Underground powerhouse rock-anchored beam reinforcing steel bar and formwork modularization rapid installation device and use method

Abstract

The invention relates to the technical field of underground cavern construction, in particular to an underground powerhouse rock-anchored beam steel bar and formwork modularization rapid installation device and a using method.The installation device comprises a filling assembly, a sliding rail trolley, a bearing assembly, an overturning pushing assembly and an implanting assembly, and the filling assembly, the bearing assembly and the overturning pushing assembly are all arranged on the sliding rail trolley; the implanting assembly is arranged in the middle of the overturning propelling assembly. A reinforcement cage produced in a unified and standardized mode is completed in advance by adopting a reinforcement processing plant, the functions of reinforcement bearing, formwork filling, overturning propelling, anchor rod implanting and the like are integrated into the same sliding rail trolley, reinforcement binding operation does not need to be carried out on site, the construction process is greatly simplified, the connection efficiency of all procedures is effectively improved, the construction preparation period is shortened fundamentally, and the construction cost is reduced. Meanwhile, the human input cost is obviously reduced.

Description

Technical Field

[0001] This invention relates to the field of underground cavern construction technology, and in particular to a modular rapid installation device and method for rock anchor beam reinforcement and formwork in underground powerhouses. Background Technology

[0002] In the construction of underground powerhouse projects, the traditional rock anchor beam construction processes of rebar tying and formwork erection both require specialized equipment and manual labor. After the rebar and formwork components are processed off-site, they still need to be manually transported to the work surface for on-site assembly. This results in significant problems such as cumbersome and redundant procedures, high manpower input, and low on-site work efficiency. At the same time, the control of rebar positioning accuracy, formwork installation gaps, and fit relies heavily on the practical experience of the operators and manual adjustments, which can easily lead to quality defects such as rebar layout deviations and loose formwork joints. This not only increases the cost of later rectification and repair but may also weaken the structural stability of the rock anchor beam and cause construction safety risks.

[0003] Furthermore, the frequent relocation and debugging of equipment for each process further disrupts the continuity of the construction process, making it difficult to meet the requirements of high efficiency and precision in modern underground powerhouse engineering. Therefore, developing an integrated device that combines the dual functions of rebar tying and formwork installation for rock anchor beams, enabling modular and rapid construction operations, is of great practical engineering significance for improving the construction quality of rock anchor beams in underground powerhouses, reducing labor costs, and accelerating the construction progress. Summary of the Invention

[0004] The purpose of this invention is to provide a modular rapid installation device and method for the reinforcing bars and formwork of underground powerhouse rock anchor beams, so as to improve the problems existing in the prior art.

[0005] The present invention is implemented as follows: On the one hand, the present invention provides a modular rapid installation device for the reinforcing bars and formwork of the rock anchor beam in an underground powerhouse, including a filling component, a slide rail trolley, a bearing component, a tilting and propulsion component and an implantation component. The filling component, the bearing component and the tilting and propulsion component are all set on the slide rail trolley, and the implantation component is set in the middle of the tilting and propulsion component. The loading assembly includes a loading box, a limiter, a pusher, and a conveyor. The loading box is a box structure integrated onto a slide rail trolley. The loading box has a notch for adding new templates. The slide rail trolley has steel rail wheels at the bottom and multiple connecting steel plates on the slide rail trolley to improve the overall structural strength of the vehicle. The conveyor is located inside the loading box for conveying the templates. The limiter is located on the conveyor. The pusher is located on the side wall of the loading box for pushing out the templates. The load-bearing component includes a first electric slide rail and a first slider. The first electric slide rail is mounted on the slide rail trolley, and the first slider is slidably connected to the first electric slide rail. The first electric slide rail controls the sliding of the first slider. The tilting propulsion assembly includes a tilting platform and a tilting track. The tilting platform is slidably disposed inside the slide rail trolley, and the tilting track is disposed on the tilting platform and slidably cooperates with the slide rail trolley. The flipping table includes a movable table and a fixed table. The movable table is provided with symmetrically distributed second electric slide rails. The second electric slide rails are provided with second sliders. The second sliders are used to support the steel cage on the first slider. The fixed table is provided with a third electric slide rail. The movable table is controlled to move by the third electric slide rail. The implantation component includes a fixator and an insertion head. The fixator is rotatably mounted in the middle of the moving platform, and the insertion head is mounted on the fixator. An anchor rod is mounted on the insertion head, and the anchor rod is inserted through the insertion head. A motor is installed inside the moving platform, and the output end of the motor is connected to a transmission group. The transmission group meshes with the fixator to drive the fixator to rotate.

[0006] More preferably, an inclined panel is slidably disposed on the moving platform, the inclined panel is slidably connected to the fixed platform, and the inclined panel is rotatably connected to the moving platform to form a V-shape.

[0007] More preferably, both the first slider and the second slider are provided with an electric telescopic block, and both the first slider and the second slider are provided with a pressure sensor, and the electric telescopic block is controlled to extend or retract through the pressure sensor.

