A multifunctional tunnel operation trolley

Abstract

A multifunctional tunnel operation trolley includes: a vehicle body as a mounting carrier; a main working arm, a first side working arm and a second side working arm mounted on the vehicle body and capable of performing separate and parallel operations, the two side working arms being separated on both sides of the main working arm; the front end of the main working arm is hinged to the main manipulator, the front end of the first side working arm is hinged to the first side manipulator, and the front end of the second side working arm is hinged to the second side manipulator; the main manipulator, the first side manipulator and the second side manipulator are all hinged to a first driving member, the first driving member is connected to a second driving member that changes the position of the first driving member, and the second driving member is arranged at the front end of the corresponding working arm. The multifunctional tunnel operation trolley enables each working arm to realize coordinated operation conveniently and time-savingly, and can realize slow adjustment, so that the workpiece is more accurate, easy to operate, and precisely calibrated.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction equipment, and more specifically to a multifunctional tunnel operation trolley. Background Art

[0002] In the construction of tunnels such as railways, highways, underground projects, and water diversion projects, some operations are often required, such as: laying multiple steel arches at intervals along the length of the tunnel to prevent tunnel collapse, installing auxiliary anchor rods and anchor nets, and assisting in prying and ventilation pipe operations. The implementation of multiple operations often requires the cooperation of multiple devices, which increases costs and is inconvenient to operate.

[0003] For this reason, multifunctional work trolleys have appeared in due time, but this type of trolley only has a limited combination of working functions, and when it comes to coordinated implementation, especially the coordinated operation between the working arms is relatively difficult, it is difficult to do independent work or parallel work, and when adjusting the operation, it is difficult to flexibly make slow adjustments, which makes the calibration of the workpiece more difficult. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a multifunctional tunnel operation trolley, which can enable each working arm to achieve coordinated operation conveniently and time-savingly, and can achieve slow adjustment, so that the workpiece is more accurate, easier to operate, and accurately calibrated.

[0005] The technical solution of the present invention is to provide a multifunctional tunnel operation trolley having the following structure, including: a vehicle body, which is used as a mounting carrier part of the trolley components;

[0006] A main working arm, a first side working arm and a second side working arm are mounted on the vehicle body and can perform independent operations and parallel operations, wherein the first side working arm and the second side working arm are located on both sides of the main working arm;

[0007] The front end of the main working arm is hinged to the main manipulator, the front end of the first side working arm is hinged to the first side manipulator, and the front end of the second side working arm is hinged to the second side manipulator.

[0008] The main manipulator, the first side manipulator and the second side manipulator are all hinged with a first driving member for driving the rotation thereof, the first driving member is connected with a second driving member for changing the position of the first driving member, and the second driving member is arranged at the front end of the corresponding working arm.

[0009] Preferably, the front end of each working arm is equipped with a base through a small rotating mechanism, and the second driving member is arranged on the base, so that the corresponding manipulator can realize rotating operation under the rotating action of the small rotating mechanism, thereby increasing the operating radiation range and facilitating the implementation of various operations. At the same time, the base also provides a mounting carrier for the second driving member.

[0010] Preferably, each base is equipped with a working operation platform, that is, each working arm is equipped with a working operation platform, so that for each working arm, the operator can perform corresponding operations on the working operation platform, further increasing the types of operations performed by the tunnel multifunctional work trolley and further enhancing the multifunctional performance.

[0011] Preferably, the second driving member includes a second cylinder body and a second telescopic rod slidably connected to the second cylinder body, the second cylinder body is fixedly connected to the base, and the end of the second telescopic rod is connected to the first driving member.

[0012] Preferably, the first driving member includes a first cylinder and a first telescopic rod slidably connected to the first cylinder, and the first telescopic rod is hinged to the corresponding manipulator.

[0013] Preferably, the second telescopic rod is fixedly connected to the first cylinder.

[0014] Preferably, the second telescopic rod is hinged to the first cylinder.

[0015] Preferably, the end of the first cylinder away from the first telescopic rod is hinged to the second telescopic rod.

[0016] Preferably, the base comprises a support frame, and the second cylinder body is fixedly connected in the support frame.

