Tunnel second lining steel bar automatic laying trolley and method

Abstract

The application discloses a kind of tunnel second lining steel automatic laying trolley and method, belong to tunnel construction technical field;Trolley includes frame, arch mechanism, hoisting mechanism, arm mechanism, trolley and traction mechanism;The walking mechanism is arranged in the frame, the arch mechanism is arranged on the frame, the arch mechanism includes arch body and first drive mechanism;The hoisting mechanism, arm mechanism, trolley and traction mechanism are arranged on the arch mechanism, the second drive mechanism is arranged on the trolley;The application realizes the automatic operation of prefabricated tunnel second lining steel cage from access, transportation, alignment to fixation, can significantly improve assembly accuracy and construction efficiency, reduce hole operation personnel, eliminate the security risk of hole construction, be conducive to the wide promotion of prefabricated assembly technology in the field of tunnel construction.

Description

Technical Field

[0001] This invention relates to an automatic laying trolley and method for secondary lining steel bars in tunnels, belonging to the field of tunnel construction technology. Background Technology

[0002] In modern tunnel construction, secondary lining is a core process to ensure the safety, waterproofing, and durability of the tunnel structure. Secondary lining reinforcement installation trolleys, large-scale mechanized construction equipment specifically designed for secondary lining reinforcement binding operations, are gradually replacing traditional manual scaffolding erection methods, becoming a key tool for improving tunnel construction quality and efficiency.

[0003] The secondary lining rebar installation trolley is a specialized construction vehicle integrating walking, positioning, working platform, safety protection, and auxiliary hoisting functions. Its main structure typically consists of a main beam, columns, a walking mechanism, a multi-level working platform, and a hydraulic adjustment system. The trolley moves along pre-laid tracks or a self-propelled wheel system within the tunnel, covering the entire cross-section of the tunnel arch, arch waist, and sidewalls. Through the hydraulic system, the trolley's working platform can be fine-tuned and raised / lowered, ensuring that construction personnel can accurately reach any position for rebar installation, greatly reducing the risks of working at height.

[0004] Compared to traditional construction methods, the secondary lining rebar installation trolley has significant advantages. Firstly, it offers high safety. Traditional operations require manual erection of full-scale scaffolding, which is not only time-consuming and labor-intensive but also poses safety hazards such as falls from heights and falling objects. The trolley provides a stable, fully enclosed working platform with guardrails, fundamentally improving the working environment. Secondly, it offers high construction efficiency. The trolley enables "one-stop" operation; rebar transportation, positioning, and binding can all be carried out continuously on the platform without repeatedly dismantling and reassembling scaffolding, increasing construction speed by 30% to 50% and effectively shortening the construction period. Thirdly, it ensures quality control. The trolley is equipped with precise positioning devices and a standardized working space, ensuring that the rebar spacing, protective layer thickness, and binding strength meet design specifications, reducing human error and improving the overall forming quality of the secondary lining concrete. Furthermore, modern secondary lining rebar installation trolleys emphasize intelligent and user-friendly design. Some advanced models are equipped with automatic walking control systems, laser positioning assistance systems, and lighting and ventilation facilities, and even integrate small lifting equipment to facilitate the hoisting and positioning of heavy rebar. Its modular design allows the trolley to adapt to the needs of tunnels with different cross-sectional shapes and sizes, and it has good versatility and ease of relocation.

[0005] Although existing secondary lining reinforcement installation trolleys can significantly shorten the construction period and save manpower, multiple workers are still required on each trolley for the installation and binding of circumferential reinforcement inside the tunnel, resulting in a long overall construction time and necessitating improvements. Furthermore, traditional manual binding and welding suffer from inconsistent quality, low efficiency, and high safety risks. While there have been attempts in recent years to prefabricate reinforcement sections and assemble them inside the tunnel, the lack of dedicated and efficient assembly equipment hinders reliable automated operation, thus restricting the widespread adoption of prefabrication and assembly technology in tunnel construction. Summary of the Invention

[0006] (a) Technical problems to be solved The technical problem to be solved by this invention is to address the issues of long overall construction time for the installation of circumferential steel bars in existing tunnels, and the problems of unstable quality, low efficiency, and high safety risks associated with traditional manual binding and welding.

