Mechanical arm type ring rib 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 annular bar laying device for tunnel lining. According to the mechanical arm type ring rib laying device for tunnel lining, a conveying mechanical arm and a transmission mechanical arm are both arranged on a supporting trolley, a ring rib forming machine is arranged on the supporting trolley and can bend a steel bar into a ring, and the ring rib forming machine is hung on a conveying chain through a guide rail on the conveying mechanical arm; the ring rib is conveyed to the conveying chain arranged on the conveying mechanical arm by means of the conveying chain, then the ring rib is conveyed to a designated position by controlling the conveying mechanical arm and the conveying chain to act, manual work is replaced to complete conveying and supporting of the ring rib, the labor intensity and potential safety hazards in the ring rib laying process are reduced, and then manual fixing is carried out, so that the ring rib laying efficiency is improved. The arrangement of the ring ribs is completed, and the arrangement efficiency of the ring ribs 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 ring rebar laying device for tunnel lining. Background Technology

[0002] Lining is a permanent support structure built along the tunnel body using reinforced concrete and other materials in construction engineering to prevent deformation or collapse of the surrounding rock. It is mainly used in tunnel engineering and water conservancy channels. Tunnel lining is a permanent support structure used in water conservancy engineering to reinforce the surrounding rock of tunnels. Its main functions include bearing the pressure of mountain rock and water load, 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, then the laying of the waterproofing membrane, then 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 ring reinforcement bars is mostly carried out by workers standing on the ground or on simple scaffolds, manually supporting the ring reinforcement bars and fixing them tightly against the tunnel wall to complete the installation. However, the ring reinforcement bars have a certain weight, and the process of manually supporting them requires the cooperation of multiple people, which consumes a lot of manpower and is labor-intensive. At the same time, when supporting the ring reinforcement bars, their center of gravity is located at the center of the tunnel, requiring multiple people to work together to stabilize them or to use tools to stabilize them to prevent the ring reinforcement bars from tilting. This process poses certain safety hazards. Summary of the Invention

[0005] The present invention provides a robotic arm-type ring reinforcement laying device for tunnel lining, which solves the technical problems in the prior art where the process of manually supporting the ring reinforcement requires the cooperation of multiple people, resulting in high manpower consumption, high labor intensity, and certain safety hazards.

[0006] This invention is achieved through the following technical solution: A robotic arm-type ring reinforcement laying device for tunnel lining includes a support trolley and a conveying robotic arm and a transfer robotic arm mounted on the support trolley. The conveying robotic arm is equipped with a conveying chain; both sides of the conveying robotic arm are equipped with arc-shaped guide rails, one end of which extends to the conveying chain, and the other end of which extends to both sides of the support trolley. A ring rib forming machine is installed on the support trolley, and the discharge end of the ring rib forming machine is connected to one of the guide rails near the end of the support trolley. The robotic arm is equipped with a transmission chain; the robotic arm can drive the transmission chain to move to the output end of the conveyor chain, and the conveyor chain will transfer the ring ribs at the guide rail to the transmission chain.

[0007] To better realize the present invention, the above structure is further optimized, and the conveying robotic arm includes a support rod and a support arm; The support rod is vertically mounted on the support trolley. A first lifting rod and a second lifting rod are mounted on the end of the support rod away from the support trolley. The direction of movement of the first lifting rod is parallel to the long axis of the support rod. The lifting end of the second lifting rod is inclined towards the conveying robotic arm. The angle between the direction of movement of the second lifting rod and the long axis of the support rod is greater than 0° and less than 90°. Both the lifting ends of the first and second lifting rods are hinged to the support arm. The support arm is equipped with a conveyor motor, a first sprocket, and a second sprocket. The first sprocket and the second sprocket are respectively located at both ends of the support arm. The conveyor chain is wound around the first sprocket and the second sprocket. The conveyor chain is equipped with multiple first hooks, which are arranged at equal intervals along the length of the conveyor chain. The conveyor motor is connected to the first sprocket or the second sprocket for transmission.