[0017] Preferably, the second driving member is arranged in the horizontal direction, and an angle is formed between the first driving member and the second driving member.

[0018] Preferably, the main working arm is hinged to the vehicle body, and the main working arm is also provided with a third driving member for driving the main working arm to pivot in a vertical plane. Through the arrangement of the hinge and the driving member, the main working arm can conveniently operate independently or in parallel with the vehicle body. Thus, the main working arm can pivot in the vertical direction.

[0019] Preferably, the main working arm is also connected to the vehicle body via a pivot shaft, and a fifth driving member is also mounted on the vehicle body, and the driving end of the fifth driving member is also connected to the main working arm via a connecting frame to drive the main working arm to pivot in the horizontal direction. Thus, the main working arm can also rotate in the horizontal direction.

[0020] Preferably, the first side working arm and the second side working arm are respectively hinged on a large rotating mechanism equipped on the vehicle body to realize rotation in a horizontal plane, and the first side working arm and the second side working arm are respectively configured with a fourth driving member for driving them to pivot in a vertical plane. Through the cooperation of the large rotating mechanism, the articulation method and the driving member, the corresponding side working arms can operate independently or in parallel with the vehicle body, and can realize corresponding rotation in the horizontal plane and the vertical plane.

[0021] Preferably, the main manipulator includes a central manipulator with a first chuck on the top, the central manipulator includes an outer tube and an inner tube, the lower end of the outer tube is rotatably matched with the base, the first driving member is used to drive the outer tube to rotate, the inner tube is slidably matched in the outer tube, the upper end of the inner tube away from the base is exposed outside the outer tube, the first chuck is rotatably matched with the upper end of the inner tube, and power arms for abutting against the workpiece and pushing the workpiece to be lifted are respectively installed on both sides of the outer tube.

[0022] Preferably, a top bracket is provided on the top of the power arm. After the bracket is provided on the top of the power arm, the workpiece can be effectively lifted and prevented from slipping off the power arm along the thickness direction of the workpiece.

[0023] After adopting the above structure, the main manipulator of the present invention has the following advantages compared with the prior art: first, the workpiece is clamped by the central manipulator and the workpiece is lifted by the two power arms on both sides, so the bearing capacity of the hydraulically driven power arm is much greater than that of the conventional articulated manipulator, and at the same time, the two power arms can coordinate the telescopic amount to achieve the adjustment of the arch frame angle and position, so the adjustment accuracy is good, and secondly, the design of the reset cable can make it possible to use the movable section on the power arm to drive the inner tube on the central manipulator to be forced to reset when the inner tube on the central manipulator cannot be reset under the action of gravity, thereby improving the overall reliability of the equipment.

[0024] Finally, compared with conventional manipulators, this main manipulator does not have any high-performance requirements for materials. At the same time, the overall structure is simple, and it only needs to control the coordination between the drivers on the two power arms. Therefore, the control system is simple and the adjustment accuracy is high, which ultimately makes the overall equipment cost low. In combination with the configuration of the first drive member and the second drive member, the position of the first drive member is adjusted by the second drive member. When the main manipulator rotates from the first position to the second position, the second drive member in the front section adjusts the position of the first drive member along the rotation direction of the main manipulator, that is, the swing speed can be accelerated to achieve rapid swinging. When the main manipulator is about to swing to the second position, the second drive member adjusts the position of the first drive member, and the first drive member itself does not run to achieve small angle fine adjustment of the position of the first drive member, that is, the first drive member fine-tunes the main manipulator, and can achieve a swing of 10-15 mm / s at the swing end of the main manipulator, which greatly reduces the swing speed, that is, the angle can be fine-tuned, which is conducive to the adjustment and calibration of the clamped workpiece, and the main manipulator can reach the installation position very accurately.

[0025] Preferably, the ends of the first side manipulator and the second side manipulator are both hinged with a second chuck, and a first auxiliary driving mechanism is installed between the second chuck and the corresponding side manipulator to realize the up and down swinging of the second chuck; the first side manipulator and the second side manipulator each include a plurality of arm segments, and the plurality of arm segments are hinged and connected in series to form an arm body, and a second auxiliary driving mechanism is installed on the swinging direction side of the arm segment to realize the left and right swinging of the entire side manipulator.