[0008] More preferably, it also includes a folding positioning frame, which includes a first bracket, a second bracket, and a third bracket. The first bracket is rotatably connected to the insertion head, and the second bracket is rotatably connected to the first bracket. A sliding block is movably disposed on the side of the second bracket away from the first bracket. A sliding groove is formed on the second bracket, and the third bracket is slidably connected to the sliding groove of the second bracket. A sliding block is movably disposed on the side of the third bracket away from the second bracket. A groove is formed on the moving platform, and the sliding block slides in the groove. Symmetrically distributed second electric push rods are installed in the moving platform, and the telescopic ends of the second electric push rods are respectively connected to the sliding blocks of the second bracket and the third bracket.

[0009] More preferably, the limiter includes two limiting structures to restrict the template and prevent it from shaking and falling during operation; the pusher includes a push block and a first electric push rod. The push block is slidably disposed on the front side of the filling box, and the first electric push rod is installed inside the filling box. The telescopic end of the first electric push rod is connected to the push block, and the telescopic end of the first electric push rod extends and retracts to drive the push block to move back and forth; the conveyor includes gears and a conveyor belt. Multiple gears are provided and are controlled by the same power source to start and rotate in the same direction. The conveyor belt is disposed inside the filling box, and the inner ring of the conveyor belt is provided with teeth that mesh with the gears. The rotation of the gears drives the conveyor belt to rotate, and the limiter is disposed on the conveyor belt.

[0010] More preferably, it also includes a baffle fixed to the bottom of the insertion head, the baffle being used to shield and protect the insertion head.

[0011] More preferably, it also includes a fourth electric slide rail and a support platform. The fourth electric slide rail is installed on the side of the slide rail trolley near the first electric slide rail, and the support platform is installed on the fourth electric slide rail, and its up and down movement is controlled by the fourth electric slide rail.

[0012] More preferably, a limit block is provided on the top of the slide rail trolley, and a collision avoidance device is provided on the upper side of the moving platform. The collision avoidance device is locked onto the limit block after the moving platform is flipped. An automatic telescopic block is provided on the collision avoidance device and the moving platform to limit the template.

[0013] More preferably, a robotic arm is mounted on the side wall of the mobile platform, the robotic arm being used for welding.

[0014] On the other hand, the present invention also provides an installation method for the modular rapid installation device for the rock anchor beam reinforcement and formwork of the underground powerhouse as described in any of the above claims, characterized in that the installation method is as follows: S1. Complete the standardized prefabrication of steel cages in advance at the steel bar plant, put the formwork into the filling box of the filling component, and carry it by the conveyor belt. The limiter limits and fixes the formwork. At the same time, check the condition of the slide rail trolley and each component, and lay the pre-set slide rails along the scaffolding platform. S2. Hoist the precast steel cage onto the support platform, start the fourth electric slide rail to adjust the height of the support platform so that the steel cage is flush with the first slider, push the steel cage onto the first slider, and the pressure sensor triggers the electric telescopic block to extend and fix the steel cage. S3. Start the first electric slide rail, drive the first slider and the steel cage to move close to the moving platform, transfer the steel cage to the second slider, and adjust the position of the steel cage through the second electric slide rail. S4. Start the slide rail trolley, move it along the preset slide rail to the rock anchor beam working area and fix it; S5. Drive the tilting table to rotate 90° along the tilting track to make the steel cage stand upright and the anti-collision device is locked on the limit block for positioning; flatten the inclined panel, start the third electric slide rail to push the moving table and push the steel cage to the preset installation position on the rock wall. S6. Start the first electric push rod, which pushes the template to the tilting and propulsion assembly via the push block, and then pushes it to the installation position by the propulsion mechanism. The automatic telescopic block limits the position. The conveyor belt synchronously transports the next template to achieve continuous installation. S7. Start the motor, drive the fixing device to rotate through the transmission group, and cooperate with the second electric push rod to drive the folding positioning frame to accurately adjust the insertion head to the preset anchor installation position; S8. Install the anchor bolt on the insertion head, start the motor inside the insertion head, drive the anchor bolt to rotate and insert it into the preset position, and ensure that the anchoring grout is mixed evenly. S9. After the anchor bolts are installed, the folding positioning frame is reset, the insertion head is adjusted to a vertical position, and the baffle is used for protection; if welding is required, the robotic arm is started for reinforcement. S10. After the construction quality is inspected and found to be qualified, the slide rail trolley is removed from the work area along the slide rail to prepare for the next section of construction.

[0015] Compared with the prior art, the present invention has the following advantages: 1. This invention uses steel cages that are pre-produced in a standardized manner at a steel processing plant. The functions of steel reinforcement bearing, formwork filling, flipping and pushing, and anchor bolt installation are integrated into the same sliding rail trolley. There is no need to carry out steel reinforcement binding operations on site, which greatly simplifies the construction process, effectively improves the efficiency of the connection between various processes, shortens the construction preparation cycle from the source, and significantly reduces labor input costs.

[0016] 2. The template loading platform of the present invention has a built-in conveyor belt and multiple limiters, which can realize the synchronous storage and continuous pushing installation of templates. It eliminates the need for frequent manual handling and positioning of templates, solves the problems of scattered and long intervals in traditional template installation processes, significantly improves template installation efficiency, and ensures the continuity and stability of installation operations.

[0017] 3. The flip propulsion component of the present invention can achieve a precise 90° flip through the flip gear drive, which can smoothly convert the rebar cage into an upright position. Combined with the position adjustment function of the second slider, it effectively solves the problem of large positioning deviation in the on-site hoisting of the rebar cage, provides a high-precision benchmark for subsequent installation operations, and ensures the standardization and reliability of the installation of the rock anchor beam rebar.

