Roadway shelving trolley

Abstract

The application provides a roadway frame shed trolley, and belongs to the roadway supporting field. The roadway frame shed trolley comprises an arm frame assembly and a mechanical arm assembly, a rotating mechanism is arranged between the arm frame assembly and the mechanical arm assembly, the rotating mechanism comprises a main rotating table installed at the front end of the arm frame assembly and an L-shaped arm connected with the output end of the main rotating table, the rotating center axis of the main rotating table extends horizontally along the front-back direction, and the mechanical arm assembly is installed at the end of the L-shaped arm away from the main rotating table. According to the application, the rotating mechanism is arranged between the arm frame assembly and the mechanical arm assembly, so that the mechanical arm assembly can rotate and complete the operation of grabbing the arch frame or the support, and the arch frame located at the top of the roadway and the support located at the two sides of the roadway can be conveniently erected and installed.

Description

Technical Field

[0001] This invention belongs to the field of tunnel support, and in particular relates to a tunnel canopy trolley. Background Technology

[0002] Tunnel support is a crucial step in mine tunneling. During tunneling, when encountering poor roof and sidewall conditions, or special geological structures such as developed roof cracks, scaffolding operations are necessary to prevent roof collapse using passive support. Support structures generally include arches at the top of the tunnel and supports on both sides of the tunnel that provide support to the arches. Traditional support methods are labor-intensive and inefficient, leading to the development of equipment specifically designed for tunnel support.

[0003] For example, Chinese invention patent application publication number CN116241303A, published on June 9, 2023, discloses an advance roadway support system for a longwall mining face, including a front end support device, a rear end support device, multiple intermediate supports, a front end robotic arm, a rear end robotic arm, a support transport vehicle, and a cableway. The front end robotic arm is mounted on the front end support device and includes a first adjustment part, a telescopic part, a second adjustment part, and a robotic arm connected in sequence. The first adjustment part is installed on the front end support device and is used to adjust the angle of the telescopic part. The second adjustment part is used to adjust the angle of the robotic arm, and the robotic arm is used to support the arch frame.

[0004] In the above technical solution, the first and second adjustment units can adjust the angle of the robot arm in two stages, facilitating its lifting and lowering to support the intermediate support for installation and improving installation accuracy. However, the robot arm in this solution cannot be rotated to face the ground to grasp the arch frame, requiring other equipment or workers to lift the arch frame and place it on the robot arm, making the operation cumbersome. Furthermore, the robot arm in this solution can only support the arch frame located at the top of the tunnel and cannot be rotated to face the sides of the tunnel for installation of supports located on either side. Summary of the Invention

[0005] The purpose of this invention is to provide a roadway support trolley to solve the technical problems in the prior art where the robotic arm of roadway support equipment is inconvenient to grasp the arch frame and has difficulty in installing supports on both sides of the roadway.

[0006] To achieve the above objectives, the technical solution of the tunnel canopy trolley provided by the present invention is as follows:

[0007] A tunnel canopy trolley includes a boom assembly and a robotic arm assembly. A slewing mechanism is provided between the boom assembly and the robotic arm assembly. The slewing mechanism includes a main slewing table installed at the front end of the boom assembly and an L-shaped arm connected to the output end of the main slewing table. The slewing center axis of the main slewing table extends horizontally in the front-rear direction. The robotic arm assembly is installed at the end of the L-shaped arm away from the main slewing table.

[0008] The beneficial effects are as follows: The above technical solution is a further improvement on the existing technology. In the above technical solution, the rotary mechanism can drive the L-shaped arm to rotate, thereby enabling the robotic arm assembly mounted on the L-shaped arm to face any direction within its rotation plane. When the robotic arm assembly faces the ground, it can actively grasp the arch or support located on the ground or carrier. Then, the robotic arm assembly can rotate to face the top or sides of the tunnel to erect and install the arch or support. Compared to the existing technology, the above technical solution can complete the grasping of the arch or support without the assistance of other equipment or operators, which can greatly improve construction efficiency. Furthermore, compared to the existing technology, the above technical solution offers more flexible operation during tunnel support construction, and is not limited to erecting and installing only arches located at the top of the tunnel.

[0009] As a further improvement, the L-shaped arm is hinged with a micro-swing hinge seat for mounting the robot arm assembly, and the L-shaped arm is also provided with a micro-swing drive device for driving the micro-swing hinge seat to swing.

[0010] The beneficial effects are: the above technical solution can make the micro-swing hinge seat swing through the micro-swing drive device, so that the robot arm assembly can swing, so as to make fine adjustment of the angle of the robot arm assembly, and so that the robot arm assembly can be adjusted to the tangential surface of the arch frame to be erected in the roadway, thereby achieving precise erection of the arch frame.

[0011] As a further improvement, the swing center axis of the micro-swing hinge seat is perpendicular to the rotation center axis of the main rotary table.