[0007] (II) Technical Solution To address the aforementioned technical problems, this invention provides an automatic tunnel lining reinforcement laying trolley for laying precast tunnel lining reinforcement cages within a tunnel. The trolley includes a frame, an arch frame mechanism, a lifting mechanism, a grab arm mechanism, a trolley, and a traction mechanism. A traveling mechanism is provided under the frame to drive the frame along the tunnel. The arch frame mechanism is mounted on the frame, comprising an arch frame body and a first drive mechanism. The first drive mechanism drives the arch frame body to move along the length of the frame. The lifting mechanism, grab arm mechanism, trolley, and traction mechanism are mounted on the arch frame mechanism. A second drive mechanism is mounted on the trolley. The lifting mechanism lifts the precast tunnel lining reinforcement cage and delivers it to the grab arm mechanism. The grab arm mechanism grabs the precast tunnel lining reinforcement cage and lifts it to one end of the arch frame body. The second drive mechanism pulls the precast tunnel lining reinforcement cage onto the trolley. The traction mechanism drives the trolley to move in a circle along the arch frame body to the target position for laying the precast tunnel lining reinforcement cage. By integrating walking, longitudinal displacement, lifting, grabbing, and circular conveying functions onto a single vehicle, this system completely breaks away from the traditional model of tunnel secondary lining rebar cage laying that relies on multiple workers and various equipment working in tandem. Eliminating the need for manual handling of rebar at heights or in confined spaces, a single machine can complete the entire process from lifting the rebar cage to precise placement, significantly reducing the safety hazards of multi-equipment collaboration. It fundamentally solves the industry pain points of traditional processes, such as difficulty in rebar cage displacement, poor positioning accuracy, and low construction efficiency. Adapting to the secondary lining rebar laying needs of tunnels with different cross-sections, it provides the basic hardware framework for fully automated tunnel rebar construction.

[0008] Furthermore, the lifting mechanism includes an electric hoist and a sliding mechanism. The sliding mechanism is mounted on the arch frame and can slide along its width, while the electric hoist is mounted on the sliding mechanism. By mounting the electric hoist on the sliding mechanism, which can slide along the width of the arch frame, the lifting mechanism is no longer limited to fixed-point operation. The lateral position of the hoist can be flexibly adjusted.

[0009] Furthermore, the gripper arm mechanism includes a clamping seat, a clamping claw, a third drive mechanism, a fourth drive mechanism, and a fifth drive mechanism. The clamping seat is slidably connected to the arch frame mechanism, and the clamping claw is hinged to the clamping seat. The third drive mechanism is fixed to the arch frame mechanism and can drive the clamping seat to move up and down. The fourth and fifth drive mechanisms are arranged between the clamping claw and the clamping seat, and the fourth and fifth drive mechanisms can drive the clamping claw to rotate. The clamping claw includes an openable and closable claw portion. The gripper arm structure, employing a dual-drive mechanism combined with a hinged openable and closable claw portion, allows the fourth and fifth drive mechanisms to independently control the clamping claw to complete multi-angle rotation. This enables the smooth receipt of the steel cage conveyed by the lifting mechanism and precise adjustment of the lifting posture of the steel cage, smoothly pushing it to the designated position on the trolley. The openable claws are compatible with secondary lining steel cages of different diameters and binding methods, ensuring that the cages do not slip or fall during the gripping process. At the same time, the up-and-down movement of the clamping seat allows it to be adapted to steel cage receiving points of different heights, greatly improving the stability and adaptability of the gripping operation.

[0010] Furthermore, the second drive mechanism includes a winch. Choosing a winch as the second drive mechanism leverages its high traction force, stable operation, and strong controllability to uniformly pull heavy precast secondary lining steel cages onto the trolley, preventing the cages from shifting or overturning during relocation. Simultaneously, winch technology is mature, maintenance costs are low, it can adapt to the harsh construction environment of high dust and humidity inside tunnels, exhibits strong long-term operational stability, requires no complex daily debugging, and significantly reduces the difficulty of equipment operation and maintenance.

[0011] Furthermore, the walking mechanism includes a sixth drive mechanism, two sets of driving wheels, and two sets of driven wheels. The frame includes four support legs, with the two sets of driving wheels and two sets of driven wheels respectively mounted on the four support legs. The sixth drive mechanism is mounted on the frame and its output end is connected to the two sets of driving wheels. This four-wheel walking layout, with two sets of driving wheels and two sets of driven wheels, allows the sixth drive mechanism to uniformly drive the driving wheels and output power. The four support legs each support the walking wheel system, resulting in more even force distribution when the vehicle travels on tracks or paved surfaces within tunnels.