[0026] Preferably, the second chuck includes a main chuck and a side bracket, one end of the side bracket and the main chuck are hinged together at the top of the arm body, the other end of the side bracket is connected to the arm body through a first auxiliary driving mechanism, and the main body of the side bracket is movably connected to the main body of the main chuck.

[0027] After adopting the above structure, the side manipulator has the following advantages compared with the existing technology: the arm body is formed by hingedly connecting multiple arm segments, and the angle adjustment of the arm body in the left and right range is achieved through various auxiliary driving mechanisms, and the side bracket on the second chuck is used to adjust the upper and lower position relationship of the workpiece clamped on the main chuck; it has the advantages of novel structure, multi-directional angle adjustment and flexible use.

[0028] At the same time, with the cooperation of the second drive member and the first drive member, the position of the first drive member is adjusted by the second drive member. When the side manipulator rotates from the first position to the second position, the front part of the second drive member adjusts the position of the first drive member along the rotation direction of the side manipulator, that is, the swinging speed can be accelerated to achieve rapid swinging. When the side manipulator is about to swing to the second position, the second drive member adjusts the position of the first drive member, and the first drive member itself does not run, so as to achieve small-angle fine-tuning of the position of the first drive member, that is, the fine-tuning of the side manipulator by the first drive member is achieved, and the swing end of the side manipulator can achieve a swing of 10-15 mm / s, which greatly reduces the swinging speed, that is, the angle can be fine-tuned, which is beneficial to the adjustment and calibration of the clamped workpiece, and the side manipulator can reach the installation position very accurately.

[0029] The multifunctional tunnel operation trolley of the present invention has three working arms, three working operation platforms and three manipulators. The three working arms can realize independent control, can work individually or in parallel, and the controllable operation and degree of freedom are optimized. The three working operation platforms can all be used for operators to stand on the platforms to perform operations such as auxiliary anchor bolt and anchor net installation, auxiliary prying and ventilation pipe operations, etc., which further highlights the multifunctionality. Under the configuration of the first driving member and the second driving member, the three manipulators can realize the swing of 10-15 mm / s at their own swing ends, which greatly reduces the swing speed, that is, the fine adjustment of the swing angle can be realized, which is conducive to the adjustment and calibration of the clamped workpiece. The manipulator can reach the installation position very accurately and realize the precise alignment operation of the workpiece. The first side working arm and the second side working arm are separated on both sides of the main working arm. This layout is suitable for multi-stage clamping, docking, and installation of the arch frame in the tunnel, thereby making the multifunctionality of the operation trolley more prominent. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the main manipulator structure of the present invention. Figure 1 .

[0031] Figure 2 This is a schematic diagram of the main manipulator structure of the present invention. Figure 2 .

[0032] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the middle edge AA.

[0033] Figure 4 It is a schematic diagram of the structure of the side manipulator of the present invention.

[0034] Figure 5 It is a side structural schematic diagram of the multifunctional tunnel operation trolley of the present invention.

[0035] Figure 6 It is a schematic diagram of the main structure of the multifunctional tunnel operation trolley of the present invention when it is working.

[0036] Figure 7 It is a partial structural schematic diagram of the main working arm of the multifunctional tunnel operation trolley of the present invention being assembled on the vehicle body.

[0037] Figure 8 yes Figure 7 A is an enlarged structural diagram of FIG.

[0038] As shown in the figure: 1 car body, 2 main working arm, 3 first side working arm, 4 second side working arm, 5 main manipulator, 6 first side manipulator, 7 second side manipulator, 8 first driving member, 81 first cylinder, 82 first telescopic rod, 9 second driving member, 91 second cylinder, 92 second telescopic rod, 10 large rotary mechanism, 11 base, 12 working operation platform, 13 third driving member, 14 fourth driving member, 15 first chuck, 16 center manipulator, 17 outer tube, 18 inner tube, 19 power arm, 20 top bracket, 21 second chuck, 22 first auxiliary driving mechanism, 23 second auxiliary driving mechanism, 24 main chuck, 25 side bracket, 26 small rotary mechanism, 27 pivot shaft, 28 fifth driving member, 29 connecting frame, 30 frame. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] Embodiment 1

[0041] See also Figures 1 to 8 As shown, the multifunctional tunnel working trolley of the present invention comprises a vehicle body 1 , a main working arm 2 , a first side working arm 3 and a second side working arm 4 .

