Mechanical arm type longitudinal bar laying device for tunnel lining

Abstract

The invention belongs to the technical field of steel bar laying equipment, and particularly relates to a mechanical arm type longitudinal bar laying device for tunnel lining. The mechanical arm comprises a supporting trolley and at least two sets of mechanical arm bodies, all the mechanical arm bodies are arranged in the long axis direction of the supporting trolley at intervals, small arms in the mechanical arm bodies are provided with conveying chains, the at least two mechanical arm bodies arranged on the supporting trolley can work in a matched mode, and a plurality of hooks on the conveying chains lift a plurality of longitudinal bars. The large arm, the middle arm and the small arm are driven by the conveying chain to move along the long axis of the small arm, when the small arm is full of the longitudinal bars, the large arm, the middle arm and the small arm are controlled to act, the multiple longitudinal bars are conveyed to the designated position instead of manual work, so that the labor intensity of conveying the longitudinal bars is reduced, then a worker fixes the multiple longitudinal bars to the tunnel wall one by one, and laying of the longitudinal bars is completed. And the arrangement efficiency of the longitudinal bars is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of rebar laying equipment, and specifically relates to a robotic arm-type longitudinal rebar laying device for tunnel lining. Background Technology

[0002] Tunnel lining is a permanent support structure used in hydraulic engineering to reinforce the surrounding rock of tunnels. Its main functions include bearing the pressure of mountain rocks and water loads, maintaining the cross-sectional shape, reducing water flow resistance, preventing weathering and erosion of the surrounding rock, and preventing seepage.

[0003] The tunnel lining process involves the initial support being completed, followed by the construction of the invert arch, the laying of the waterproofing membrane, the placement of the reinforcing bars, and finally the pouring of concrete. Among these steps, the placement of the reinforcing bars (including longitudinal bars extending along the tunnel's longitudinal direction and circumferential bars placed along the tunnel's cross-section) is a crucial step before concrete pouring. After the waterproofing membrane is laid, the reinforcing bars need to be processed centrally and transported to the construction site, where a simple scaffold is used as a platform for their placement.

[0004] Currently, the installation of longitudinal reinforcement bars is mostly carried out by workers standing on the ground or on a simple platform, manually lifting the longitudinal reinforcement bars and fixing them against the tunnel wall (by binding or welding). Due to the large area of ​​the tunnel wall and the large number of longitudinal reinforcement bars that need to be installed, the manual method of lifting and fixing them against the tunnel wall is labor-intensive, has high labor intensity, and low efficiency. Summary of the Invention

[0005] This invention provides a robotic arm-type longitudinal reinforcement laying device for tunnel lining, which solves the technical problems of high labor intensity and low laying efficiency of longitudinal reinforcement in the prior art, which involves manually lifting and fixing the reinforcement against the tunnel wall.

[0006] This invention is achieved through the following technical solution: A robotic arm-type longitudinal reinforcement laying device for tunnel lining includes a support trolley and at least two robotic arm bodies mounted on the support trolley. All the robotic arm bodies are arranged at intervals along the long axis of the support trolley; the robotic arm body includes a large arm, a middle arm and a small arm; the two ends of the middle arm are respectively hinged to one end of the large arm and one end of the small arm; the end of the large arm away from the middle arm is hinged to the support trolley. The forearm is equipped with a conveyor chain that moves along the long axis of the forearm. The conveyor chain is equipped with multiple hooks, which are located on the outer edge of the conveyor chain and are arranged at intervals along the length of the conveyor chain.

[0007] To better realize the present invention, the above structure is further optimized, and the forearm is provided with a drive motor, a first sprocket and a second sprocket; The first sprocket and the second sprocket are respectively arranged close to both ends of the forearm. The rotation axes of the first sprocket and the second sprocket are parallel to the horizontal plane. The driving end of the drive motor is connected to the first sprocket or the second sprocket. The conveyor chain is wound around the first sprocket and the second sprocket.

[0008] To better realize the present invention, further optimization is made to the above structure. The forearm is provided with a tension sprocket for adjusting the tension of the conveying chain. The tension sprocket is located between the first sprocket and the prime number second sprocket. The conveyor chain is wound around the first sprocket, the second sprocket, and the tension sprocket.