[0012] Furthermore, the aforementioned trolley also includes a height adjustment mechanism and a left-right adjustment mechanism. Each outrigger is equipped with both mechanisms, both of which are hydraulic cylinder assemblies. The height adjustment mechanism is used to adjust the height of the frame, and the left-right adjustment mechanism is used to adjust the lateral position of the frame. By simultaneously equipping each outrigger with both a height adjustment cylinder and a left-right adjustment cylinder, the height of a single outrigger and the height and lateral position of the trolley can be independently adjusted. This allows for rapid leveling of the entire vehicle on uneven tunnel surfaces and precise correction of the trolley's lateral alignment accuracy based on the actual centerline deviation of the tunnel, significantly improving the trolley's environmental adaptability.

[0013] Furthermore, the traction mechanism includes a traction chain and a seventh drive mechanism. Both ends of the traction chain are connected to the trolley, and the output end of the seventh drive mechanism is connected to the traction chain. The traction chain drives the trolley to reciprocate along the arch frame. This transmission structure, using a traction chain in conjunction with the seventh drive mechanism, enables the trolley to reciprocate along the arch frame. The chain drive has strong load-bearing capacity, no slippage, and allows for precise control of the trolley's position on the annular arch frame. Even when carrying a heavy steel cage, it maintains a constant speed.

[0014] Furthermore, a first support wheel system and a second support wheel system are provided under the arch frame, and a first guide rail and a second guide rail are respectively provided on the frame to receive the first support wheel system and the second support wheel system. This significantly improves the load-bearing capacity of the arch frame during movement, and even if a steel cage is mounted on the arch frame, it can still move longitudinally smoothly, ensuring the smoothness and positional accuracy of the arch frame mechanism during long-distance reciprocating movement.

[0015] Furthermore, a lifting mechanism is installed on the arch frame, comprising a lifting rod and telescopic rods respectively located at both ends of the lifting rod. After the precast tunnel lining reinforcement cage moves to the target position with the trolley, the lifting mechanism lifts the precast tunnel lining reinforcement cage, making it tightly adhere to the tunnel inner wall. By installing a lifting mechanism with telescopic rods at both ends on the arch frame, when the reinforcement cage moves to the target laying position with the trolley, the telescopic rods at both ends extend synchronously, lifting the entire reinforcement cage tightly against the tunnel inner wall, eliminating the need for manual secondary alignment adjustments and improving the laying quality of the lining reinforcement.

[0016] Furthermore, the present invention also provides a laying method based on the above-mentioned automatic laying trolley for tunnel secondary lining reinforcement, which includes the following steps: S1. The trolley moves to the position of the precast tunnel secondary lining steel cage to be laid through the traveling mechanism, and the lifting mechanism is aligned with the precast tunnel secondary lining steel cage under the trolley. S2. After the lifting mechanism lifts the precast tunnel secondary lining steel cage, it moves laterally to the grab arm mechanism's receiving area. S3. The grabbing mechanism grabs the precast tunnel secondary lining steel cage from the receiving area and sends the precast tunnel secondary lining steel cage to one end of the trolley. S4. The second drive mechanism pulls the precast tunnel secondary lining steel cage onto the trolley, and the traction mechanism drives the trolley to move in a circle along the arch frame to the target position. S5. Lay the precast tunnel secondary lining steel cage. S6. Repeat S1-S5 until the installation of precast tunnel secondary lining steel cages for all arches and sidewalls of this ring is completed. S7. The arch frame mechanism moves longitudinally to the next ring position to start the next cycle.

[0017] The above method, through a standardized seven-step cyclical operation process, sequentially links the actions of each mechanism of the trolley, enabling the continuous and automated laying of all arch and sidewall reinforcement cages for the tunnel secondary lining. It eliminates the need for extensive manual labor for handling and aligning reinforcement bars, significantly shortening the construction cycle compared to traditional methods. Simultaneously, it drastically reduces the number of personnel working at heights, lowering safety risks during tunnel construction. It can be directly adapted to assembly-line secondary lining construction of tunnels of varying lengths, promoting the upgrade of tunnel secondary lining reinforcement construction from manual to fully automated modes.