[0042] The vehicle body 1 is used as a mounting carrier for the components of the trolley, that is, the vehicle body 1 can be understood as an installation carrier for each component, on which each component can be installed and arranged.

[0043] The main working arm 2, the first side working arm 3 and the second side working arm 4 are mounted on the vehicle body 1 and can perform individual operations and parallel operations, and the first side working arm 3 and the second side working arm 4 are located on both sides of the main working arm 2. It can be understood that the main working arm 2, the first side working arm 3 and the second side working arm 4 can perform individual operations and parallel operations, that is, coordinated operations, so that the operation mode is highly optional and suitable for working conditions with multiple operation mode requirements.

[0044] The front end of the main working arm 2 is hinged to the main manipulator 5, the front end of the first side working arm 3 is hinged to the first side manipulator 6, and the front end of the second side working arm 4 is hinged to the second side manipulator 7. Each manipulator is hinged to its own working arm, so that the front end of each working arm is equipped with a manipulator for grabbing the corresponding workpiece, such as an arch, and the workpiece is aligned and installed under the cooperation of the manipulator and the working arm.

[0045] The main manipulator 5, the first side manipulator 6, and the second side manipulator 7 are all hinged with a first driving member 8 that drives themselves to rotate relative to the corresponding working arm. The first driving member 8 is connected to a second driving member 9 that changes the position of the first driving member 8. The second driving member 9 is arranged at the front end of the corresponding working arm.

[0046] The front ends of the main working arm 2, the first side working arm 3 and the second side working arm 4 are all equipped with a small rotating mechanism 26, the output end of the small rotating mechanism 26 is equipped with a base 11, and the second driving member 9 is arranged in the base 11, and the corresponding manipulator is connected to the corresponding base 11.

[0047] The small rotary mechanism 26 can be understood as a driver that can realize rotary output motion, which can be a rotary drive device such as a rotary motor, or a non-rotating motor drive, such as a connecting rod mechanism and a mechanism driven by an oil cylinder. With the rotation of the output end of the small rotary mechanism 26, the base 11 is driven to rotate, and under the rotation of the base 11, the corresponding manipulator connected thereto is driven to rotate at the same time. Of course, the rotation angle can be limited according to the required design.

[0048] The position of the first driving member 8 is adjusted by the second driving member 9. When the corresponding manipulator rotates from the first position to the second position, the second driving member 9 of the front section adjusts the position of the first driving member 8 along the rotation direction of the manipulator, that is, the swing speed can be accelerated to achieve rapid swinging. When the manipulator is about to swing to the second position, the second driving member 9 adjusts the position of the first driving member 8, and the first driving member 8 does not run, so as to achieve small angle fine-tuning of the position of the first driving member 8, that is, the first driving member 8 achieves fine-tuning of the manipulator, and can achieve a swing of 10-15 mm / s at the swing end of the manipulator, greatly reducing the swing speed, that is, the angle can be fine-tuned. In the present embodiment, it should be noted that the first position and the second position are based on the workpiece picking position and the workpiece alignment position. Of course, it can also be other suitable positions as required.

[0049] And the first driving member 8 can be set according to the hinge position between the manipulator and the base 11, and the second driving member 9 can be set according to the position of the first driving member 8, that is, as long as the position of the first driving member 8 can be adjusted along the swing direction of the corresponding manipulator, the swing speed can be adjusted, which can not only quickly adjust but also achieve fine adjustment of the angle, which is beneficial to the adjustment and calibration of the clamped workpiece. The second driving member 9 can be set horizontally, vertically or tilted.

[0050] The first driving member 8 and the second driving member 9 can be driving members with variable lengths, such as oil cylinders, air cylinders, screws, etc.

