Tunnel wall steel bar binding device

Abstract

The utility model discloses a tunnel wall steel bar binding device, and relates to the technical field of tunnel construction. Comprising a longitudinal binding walking mechanism, and a moving assembly of the longitudinal binding walking mechanism can automatically and longitudinally move; the circumferential binding walking mechanism can automatically drive the longitudinal binding walking mechanism to move in the circumferential direction; the binding jacking device is vertically arranged on the moving assembly of the longitudinal binding walking mechanism; the binding support is arranged at the upper end of the binding jacking device; one end of the binding mechanical arm is in rotary driving connection with the binding support, the other end of the binding mechanical arm is provided with a binding hook, and the binding hook is used for hooking a binding wire; and the binding rotation driving mechanism is rotationally connected with the binding jacking device, and the binding rotation driving mechanism is used for driving the binding support to rotate in the jacking direction of the binding jacking device. The steel bar binding device can automatically bind steel bars in a hole.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel wall steel bar construction, in particular to a steel bar binding device for tunnel walls. Background Art

[0002] After the tunnel is excavated, shotcreting operation needs to be carried out first, and then the binding of tunnel steel bars is carried out. The steel bars of the tunnel wall are divided into longitudinal bars extending longitudinally along the tunnel and hoop bars arranged along the cross-section of the tunnel. After the steel bars are completely arranged, the casting of the secondary lining reinforced concrete is carried out. Among them, in the construction link of hoop bar binding, some tunnels have single-layer hoop bars, and some tunnels have double-layer hoop bars, with a large amount of work, which seriously restricts the construction progress of the secondary lining concrete of the tunnel. Among them, after all the longitudinal bars and hoop bars are in place, binding operations need to be carried out. In the prior art, the binding of tunnel steel bars is mostly manually operated, with high labor intensity and low operation efficiency. Summary of the Invention

[0003] Aiming at the technical problems of high labor intensity and low operation efficiency in the binding operation of tunnel wall steel bars, the utility model provides a steel bar binding device for tunnel walls, which can automatically bind steel bars in the tunnel to reduce labor intensity and improve the construction efficiency of tunnel steel bar binding operations.

[0004] The utility model is realized by the following technical solutions:

[0005] The utility model provides a steel bar binding device for tunnel walls, including: a longitudinal binding traveling mechanism, the moving component of the longitudinal binding traveling mechanism can move longitudinally by itself; a circumferential binding traveling mechanism, the circumferential binding traveling mechanism can drive the longitudinal binding traveling mechanism to move circumferentially; a binding jack, the binding jack is vertically arranged on the moving component of the longitudinal binding traveling mechanism; a binding support, the binding support is arranged at the upper end of the binding jack; a binding robotic arm, one end of the binding robotic arm is rotationally driven and connected to the binding support, and a binding hook is arranged at the other end of the binding robotic arm, and the binding hook is used for hooking the binding wire; a binding rotation driving mechanism, the binding rotation driving mechanism is rotationally connected to the binding jack, and the binding rotation driving mechanism is used to drive the binding support to rotate along the jacking direction of the binding jack.

[0006] The tunnel wall steel bar binding device provided by the utility model includes a longitudinal binding traveling mechanism, a circumferential binding traveling mechanism, a binding jack, a binding support, a binding robotic arm, and a binding rotation driving mechanism. The moving component of the longitudinal binding traveling mechanism can move longitudinally by itself. The circumferential binding traveling mechanism can drive the longitudinal binding traveling mechanism to move circumferentially. The binding jack is vertically arranged on the moving component of the longitudinal binding traveling mechanism. The binding support is arranged at the upper end of the binding jack. One end of the binding robotic arm is rotationally driven and connected to the binding support. A binding hook is arranged at the other end of the binding robotic arm. The binding hook is used for hooking the binding wire. The binding rotation driving mechanism is rotationally connected to the binding jack. The binding rotation driving mechanism is used for driving the binding support to rotate along the jacking direction of the binding jack. Thus, through the cooperation of the longitudinal binding traveling mechanism and the circumferential binding traveling mechanism, the moving path of the binding jack can cover each area of the tunnel, and the binding support is pushed to the corresponding binding work position by the binding jack. The binding robotic arm is rotationally connected to the binding jack and can adjust its own inclination angle, so that the binding hook can hook the binding wire. At the same time, the binding rotation driving mechanism drives the binding support to rotate, which can drive the binding hook to rotate to automatically complete the binding of the steel bars.