[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, further optimizations are made to the above structure, and the main body of the robotic arm also includes a fixed base; The first telescopic hydraulic cylinder is hinged to the fixed base; The end of the upper arm away from the middle arm is hinged to the fixed base, and the other end of the first telescopic cylinder is hinged to the side wall of the upper arm, which is used to adjust the angle between the upper arm and the plane where the fixed base is located.

[0011] To better realize the present invention, further optimizations are made to the above structure, and the main body of the 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 fixed base is located at the moving end of the rotary platform.

[0012] To better realize the present invention, the above structure is further optimized. A second telescopic cylinder is hinged to the upper arm, and the other end of the second telescopic cylinder is hinged to the middle arm for adjusting the angle between the upper arm and the middle arm. A third telescopic cylinder is installed on the middle arm, and the other end of the third telescopic cylinder is hinged to the forearm to adjust the angle between the middle arm and the forearm.

[0013] To better realize the present invention, further optimizations are made to the above structure, wherein the support trolley includes a mobile vehicle body and a first construction platform; A lifting support is installed on the top surface of the mobile vehicle body. The lifting support is arranged close to the side of the mobile vehicle body, and the first construction platform is located at the lifting end of the lifting support. The main body of the robotic arm is mounted on the top surface of the moving vehicle.

[0014] To better realize the present invention, the above structure is further optimized, and the first construction platform is hinged to the lifting end of the lifting bracket; A folding hydraulic cylinder is hinged to the middle of the lifting support, and the other end of the folding hydraulic cylinder is hinged to the middle of the first construction platform to adjust the angle between the first construction platform and the horizontal plane.

[0015] To better realize the present invention, the above structure is further optimized by providing a second construction platform on the side wall of the mobile vehicle body.

[0016] Compared with the prior art, the present invention has the following advantages: The robotic arm-type longitudinal reinforcement laying device for tunnel lining provided by this invention has a conveying chain on the forearm of the robotic arm body. At least two robotic arm bodies on the support trolley can work together to lift multiple longitudinal reinforcements by multiple hooks on the conveying chain and move along the long axis of the forearm under the drive of the conveying chain. When the forearm is full of longitudinal reinforcements, the movements of the upper arm, middle arm and forearm are controlled to replace manual labor to send multiple longitudinal reinforcements to the designated position, thereby reducing the labor intensity of conveying longitudinal reinforcements. Then, the workers fix the multiple longitudinal reinforcements one by one to the tunnel wall to complete the laying of longitudinal reinforcements and improve the laying efficiency of longitudinal reinforcements. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a schematic diagram of the structure of a robotic arm-type longitudinal reinforcement laying device for tunnel lining according to the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of a robotic arm-type longitudinal reinforcement laying device for tunnel lining during operation.

[0020] Figure 3 This is a schematic diagram of the main body of the robotic arm in a robotic arm-type longitudinal reinforcement laying device for tunnel lining according to the present invention.

[0021] Figure 4 This is a schematic diagram of the conveyor chain in a robotic arm-type longitudinal reinforcement laying device for tunnel lining according to the present invention.

[0022] Figure 5 This is a schematic diagram of the back side of the support trolley in a robotic arm-type longitudinal reinforcement laying device for tunnel lining according to the present invention.