[0008] To better realize the present invention, the above structure is further optimized. Both sides of the support rod are provided with telescopic brackets with adjustable length, and two guide rails are respectively provided at the moving ends of the two telescopic brackets.

[0009] To better realize the present invention, the above structure is further optimized, and the support trolley is provided with a mounting base, and a telescopic support rod is hinged on the mounting base; The support rod is hinged to the support trolley, and the telescopic end of the telescopic support rod is hinged to the side wall of the support rod, which is used to adjust the angle between the long axis of the support rod and the plane where the mounting base is located.

[0010] To better realize the present invention, further optimizations are made to the above structure, wherein the transmission robotic arm includes a large arm, a middle arm, and a small arm; The two ends of the middle arm are hinged to one end of the upper arm and one end of the forearm, respectively; the end of the upper arm away from the middle arm is hinged to the support trolley. The forearm is equipped with a transmission motor, a third sprocket, and a fourth sprocket. The third sprocket and the fourth sprocket are respectively arranged near the two ends of the forearm. The transmission chain is wound around the third sprocket and the fourth sprocket. The transmission chain is equipped with multiple second hooks, which are arranged at equal intervals along the length of the transmission chain. The actuating end of the transmission motor is connected to the third sprocket or the fourth sprocket for transmission.

[0011] To better realize the present invention, further optimization is made to the above structure. The boom is hinged to the support trolley, and a first telescopic cylinder is provided on the support trolley. The telescopic end of the first telescopic cylinder is hinged to the side wall of the boom. A second telescopic hydraulic cylinder is hinged to the main boom, and the other end of the second telescopic hydraulic cylinder is hinged to the middle boom. A third telescopic hydraulic cylinder is installed on the middle arm, and the other end of the third telescopic hydraulic cylinder is hinged to the forearm.

[0012] To better realize the present invention, the above structure is further optimized by having multiple transfer robotic arms, which are arranged at intervals along the long axis of the support trolley.

[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. Both the conveying robotic arm and the transmission robotic arm are mounted on the top surface of the moving vehicle.

[0014] To better realize the present invention, further optimization is made to the above structure, wherein one side of 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 ring reinforcement laying device for tunnel lining provided by this invention can bend steel bars into rings by a ring forming machine and hang them on a conveyor chain via a guide rail on a conveyor arm. The ring reinforcement is then conveyed to a conveyor chain set on the conveyor arm by the conveyor chain. By controlling the movement of the conveyor arm and the conveyor chain, the ring reinforcement is sent to a designated position, replacing manual labor in conveying and supporting the ring reinforcement. This reduces the labor intensity and safety hazards during ring reinforcement laying, and then the ring reinforcement is fixed manually to complete the laying of the ring reinforcement, thereby improving the laying efficiency of the ring reinforcement. 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 ring reinforcement laying device for tunnel lining according to the present invention.

[0019] Figure 2 This is a schematic diagram of the conveying robotic arm in a robotic arm-type ring reinforcement laying device for tunnel lining according to the present invention.