[0007] During use, the circumferential binding traveling mechanism is installed on the tunnel trolley or directly erected in the tunnel, so that the longitudinal binding traveling mechanism can move longitudinally and circumferentially along the tunnel. After the longitudinal steel bars and circumferential steel bars are transported in place, the longitudinal binding traveling mechanism and the circumferential binding traveling mechanism cooperate to drive the binding jack to move to the corresponding binding area. Then, the binding support is pushed to the corresponding binding work position by the binding jack. The binding robotic arm adjusts its own inclination angle by self-rotation, so that the binding hook hooks the binding wire. Then, the binding rotation driving mechanism drives the binding support to rotate, thereby driving the binding hook to rotate, and then automatically completing the binding of the steel bars. Therefore, the utility model can automatically bind steel bars in the tunnel to reduce the labor intensity and improve the construction efficiency of the tunnel steel bar binding operation.

[0008] In an optional embodiment of the present application, the longitudinal binding traveling mechanism includes: a longitudinal binding traveling guide rail, which is arranged longitudinally along the tunnel in the working state; a longitudinal binding traveling frame, which can be clamped on the longitudinal binding traveling guide rail; a longitudinal binding traveling driving wheel, which is rotatably arranged on the lower side of the longitudinal binding traveling frame along its own axis; a longitudinal binding traveling driver, which is in transmission connection with the longitudinal binding traveling driving wheel, and the longitudinal binding traveling driver can drive the longitudinal binding traveling driving wheel to rotate along its own axis to ensure that the moving component of the longitudinal binding traveling mechanism can move longitudinally by itself.

[0009] In an optional embodiment of the present application, the rotating shaft of the longitudinal lashing walking driving wheel is inserted into the side wall of the longitudinal lashing walking guide rail to ensure the stability of the moving component of the longitudinal lashing walking mechanism during longitudinal movement.

[0010] In an optional embodiment of the present application, the longitudinal tying walking guide rail is a groove-shaped steel member, and both side walls of the longitudinal tying walking guide rail are provided with long guide grooves, and the long guide grooves extend along the length direction of the longitudinal tying walking guide rail, and the rotating shaft of the longitudinal tying walking driving wheel is inserted in the long guide groove, so that the rotating shaft of the longitudinal tying walking driving wheel can be movably inserted in the side walls of the longitudinal tying walking guide rail.

[0011] In an optional embodiment of the present application, the circumferential lashing walking mechanism includes: a circumferential lashing walking guide rail, which is a circular ring structure, and in the working state, the circumferential lashing walking guide rail is arranged along the circumference of the tunnel; a circumferential lashing walking frame, which can be clamped on the circumferential lashing walking guide rail; a circumferential lashing walking driving wheel, which can be arranged on the lower side of the circumferential lashing walking frame and can rotate along its own axis; a circumferential lashing walking drive, which is transmission-connected to the circumferential lashing walking driving wheel, and the longitudinal lashing walking drive can drive the longitudinal lashing walking driving wheel to rotate along its own axis, so as to ensure that the circumferential lashing walking mechanism can drive the longitudinal lashing walking mechanism to move circumferentially.

[0012] In an optional embodiment of the present application, the circumferential lashing walking mechanism also includes a circumferential walking holding wheel; the circumferential walking holding wheel and the circumferential lashing walking driving wheel are arranged outside the cross-section of the circumferential lashing walking guide rail to hold the circumferential lashing walking frame on the circumferential lashing walking guide rail to ensure the stability of the circumferential movement of the longitudinal lashing walking mechanism.

[0013] In an optional embodiment of the present application, two of the annular lashing walking rails are longitudinally spaced apart, and the two annular lashing walking rails are connected by a plurality of longitudinal connecting members, and the two ends of the longitudinal lashing walking rails are respectively connected to the corresponding annular lashing walking rails to ensure the stability of the frame formed by the annular lashing walking rails and the longitudinal lashing walking rails.

[0014] In an optional embodiment of the present application, a plurality of longitudinal binding walking mechanisms are arranged at intervals along the circumference of the annular binding walking guide rail to facilitate binding of multiple workstations at the same time, thereby further improving the efficiency of steel bar binding.

[0015] In an alternative embodiment of the present application, the tying robotic arm further includes: a tying arm rotation driver fixedly connected to the tying bracket; a tying arm body fixedly connected to the output shaft of the tying arm rotation driver, so as to automatically adjust the inclination angle of the tying hook, thereby ensuring that the tying hook can smoothly hook the tying wire.