[0018] (III) Beneficial Effects The above-described technical solution of the present invention has the following advantages: 1. Significantly improved assembly efficiency: The lifting mechanism and the grab arm mechanism work in a streamlined manner, and the trolley on the arch frame can quickly pick up and deliver the precast tunnel secondary lining steel cage along the circumference. The assembly time of the entire ring steel cage is greatly shortened compared with the traditional manual binding.

[0019] 2. Significantly reduced workforce: The entire process of grabbing, transporting, positioning, and fixing is automated, requiring only one wireless remote operator and a small number of auxiliary joint operators. Furthermore, welding operations inside the tunnel can be completely eliminated, removing most construction risks from the source.

[0020] 3. High positioning accuracy and stable quality: The hydraulically driven positioning system works in conjunction with the support system to accurately correct and fix the hoisting posture of the precast tunnel secondary lining steel cage, ensuring that the joint alignment meets the design requirements and avoiding quality problems caused by manual construction.

[0021] In addition to the technical problems solved by the present invention, the technical features of the technical solutions constituted by the present invention, and the advantages brought about by the technical features of these technical solutions as described above, other technical features of the present invention and the advantages brought about by these technical features will be further explained in conjunction with the accompanying drawings. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic front view of the trolley of the present invention when used in a tunnel.

[0024] Figure 2 This is a schematic front view of the trolley of the present invention with the frame hidden when used in a tunnel.

[0025] Figure 3 This is a side view schematic diagram of the trolley of the present invention when used in a tunnel.

[0026] Figure 4 This is a schematic cross-sectional view of the trolley of the present invention used in a tunnel.

[0027] Figure 5 for Figure 4 Enlarged side view of the structure at the right support leg.

[0028] Figure 6 This is a schematic diagram of the initial state of the lifting mechanism of the present invention for lifting the precast tunnel secondary lining steel cage.

[0029] Figure 7 This is a schematic diagram showing the lifting mechanism of the present invention hoisting the precast tunnel secondary lining steel cage to the grab arm mechanism.

[0030] Figure 8 This is a schematic isometric view of the trolley frame structure of the present invention.

[0031] Figure 9 for Figure 8 A diagram showing the hidden tunnel.

[0032] Figure 10 This is a schematic diagram of the grabbing arm mechanism of the present invention after grabbing the precast tunnel secondary lining steel cage.

[0033] Figure 11 This is a schematic diagram of the prefabricated tunnel secondary lining steel cage of the present invention.

[0034] In the diagram: 1. Frame; 2. Arch frame; 3. Second drive mechanism; 4. Trolley; 5. Electric hoist; 6. Sliding mechanism; 7. Clamping seat; 8. Clamping claw; 9. Third drive mechanism; 10. Fourth drive mechanism; 11. Fifth drive mechanism; 12. Openable claw; 13. Drive wheel; 14. Driven wheel; 15. Outrigger; 16. Traction chain; 17. Seventh drive mechanism; 18. First support wheel system; 19. Second support wheel system; 20. First guide rail; 21. Second guide rail; 22. Lifting cylinder; 23. Lifting seat; 24. Translation cylinder; 25. Translation seat; 26. Horizontal guide rail; 27. Clamping part; 28. Platform part; 29. ​​Lifting mechanism; 30. Precast tunnel secondary lining steel cage; 31. Grab arm mechanism; 32. Lifting mechanism. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] Example 1 like Figure 1-11 As shown, an automatic tunnel lining reinforcement laying trolley is used to lay precast tunnel lining reinforcement cages 30 inside the tunnel. It should be noted that the precast tunnel lining reinforcement cages 30 are designed with an arc-shaped structure, such as... Figure 11 As shown, five prefabricated tunnel lining steel cages 30 need to be laid at each annular position inside the tunnel. That is, five prefabricated tunnel lining steel cages 30 need to be assembled into an arch structure to cover the annular (or arched) inner wall of a certain position in the tunnel. The trolley in this embodiment includes a frame 1, an arch frame mechanism, a lifting mechanism, a grab arm mechanism 31, a trolley 4, and a traction mechanism.