[0018] 4. The integrated design of anchor bolt insertion and flipping propulsion in this invention can automatically adjust the angle and height of anchor bolt insertion by driving the folding positioning frame, so as to achieve precise positioning of the insertion working head, avoid the positional deviation of anchor bolt insertion by manual operation, improve the anchor bolt anchoring quality, and enhance the structural stability of rock anchor beam.

[0019] 5. The slide rail trolley of the present invention achieves precise movement and withdrawal from the work area through a preset slide rail, without the need for on-site adjustment of the walking path, which solves the problems of poor mobility and positioning difficulties of traditional construction equipment, and significantly improves the equipment's adaptability to the complex construction environment of underground plants.

[0020] 6. The insertion head of the present invention is equipped with a motor and heat dissipation fins, which can drive the anchor bolt to rotate, so as to make the grout in the anchoring section mix evenly and distribute it evenly. At the same time, it can effectively reduce the temperature of the equipment when operating at high speed, reduce the wear and tear on the core components caused by high temperature, extend the service life of the equipment, reduce the frequency and cost of maintenance, and ensure the stable operation of the equipment for a long time.

[0021] 7. The folding positioning frame of the present invention can automatically adjust the implanted component to a vertical state after the anchor bolt is installed. With the help of the baffle, it avoids collision damage to the insertion head during subsequent operations such as rebar cage adjustment, improves equipment safety, reduces equipment downtime due to failure, and ensures the smooth progress of construction.

[0022] 8. This invention adopts a modular design, with the template loading platform, rebar bearing platform, and tilting and pushing components being relatively independent functional modules. Each module can be individually debugged, maintained, and replaced without requiring overall shutdown for maintenance. This solves the problems of high maintenance difficulty and long maintenance time of traditional integrated equipment, and improves equipment operation and maintenance efficiency.

[0023] 9. This invention achieves mechanized operation of key processes such as steel cage transfer, formwork pushing, and anchor bolt installation through automated mechanisms, which greatly reduces the number of on-site workers, avoids personnel directly participating in high-risk operations such as high-altitude and heavy object handling, reduces safety hazards such as falls from heights and falling objects, and significantly improves the level of construction safety assurance.

[0024] 10. The template loading platform and slide rail trolley of the present invention adopt an integrated structural design. Combined with the automated linkage operation of each mechanism, it realizes the assembly line operation mode of steel bar installation, template installation and anchor bolt implantation, effectively shortens the waiting time between each process, improves the overall construction efficiency of rock anchor beam, shortens the total construction period and reduces the overall construction cost of the project. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the first construction process of the present invention; Figure 3 This is a schematic diagram of the second construction process of the present invention; Figure 4 This is a schematic diagram of the third construction process of the present invention; Figure 5 This is a schematic diagram of the fourth construction process of the present invention; Figure 6This is a schematic diagram of the flipping table in the flipping state of the present invention; Figure 7 This is a schematic diagram of the mobile platform of the present invention moving close to the rock anchor beam; Figure 8 This is a schematic diagram showing the installation positions of the push block and the first electric push rod of the present invention; Figure 9 This is a schematic diagram of the loading assembly structure of the present invention; Figure 10 This is a schematic diagram of the implantable component structure of the present invention; Figure 11 This is a schematic diagram of the implantable component structure of the present invention; Figure 12 This is a schematic diagram showing the installation position of the automatic telescopic block of the present invention; Figure 13 This is a schematic diagram of the slide rail structure near the rock anchor beam of the fixed platform of the present invention; Figure 14 This is a schematic diagram of the robotic arm structure of the present invention.

[0026] Reference numerals: 1. Loading assembly; 101. Template; 102. Limiter; 103. Push block; 104. First electric push rod; 105. Gear; 106. Conveyor track; 2. Slide rail trolley; 201. Wheel; 3. Bearing assembly; 301. First electric slide rail; 302. First slider; 4. Tilting propulsion assembly; 401. Tilting track; 402. Moving platform; 403. Fixed platform; 404. Second electric slide rail; 405. Second slider; 406. Third electric... 407. Moving slide rail; 408. Inclined panel; 409. Electric telescopic block; 500. Implant component; 501. Fixer; 502. Insertion head; 503. Anchor bolt; 504. Baffle; 505. First bracket; 506. Second bracket; 507. Third bracket; 508. Sliding block; 509. Second electric push rod; 5010. Motor; 5011. Transmission group; 6. Fourth electric slide rail; 7. Support platform; 8. Limit block; 9. Collision stop; 10. Automatic telescopic block; 11. Robotic arm. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, but does not exclude other elements or objects.

[0028] This embodiment provides a modular rapid installation device for the reinforcing steel bars and formwork of rock anchor beams in underground powerhouses, such as... Figures 1-14 As shown, the system includes a loading component 1, a slide rail trolley 2, a bearing component 3, a tilting and propulsion component 4, and an insertion component 5. The loading component 1, bearing component 3, and tilting and propulsion component 4 are all mounted on the slide rail trolley 2. The loading component 1 is used for the synchronous storage and continuous installation of the template 101. The slide rail trolley 2 is used to transport materials such as the rebar cage and template 101 along a preset track on the scaffolding platform. The bearing component 3 is used to translate and adjust the rebar cage to a designated position. The tilting and propulsion component 4 is used to receive the rebar cage transferred by the bearing component 3 and adjust the position of the rebar cage. After adjusting to a suitable position, the tilting and propulsion component 4 tilts, so that the rebar cage is placed upright and pushes the rebar cage to a designated position on the rock wall. The insertion component 5 is located in the middle of the tilting and propulsion component 4 and is used for the insertion of the anchor bolts 503 after the rebar cage is installed.