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

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

[0022] In the picture: 1. Support trolley; 11. Moving vehicle body; 111. Lifting bracket; 112. Folding cylinder; 12. First construction platform; 13. Second construction platform; 14. Ring reinforcement forming machine; 15. Mounting base; 16. Telescopic support rod; 2. Conveying robotic arm; 21. Support rod; 22. Support arm; 221. Conveying motor; 222. First sprocket; 223. Second sprocket; 23. Guide rail; 241. First lifting rod; 242. Second lifting rod; 243. Telescopic bracket; 3. Transmission robotic arm; 31. Main arm; 32. Middle arm; 33. Forearm; 331. Third sprocket; 332. Fourth sprocket; 333. Tensioning sprocket; 334. Transmission motor; 34. Fixed base; 351. First telescopic cylinder; 352. Second telescopic cylinder; 353. Third telescopic cylinder; 4. Conveyor chain; 41. First hook; 5. Transmission chain. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] In the embodiments of this application, such as Figures 1 to 4 As shown, this robotic arm-type ring reinforcement laying device can be used for conveying ring reinforcement during tunnel lining, that is, delivering the ring reinforcement to a designated position for easy fixing by workers; the robotic arm-type ring reinforcement laying device includes a support trolley 1 and a conveying robotic arm 2 and a transfer robotic arm 3 mounted on the support trolley 1, see [link to documentation]. Figure 1 ; The conveying robotic arm 2 is equipped with a conveying chain 4; both sides of the conveying robotic arm 2 are equipped with arc-shaped guide rails 23, the extension lines of one end of the two guide rails 23 extend to the conveying chain 4, and the other ends of the two guide rails 23 extend to the two sides of the support trolley 1 respectively; in this embodiment, the two guide rails 23 are located in the same vertical plane and are intersected with the conveying direction of the conveying chain 4. A ring rib forming machine 14 is installed on the support trolley 1. The discharge end of the ring rib forming machine 14 is connected to one end of one of the guide rails 23 near the support trolley 1. That is, the ring ribs output by the ring rib forming machine 14 can enter the guide rail 23 and move along the guide rail 23 to the position of the conveyor chain 4. After one end of the ring rib crosses the conveyor chain 4, it will enter another guide rail 23 and move along the other guide rail 23 until the ring rib is prepared. Then the other end of the ring rib will be removed from the ring rib forming machine 14, so that the entire ring rib is hung on the conveyor chain 4 and the guide rail 23. The robotic arm 3 is equipped with a transmission chain 5.

[0027] During the tunnel lining process up to the ring reinforcement installation stage, workers can send the robotic arm-type ring reinforcement installation device into the tunnel and adjust the position of the conveying robotic arm 3 so that the conveying chain 5 moves to the output end of the conveying chain 4. Specifically, the input end of the conveying chain 5 is positioned below the output end of the conveying chain 4. (See [reference]) Figure 1 In this embodiment, the support trolley 1 includes a mobile body 11, which can be moved freely by the operator to improve its mobility. Workers feed the prepared steel bars into the ring forming machine 14, which bends the steel bars into rings and places them on the conveyor chain 4 and guide rail 23. Specifically, workers feed the steel bars into the ring forming machine 14, which bends the steel bars and outputs them from their discharge end. At this time, the ring extending from the discharge end of the ring forming machine 14 will enter the guide rail 23 and move along the guide rail 23 to the position of the conveyor chain 4. Subsequently, one end of the ring will cross the conveyor chain 4 on the conveyor arm 2 and enter the guide rail 23 on the other side of the support trolley 1 (the opposite side where the ring forming machine 14 is located) until the ring is prepared, that is, the other end of the ring is removed from the ring forming machine 14. Then, the staff can control the movement of the conveyor chain 4, which will transport the ring reinforcement to the position of the transmission chain 5. After the conveyor chain 4 moves a unit distance, it stops. The ring reinforcement forming machine 14 repeats the above operation to continue preparing the ring reinforcement until the conveyor chain 4 is full of ring reinforcement, or after a sufficient amount of ring reinforcement is hung, the ring reinforcement forming machine 14 stops working. Preferably, the conveyor chain 4 is provided with a plurality of first hooks 41. The plurality of first hooks 41 are arranged at equal intervals along the length direction of the conveyor chain 4. The first hooks 41 can better hook the ring reinforcement, so as to better complete the conveying of the ring reinforcement.

[0028] When the ring bar falls from the output end of the conveyor chain 4 onto the transmission chain 5 under the drive of the conveyor chain 4 and the first hook 41, the operator can control the movement of the transmission chain 5 to transport the ring bar to the end away from the conveyor chain 4. During the operation of the transmission chain 5, multiple rings on the conveyor chain 4 fall onto the transmission chain 5 one by one until all the rings on the conveyor chain 4 have fallen onto the transmission chain 5, at which point both the conveyor chain 4 and the transmission chain 5 stop operating. At this point, the staff can control the movement of the conveying robotic arm 3 to adjust the position of the conveying chain 5 in the tunnel and move the conveying chain 5 to the designated position, that is, to the location where the ring reinforcement is laid; then the staff will fix the ring reinforcement to complete the laying of the ring reinforcement.

