[0055] 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 11 ; The guardrail 121 can effectively improve the safety of the tunnel wall steel 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.

[0056] In some embodiments, a roller 113 is rotatably mounted on the guardrail 121, see [link / 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 reinforcement forming machine 13 bends the wall reinforcement and conveys it to the top of the support trolley 1, one end of the ring reinforcement will abut against the roller 113 on the same side of the ring reinforcement forming machine 13 and continue to move to the top of the support trolley 1. The roller 113 reduces the friction between the ring reinforcement and the support trolley 1, so that the ring reinforcement 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 rib is released from the ring rib forming machine 13, and the ring rib is mounted on the support trolley 1. The aforementioned roller 113 cooperates with the forearm 22 to prevent the ring rib from tilting to the front or rear of the support trolley 1.

[0057] 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 rebar conveying trolley based on a chain-type robotic arm, characterized in that: Includes a support trolley (1) and at least two robotic arm bodies (2); The main body (2) of the robotic arm includes a rotary platform (24), a large arm (21) and a small arm (22); the rotary platform (24) is set on the platform of the support trolley (1), the rotation axis of the moving end of the rotary platform (24) is perpendicular to the platform of the support trolley (1), one end of the large arm (21) is hinged to the rotary platform (24), and one end of the small arm (22) is hinged to the other end of the large arm (21); all the main bodies (2) of the robotic arm are arranged at intervals along the long axis of the support trolley (1); the side wall of the support trolley (1) is provided with a ring bar forming machine (13) for bending the wall steel bars into ring bars and erecting them on the support trolley (1). The boom (21) is provided with a feeding chain (3) that moves along the long axis of the boom (21). The feeding chain (3) is provided with multiple first hooks (33). The multiple first hooks (33) are all located on the outer edge of the feeding chain (3) and are arranged at intervals along the length of the feeding chain (3). The forearm (22) is provided with a conveying chain (4) that moves along the long axis of the forearm (22). The conveying chain (4) is provided with multiple second hooks (41). The multiple second hooks (41) are all located on the outer edge of the conveying chain (4) and are arranged at intervals along the length of the conveying chain (4). The part of the feeding chain (3) corresponding to the end of the boom (21) away from the support trolley (1) and the part of the conveying chain (4) corresponding to the end of the forearm (22) that is hinged to the boom (21) are alternately intersected.

2. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: The boom (21) includes a main boom (211), a telescopic boom (212), and a tensioning assembly (213) for adjusting the tension of the feeding chain (3). The fixed end of the main arm (211) is hinged to the rotary platform (24) by a pin. The main arm (211) is provided with a first drive motor (2111) and a first sprocket (2112). The first sprocket (2112) is arranged close to the fixed end of the main arm (211). The first drive motor (2111) is connected to the first sprocket (2112) for transmission. The main arm (211) has a cavity inside. The movable end of the main arm (211) is provided with an opening communicating with the cavity. The main arm (211) is provided with a first telescopic cylinder (231) and a second telescopic cylinder (232). The other end of the first telescopic cylinder (231) is hinged to the rotary platform (24) and is used to adjust the angle between the main arm (211) and the platform. The sliding end of the telescopic arm (212) is slidably disposed in the cavity through the opening. The other end of the second telescopic cylinder (232) is connected to the telescopic arm (212) and is used to adjust the relative position of the main arm (211) and the telescopic arm (212). The telescopic arm (212) is rotatably disposed on the side of the main arm (211) where the first sprocket (2112) is disposed. The second sprocket (2122) is arranged close to the movable end of the telescopic arm (212). The rotation axis of the first sprocket (2112) and the rotation axis of the second sprocket (2122) are both parallel to the axis of the pin. One end of the forearm (22) is hinged to the movable end of the telescopic arm (212). A third telescopic cylinder (233) is provided on the forearm (22). The other end of the third telescopic cylinder (233) is hinged to the telescopic arm (212) to adjust the angle between the forearm (22) and the telescopic arm (212). The tensioning assembly (213) is disposed between the first sprocket (2112) and the second sprocket (2122), and the feeding chain (3) is wound around the first sprocket (2112), the second sprocket (2122) and the tensioning assembly (213).

3. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 2, characterized in that: The tensioning assembly (213) includes a first tensioning sprocket (2131) and a second tensioning sprocket (2132); The telescopic arm (212) is provided with a fixing plate (2121) on its side wall. The free end of the fixing plate (2121) extends toward the fixed end of the main arm (211). The first tensioning sprocket (2131) is rotatably mounted on the fixing plate (2121) close to the free end of the fixing plate (2121). The second tension sprocket (2132) is rotatably mounted on the main body arm (211) close to the movable end of the main body arm (211). The rotation axis of the first tension sprocket (2131) and the rotation axis of the second tension sprocket (2132) are both parallel to the axis of the pin. One end of the feeding chain (3) passes through the first sprocket (2112), the second sprocket (2122), the first tension sprocket (2131) and the second tension sprocket (2132) in sequence, and then connects to the other end of the feeding chain (3).

4. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 2, characterized in that: The forearm (22) is equipped with a second drive motor (221), a third sprocket (222) and a fourth sprocket (223). The third sprocket (222) and the fourth sprocket (223) are arranged close to the two ends of the forearm (22), respectively. The rotation axes of the third sprocket (222) and the fourth sprocket (223) are parallel to the axis of the pin shaft, and the axis of the third sprocket (222) coincides with the axis of the second sprocket (2122). The actuating end of the second drive motor (221) is connected to the third sprocket (222) or the fourth sprocket (223) for transmission. The conveyor chain (4) is wound around the third sprocket (222) and the fourth sprocket (223).

5. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 4, characterized in that: The forearm (22) has an arc-shaped structure; when the two ends of the forearm (22) are at the same height, the upper surface of the forearm (22) is a convex surface.

6. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 1, characterized in that: The feeding 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 first hook (33) is disposed on the chain plate (32); The structure of the conveying chain (4) is exactly the same as that of the feeding chain (3), and the second hook (41) is set on the chain plate (32) of the conveying chain (4).

7. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to any one of claims 1 to 6, characterized in that: The support trolley (1) includes a support body (11) and a construction platform (12). The main body (2) of the robotic arm is disposed on the top surface of the supporting body (11); The side wall of the support body (11) is provided with multiple telescopic brackets (111). 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).

8. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 7, 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).

9. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 7, 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).

10. The tunnel wall steel reinforcement conveying trolley based on a chain-type robotic arm according to claim 9, characterized in that: The guardrail (121) is rotatably equipped with a roller (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).

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