[0029] In some embodiments, the filling assembly 1 includes a filling box, a limiter 102, a pusher, and a conveyor. The filling box is a box structure integrated onto the slide rail trolley 2. A notch is provided on the left rear side of the filling box for adding new templates 101. The bottom of the slide rail trolley 2 is provided with rail wheels 201. Multiple connecting steel plates are provided on the slide rail trolley 2 to improve the overall structural strength of the vehicle body. The conveyor is located inside the filling box for conveying the templates 101. The limiter 102 is located on the conveyor. The pusher is located on the side wall of the filling box for pushing out the templates 103.

[0030] Furthermore, the limiter 102 includes two limiting structures to restrict the template 101 and prevent it from shaking and falling during operation; the pusher includes a push block 103 and a first electric push rod 104. The push block 103 is slidably disposed on the left front side of the filling box and slides within the limiter 102. The first electric push rod 104 is installed inside the filling box, and its telescopic end is connected to the push block 103. The telescopic end of the first electric push rod 104 extends and retracts, driving the push block 103 to move. The reciprocating motion pushes out the template 101. The conveyor includes gears 105 and a conveyor belt 106. Multiple gears 105 are provided and are controlled by the same power source to start and rotate in the same direction. The conveyor belt 106 is located inside the loading box, and the inner ring of the conveyor belt 106 is provided with teeth that mesh with the gears 105. The rotation of the gears 105 drives the conveyor belt 106 to rotate. The limiter 102 is provided on the conveyor belt 106.

[0031] Furthermore, it should be clarified that the first electric push rod 104 can be configured as a multi-stage telescopic electric push rod to adapt to the movement stroke of the push block 103.

[0032] Furthermore, it should be clarified that the conveyor belt 106 and the limiter 102 are flexibly connected, so that the limiter 102 can move smoothly when it moves to the corner of the conveyor belt 106.

[0033] In some embodiments, the supporting component 3 includes a first electric slide rail 301 and a first slider 302. The first electric slide rail 301 is disposed on the left front side of the slide rail trolley 2, and the first slider 302 is slidably connected to the first electric slide rail 301. The first electric slide rail 301 controls the sliding of the first slider 302.

[0034] In some embodiments, the flip propulsion assembly 4 includes a flipping platform and a flipping track 401. The flipping platform is rotatably disposed within the slide rail trolley 2, and the flipping track 401 is disposed on the flipping platform. The outer ring of the flipping track 401 is toothed. The slide rail trolley 2 is provided with a gear that meshes with the flipping track 401. The gear is driven to rotate by a motor, thereby causing the flipping platform to flip.

[0035] Furthermore, the flipping platform includes a movable platform 402 and a fixed platform 403. The movable platform 402 is provided with second electric slide rails 404 symmetrically distributed on the left and right sides. The second electric slide rails 404 are provided with second sliders 405, which are used to support the steel cage on the first slider 302. The fixed platform 403 is provided with a third electric slide rail 406, and the movable platform 402 is controlled to move back and forth by the third electric slide rail 406.

[0036] It should be clarified that since the flipping table is composed of a moving table 402 and a fixed table 403, the flipping track 401 is split into two parts. When the moving table 402 is at the front, the two sections of the flipping track 401 are merged into a whole.

[0037] Furthermore, an inclined panel 407 is slidably disposed on the movable platform 402, and a sliding groove is provided on the inner side of the fixed platform 403. The inclined panel 407 is slidably connected to the sliding groove of the fixed platform 403. The inclined panel 407 is rotatably connected to the movable platform 402 and forms a V-shape for bearing and limiting the rebar cage. The side of the sliding groove away from the movable platform 402 is arc-shaped. When the inclined panel 407 moves close to the rock anchor beam, the inclined panel 407 will rotate to a flat state, which facilitates the rebar cage to be moved to the designated position.

[0038] In some embodiments, both the first slider 302 and the second slider 405 are equipped with electrically operated telescopic blocks 408, and both the first slider 302 and the second slider 405 are equipped with pressure sensors. The electrically operated telescopic blocks 408 are controlled to extend and retract via the pressure sensors. When the rebar cage is placed on the first slider 302, the pressure sensor on the first slider 302 controls the electrically operated telescopic blocks 408 on it to extend and lock the rebar cage in place. The first electric slide rail 301 drives the first slider 302 to move towards the moving platform 402 until it reaches its limit position. At this time, a portion of the right side of the rebar cage is located on the left side of the second slider 405. The pressure sensor on the second slider 405 on the left controls the extension of the electric telescopic block 408 on it and controls the retraction of the electric telescopic block 408 on the first slider 302. Then, the second electric slide rail 404 on the left drives the second slider 405 on the left to move to the right until the limit position. At this time, a part of the right side of the rebar cage is located on the second slider 405 on the right. The pressure sensor on the second slider 405 on the right controls the extension of the electric telescopic block 408 on it and controls the retraction of the electric telescopic block 408 on the second slider 405 on the left. The second slider 405 drives the rebar cage to move, so that the rebar cage is completely moved into the moving platform 402.