[0029] The above method of conveying the ring reinforcement is relatively simple and does not require workers to support the ring reinforcement and keep it close to the tunnel wall, thereby reducing the labor intensity of the ring reinforcement installation. In addition, multiple ring reinforcements can be hung on the transmission chain 5 at one time to complete the conveying and fixing of multiple ring reinforcements, thereby effectively improving the installation efficiency of the ring reinforcement.

[0030] In addition, the extension state of the transfer robotic arm 3 can be freely adjusted, enabling it to deliver the ring reinforcement to different positions and distances for placement, thereby increasing the working range of the robotic arm-type ring reinforcement placement device.

[0031] It is worth noting that the unit distance mentioned above refers to the distance that the conveyor chain 4 moves (which can be set). In this embodiment, the distance (unit distance) is the spacing between the two first hooks 41. When the first first hook 41 hooks a ring rib, the conveyor chain 4 can convey the ring rib to the transmission chain 5 through the first hook 41. After moving a unit distance, the spacing between the second first hook 41 and the first first hook 41 can accommodate the ring rib. When the ring rib forming machine 14 makes the second ring rib and hangs it on the conveyor chain 4 and the guide rail 23, the second first hook 41 can hook the ring rib. By repeating the above steps, the conveyor chain 4 can be fully hung with ring ribs, or a sufficient number of ring ribs can be hung.

[0032] The aforementioned ring reinforcement refers to a circular or horseshoe-shaped steel bar with an opening on one side. See [link / reference]. Figure 1 During the hanging process, the position of the opening corresponds to the position of the conveying robotic arm 2, so that when the conveying chain 4 conveys the ring reinforcement to the transmission chain 5, the opening on the ring reinforcement can pass smoothly through the conveying robotic arm 2, making the conveying of the ring reinforcement more stable and smooth.

[0033] Preferably, there are multiple transfer robotic arms 3, which are arranged at intervals along the long axis of the support trolley 1. Multiple transfer robotic arms 3 can increase the conveying distance of the ring reinforcement and the number of ring reinforcements that can be hung at one time, so as to further improve the laying efficiency of the ring reinforcement.

[0034] In some embodiments, the aforementioned conveying robotic arm 2 includes a support rod 21 and a support arm 22, and the aforementioned conveying chain 4 is disposed on the support arm 22, with its direction of movement parallel to the long axis of the support arm 22. (See also...) Figure 1 and Figure 2 ;in, The support rod 21 is vertically mounted on the support trolley 1, and the end of the support rod 21 away from the support trolley 1 is provided with an adjustable first lifting rod 241 and a second lifting rod 242. The direction of movement of the first lifting rod 241 is parallel to the long axis of the support rod 21; The lifting end of the second lifting rod 242 is inclined toward the direction of the transmission robotic arm 3. The angle between the direction of movement of the second lifting rod 242 and the long axis of the support rod 21 is greater than 0° and less than 90°. The lifting ends of the first lifting rod 241 and the second lifting rod 242 are both hinged to the support arm 22, and the lifting ends of the first lifting rod 241 and the second lifting rod 242 are not in the same position. The operator can change the tilt angle of the support arm 22 by adjusting the length of the first lifting rod 241 or the second lifting rod 242; Alternatively, the height of the support arm 22 can be changed by synchronously adjusting the lengths of the first lifting rod 241 and the second lifting rod 242 (so that the lifting distance between the lifting ends of the first lifting rod 241 and the second lifting rod 242 is consistent), so that the support arm 22 can be connected with the guide rail 23 and the transmission mechanical arm 3, thereby better completing the conveying of the ring reinforcement.