[0023] In the picture: 1. Support trolley; 11. Moving vehicle body; 111. Lifting bracket; 112. Folding cylinder; 12. First construction platform; 13. Second construction platform; 2. Main body of the robotic arm; 21. Upper arm; 22. Middle arm; 23. Lower arm; 231. First sprocket; 232. Second sprocket; 233. Tensioning sprocket; 234. Drive motor; 24. Fixed base; 25. Rotary platform; 261. First telescopic cylinder; 262. Second telescopic cylinder; 263. Third telescopic cylinder; 3. Conveyor chain; 31. Hook. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] In the embodiments of this application, such as Figures 1 to 5 As shown, this robotic arm-type longitudinal reinforcement placement device can be used for conveying longitudinal reinforcement during tunnel lining, that is, delivering the longitudinal reinforcement to a designated position for easy fixing by workers; the robotic arm-type longitudinal reinforcement placement device includes a support trolley 1 and at least two robotic arm bodies 2, see [link to documentation]. Figure 1 , Figure 3 and Figure 4 ;in, All the robotic arm bodies 2 are arranged at intervals along the long axis of the support trolley 1; The main body 2 of the robotic arm includes a large arm 21, a middle arm 22 and a small arm 23; the two ends of the middle arm 22 are respectively hinged to one end of the large arm 21 and one end of the small arm 23; the end of the large arm 21 away from the middle arm 22 is hinged to the support trolley 1. The forearm 23 is provided with a conveyor chain 3 that moves along the long axis of the forearm 23. That is, the direction of movement of the conveyor chain 3 is the same as the length direction of the forearm 23. The conveyor chain 3 is provided with multiple hooks 31, which are all located on the outer edge of the conveyor chain 3 and are arranged at intervals along the length direction of the conveyor chain 3.

[0028] During the tunnel lining process up to the longitudinal reinforcement laying stage, workers can send the robotic arm-type longitudinal reinforcement laying device into the tunnel, prepare the longitudinal reinforcement and place it on the support trolley 1, and then send it into the tunnel through the support trolley 1. In this embodiment, the support trolley 1 includes a mobile vehicle 11, which can be moved freely by the operation of workers to improve its mobility. After the mobile vehicle 11 moves to the position where the longitudinal ribs are to be laid, the staff can adjust the state of the main body 2 of the robotic arm so that the forearm 23 is close to the ground and is vertical. That is, the end of the forearm 23 away from the middle arm 22 is set close to the ground, and the height of the end of the forearm 23 close to the middle arm 22 is greater than the height of the end of the forearm 23 away from the middle arm 22. At this time, the staff can place the prepared longitudinal ribs one by one on the multiple hooks 31 of the conveyor chain 3. Specifically, the longitudinal ribs are hung on the conveyor chain 3 of all the forearms 23. In all the robotic arm bodies 2, the hooks 31 at the same position of the conveyor chain 3 jointly support the longitudinal ribs and smoothly convey the longitudinal ribs to the position of the forearms 23 close to the middle arm 22 through the conveyor chain 3. Furthermore, when the forearm 23 is fully supported by longitudinal ribs or has a sufficient number of longitudinal ribs, the operator can control the movement of the upper arm 21, middle arm 22, and forearm 23. (See [reference]) Figure 2 The forearm 23 carries the longitudinal reinforcement and is placed close to the position where the longitudinal reinforcement is to be laid. Then, the staff fixes the longitudinal reinforcement (by binding or welding) to complete the laying of the longitudinal reinforcement.

[0029] In this process, the robotic arm body 2 and the conveying chain 3 on the robotic arm body 2 work together to replace manual labor in sending the longitudinal reinforcement to the tunnel wall, thus completing the conveying of the longitudinal reinforcement. This eliminates the need for manual labor in lifting the longitudinal reinforcement and pressing it against the tunnel wall, thereby reducing the labor intensity of conveying the longitudinal reinforcement and improving the efficiency of laying the longitudinal reinforcement.

[0030] Preferably, the robotic arm-type longitudinal reinforcement laying device also includes a longitudinal reinforcement feeding and transport mechanism. The longitudinal reinforcement feeding and transport mechanism can be placed on the ground and can transport the longitudinal reinforcement one by one to the position of the forearm 23, so that the multiple hooks 31 on the conveyor chain 3 can hook the longitudinal reinforcement one by one and move towards the end of the forearm 23 near the middle arm 22 under the drive of the conveyor chain 3, so as to further reduce the labor intensity of transporting the longitudinal reinforcement.

[0031] In some embodiments, the forearm 23 described above is provided with a drive motor 234, a first sprocket 231, and a second sprocket 232. See also Figure 3 ;in, The first sprocket 231 and the second sprocket 232 are respectively arranged close to the two ends of the forearm 23. 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 234 is connected to the first sprocket 231 or the second sprocket 232. In this embodiment, the actuating end of the drive motor 234 is connected to the first sprocket 231. The conveyor chain 3 is wound around the first sprocket 231 and the second sprocket 232.