[0039] In some embodiments, the electrically operated telescopic block 408 is equipped with an external control button, which allows its extension and retraction to be manually controlled when necessary.

[0040] In some embodiments, the implantation component 5 includes a fixator 501 and an insertion head 502. The fixator 501 is rotatably disposed in the middle of the moving platform 402, and the insertion head 502 is disposed on the fixator 501. The anchor rod 503 is installed on the insertion head 502 and inserted through the insertion head 502. A motor is installed inside the insertion head 502, which can drive the anchor rod 503 to rotate, so as to promote uniform mixing and consistent distribution of grout in the anchoring section, thereby enhancing the anchoring stability of the anchor rod 503. After the anchor rod 503 moves to the designated position, the insertion head 502 separates from the anchor rod 503, leaving the anchor rod 503 in the designated position. This is prior art and will not be described in detail here. A heat dissipation fin is provided on the side of the insertion head 502 away from the anchor rod 503 for heat dissipation of the motor inside the insertion head 502.

[0041] Furthermore, a motor 5010 is installed inside the moving platform 402. The output end of the motor 5010 is connected to a transmission group 5011. The transmission group 5011 is connected to the fixture 501 and is used to drive the fixture 501 to rotate, thereby causing the insertion head 502 to rotate. The insertion head 502 can switch between horizontal and vertical states and can automatically adjust the angle, allowing for the insertion of anchor bolts 503 at multiple angles according to actual engineering needs. When anchor bolts 503 do not need to be inserted, it is in a vertical state, which is convenient for storage and reduces space occupation. The transmission group 5011 can be intermeshing gears. If space permits, it can also be directly connected to the fixture 501 via the motor 5010 to drive the fixture 501 to rotate. In this case, the transmission group 5011 is a coupling.

[0042] In some embodiments, a folding positioning frame is also included, comprising a first bracket 505, a second bracket 506, and a third bracket 507. The first bracket 505 is rotatably connected to the insertion head 502, and the second bracket 506 is rotatably connected to the first bracket 505. A sliding block 508 is movably disposed on the side of the second bracket 506 away from the first bracket 505. A sliding groove is formed on the second bracket 506. The third bracket 507 is slidably connected to the sliding groove of the second bracket 506. A sliding block 508 is movably disposed on the side of the third bracket 507 away from the second bracket 506. A groove is formed on the moving platform 402, and the sliding block 508 slides in the groove. Symmetrically distributed second electric push rods 509 are installed in the moving platform 402. The telescopic ends of the second electric push rods 509 are respectively connected to the sliding blocks 508 of the second bracket 506 and the third bracket 507. The main function of the folding positioning frame is to assist in the storage of the insertion head 502.

[0043] In some embodiments, a baffle 504 is also included, which is fixed to the bottom of the insertion head 502 and is used to shield and protect the insertion head 502.

[0044] In some embodiments, a fourth electric slide rail 6 and a support platform 7 are also included. The fourth electric slide rail 6 is installed on the side of the slide rail trolley 2 near the first electric slide rail 301. The support platform 7 is installed on the fourth electric slide rail 6 and moves up and down controlled by the fourth electric slide rail 6. The support platform 7 is used to support the steel cage to be used.

[0045] In some embodiments, a limiting block 8 is provided on the top of the slide rail trolley 2. The limiting block 8 is made of corrosion-resistant rubber material and is used for buffering and preventing collisions. A bumper 9 is provided on the upper side of the moving platform 402. The bumper 9 is locked on the limiting block 8 after the moving platform 402 is flipped. An automatic telescopic block 10 is provided on the bumper and the moving platform 402 to limit the template 101. A limiting cavity is formed between the automatic telescopic block 10 and the moving platform 402 for placing the template.

[0046] In some embodiments, a robotic arm 11 is mounted on the sidewall of the mobile stage 402, the robotic arm being used for welding.

[0047] In some embodiments, the robotic arm 11 consists of three parts: a first robotic arm, a second robotic arm, and a welding head. The first and second robotic arms can work together to fold and relocate the robotic arm 11. Simultaneously, the robotic arm 11 is mounted on a slide rail, which guides its movement vertically. This allows for precise welding of key nodes in the reinforcing cage, reliably connecting adjacent cages and ensuring the integrity of the rock anchor beam's reinforcing structure. This prevents cracking after concrete pouring.

[0048] Working principle: In the loading assembly 1, the template 101 is inserted through the notch on the left rear side of the loading box. The teeth of the inner ring of the conveyor belt 106 mesh with multiple gears 105. Driven by the same power source, the gears 105 rotate, driving the conveyor belt 106 to move and convey the template 101 to the front of the loading box. During the conveying process, the two limiting structures of the limiter 102 restrict the template 101 to prevent it from shaking and falling. When the template 101 reaches the designated position, the telescopic end of the first electric push rod 104 extends, driving the push block 103 to move and push the template 101 out of the loading box. At the same time, the conveyor belt 106 continues to operate, realizing the synchronous conveying of the next template 101. There is no need for frequent manual handling and positioning of the template 101, ensuring the continuity and stability of the template 101 installation operation and significantly improving the installation efficiency of the template 101.