[0038] A traveling mechanism is provided under the frame 1 to drive the frame 1 to move along the tunnel. The traveling mechanism includes a sixth drive mechanism, two sets of driving wheels 13 and two sets of driven wheels 14. The frame 1 includes four support legs 15. The two sets of driving wheels 13 and the two sets of driven wheels 14 are respectively set on the four support legs 15. The driving wheels 13 are set on the two front support legs 15. The sixth drive mechanism is set on the frame 1 and its output end is connected to the two sets of driving wheels 13 (not shown in the figure, but can be set using a vehicle-type traveling drive mechanism in the prior art, such as using a motor to drive the driving wheels 13 through gear transmission and shaft transmission). The trolley in this embodiment also includes a height adjustment mechanism and a left and right adjustment mechanism. Each support leg 15 is provided with the height adjustment mechanism and the left and right adjustment mechanism. Both are hydraulic cylinder assemblies. The height adjustment mechanism is used to adjust the height of the frame 1, and the left and right adjustment mechanism is used to adjust the lateral position of the frame 1. More specifically, the height adjustment mechanism includes a lifting cylinder 22 and a lifting seat 23 fixed on the support leg 15, and the left and right adjustment mechanism includes a translation cylinder 24 and a translation seat 25 disposed on the lifting seat 23.

[0039] The arch frame mechanism is provided on the frame 1. The arch frame mechanism includes an arch frame body 2 and a first drive mechanism. The first drive mechanism is used to drive the arch frame body 2 to move along the length direction of the frame 1. The first drive mechanism is not shown in the figure. For example, it can be a lead screw assembly combined with a drive motor, so as to drive the arch frame body 2 to move along the length direction of the frame 1. The arch frame mechanism is equipped with a lifting mechanism, a grab arm mechanism 31, a trolley 4, and a traction mechanism. The trolley 4 is equipped with a second drive mechanism 3. The lifting mechanism is used to lift the precast tunnel secondary lining steel cage 30 and send it to the grab arm mechanism 31. The grab arm mechanism 31 is used to grab the precast tunnel secondary lining steel cage 30 and lift it to one end of the arch frame 2. The second drive mechanism 3 is used to pull the precast tunnel secondary lining steel cage 30 onto the trolley 4. The second drive mechanism 3 includes a winch. The specific configuration and the structure for pulling the precast tunnel secondary lining steel cage 30 onto the trolley 4 can adopt existing technology. The traction mechanism is used to drive the trolley 4 to move in a circle along the arch frame 2 to the target position for laying the precast tunnel secondary lining steel cage 30.

[0040] Example 2 This embodiment is a further optimization of the trolley structure based on Embodiment 1. The automatic tunnel secondary lining reinforcement laying trolley described in this embodiment has a lifting mechanism including an electric hoist 5 and a sliding mechanism 6. The sliding mechanism 6 is set on the arch frame 2 and can slide along the width direction. Specifically, a horizontal guide rail 26 is set on the arch frame 2, and the sliding mechanism 6 is set as a seat plate with guide wheels that is slidably connected to the horizontal guide rail 26 of the arch frame 2. A drive motor (not shown in the figure) is set on the seat plate to drive the guide wheels to rotate and move left and right along the horizontal guide rail 26. The electric hoist 5 is set on the sliding mechanism 6.

[0041] In this embodiment, the gripper mechanism 31 includes a clamping seat 7, a clamping claw 8, a third drive mechanism 9, a fourth drive mechanism 10, and a fifth drive mechanism 11. The clamping seat 7 is slidably connected to the arch frame mechanism, and the clamping claw 8 is hinged to the clamping seat 7. The third drive mechanism 9 is fixed to the arch frame mechanism and can drive the clamping seat 7 to move up and down. The fourth drive mechanism 10 and the fifth drive mechanism 11 are arranged between the clamping claw 8 and the clamping seat 7, and the fourth drive mechanism 10 and the fifth drive mechanism 11 can drive the clamping claw 8 to rotate. The clamping claw 8 includes an openable and closable claw portion 12, which can be two symmetrically arranged L-shaped hooks, and connected to the two L-shaped hooks respectively by a threaded rod with reverse threads. The threaded rod is driven to rotate by a drive motor, thereby driving the two symmetrically arranged L-shaped hooks to open and close, thereby clamping or releasing the precast tunnel secondary lining steel cage 30.

[0042] Example 3 This embodiment is a further optimization of the trolley structure based on Embodiment 2. The automatic tunnel secondary lining reinforcement laying trolley described in this embodiment has a traction mechanism including a traction chain 16 and a seventh drive mechanism 17. Both ends of the traction chain 16 are connected to the trolley 4, and the output end of the seventh drive mechanism 17 is connected to the traction chain 16. The traction chain 16 drives the trolley 4 to reciprocate on the arch frame 2. A first support wheel system 18 and a second support wheel system 19 are provided under the arch frame 2. A first guide rail 20 and a second guide rail 21 are respectively provided on the frame 1 to receive the first support wheel system 18 and the second support wheel system 19.