[0016] In an alternative embodiment of the present application, the tying rotation drive mechanism includes: a tying rotation driver, on the rotation shaft of which a tying drive gear is provided and fixedly connected to the tying bracket; a tying fixed gear ring fixed on the tying lifter, and the tying fixed gear ring meshes with the tying drive gear to ensure that the tying bracket can rotate automatically.

[0017] Compared with the prior art, the present utility model has the following advantages and beneficial effects:

[0018] The tunnel wall steel bar tying device provided by the present utility model includes a longitudinal tying traveling mechanism, a circumferential tying traveling mechanism, a tying lifter, a tying bracket, a tying robotic arm, and a tying rotation drive mechanism. The moving component of the longitudinal tying traveling mechanism can move longitudinally by itself, and the circumferential tying traveling mechanism can drive the longitudinal tying traveling mechanism to move circumferentially. The tying lifter is vertically arranged on the moving component of the longitudinal tying traveling mechanism. The tying bracket is arranged at the upper end of the tying lifter. One end of the tying robotic arm is rotationally connected to the tying bracket. A tying hook is arranged at the other end of the tying robotic arm, and the tying hook is used for hooking the tying wire. The tying rotation drive mechanism is rotationally connected to the tying lifter and is used for driving the tying bracket to rotate along the lifting direction of the tying lifter. Thus, through the cooperation of the longitudinal tying traveling mechanism and the circumferential tying traveling mechanism, the moving path of the tying lifter can cover all areas of the tunnel, and the tying bracket is pushed to the corresponding tying work position by the tying lifter. The tying robotic arm is rotationally connected to the tying lifter and can adjust its own inclination angle, so that the tying hook can hook the tying wire. At the same time, the tying rotation drive mechanism drives the tying bracket to rotate, which can drive the tying hook to rotate to automatically complete the tying of the steel bars, thereby reducing the labor intensity and improving the construction efficiency of the tunnel steel bar tying operation. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0020] In the drawings:

[0021] Figure 1 This is a schematic three-dimensional structure diagram of the tunnel wall steel bar binding device according to an embodiment of the present utility model;

[0022] Figure 2 This is a schematic structure diagram of the execution component part of the tunnel wall steel bar binding device according to an embodiment of the present utility model;

[0023] Figure 3 is Figure 1 The enlarged structure diagram of part A;

[0024] Figure 4 This is a schematic side view structure diagram of the execution component part of the tunnel wall steel bar binding device according to an embodiment of the present utility model

[0025] Figure 5 is Figure 1 The enlarged structure diagram of part B;

[0026] Figure 6 This is a schematic side view structure diagram of the walking drive component part of the circumferential binding walking mechanism according to an embodiment of the present utility model.

[0027] Marks in the drawings and corresponding component names:

[0028] 410 - Longitudinal binding walking mechanism, 411 - Longitudinal binding walking guide rail, 412 - Longitudinal binding walking frame, 413 - Longitudinal binding walking drive wheel, 414 - Longitudinal binding walking driver;

[0029] 420 - Circumferential binding walking mechanism, 421 - Circumferential binding walking guide rail, 422 - Circumferential binding walking frame, 423 - Circumferential binding walking drive wheel, 424 - Circumferential binding walking driver, 425 - Circumferential walking holding wheel, 426 - Longitudinal connecting member;

[0030] 430 - Binding jacking device;

[0031] 440 - Binding support;

[0032] 450 - Binding robotic arm, 451 - Binding arm rotation driver, 452 - Binding arm body, 453 - Binding hook;

[0033] 460 - Binding rotation drive mechanism, 461 - Binding rotation driver, 462 - Binding drive gear, 463 - Binding fixed gear ring. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of this application.