[0035] In some embodiments, the support arm 22 described above is provided with a conveying motor 221, a first sprocket 222, and a second sprocket 223. (See also...) Figure 2 ; The first sprocket 222 and the second sprocket 223 are respectively set at both ends of the support arm 22. The conveying chain 4 is wound around the first sprocket 222 and the second sprocket 223. The conveying motor 221 is driven to the first sprocket 222 or the second sprocket 223. In this embodiment, the conveying motor 221 is driven to the first sprocket 222. The conveying motor 221 drives the first sprocket 222 to rotate, and the teeth on the first sprocket 222 can drive the conveying chain 4 to move, thereby completing the conveying of the ring reinforcement.

[0036] In some embodiments, adjustable telescopic brackets 243 are provided on both sides of the support rod 21, and two guide rails 23 are respectively provided at the moving ends of the two telescopic brackets 243. See [reference needed] Figure 2 ; When it is necessary to transport the ring reinforcement to the transmission chain 5 via the conveyor chain 4, the operator can control the telescopic bracket 243 to retract, that is, shorten the length of the telescopic bracket 243, so as to drive the guide rail 23 to move closer to the support rod 21, so that the guide rail 23 is separated from the ring reinforcement, and the conveyor chain 4 can easily transport the ring reinforcement to the transmission chain 5. When the ring reinforcement moves one unit distance in the direction of the transmission chain 5, the ring reinforcement moves out of the position of the guide rail 23. The staff can control the telescopic bracket 243 to extend so as to drive the guide rail 23 to move back to the initial position, so as to guide the ring reinforcement to be prepared later and to better complete the preparation of the ring reinforcement.

[0037] Preferably, the guide rail 23 is detachably installed at the moving end of the telescopic support 243, so as to replace the appropriate guide rail 23 according to the tunnel diameter requirements, thereby better completing the preparation of the ring reinforcement.

[0038] In some embodiments, the support trolley 1 described above is provided with a mounting base 15, see [reference]. Figure 1 and Figure 2 ; A telescopic support rod 16 is hinged to the mounting base 15; The support rod 21 is hinged to the support trolley 1. The telescopic end of the telescopic support rod 16 is hinged to the side wall of the support rod 21. This is used to adjust the angle between the long axis of the support rod 21 and the plane where the mounting base 15 is located, so as to increase the working space of the conveying robotic arm 2. This allows the robotic arm-type ring reinforcement laying device to complete the conveying of ring reinforcement more flexibly in the tunnel.

[0039] In some embodiments, the aforementioned transfer robotic arm 3 includes a large arm 31, a middle arm 32, and a small arm 33, see [reference needed]. Figure 1 and Figure 3 ;in, The two ends of the middle arm 32 are respectively hinged to one end of the upper arm 31 and one end of the forearm 33; the end of the upper arm 31 away from the middle arm 32 is hinged to the support trolley 1. The aforementioned transmission chain 5 is mounted on the forearm 33. Specifically, the forearm 33 is equipped with a transmission motor 334, a third sprocket 331, and a fourth sprocket 332. The third sprocket 331 and the fourth sprocket 332 are arranged close to both ends of the forearm 33, respectively. The transmission chain 5 is wound around the third sprocket 331 and the fourth sprocket 332. The transmission chain 5 is equipped with multiple second hooks, which are arranged at equal intervals along the length of the transmission chain 5. The actuating end of the transmission motor 334 is connected to the third sprocket 331 or the fourth sprocket 332. In this embodiment, the transmission motor 334 is connected to the third sprocket 331. The transmission motor 334 drives the third sprocket 331 to rotate, which in turn drives the transmission chain 5 through the teeth on the third sprocket 331, thereby completing the conveying of the ring reinforcement.

[0040] In some embodiments, the forearm 33 described above is provided with a tension sprocket 333 for adjusting the tension of the transmission chain 5, see [link to relevant documentation]. Figure 3 The tension sprocket 333 is located between the third sprocket 331 and the fourth sprocket 332; Specifically, a fixing plate is provided on the forearm 33, 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 33. The tension sprocket 333 is located at the position of the waist-shaped hole, and the transmission chain 5 is wrapped around the third sprocket 331, the fourth sprocket 332 and the tension sprocket 333. The tension of the transmission chain 5 is adjusted by adjusting the position of the tension sprocket 333 within the oblong hole, so that the transmission chain 5 is always taut, thereby better completing the conveying of the ring reinforcement.