[0043] More specifically, the arch frame 2 is equipped with a lifting mechanism 32, which includes a lifting rod and telescopic rods respectively set at both ends of the lifting rod. After the precast tunnel secondary lining steel cage 30 moves to the target position with the trolley 4, the lifting mechanism 32 lifts the precast tunnel secondary lining steel cage 30 so that it is tightly attached to the inner wall of the tunnel. More preferably, the trolley 4 includes a clamping part 27 slidably connected to the arch frame 2 and a platform part 28 for receiving the precast tunnel lining steel cage 30. The platform part 28 may be equipped with an openable claw part 12, similar to the grabbing arm mechanism 31. The precast tunnel lining steel cage 30 pulled by the second drive mechanism 3 is gripped and transported by the openable claw part 12. A lifting mechanism 29 may be provided between the platform part 28 and the clamping part 27. After the precast tunnel lining steel cage 30 moves to the target position with the trolley 4, the lifting mechanism 29 first sends the platform part 28 together with the precast tunnel lining steel cage 30 to be close to the inner wall of the tunnel. Then, the jacking mechanism 32 is activated to press against the precast tunnel lining steel cage 30, making it close to the inner wall of the tunnel, and then the precast tunnel lining steel cage 30 is installed and laid. The jacking mechanism 32 is arranged in three sets in a circumferential array along the arch frame 2.

[0044] Example 4 This embodiment provides a method for laying the tunnel secondary lining reinforcement automatic laying trolley as described in the above embodiments, which includes the following steps: S1. The trolley moves to the position of the precast tunnel secondary lining steel cage 30 to be laid tunnel ring through the traveling mechanism. The lifting mechanism is aligned with the precast tunnel secondary lining steel cage 30 under the trolley. The precast tunnel secondary lining steel cage 30 can be transported to the trolley by a transport vehicle. S2. Two ropes are attached to the hook of the electric hoist 5 of the lifting mechanism. The two ropes are tied to both ends of the precast tunnel secondary lining steel cage 30 in a V-shape. After the precast tunnel secondary lining steel cage 30 is lifted, it is moved laterally to the receiving area of ​​the grab arm mechanism 31. S3, the grabbing arm mechanism 31 grabs the precast tunnel secondary lining steel cage 30 from the receiving area and sends the precast tunnel secondary lining steel cage 30 to one end of the trolley 4. S4. The second drive mechanism 3 pulls the precast tunnel secondary lining steel cage 30 onto the trolley 4. The traction mechanism drives the trolley 4 to move in a circle along the arch frame 2 to the target position, which is generally the right side of the tunnel inner wall. S5. The lifting mechanism 29 delivers the precast tunnel secondary lining steel cage 30 to the inner wall of the tunnel. Then, the jacking mechanism 32 is activated to hold the precast tunnel secondary lining steel cage 30 against the inner wall of the tunnel. Then, the precast tunnel secondary lining steel cage 30 is installed and laid, such as by fixing it to the wall with bolts. Alternatively, it can be temporarily held in place by the jacking mechanism 32. S6. Then repeat S1-S5 to install the second precast tunnel lining steel cage 30, so that it is connected with the first precast tunnel lining steel cage 30 and temporarily supported by another lifting mechanism 32. At this time, two-fifths of the steel structure at a certain depth of the tunnel has been installed. The precast tunnel lining steel cages 30 can be quickly connected and fixed by a snap-fit ​​structure (the specific setting can be made using existing technology), or they can be fixed manually. Repeat this process until the fifth precast tunnel lining steel cage 30 is installed. Then, the grab arm mechanism 31 pushes it directly into place and fixes it. At this time, the steel structure at a certain depth of the tunnel is installed in a ring (or arch) shape. S7. The arch frame mechanism moves longitudinally to the next ring position to start the next cycle.