[0049] The operation of template 101 is coordinated with all components of the device to achieve fully automated operation from storage and transportation to installation and fixing. Before operation, template 101 is added to the conveyor belt 106 through the notch on the left rear side of the filling box. The conveyor belt 106 rotates slowly under the drive of gear 105, arranging template 101 in an orderly manner in the filling box. The two limiting structures of limiter 102 are close to the two sides of template 101 to form a bidirectional constraint, preventing template 101 from shaking or falling off due to bumps during the movement of slide rail trolley 2, thus ensuring the storage stability of template 101. When the slide rail trolley 2 moves to the rock anchor beam working area, and the tilting and pushing component 4 pushes the steel cage to the front template and aligns it with the limiting cavity, the first electric push rod 104 is activated. Its telescopic end extends, causing the push block 103 to slide along the right side of the filling box, smoothly pushing out the template 101 located at the front end of the conveyor belt 106. After the template 101 is pushed into the limiting cavity, the pushing mechanism drives the template 101 to move towards the rock anchor beam installation position, precisely aligning it with the steel cage to form a closed pouring cavity. After the template 101 reaches the installation position, the electric telescopic block 10 on the anti-collision device 9 and the electric telescopic block 10 on the moving platform 402 retract synchronously, releasing the limitation on the template 101. At this time, the template is manually fixed. While one template 101 is being pushed and installed, the conveyor belt 106 continues to operate, transporting the next template 101 to the pushing position at the front of the filling box, waiting for the next pushing command. This achieves continuous replenishment and installation of templates 101 without the need for manual intervention in transportation and positioning, significantly reducing the interval time between processes and improving the preparation efficiency before the rock anchor beam is poured. At the same time, mechanical positioning ensures the flatness and splicing accuracy of the template 101 installation, laying the foundation for the quality of subsequent concrete pouring.

[0050] When the bearing component 3 is working, the precast steel cage is hoisted onto the bearing platform 7. The fourth electric slide rail 6 controls the bearing platform 7 to move up and down, adjusting the steel cage to a height that matches the first slider 302. Then, the steel cage is manually pushed onto the first slider 302. When the steel cage is placed on the first slider 302, the pressure sensor on the first slider 302 is triggered, controlling the electric telescopic block 408 to extend and lock the steel cage in place. The first electric slide rail 301 continues to drive the first slider 302 to slide towards the moving platform 402 of the flipping and pushing component 4, realizing the smooth transfer of the steel cage, reducing the risk of manual handling of heavy objects, and accurately controlling the translation path of the steel cage, laying the foundation for subsequent flipping operations.

[0051] When the flip-propulsion assembly 4 receives the rebar cage, the first slider 302 moves to its limit position, with the rebar cage partially overlapping the second slider 405 on the left. The pressure sensor on the second slider 405 on the left is triggered, controlling the extension of the electric telescopic block 408 on it. Simultaneously, the electric telescopic block 408 on the first slider 302 retracts. The second electric slide rail 404 on the left drives the second slider 405 on the left to move to the right until the rebar cage partially overlaps the second slider 405 on the right. The pressure sensor on the second slider 405 on the right is triggered, controlling the extension of the electric telescopic block 408 on it. The electric telescopic block 408 on the second slider 405 on the left retracts. Through the coordinated movement of the second sliders 405, the rebar cage is completely transferred into the moving platform 402. The inclined panel 407 and the moving platform... The V-shaped structure formed by 402 further limits the position of the reinforcing cage. When the inclined plate 407 approaches the rock anchor beam, the inclined plate 407 rotates to a flat position, facilitating the movement of the reinforcing cage to the designated position. Subsequently, the third electric slide rail 406 controls the movement of the moving platform 402 back and forth to adjust the position of the reinforcing cage. The gears inside the slide rail trolley 2 that mesh with the outer tooth structure of the flipping track 401 rotate under the drive of the motor, causing the flipping platform to rotate 90° along the flipping track 401, so that the reinforcing cage is in an upright position. This solves the problem of large positioning deviation during on-site hoisting of the reinforcing cage, provides a high-precision benchmark for subsequent installation operations, and ensures the standardization and reliability of the installation of the rock anchor beam reinforcing bars. Afterwards, the moving platform 402 continues to advance under the drive of the third electric slide rail 406, pushing the reinforcing cage to the designated installation position on the rock wall.

[0052] When the anchor bolt 503 is inserted into the implant component 5, the motor 5010 starts, and the transmission assembly 5011 connected to its output end drives the fixing device 501 to rotate, thereby adjusting the angle of the insertion head 502. At the same time, the telescopic end of the second electric push rod 509 extends and retracts, causing the sliding blocks 508 on the second bracket 506 and the third bracket 507 to slide in the groove of the moving table 402. The third bracket 507 moves along the slide groove of the second bracket 506, and the first bracket 505 rotates relative to the insertion head 502 and the second bracket 506, realizing the unfolding and angle adjustment of the folding positioning frame, accurately adjusting the insertion head 502 to the preset installation position of the anchor bolt 503, avoiding positional deviations caused by manual operation. The motor in the insertion head 502 drives the anchor bolt 503 to rotate, causing the anchor section to rotate. The slurry is evenly mixed and uniformly distributed, enhancing the anchoring quality of the anchor bolt 503 and improving the structural stability of the rock anchor beam. The heat dissipation fins on the side of the insertion head 502 away from the anchor bolt 503 can quickly dissipate the heat generated by the generator, reducing the temperature of the equipment during high-speed operation, reducing the wear and tear on core components caused by high temperatures, and extending the service life of the equipment. After the anchor bolt 503 is installed, the second electric push rod 509 drives the sliding block 508 to reset, the folding positioning frame folds, and at the same time the motor 5010 rotates in reverse, driving the fixing device 501 to rotate through the transmission group 5011, adjusting the insertion head 502 to a vertical position. The baffle 504 provides shielding and protection for the insertion head 502, preventing collision damage to the insertion head 502 during subsequent operations, improving the safety of equipment use, and reducing equipment downtime due to malfunctions.