[0035] In the description of the embodiments of this application, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this application is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0036] Meanwhile, the terms "arranged", "provided with", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances. Embodiment

[0037] Combined with Figure 1 In this embodiment, a steel bar binding device for a tunnel wall is provided, including: a longitudinal binding traveling mechanism 410, the moving component of the longitudinal binding traveling mechanism 410 can move longitudinally by itself; a circumferential binding traveling mechanism 420, the circumferential binding traveling mechanism 420 can drive the longitudinal binding traveling mechanism 410 to move circumferentially by itself; a binding jack 430, the binding jack 430 is vertically arranged on the moving component of the longitudinal binding traveling mechanism 410; a binding support 440, the binding support 440 is arranged at the upper end of the binding jack 430; a binding robotic arm 450, one end of the binding robotic arm 450 is rotationally driven and connected to the binding support 440, and a binding hook 453 is arranged at the other end of the binding robotic arm 450, and the binding hook 453 is used for hooking the binding wire; a binding rotation driving mechanism 460, the binding rotation driving mechanism 460 is rotationally connected to the binding jack 430, and the binding rotation driving mechanism 460 is used for driving the binding support 440 to rotate along the lifting direction of the binding jack 430.

[0038] Combined with Figures 2 - 4Specifically, the longitudinal lashing walking mechanism 410 includes: a longitudinal lashing walking guide rail 411, which is arranged along the longitudinal direction of the tunnel in the working state; a longitudinal lashing walking frame 412, and the longitudinal lashing walking frame 412 can be clamped on the longitudinal lashing walking guide rail 411; a longitudinal lashing walking driving wheel 413, and the longitudinal lashing walking driving wheel 413 can be arranged on the lower side of the longitudinal lashing walking frame 412 and can rotate along its own axis; a longitudinal lashing walking driver 414, and the longitudinal lashing walking driver 414 is transmission-connected to the longitudinal lashing walking driving wheel 413, and the longitudinal lashing walking driver 414 can drive the longitudinal lashing walking driving wheel 413 to rotate along its own axis to ensure that the moving component of the longitudinal lashing walking mechanism 410 can move longitudinally by itself.

[0039] Recombination Figure 3 The rotating shaft of the longitudinal tying walking driving wheel 413 is inserted into the side wall of the longitudinal tying walking guide rail 411 to ensure the stability of the moving components of the longitudinal tying walking mechanism 410 during longitudinal movement.

[0040] Specifically, the longitudinal tying walking guide rail 411 is a groove-shaped steel member, and both side walls of the longitudinal tying walking guide rail 411 are provided with long guide grooves, which extend along the length direction of the longitudinal tying walking guide rail 411, and the rotating shaft of the longitudinal tying walking driving wheel 413 is inserted into the long guide groove, so that the rotating shaft of the longitudinal tying walking driving wheel 413 can be movably inserted in the side walls of the longitudinal tying walking guide rail 411.

[0041] Combination Figure 5 and Figure 6 The circumferential lashing walking mechanism 420 includes: a circumferential lashing walking guide rail 421, which is a circular ring structure, and in the working state, the circumferential lashing walking guide rail 421 is arranged along the circumference of the tunnel; a circumferential lashing walking frame 422, which can be clamped on the circumferential lashing walking guide rail 421; a circumferential lashing walking driving wheel 423, which can be rotated along its own axis and is arranged on the lower side of the circumferential lashing walking frame 422; a circumferential lashing walking driver 424, which is transmission-connected to the circumferential lashing walking driving wheel 423, and the longitudinal lashing walking driver 414 can drive the longitudinal lashing walking driving wheel 413 to rotate along its own axis, so as to ensure that the circumferential lashing walking mechanism 420 can drive the longitudinal lashing walking mechanism 410 to move circumferentially.

[0042] On this basis, the circumferential binding walking mechanism 420 further includes a circumferential walking holding wheel 425; the circumferential walking holding wheel 425 and the circumferential binding walking driving wheel 423 are arranged around the cross-section of the circumferential binding walking guide rail 421 to hold the circumferential binding walking frame 422 on the circumferential binding walking guide rail 421, so as to ensure the stability of the longitudinal binding walking mechanism 410 during circumferential movement.

[0043] Combined with Figure 1 It can be understood that two circumferential binding walking guide rails 421 are longitudinally spaced apart, and the two circumferential binding walking guide rails 421 are connected by a plurality of longitudinal connecting members 426. The two ends of the longitudinal binding walking guide rail 411 are respectively connected to the corresponding circumferential binding walking guide rails 421 to ensure the stability of the frame formed by the circumferential binding walking guide rail 421 and the longitudinal binding walking guide rail 411.

[0044] Furthermore, along the circumference of the circumferential binding walking guide rail 421, a plurality of longitudinal binding walking mechanisms 410 are spaced apart, so as to facilitate binding of multiple workstations simultaneously and further improve the efficiency of steel bar binding.