[0032] The conveyor chain 3 is mounted on the forearm 23 in a wrapping manner. The conveyor chain 3 includes a working section and a non-working section. The working section of the conveyor chain 3 is the section that can convey longitudinal reinforcement, and the working section of the conveyor chain 3 can be close to the tunnel wall to facilitate the workers to fix the longitudinal reinforcement. The non-working section of conveyor chain 3 is the section that does not convey longitudinal reinforcement.

[0033] In some embodiments, the forearm 23 described above is provided with a tension sprocket 233 for adjusting the tension of the conveyor chain 3, see [link to previous document]. Figure 3 The tension sprocket 233 is located between the first sprocket 231 and the second sprocket 232; Specifically, a fixing plate is provided on the forearm 23, and a waist-shaped hole is provided on the fixing plate. The long axis of the waist-shaped hole is perpendicular to the long axis of the forearm 23. The tension sprocket 233 is located at the position of the waist-shaped hole, and the conveyor chain 3 is wrapped around the first sprocket 231, the second sprocket 232 and the tension sprocket 233. The tension of the conveyor chain 3 is adjusted by adjusting the position of the tension sprocket 233 in the waist-shaped hole, so that the conveyor chain 3 is always taut and can move under the drive of the first sprocket 231, thereby better completing the conveying of the longitudinal ribs.

[0034] In some embodiments, the forearm 23 described above has an arc-shaped structure; when the forearm 23 moves to the point where both ends are at the same height, the upward-facing side of the forearm 23 is the upper end surface, which is a convex surface, see [reference]. Figure 3The long axis of the aforementioned waist-shaped hole is perpendicular to the tangent of the mounting position of the fixed plate corresponding to the forearm; the part of the conveyor chain 3 corresponding to the upper end face of the forearm 23 is the working section of the conveyor chain 3. When conveying longitudinal reinforcement, the upper end face of the forearm 23 can fit against the arc-shaped tunnel wall and match the cross-sectional shape of the tunnel wall, thus better completing the conveying of longitudinal reinforcement.

[0035] Preferably, a plurality of support sprockets (not shown in the figure) are provided between the first sprocket 231 and the second sprocket 232 to support the conveyor chain 3, ensuring that the direction of the conveyor chain 3 matches the shape of the forearm 23, thereby better completing the conveying of the longitudinal ribs.

[0036] In some embodiments, the robotic arm body 2 described above further includes a mounting base 24, see [link to previous description]. Figure 3 ; The first telescopic hydraulic cylinder 261 is hinged to the fixed base 24; The end of the upper arm 21 away from the middle arm 22 is hinged to the fixed base 24 to make the installation of the robotic arm body 2 more convenient. The other end of the first telescopic cylinder 261 is hinged to the side wall of the upper arm 21 to adjust the angle between the upper arm 21 and the plane of the fixed base 24, so as to make the movement of the robotic arm body 2 more flexible.

[0037] Preferably, the robotic arm body 2 also includes a rotary platform 25, see [reference]. Figure 3 ; 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 fixed base 24 is located at the moving end of the rotary platform 25; The movement of the rotary platform 25 can adjust the position of the robotic arm body 2. After the longitudinal reinforcement on one side of the tunnel is laid out, the operator can control the rotating end of the rotary platform 25 to rotate and adjust the position of the robotic arm body 2 so that the working section of the conveyor chain 3 can correspond to the other side of the tunnel. This facilitates the transport of the longitudinal reinforcement to that side of the tunnel, allowing the operator to lay out the longitudinal reinforcement on the other side of the tunnel, thereby further improving the efficiency of the longitudinal reinforcement laying.

[0038] In some embodiments, a second telescopic cylinder 262 is hinged to the upper arm 21, and the other end of the second telescopic cylinder 262 is hinged to the middle arm 22 for adjusting the angle between the upper arm 21 and the middle arm 22. A third telescopic cylinder 263 is installed on the middle arm 22. The other end of the third telescopic cylinder 263 is hinged to the forearm 23. See [reference needed]. Figure 3It is used to adjust the angle between the middle arm 22 and the forearm 23 to adjust the position of the upper arm 21, the middle arm 22 and the forearm 23, so that the movement of the main body 2 of the robotic arm is more flexible and the longitudinal reinforcement can be transported flexibly in the narrow space of the tunnel.