[0045] Furthermore, in the description of the invention, unless otherwise stated, the terms "multiple," "multiple roots," and "multiple groups" mean two or more, and "several," "several roots," and "several groups" mean one or more. In the description of the invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used 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; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An automatic tunnel lining reinforcement laying trolley, used to lay precast tunnel lining reinforcement cages inside the tunnel, characterized in that: It includes the frame, arch frame mechanism, lifting mechanism, grab arm mechanism, trolley and traction mechanism; The vehicle frame is provided with a traveling mechanism to drive the vehicle frame to travel along the tunnel. The vehicle frame is provided with the arch frame mechanism, which includes an arch frame body and a first driving mechanism. The first driving mechanism is used to drive the arch frame body to move along the length of the vehicle frame. The arch frame mechanism is equipped with a lifting mechanism, a grab arm mechanism, a trolley, and a traction mechanism. The trolley is equipped with a second drive mechanism. The lifting mechanism is used to lift the precast tunnel secondary lining steel cage and send it to the grab arm mechanism. The grab arm mechanism is used to grab the precast tunnel secondary lining steel cage and lift it to one end of the arch frame. The second drive mechanism is used to pull the precast tunnel secondary lining steel cage onto the trolley. The traction mechanism is used to drive the trolley to move in a circle along the arch frame to the target position for laying the precast tunnel secondary lining steel cage.

2. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The lifting mechanism includes an electric hoist and a sliding mechanism. The sliding mechanism is mounted on the arch frame and can slide along the width direction. The electric hoist is mounted on the sliding mechanism.

3. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The gripper mechanism includes a clamping seat, a clamping claw, a third drive mechanism, a fourth drive mechanism, and a fifth drive mechanism. The clamping seat is slidably connected to the arch frame mechanism, and the clamping claw is hinged to the clamping seat. The third drive mechanism is fixed to the arch frame mechanism and can drive the clamping seat to move up and down. The fourth drive mechanism and the fifth drive mechanism are arranged between the clamping claw and the clamping seat, and the fourth drive mechanism and the fifth drive mechanism can drive the clamping claw to rotate. The gripper includes an openable gripper portion.

4. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The second drive mechanism includes a winch.

5. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The walking mechanism includes a sixth drive mechanism, two sets of driving wheels and two sets of driven wheels. The frame includes four support legs. The two sets of driving wheels and two sets of driven wheels are respectively mounted on the four support legs. The sixth drive mechanism is mounted on the frame and its output end is connected to the two sets of driving wheels.

6. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: It also includes a height adjustment mechanism and a left and right adjustment mechanism. Each outrigger is equipped with the height adjustment mechanism and the left and right adjustment mechanism. Both are hydraulic cylinder assemblies. The height adjustment mechanism is used to adjust the height of the frame, and the left and right adjustment mechanism is used to adjust the lateral position of the frame.

7. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The traction mechanism includes a traction chain and a seventh drive mechanism. The two ends of the traction chain are respectively connected to the trolley, and the output end of the seventh drive mechanism is connected to the traction chain. The trolley is driven to reciprocate on the arch frame through the traction chain.

8. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The arch frame is provided with a first support wheel system and a second support wheel system, and the frame is provided with a first guide rail and a second guide rail for receiving the first support wheel system and the second support wheel system, respectively.

9. The automatic tunnel secondary lining reinforcement laying trolley according to claim 1, characterized in that: The arch frame is equipped with a lifting mechanism, which includes a lifting rod and telescopic rods respectively set at both ends of the lifting rod. After the precast tunnel secondary lining steel cage moves to the target position with the trolley, the lifting mechanism lifts the precast tunnel secondary lining steel cage so that it is tightly attached to the inner wall of the tunnel.

10. A method for laying the tunnel secondary lining reinforcement automatic laying trolley as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The trolley moves to the position of the precast tunnel secondary lining steel cage to be laid through the traveling mechanism, and the lifting mechanism is aligned with the precast tunnel secondary lining steel cage under the trolley. S2. After the lifting mechanism lifts the precast tunnel secondary lining steel cage, it moves laterally to the grab arm mechanism's receiving area. S3. The grabbing mechanism grabs the precast tunnel secondary lining steel cage from the receiving area and sends the precast tunnel secondary lining steel cage to one end of the trolley. S4. The second drive mechanism pulls the precast tunnel secondary lining steel cage onto the trolley, and the traction mechanism drives the trolley to move in a circle along the arch frame to the target position. S5. Lay the precast tunnel secondary lining steel cage; S6. Repeat S1-S5 until the installation of precast tunnel secondary lining steel cages for all arches and sidewalls of this ring is completed. S7. The arch frame mechanism moves longitudinally to the next ring position to start the next cycle.

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