[0045] Among them, the binding jack 430 is a hydraulic cylinder to ensure that the binding jack 430 can output sufficient jacking force. Of course, other structural forms of linear drives can also be used as the binding jack 430, such as pneumatic cylinders, electric push rods, screw jacks, etc.

[0046] Combined again with Figure 2 and Figure 4 , the binding rotation drive mechanism 460 includes: a binding rotation driver 461, a binding drive gear 462 is arranged on the rotation shaft of the binding rotation driver 461, and the binding drive gear 462 is fixedly connected to the binding bracket 440; a binding fixed gear ring 463, the binding fixed gear ring 463 is fixed on the binding jack 430, and the binding fixed gear ring 463 meshes with the binding drive gear 462 to ensure that the binding bracket 440 can rotate automatically.

[0047] It should be noted that the binding robotic arm 450 further includes: a binding arm rotation driver 451, the binding arm rotation driver 451 is fixedly connected to the binding bracket 440; a binding arm body 452, the binding arm body 452 is fixedly connected to the output shaft of the binding arm rotation driver 451, so as to facilitate automatically adjusting the inclination angle of the binding hook 453, thereby ensuring that the binding hook 453 can smoothly hook the binding wire. At the same time, for the rotation driver used in this embodiment, as long as it can output a rotational force linearly, it can be a rotational driver such as a stepping motor, a servo motor, a hydraulic motor, etc.

[0048] In summary, the tunnel wall steel bar binding device provided in this embodiment includes a longitudinal binding traveling mechanism 410, a circumferential binding traveling mechanism 420, a binding jack 430, a binding support 440, a binding robotic arm 450, and a binding rotation driving mechanism 460. The moving component of the longitudinal binding traveling mechanism 410 can move longitudinally by itself. The circumferential binding traveling mechanism 420 can drive the longitudinal binding traveling mechanism 410 to move circumferentially. The binding jack 430 is vertically arranged on the moving component of the longitudinal binding traveling mechanism 410. The binding support 440 is arranged at the upper end of the binding jack 430. One end of the binding robotic arm 450 is rotationally driven and connected to the binding support 440. A binding hook 453 is arranged at the other end of the binding robotic arm 450. The binding hook 453 is used to hook the binding wire. The binding rotation driving mechanism 460 is rotationally connected to the binding jack 430. The binding rotation driving mechanism 460 is used to drive the binding support 440 to rotate along the jacking direction of the binding jack 430.

[0049] During use, the circumferential binding traveling mechanism 420 is installed on the tunnel trolley or directly erected in the tunnel, so that the longitudinal binding traveling mechanism 410 can move longitudinally and circumferentially along the tunnel. After the longitudinal bars and circumferential bars are transported in place, through the cooperation of the longitudinal binding traveling mechanism 410 and the circumferential binding traveling mechanism 420, the binding jack 430 is driven to move to the corresponding binding area. Then, the binding support 440 is pushed to the corresponding binding station by the binding jack 430. The self-rotation of the binding robotic arm 450 adjusts its own inclination angle, so that the binding hook 453 hooks the binding wire. Then, the binding rotation driving mechanism 460 drives the binding support 440 to rotate, thereby driving the binding hook 453 to rotate, and then automatically completing the binding of the steel bars.

[0050] In summary, the tunnel wall steel bar binding device provided in this embodiment can automatically bind steel bars in the tunnel to reduce labor intensity and improve the construction efficiency of tunnel steel bar binding operations.

[0051] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tunnel wall reinforcement binding device, characterized in that: include: A longitudinal lashing travel mechanism (410), wherein a moving component of the longitudinal lashing travel mechanism (410) is capable of moving longitudinally on its own; A circumferential lashing walking mechanism (420), wherein the circumferential lashing walking mechanism (420) can automatically drive the longitudinal lashing walking mechanism (410) to move circumferentially; A lashing lifter (430), the lashing lifter (430) being vertically arranged on a moving component of the longitudinal lashing walking mechanism (410); A lashing bracket (440), wherein the lashing bracket (440) is arranged at the upper end of the lashing jack (430); A tying mechanical arm (450), one end of the tying mechanical arm (450) being rotationally drivenly connected to the tying bracket (440), and the other end of the tying mechanical arm (450) being provided with a tying hook (453), the tying hook (453) being used to hook the tying wire; A lashing rotation drive mechanism (460), the lashing rotation drive mechanism (460) being rotationally connected to the lashing lifter (430), the lashing rotation drive mechanism (460) being used to drive the lashing bracket (440) to rotate along a lifting direction of the lashing lifter (430).