[0039] The first telescopic cylinder 261, the second telescopic cylinder 262, and the third telescopic cylinder 263 mentioned above are all supplied with oil by a hydraulic pump station. The operator can change the extension and retraction state of the first telescopic cylinder 261, the second telescopic cylinder 262, and the third telescopic cylinder 263 by operating the hydraulic pump station to adjust the state of the robotic arm body 2. The hydraulic pump station is set on the support trolley 1. The hydraulic pump station and the first telescopic cylinder 261, the second telescopic cylinder 262, and the third telescopic cylinder 263 are all hydraulic pump stations and cylinders that can be purchased on the market.

[0040] In some embodiments, the aforementioned support trolley 1 further includes a first construction platform 12, see [link to previous document]. Figure 1 , Figure 2 and Figure 5 ;in, A lifting bracket 111 is provided on the top surface of the mobile vehicle body 11. The lifting bracket 111 is arranged close to the side of the mobile vehicle body 11. The first construction platform 12 is set at the lifting end of the lifting bracket 111. The height of the first construction platform 12 can be adjusted by adjusting the length of the lifting bracket 111, so that workers can fix the longitudinal reinforcement at different heights and improve the convenience of the construction process. The aforementioned robotic arm body 2 is mounted on the top surface of the mobile vehicle body 11. The robotic arm body 2 and the first construction platform 12 do not interfere with each other, thereby better completing the transportation and fixing of the longitudinal reinforcement.

[0041] Preferably, the aforementioned mobile vehicle body 11 includes a car and a trailer, with the car towing the trailer to improve its mobility and thus move better in the tunnel; The aforementioned robotic arm body 2 and lifting bracket 111 are both mounted on the trailer.

[0042] In some embodiments, the first construction platform 12 described above is hinged to the lifting end of the lifting support 111, see [reference]. Figure 5 ;in, A folding hydraulic cylinder 112 is hinged to the middle of the lifting support 111, and the other end of the folding hydraulic cylinder 112 is hinged to the first construction platform 12 for adjusting the angle between the first construction platform 12 and the horizontal plane. When the robotic arm-type longitudinal reinforcement laying device is not in use, the operator can shorten the folding cylinder 112, and the first construction platform 12 will rotate downward around its hinge until the plane of the first construction platform 12 is perpendicular to the horizontal plane, thereby reducing the space occupied by the robotic arm-type longitudinal reinforcement laying device and making it more convenient for the robotic arm-type longitudinal reinforcement laying device to move in the tunnel.

[0043] In some embodiments, a second construction platform 13 is provided on the side wall of the aforementioned mobile vehicle body 11, see [link to documentation]. Figure 5 The height of the second construction platform 13 is lower than that of the first construction platform 12. Both construction platforms (the first construction platform 12 and the second construction platform 13) can meet the standing requirements of the workers, so that multiple workers can fix the longitudinal reinforcement at the same time, thereby improving the efficiency of the longitudinal reinforcement layout.

[0044] Preferably, the second construction platform 13 is hinged to the side wall of the mobile vehicle body 11, and a limit plate is provided on the side wall of the mobile vehicle body 11. When the second construction platform 13 rotates around its hinge to a horizontal position, the lower end face of the second construction platform 13 is in contact with the limiting plate, and the limiting plate supports the second construction platform 13, so that the second construction platform 13 can maintain a horizontal position, making it convenient for workers to stand on the second construction platform 13 to carry out operations. When the robotic arm-type longitudinal reinforcement laying device is not in use, the workers can rotate the side of the second construction platform 13 away from the mobile vehicle body 11 upward around its hinge point so that the plane of the second construction platform 13 is perpendicular to the top surface of the mobile vehicle body 11, and reduce the space occupied by the robotic arm-type longitudinal reinforcement laying device by shrinking and fixing it to the frame of the trailer. Meanwhile, the vertical second construction platform 13 and the vertical first construction platform 12 can together form a protective structure to protect the main body 2 of the robotic arm in the mobile vehicle 11.