[0041] In some embodiments, the upper arm 31 is provided with a fixed seat 34 at the end away from the middle arm 32. The upper arm 31 is hinged to the fixed seat 34. The fixed seat 34 is provided on the support trolley 1. A first telescopic cylinder 351 is provided on the fixed seat 34. The telescopic end of the first telescopic cylinder 351 is hinged to the side wall of the upper arm 31. A second telescopic cylinder 352 is hinged to the upper arm 31, and the other end of the second telescopic cylinder 352 is hinged to the middle arm 32. The middle arm 32 is equipped with a third telescopic cylinder 353, and the other end of the third telescopic cylinder 353 is hinged to the forearm 33. By controlling the movement of the first telescopic cylinder 351, the second telescopic cylinder 352 and / or the third telescopic cylinder 353, the position of the forearm 33 can be adjusted to better deliver the ring reinforcement to the designated position and complete the conveying of the ring reinforcement.

[0042] It should be noted that the first telescopic cylinder 351, the second telescopic cylinder 352, the third telescopic cylinder 353, the telescopic bracket 243 and the telescopic support rod 16 mentioned above are all hydraulic cylinders, and are supplied with oil by the hydraulic pump station installed on the support trolley 1. Workers can operate the hydraulic pump station to change the extension and retraction states of the first telescopic cylinder 351, the second telescopic cylinder 352, the third telescopic cylinder 353, the telescopic bracket 243, and the telescopic support rod 16, so as to adjust the state of the conveying robotic arm 2 and / or the transmission robotic arm 3. The hydraulic pump station, the first telescopic cylinder 351, the second telescopic cylinder 352, the third telescopic cylinder 353, the telescopic bracket 243, and the telescopic support rod 16 are all commercially available hydraulic pump stations and cylinders.

[0043] In some embodiments, the aforementioned support trolley 1 further includes a first construction platform 12, see [link to previous document]. Figure 1 and Figure 4 ; 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. Both the conveying robotic arm 2 and the transmission robotic arm 3 are mounted on the top surface of the mobile vehicle body 11. Neither the conveying robotic arm 2 nor the transmission robotic arm 3 interferes with the first construction platform 12, thereby better completing the conveying of the ring reinforcement.

[0044] 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 conveying robotic arm 2, transmission robotic arm 3, and lifting support 111 are all mounted on the trailer.

[0045] In some embodiments, one side of the first construction platform 12 is hinged to the lifting end of the lifting bracket 111, see [reference]. Figure 4 ; 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 ring reinforcement laying device is not in use, the workers can shorten the folding cylinder 112, and the first construction platform 12 will rotate downward around its hinge until the plane where the first construction platform 12 is located is perpendicular to the horizontal plane, so as to reduce the space occupied by the robotic arm-type ring reinforcement laying device, thereby making it more convenient for the robotic arm-type ring reinforcement laying device to move in the tunnel.

[0046] In some embodiments, a second construction platform 13 is provided on the side wall of the mobile vehicle body 11. 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 ring reinforcement at the same time, thereby improving the efficiency of the ring reinforcement layout.

[0047] 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 rib 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 rib 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 conveying robotic arm 2 and the transmission robotic arm 3 in the mobile vehicle body 11.

[0048] 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 ring reinforcement laying device for tunnel lining, characterized in that: It includes a support trolley (1) and a conveying robotic arm (2) and a transfer robotic arm (3) mounted on the support trolley (1). A conveying chain (4) is provided on the conveying robotic arm (2); both sides of the conveying robotic arm (2) are provided with arc-shaped guide rails (23), one end of each guide rail (23) extends to the conveying chain (4), and the other end of each guide rail (23) extends to both sides of the support trolley (1). A ring rib forming machine (14) is installed on the support trolley (1). The discharge end of the ring rib forming machine (14) is connected to one end of one of the guide rails (23) near the support trolley (1). The conveying robotic arm (3) is equipped with a conveying chain (5); the conveying robotic arm (3) can drive the conveying chain (5) to move to the output end of the conveying chain (4); the ring bar forming machine (14) bends the steel bar into a ring bar and hangs it on the conveying chain (4) through the guide rail (23), and the conveying chain (4) transmits the ring bar to the conveying chain (5).

2. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 1, characterized in that: The conveying robotic arm (2) includes a support rod (21) and a support arm (22); The support rod (21) is vertically mounted on the support trolley (1). The end of the support rod (21) away from the support trolley (1) is provided with a first lifting rod (241) and a second lifting rod (242). The direction of movement of the first lifting rod (241) is parallel to the long axis of the support rod (21). The lifting end of the second lifting rod (242) is inclined towards the direction of the transmission robotic arm (3). The angle between the direction of movement of the second lifting rod (242) and the long axis of the support rod (21) is greater than 0° and less than 90°. The lifting ends of the first lifting rod (241) and the second lifting rod (242) are both hinged to the support arm (22). The support arm (22) is equipped with a conveyor motor (221), a first sprocket (222) and a second sprocket (223). The first sprocket (222) and the second sprocket (223) are respectively located at both ends of the support arm (22). The conveyor chain (4) is wound around the first sprocket (222) and the second sprocket (223). The conveyor chain (4) is equipped with a plurality of first hooks (41). The plurality of first hooks (41) are arranged at equal intervals along the length direction of the conveyor chain (4). The conveyor motor (221) is connected to the first sprocket (222) or the second sprocket (223) for transmission.

3. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 2, characterized in that: Both sides of the support rod (21) are provided with telescopic brackets (243) with adjustable length, and two guide rails (23) are respectively provided at the moving ends of the two telescopic brackets (243).

4. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 2, characterized in that: The support trolley (1) is provided with an installation platform (15), and a telescopic support rod (16) is hinged on the installation platform (15). The support rod (21) is hinged to the support trolley (1), and the telescopic end of the telescopic support rod (16) is hinged to the side wall of the support rod (21) to adjust the angle between the long axis of the support rod (21) and the plane of the mounting base (15).

5. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 1, characterized in that: The transfer robotic arm (3) includes a large arm (31), a medium arm (32), and a small arm (33). The two ends of the middle arm (32) are respectively hinged to one end of the upper arm (31) and one end of the forearm (33); the end of the upper arm (31) away from the middle arm (32) is hinged to the support trolley (1); The forearm (33) is equipped with a transmission motor (334), a third sprocket (331) and a fourth sprocket (332). The third sprocket (331) and the fourth sprocket (332) are arranged close to both ends of the forearm (33). The transmission chain (5) is wound around the third sprocket (331) and the fourth sprocket (332). The transmission chain (5) is equipped with a plurality of second hooks, which are arranged at equal intervals along the length of the transmission chain (5). The actuating end of the transmission motor (334) is connected to the third sprocket (331) or the fourth sprocket (332) for transmission.

6. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 5, characterized in that: The boom (31) is hinged to the support trolley (1), and the support trolley (1) is provided with a first telescopic cylinder (351). The telescopic end of the first telescopic cylinder (351) is hinged to the side wall of the boom (31). A second telescopic cylinder (352) is hinged to the upper arm (31), and the other end of the second telescopic cylinder (352) is hinged to the middle arm (32); A third telescopic cylinder (353) is provided on the middle arm (32), and the other end of the third telescopic cylinder (353) is hinged to the forearm (33).

7. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 6, characterized in that: The number of the transmission robotic arms (3) is multiple, and the multiple transmission robotic arms (3) are arranged at intervals along the long axis of the support trolley (1).

8. The robotic arm-type ring 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). Both the conveying robotic arm (2) and the transmission robotic arm (3) are mounted on the top surface of the moving vehicle body (11).

9. The robotic arm-type ring reinforcement laying device for tunnel lining according to claim 8, characterized in that: One side of 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 ring 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).

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