[0051] Embodiment 2

[0052] See also Figures 1 to 8 As shown, the multifunctional tunnel operation trolley of the present invention comprises a body 1, a main working arm 2, a first side working arm 3 and a second side working arm 4. The body 1 is used as a mounting carrier part of the trolley components.

[0053] The main working arm 2 , the first side working arm 3 and the second side working arm 4 are mounted on the vehicle body 1 and can perform independent operations and parallel operations, and the first side working arm 3 and the second side working arm 4 are located on both sides of the main working arm 2 .

[0054] The front end of the main working arm 2 is hinged to the main manipulator 5 , the front end of the first side working arm 3 is hinged to the first side manipulator 6 , and the front end of the second side working arm 4 is hinged to the second side manipulator 7 .

[0055] The main manipulator 5, the first side manipulator 6, and the second side manipulator 7 are all hinged with a first driving member 8 that drives themselves to rotate. The first driving member 8 is connected to a second driving member 9 that changes the position of the first driving member 8. The second driving member 9 is arranged at the front end of the corresponding working arm.

[0056] The front ends of the main working arm 2, the first side working arm 3, and the second side working arm 4 are all equipped with a base 11 through a small rotary mechanism 26, and the second driving member 9 is arranged in the base 11. In this embodiment, each manipulator is hinged to the end of the corresponding base 11, thereby indirectly hinged to the front end of the corresponding working arm.

[0057] The first driving member 8 includes a first cylinder 81 and a first telescopic rod 82 slidably connected to the first cylinder 81. The first telescopic rod 82 is hinged to the corresponding manipulator and can be effectively adjusted with the manipulator. The second driving member 9 includes a second cylinder 91 and a second telescopic rod 92 slidably connected to the second cylinder 91. The second cylinder 91 is fixedly connected to the base 11, and the end of the second telescopic rod 92 is connected to the first driving member 8. By fixing the second cylinder 91 to the base 11, the corresponding manipulator can be stably supported, and the position of the first cylinder 81 can be quickly adjusted through the second telescopic rod 92. The structure is simpler and more reliable, and the impact on the position of the first driving member 8 can be greatly reduced. The overall volume is small.

[0058] The base 11 includes a support frame, and the second cylinder body 91 is fixedly connected to the support frame, which can further reduce the overall volume, and the second driving member 9 is built-in to improve the operation stability, and the second cylinder body 91 can be kept horizontally set to improve the adjustment efficiency.

[0059] Each base 11 is equipped with a working operation platform 12, on which the operator can perform corresponding operations, such as the installation of arch frames, the installation of auxiliary anchor rods and anchor nets, auxiliary prying and ventilation pipe operations, etc., so that the operation diversity of the tunnel multi-functional operation trolley is improved, and the same equipment can complete multiple operations, which effectively reduces the production cost and facilitates the convenient operation of various construction operations.

[0060] The main working arm 2 is hinged to the vehicle body 1, and the main working arm 2 is also provided with a third driving member 13 for driving the main working arm 2 to pivot in a vertical plane. The vertical plane is relative to the horizontal plane. It can be understood that relative to the driver sitting in the vehicle body operating room, it is actually a pivot in the front-to-back direction. The specific front-to-back direction can be referred to in the attached Figure 5 In the left and right directions shown in . By means of articulation, under the drive of the third driving member 13, the main working arm 2 can work alone, and can also cooperate with other working arms and operate in parallel, with free operation and little restriction.

[0061] At the same time, the main working arm 2 is also connected to the vehicle body 1 through a pivot shaft 27, and a fifth driving member 28 is also installed on the vehicle body 1. The driving end of the fifth driving member 28 is also connected to the main working arm 2 through a connecting frame 29 to drive the main working arm 2 to pivot in the horizontal direction. Of course, in this embodiment, in order to realize the installation of the main working arm 2 and the fifth driving member 28, a frame 30 is installed on the vehicle body 1 for the installation of the fifth driving member 28 and the pivot shaft 27.

[0062] At this point, the main working arm 2 can realize both vertical pivoting and horizontal rotation, with more diverse rotation positions and more diverse applicable working conditions.