[0045] 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 robotic arm-type longitudinal reinforcement placement device for tunnel lining, characterized in that: It includes a support trolley (1) and at least two robotic arm bodies (2) mounted on the support trolley (1). All the robotic arm bodies (2) are arranged at intervals along the long axis of the support trolley (1); the robotic arm body (2) includes a large arm (21), a middle arm (22) and a small arm (23); the two ends of the middle arm (22) are respectively hinged to one end of the large arm (21) and one end of the small arm (23); the end of the large arm (21) away from the middle arm (22) is hinged to the support trolley (1); The forearm (23) is provided with a conveyor chain (3) that moves along the long axis of the forearm (23). The conveyor chain (3) is provided with multiple hooks (31), all of which are located on the outer edge of the conveyor chain (3) and are arranged at intervals along the length of the conveyor chain (3).

2. The robotic arm-type longitudinal reinforcement laying device for tunnel lining according to claim 1, characterized in that: The forearm (23) is equipped with a drive motor (234), a first sprocket (231), and a second sprocket (232). The first sprocket (231) and the second sprocket (232) are arranged close to the two ends of the forearm (23), respectively. 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 (234) is connected to the first sprocket (231) or the second sprocket (232) for transmission. The conveyor chain (3) is wound around the first sprocket (231) and the second sprocket (232).

3. The robotic arm-type longitudinal reinforcement placement device for tunnel lining according to claim 2, characterized in that: The forearm (23) is provided with a tension sprocket (233) for adjusting the tension of the conveying chain (3), and the tension sprocket (233) is located between the first sprocket (231) and the second sprocket (232); The conveyor chain (3) is wound around the first sprocket (231), the second sprocket (232) and the tension sprocket (233).

4. The robotic arm-type longitudinal reinforcement laying device for tunnel lining according to claim 1, characterized in that: The forearm (23) 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.

5. The robotic arm-type longitudinal reinforcement laying device for tunnel lining according to claim 1, characterized in that: The main body (2) of the robotic arm also includes a fixed base (24); A first telescopic cylinder (261) is hinged to the fixed base (24); The end of the upper arm (21) away from the middle arm (22) is hinged to the fixed seat (24), and the other end of the first telescopic cylinder (261) is hinged to the side wall of the upper arm (21) to adjust the angle between the plane where the upper arm (21) and the fixed seat (24) are located.

6. The robotic arm-type longitudinal reinforcement placement device for tunnel lining according to claim 5, characterized in that: The main body of the robotic arm (2) also includes a rotary 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 fixed seat (24) is located at the moving end of the rotary platform (25).

7. The robotic arm-type longitudinal reinforcement laying device for tunnel lining according to claim 1, characterized in that: A second telescopic cylinder (262) is hinged to the upper arm (21), and the other end of the second telescopic cylinder (262) is hinged to the middle arm (22) for adjusting the angle between the upper arm (21) and the middle arm (22); A third telescopic cylinder (263) is provided on the middle arm (22). The other end of the third telescopic cylinder (263) is hinged to the forearm (23) to adjust the angle between the middle arm (22) and the forearm (23).

8. The robotic arm-type longitudinal reinforcement laying device for tunnel lining according to any one of claims 1 to 7, characterized in that: The support trolley (1) includes a mobile vehicle body (11) and a first construction platform (12). A lifting bracket (111) is provided on the top surface of the mobile vehicle body (11). The lifting bracket (111) is arranged close to the side of the mobile vehicle body (11). The first construction platform (12) is located at the lifting end of the lifting bracket (111). The main body (2) of the robotic arm is set on the top surface of the mobile vehicle body (11).

9. The robotic arm-type longitudinal reinforcement placement device for tunnel lining according to claim 8, characterized in that: The first construction platform (12) is hinged to the lifting end of the lifting bracket (111); A folding cylinder (112) is hinged in the middle of the lifting support (111), and the other end of the folding cylinder (112) is hinged in the middle of the first construction platform (12) to adjust the angle between the first construction platform (12) and the horizontal plane.

10. The robotic arm-type longitudinal reinforcement laying device for tunnel lining according to claim 8, characterized in that: A second construction platform (13) is provided on the side wall of the mobile vehicle (11).

Images