[0053] The steel rail wheels 201 at the bottom of the slide rail trolley 2 move along the pre-set slide rails on the scaffolding platform, driving the loading component 1, bearing component 3, tilting and propulsion component 4, and implantation component 5 to be transported as a whole to the rock anchor beam operation area. After the operation is completed, it is withdrawn along the slide rail without the need for on-site adjustment of the walking path, significantly improving the equipment's adaptability to the complex construction environment of the underground plant. Multiple connecting steel plates on the slide rail trolley 2 enhance the overall structural strength of the vehicle body, ensuring the stability of the equipment during transportation and operation. The robotic arm 11 on the side wall of the mobile platform 402 can perform welding operations when needed, without the need for additional welding equipment, improving the convenience of construction. After the mobile platform 402 is tilted, the anti-collision device 9 is locked onto the limiting block 8 on the top of the slide rail trolley 2. The limiting block 8 is made of corrosion-resistant rubber material, which plays a role in buffering and preventing collisions.

[0054] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A modular rapid installation device for the reinforcing bars and formwork of rock anchor beams in underground powerhouses, characterized in that, It includes a loading assembly (1), a slide rail trolley (2), a bearing assembly (3), a tilting and propulsion assembly (4), and an implantation assembly (5). The loading assembly (1), the bearing assembly (3), and the tilting and propulsion assembly (4) are all mounted on the slide rail trolley (2), and the implantation assembly (5) is mounted in the middle of the tilting and propulsion assembly (4). The loading assembly (1) includes a loading box, a limiter (102), a pusher, and a conveyor. The loading box is a box structure integrated on the slide rail trolley (2). The loading box has a notch for adding new templates (101). The bottom of the slide rail trolley (2) is equipped with rail wheels (201). The slide rail trolley (2) is equipped with multiple connecting steel plates to improve the overall structural strength of the vehicle body. The conveyor is installed inside the loading box for conveying the templates (101). The limiter (102) is installed on the conveyor. The pusher is installed on the side wall of the loading box for pushing out the templates (103). The supporting component (3) includes a first electric slide rail (301) and a first slider (302). The first electric slide rail (301) is mounted on the slide rail trolley (2). The first slider (302) is slidably connected to the first electric slide rail (301). The first electric slide rail (301) controls the sliding of the first slider (302). The flip propulsion assembly (4) includes a flipping platform and a flipping track (401). The flipping platform is slidably disposed in the slide rail trolley (2), and the flipping track (401) is disposed on the flipping platform and slidably cooperates with the slide rail trolley (2). The flipping platform includes a movable platform (402) and a fixed platform (403). The movable platform (402) is provided with symmetrically distributed second electric slide rails (404). The second electric slide rails (404) are provided with second sliders (405). The second sliders (405) are used to support the steel cage on the first sliders (302). The fixed platform (403) is provided with a third electric slide rail (406). The movable platform (402) is controlled to move by the third electric slide rails (406). The implantation component (5) includes a fixator (501) and an insertion head (502). The fixator (501) is rotatably mounted in the middle of the moving platform (402). The insertion head (502) is mounted on the fixator (501). An anchor rod (503) is mounted on the insertion head (502) and inserted through the insertion head (502). A motor (5010) is installed inside the moving platform (402). The output end of the motor (5010) is connected to a transmission group (5011). The transmission group (5011) is connected to the fixator (501) and is used to drive the fixator (501) to rotate.

2. The modular rapid installation device for the reinforcing steel bars and formwork of the rock anchor beam in an underground powerhouse according to claim 1, characterized in that, An inclined panel (407) is slidably disposed on the movable platform (402). The inclined panel (407) is slidably connected to the fixed platform (403). The inclined panel (407) is rotatably connected to the movable platform (402) and forms a V-shape.

3. The modular rapid installation device for the reinforcing steel bars and formwork of the rock anchor beam in an underground powerhouse according to claim 2, characterized in that, Both the first slider (302) and the second slider (405) are provided with electric telescopic blocks (408), and both the first slider (302) and the second slider (405) are provided with pressure sensors. The electric telescopic blocks (408) are controlled to extend and retract by the pressure sensors.

4. The modular rapid installation device for the reinforcing steel bars and formwork of the rock anchor beam in an underground powerhouse according to claim 3, characterized in that, It also includes a folding positioning frame, which comprises a first bracket (505), a second bracket (506), and a third bracket (507). The first bracket (505) is rotatably connected to the insertion head (502), and the second bracket (506) is rotatably connected to the first bracket (505). A sliding block (508) is movably disposed on the side of the second bracket (506) away from the first bracket (505). A sliding groove is formed on the second bracket (506), and the third bracket (507) is connected to... The second bracket (506) is slidably connected to the groove. The third bracket (507) is movably provided with a sliding block (508) on the side away from the second bracket (506). The moving platform (402) has a groove, and the sliding block (508) slides in the groove. The moving platform (402) is equipped with symmetrically distributed second electric push rods (509). The telescopic ends of the second electric push rods (509) are respectively connected to the sliding blocks (508) of the second bracket (506) and the third bracket (507).