[0063] The first side working arm 3 and the second side working arm 4 are respectively hinged on the large slewing mechanism 10 equipped on the vehicle body 1 to realize rotation in the horizontal plane, and the first side working arm 3 and the second side working arm 4 are respectively configured with a fourth driving member 14 for driving them to pivot in the vertical plane. The large slewing mechanism 10 is horizontally mounted on the mounting platform of the vehicle body 1, and the output end outputs horizontal rotation, so that after the corresponding side working arm is installed on the output end, the corresponding side working arm can realize horizontal rotation, and the determination of the rotation angle is determined as needed. In addition, under the drive of the fourth driving member 14, the articulated working arm can realize vertical rotation. Similarly, for the driver in the vehicle body operating room, it is actually the front and rear direction. The front and rear direction can refer to the attached Figure 5 Left and right directions shown.

[0064] The main manipulator 5 includes a central manipulator 16 with a first chuck 15 on the top, and the central manipulator 16 includes an outer tube 17 and an inner tube 18. The lower end of the outer tube 17 is rotatably matched with the base 11, and the first driving member 8 is used to drive the outer tube 17 to rotate. The inner tube 18 is slidably matched in the outer tube 17, and the upper end of the inner tube 18 away from the base 11 is exposed outside the outer tube 17. The first chuck 15 is rotatably matched with the upper end of the inner tube 18, and power arms 19 for abutting against the workpiece and pushing the workpiece to rise are respectively installed on both sides of the outer tube 17. A top bracket 20 is provided on the top of the power arm 19.

[0065] First, the workpiece is clamped by the main manipulator 5 and lifted by the two power arms 19 on both sides. Therefore, the bearing capacity of the hydraulically driven power arms 19 is much greater than that of conventional articulated manipulators. At the same time, the two power arms 19 can coordinate the telescopic amount to adjust the arch angle and position, so the adjustment accuracy is good.

[0066] Secondly, the reset cable is designed so that when the inner tube 18 on the main manipulator 5 cannot be reset under the action of gravity, the movable section on the power arm 19 can be used to drive the inner tube 18 on the main manipulator 5 to be forcibly reset, thereby improving the overall reliability of the equipment.

[0067] Furthermore, a top bracket 20 is provided at the upper end of the power arm 19 , so that the workpiece can be effectively lifted and prevented from slipping off the power arm 19 along the thickness direction of the workpiece.

[0068] Finally, the main manipulator 5 does not have any high-performance requirements for materials compared to conventional manipulators. At the same time, the overall structure is simple, and it only needs to control the coordination between the drivers on the two power arms 19. Therefore, the control system is simple and the adjustment accuracy is high, which ultimately makes the overall equipment cost low. The position of the first driver 8 is adjusted by the second driver 9. When the main manipulator 5 rotates from the first position to the second position, the second driver 9 of the front section adjusts the position of the first driver 8 along the rotation direction of the main manipulator 5, that is, the swing speed can be accelerated to achieve rapid swing. When the main manipulator 5 is about to swing to the second position, the second driver 9 adjusts the position of the first driver 8, and the first driver 8 does not run to achieve small angle fine adjustment of the position of the first driver 8, that is, the first driver 8 is fine-tuned to the main manipulator 5, and the swing end of the main manipulator 5 can be realized. 10-15 mm / s swing, greatly reducing the swing speed, that is, the angle can be fine-tuned, which is conducive to the adjustment and calibration of the clamped workpiece, and the manipulator 2 can reach the installation position very accurately.

[0069] The ends of the first side manipulator 6 and the second side manipulator 7 are both hinged with a second chuck 21, and a first auxiliary drive mechanism 22 is installed between the second chuck 21 and the corresponding side manipulator to realize the up and down swing of the second chuck 21. The first side manipulator 6 and the second side manipulator 7 each include a plurality of arm segments, and the plurality of arm segments are hinged and connected in series to form an arm body, and a second auxiliary drive mechanism 23 is installed on the swing direction side of the arm segment to realize the left and right swing of the entire side manipulator.

[0070] The second chuck 21 includes a main chuck 24 and a side bracket 25, one end of the side bracket 25 and the main chuck 24 are hinged together at the top of the arm. The other end of the side bracket 25 is connected to the arm through a first auxiliary driving mechanism 22, and the main body of the side bracket 25 is movably connected to the main body of the main chuck 24.