2. The tunnel wall reinforcement binding device according to claim 1 is characterized in that: The longitudinal lashing walking mechanism (410) comprises: A longitudinally tied walking guide rail (411) is arranged along the longitudinal direction of the tunnel in a working state; A longitudinal lashing walking frame (412), wherein the longitudinal lashing walking frame (412) can be clamped on the longitudinal lashing walking guide rail (411); A longitudinal lashing travel driving wheel (413), the longitudinal lashing travel driving wheel (413) being rotatable along its own axis and arranged on the lower side of the longitudinal lashing travel frame (412); A longitudinal lashing travel driver (414) is connected in driving connection with the longitudinal lashing travel drive wheel (413), and the longitudinal lashing travel driver (414) can drive the longitudinal lashing travel drive wheel (413) to rotate along its own axis.

3. The tunnel wall reinforcement binding device according to claim 2 is characterized in that: The rotating shaft of the longitudinal lashing travel driving wheel (413) is inserted into the side wall of the longitudinal lashing travel guide rail (411).

4. The tunnel wall reinforcement binding device according to claim 3 is characterized in that: The longitudinal lashing walking guide rail (411) is a channel-shaped steel member. Both side walls of the longitudinal lashing walking guide rail (411) are provided with long guide grooves. The long guide grooves extend along the length direction of the longitudinal lashing walking guide rail (411). The rotating shaft of the longitudinal lashing walking driving wheel (413) is inserted into the long guide grooves.

5. The tunnel wall reinforcement binding device according to claim 2, characterized in that: The circumferential lashing walking mechanism (420) comprises: A circumferentially tied walking guide rail (421), wherein the circumferentially tied walking guide rail (421) is a circular ring structure, and in a working state, the circumferentially tied walking guide rail (421) is arranged along the circumference of the tunnel; A circumferential lashing traveling frame (422), wherein the circumferential lashing traveling frame (422) can be clamped on the circumferential lashing traveling guide rail (421); A circumferential lashing travel driving wheel (423), the circumferential lashing travel driving wheel (423) being rotatable along its own axis and arranged on the lower side of the circumferential lashing travel frame (422); The circumferential lashing travel driver (424) is in driving connection with the circumferential lashing travel drive wheel (423), and the longitudinal lashing travel driver (414) is capable of driving the longitudinal lashing travel drive wheel (413) to rotate along its own axis.

6. The tunnel wall reinforcement binding device according to claim 5, characterized in that: The circumferential lashing travel mechanism (420) further comprises a circumferential travel holding wheel (425); The circumferential traveling holding wheel (425) and the circumferential lashing traveling driving wheel (423) are arranged outside the cross section of the circumferential lashing traveling guide rail (421) so as to hold the circumferential lashing traveling frame (422) on the circumferential lashing traveling guide rail (421).

7. The tunnel wall reinforcement binding device according to claim 5, characterized in that: Two of the annular lashing walking guide rails (421) are arranged at intervals in the longitudinal direction. The two annular lashing walking guide rails (421) are connected via a plurality of longitudinal connecting members (426). Both ends of the longitudinal lashing walking guide rails (411) are respectively connected to the corresponding annular lashing walking guide rails (421).

8. The tunnel wall reinforcement binding device according to claim 5, characterized in that: Along the circumference of the annular lashing walking guide rail (421), a plurality of the longitudinal lashing walking mechanisms (410) are arranged at intervals.

9. The tunnel wall reinforcement binding device according to claim 1, characterized in that: The tying mechanical arm (450) further comprises: A lashing arm rotation driver (451), wherein the lashing arm rotation driver (451) is fixedly connected to the lashing bracket (440); A lashing arm body (452), wherein the lashing arm body (452) is fixedly connected to an output shaft of the lashing arm rotation driver (451).

10. The tunnel wall reinforcement binding device according to any one of claims 1 to 9, characterized in that: The lashing rotation drive mechanism (460) comprises: A lashing rotary driver (461), wherein the rotary shaft of the lashing rotary driver (461) is provided with a lashing drive gear (462), and the lashing drive gear (462) is fixedly connected to the lashing bracket (440); A lashing fixing gear ring (463), wherein the lashing fixing gear ring (463) is fixed on the lashing lifting device (430), and the lashing fixing gear ring (463) is meshed with the lashing driving gear (462).

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