5. The modular rapid installation device for the reinforcing steel bars and formwork of the rock anchor beam in an underground powerhouse according to claim 4, characterized in that, The limiter (102) includes two limiting structures to restrict the template (101) and prevent it from shaking and falling during operation; the pusher includes a push block (103) and a first electric push rod (104). The push block (103) is slidably disposed on the front side of the filling box, and the first electric push rod (104) is installed inside the filling box. The telescopic end of the first electric push rod (104) is connected to the push block (103), and the telescopic end of the first electric push rod (104) extends and retracts, driving the push block (103) to move back and forth; The feeder includes gears (105) and a conveyor belt (106). Multiple gears (105) are provided and are controlled by the same power source to start and rotate in the same direction. The conveyor belt (106) is located inside the loading box, and the inner ring of the conveyor belt (106) is provided with teeth that mesh with the gears (105). The rotation of the gears (105) drives the conveyor belt (106) to rotate. The limiter (102) is provided on the conveyor belt (106).

6. The modular rapid installation device for the reinforcing steel bars and formwork of the rock anchor beam in an underground powerhouse according to claim 5, characterized in that, It also includes a baffle (504) fixed to the bottom of the insert head (502), the baffle (504) being used to shield and protect the insert head (502).

7. The modular rapid installation device for the reinforcing bars and formwork of the rock anchor beam in an underground powerhouse according to claim 6, characterized in that, It also includes a fourth electric slide rail (6) and a support platform (7). The fourth electric slide rail (6) is installed on the side of the slide rail trolley (2) near the first electric slide rail (301). The support platform (7) is installed on the fourth electric slide rail (6) and is controlled to move up and down by the fourth electric slide rail (6).

8. The modular rapid installation device for the reinforcing steel bars and formwork of the rock anchor beam in an underground powerhouse according to claim 7, characterized in that, The slide rail trolley (2) is provided with a limit block (8) on its top, and the moving platform (402) is provided with a crash barrier (9) on its upper side. The crash barrier (9) is locked on the limit block (8) after the moving platform (402) is flipped. The crash barrier and the moving platform (402) are provided with an automatic telescopic block (10) for limiting the template (101).

9. A modular rapid installation device for the reinforcing steel bars and formwork of an underground powerhouse rock anchor beam according to claim 8, characterized in that, A robotic arm (11) is mounted on the side wall of the mobile stage (402), the robotic arm (11) being used for welding.

10. The installation method of the modular rapid installation device for the rock anchor beam reinforcement and formwork of the underground powerhouse according to any one of claims 1-9, characterized in that, The installation method is as follows: S1. Complete the standardized prefabrication of the steel cage in advance at the steel bar plant, put the template (101) into the filling box of the filling component (1), and carry it by the conveyor belt (106). The limiter (102) limits and fixes the template (101); at the same time, check the status of the slide rail trolley (2) and each component, and lay the preset slide rail along the scaffolding platform. S2. Hoist the precast steel cage onto the support platform (7), start the fourth electric slide rail (6) to adjust the height of the support platform (7) so that the steel cage is flush with the first slider (302), push the steel cage onto the first slider (302), and the pressure sensor triggers the electric telescopic block (408) to extend and fix the steel cage. S3. Start the first electric slide rail (301) to drive the first slider (302) and the steel cage to move close to the moving platform (402), transfer the steel cage to the second slider (405), and adjust the position of the steel cage through the second electric slide rail (404); S4. Start the slide rail trolley (2), move it along the preset slide rail to the rock anchor beam working area and fix it; S5. Drive the tilting table to rotate 90° along the tilting track (401) so that the steel cage is placed upright and the anti-collision device (9) is positioned on the limit block (8); the inclined panel (407) is flattened and the third electric slide rail (406) is started to push the moving table (402) to push the steel cage to the preset installation position on the rock wall. S6. Start the first electric push rod (104), push the template (101) to the flip propulsion assembly (4) through the push block (103), and then push it to the installation position by the propulsion mechanism. The automatic telescopic block (10) limits the position; the conveyor belt (106) synchronously transports the next template (101) to realize continuous installation. S7. Start the motor (5010), which drives the fixing device (501) to rotate through the transmission group (5011), and drives the folding positioning frame in conjunction with the second electric push rod (509) to accurately adjust the insertion head (502) to the preset anchor installation position. S8. Install the anchor rod (503) on the insertion head (502), start the motor inside the insertion head (502), drive the anchor rod (503) to rotate and insert into the preset position, and ensure that the anchoring grout is mixed evenly. S9. After the anchor bolt (503) is installed, the folding positioning frame is reset, the insertion head (502) is adjusted to a vertical position, and the baffle (504) is used for protection; if welding is required, the robotic arm (11) is started for reinforcement. S10. After the construction quality is inspected and found to be qualified, the slide rail trolley (2) will move away from the work area along the slide rail and prepare for the next section of construction.

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