[0071] The arm body is formed by hingedly connecting multiple arm sections, and the angle adjustment of the arm body in the left and right range is achieved through various driving mechanisms. The side bracket 25 is used to adjust the upper and lower position relationship of the arch frame clamped on the main clamp 24. It has the advantages of novel structure, multi-directional angle adjustment and flexible use.

[0072] The position of the first driving member 8 is adjusted by the second driving member 9. When the corresponding side manipulator rotates from the first position to the second position, the second driving member 9 of the front section adjusts the position of the first driving member 8 along the rotation direction of the side manipulator, that is, the swinging speed can be accelerated to achieve rapid swinging. When the side manipulator is about to swing to the second position, the second driving member 9 adjusts the position of the first driving member 8, and the first driving member 8 does not operate, so as to achieve small angle fine-tuning of the position of the first driving member 8, that is, to achieve fine-tuning of the side manipulator by the first driving member 8, and to achieve a swing of 10-15 mm / s at the swing end of the side manipulator, which greatly reduces the swinging speed, that is, to achieve fine-tuning of the angle, which is conducive to the adjustment and calibration of the clamped workpiece, and the side manipulator can reach the installation position very accurately.

[0073] Embodiment 3

[0074] The basic structure and the structure of each working arm are the same as those of the second embodiment, except that: the second telescopic rod 92 is fixedly connected to the first cylinder body 81. Fixed connection means that a structure is provided to fix the second telescopic rod 92 to the first cylinder body 81, that is, the first drive member 8 and the second drive member 9 are fixedly connected when they are running part of the time, that is, the angle between the first drive member 8 and the second drive member 9 is constant, and when the corresponding manipulator is adjusted to run, the first drive member 8 and the second drive member 9 will inevitably run at the same time, and the position of the first drive member 8 is adjusted along the rotation direction of the manipulator by the second drive member 9, that is, the swing speed can be accelerated to achieve rapid swing, or the position of the first drive member 8 is adjusted along the reverse direction of the rotation of the corresponding manipulator by the second drive member 9, that is, the displacement stroke is offset, that is, the driving speed of the first drive member 8 to the corresponding manipulator is greatly reduced, and the swing end of the manipulator can be realized to swing 10-15 mm / s, which greatly reduces the swing speed, that is, the angle can be fine-tuned.

[0075] Embodiment 4

[0076] The basic structure and the structure of each working arm are the same as those of the second embodiment, except that: the second telescopic rod 92 is hinged to the first cylinder 81. That is, the angle between the first driving member 8 and the second driving member 9 can be changed. When the mechanical arm is adjusted to operate, the first driving member 8 and the second driving member 9 can operate at different times, that is, the first driving member 8 or the second driving member 9 can move alone, or the first driving member 8 and the second driving member 9 can operate at the same time. In other words, the first driving member 8 and the second driving member 9 can operate independently and can also cooperate with each other, so the adjustment is more free and can be adjusted in a variety of ways.

[0077] The position of the corresponding manipulator can be adjusted by moving the first drive member 8 or the second drive member 9 alone. Since the first drive member 8 or the second drive member 9 are not on the same horizontal line, they can be adjusted at multiple angles, and the second drive member 9 can adjust the position of the first drive member 8 along the rotation direction of the corresponding manipulator, that is, the swinging speed can be accelerated to achieve rapid swinging, or the second drive member 9 adjusts the position of the first drive member 8, and the first drive member 8 does not run, so as to achieve small-angle fine-tuning of the position of the first drive member 8, that is, the first drive member 8 achieves fine-tuning of the corresponding manipulator, or the second drive member 9 adjusts the position of the first drive member 8 along the opposite direction of the manipulator's rotation, that is, the displacement strokes are offset each other, that is, the driving speed of the first drive member 8 to the manipulator is greatly reduced, and the manipulator swing end can achieve a swing of 10-15 mm / s, which greatly reduces the swinging speed, that is, the angle can be fine-tuned.

[0078] The end of the first cylinder 81 away from the first telescopic rod 82 is hinged to the second telescopic rod 92, which can more accurately and quickly adjust the position of the first driving member 8. The second driving member 9 is arranged in the horizontal direction, and the second driving member 9 drives the first driving member 8 to move in the horizontal direction, which is reliable in operation, can more stably support the corresponding manipulator, and can more accurately achieve angle fine-tuning when adjusting the position of the first driving member 8 in the reverse direction. The hinge position between the manipulator and the base 11 is lower than the position of the second driving member 9, which can make way for the first driving member 8 and the second driving member 9 to be arranged.

[0079] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A multifunctional tunnel operation vehicle, characterized in that: include: The body is used as a carrier for the components of the trolley; A main working arm, a first side working arm and a second side working arm are mounted on the vehicle body and can perform independent operations and parallel operations, wherein the first side working arm and the second side working arm are located on both sides of the main working arm; The front end of the main working arm is hinged to the main manipulator, the front end of the first side working arm is hinged to the first side manipulator, and the front end of the second side working arm is hinged to the second side manipulator; The main manipulator, the first side manipulator, and the second side manipulator are all hinged with a first driving member that drives the first driving member to pivot, the first driving member is connected to a second driving member that changes the position of the first driving member, and the second driving member is arranged at the front end of the corresponding working arm; The front ends of the main working arm, the first side working arm and the second side working arm are all equipped with a base through a small rotary mechanism, and the second driving member is arranged on the base; The second driving member includes a second cylinder body and a second telescopic rod slidably connected in the second cylinder body, the second cylinder body is fixedly connected to the base, and the end of the second telescopic rod is connected to the first driving member; The first driving member comprises a first cylinder and a first telescopic rod slidably connected in the first cylinder, and the first telescopic rod is hinged to the corresponding manipulator; The second telescopic rod is fixedly connected or hinged to the first cylinder body; The main manipulator includes a central manipulator with a first chuck on the top, the central manipulator includes an outer tube and an inner tube, the lower end of the outer tube is rotatably matched with the base, the first driving member is used to drive the outer tube to rotate, the inner tube is slidably matched in the outer tube, the upper end of the inner tube away from the base is exposed outside the outer tube, the first chuck is rotatably matched with the upper end of the inner tube, and power arms for abutting against the workpiece and pushing the workpiece to be lifted are respectively installed on both sides of the outer tube; The main working arm is hinged to the vehicle body, and is also provided with a third driving member for driving the main working arm to pivot in a vertical plane.

2. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: A working operation platform is arranged on the base.

3. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: The end of the first cylinder body away from the first telescopic rod is hinged to the second telescopic rod.

4. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: The base comprises a supporting frame, and the second cylinder body is fixedly connected in the supporting frame.

5. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: The second driving member is arranged along the horizontal direction.

6. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: The first side working arm and the second side working arm are respectively hinged on a large slewing mechanism mounted on the vehicle body to realize rotation in a horizontal plane, and the first side working arm and the second side working arm are respectively configured with a fourth driving member for driving them to pivot in a vertical plane.

7. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: A top bracket is arranged on the top of the power arm.

8. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: The ends of the first side manipulator and the second side manipulator are both hinged with a second chuck, and a first auxiliary driving mechanism is installed between the second chuck and the corresponding side manipulator to realize the up and down swinging of the second chuck; the first side manipulator and the second side manipulator each include a plurality of arm segments, and the plurality of arm segments are hinged and connected in series to form an arm body, and a second auxiliary driving mechanism is installed on the swinging direction side of the arm segment to realize the left and right swinging of the entire side manipulator.

9. The multifunctional tunnel operation vehicle according to claim 8, characterized in that: The second chuck includes a main chuck and a side bracket. One end of the side bracket is hinged together with the main chuck at the top of the arm body, and the other end of the side bracket is connected to the arm body through a first auxiliary driving mechanism. The main body of the side bracket is movably connected to the main body of the main chuck.

10. The multifunctional tunnel operation vehicle according to claim 1, characterized in that: The main working arm is also connected to the vehicle body through a pivot shaft, and a fifth driving member is also installed on the vehicle body. The driving end of the fifth driving member is also connected to the main working arm through a connecting frame to drive the main working arm to pivot in the horizontal direction.

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