[0012] The beneficial effects are: the robotic arm assembly can swing and adjust in a direction perpendicular to its rotation direction, improving the flexibility of operation and the erection accuracy of the arch frame.

[0013] As a further improvement, the robotic arm assembly includes an auxiliary rotary table and a robotic arm body mounted on the output end of the auxiliary rotary table.

[0014] The beneficial effects are: the main body of the robot arm in the above technical solution can rotate under the drive of the auxiliary rotary table. On the one hand, it can adapt to the installation structure of more complex arches or supports and improve the installation accuracy; on the other hand, when gripping arches or supports on the ground or on a vehicle, the arches or supports may be placed in a messy manner, and the main body of the robot arm can conveniently grip the arches or supports by adaptively rotating.

[0015] As a further improvement, the boom assembly includes a telescopic boom and a first adjustment structure and a second adjustment structure respectively disposed at both ends of the telescopic boom. The first adjustment structure is used to adjust the angle of the telescopic boom, and the second adjustment structure is connected to the slewing mechanism and is used to adjust the angle of the robot assembly.

[0016] The beneficial effects are: by adjusting the first adjustment structure and the telescopic arm, the position of the robot assembly can be coarsely adjusted, and the angle and position of the robot assembly can be finely adjusted by using the second adjustment structure, thereby improving the flexibility of the canopy trolley in the roadway.

[0017] As a further improvement, the second adjustment structure includes a first hinge for hinged to the telescopic arm and a second hinge for hinged to the first hinge. The second hinge is connected to a rotary mechanism. The hinge axis connecting the first hinge and the second hinge and the hinge axis connecting the first hinge and the telescopic arm are perpendicular to each other, and one of the hinge axes is horizontal. A first drive device for driving the first hinge to swing is connected between the telescopic arm and the first hinge. A second drive device for driving the second hinge to swing is connected between the first hinge and the second hinge.

[0018] The beneficial effects are: in the above technical solution, one of the first hinge and the second hinge is used to realize pitch swing, and the other is used to realize lateral swing. This allows the second adjustment structure as a whole to realize pitch and lateral swing adjustment. Furthermore, the first drive device and the second drive device do not need to be installed using universal joints, but can be installed using ordinary hinge shafts.

[0019] As a further improvement, the first hinge includes two spaced-apart front connecting plates for hinged to the second hinge and two spaced-apart rear connecting plates for hinged to the telescopic arm. A front assembly space for inserting the second hinge is formed between the two front connecting plates, and a rear assembly space for inserting the telescopic arm is formed between the two rear connecting plates. The two rear connecting plates are perpendicular to and fixedly connected to the two front connecting plates. Both the front and rear connecting plates are provided with hinge holes for mounting the hinge shaft. An ear plate for hinged to the first drive device is fixedly provided on the outer side of one of the two front connecting plates. A box-shaped mounting base for mounting the second drive device is fixedly provided on the same side of both front connecting plates.

[0020] The beneficial effects are: the above technical solution facilitates the connection between the first hinge and the telescopic wall and the second hinge, and also facilitates the connection between the first hinge and the first drive device and the second drive device.

[0021] As a further improvement, the second hinge includes a central support body, one side of which is provided with a hinge sleeve for hinged with the first hinge, and the side of the central support body away from the hinge sleeve is formed with a circular side mounting portion for connecting with the main rotary table, and one side of the central support body is formed with a protrusion, the protrusion having a hinge hole for hinged with the second drive device.

[0022] The beneficial effects are: the above technical solution facilitates the connection between the second hinge and the first hinge and the main rotary table, and also facilitates the connection with the second drive device.

[0023] As a further improvement, a connecting body is fixedly provided on the upper or lower side of the central support body, and a connecting beam is fixedly installed at the end of the connecting body away from the central support body. At least one end of the connecting beam is provided with a work basket for carrying people.

[0024] The beneficial effect is that, in the above technical solution, the operator can enter the work basket and make the bottom platform inside the work basket level through the pitch adjustment in the second adjustment structure, thus ensuring the safety of the operator.

[0025] As a further improvement, at least one side of the second adjustment structure is provided with a work basket for carrying people, the work basket being connected to a first hinge or a second hinge.

[0026] The beneficial effect is that, in the above technical solution, the operator can enter the work basket and make the bottom platform inside the work basket level through the pitch adjustment in the second adjustment structure, thus ensuring the safety of the operator. Attached Figure Description

[0027] Figure 1 This is a side view of Embodiment 1 of the tunnel canopy trolley in this invention;

[0028] Figure 2 This is a top view of Embodiment 1 of the tunnel canopy trolley in this invention;

[0029] Figure 3 This is a side view of the boom assembly, slewing mechanism, and robotic arm assembly of Embodiment 1 of the tunnel canopy trolley in this invention;

[0030] Figure 4 This is a top view of the boom assembly, slewing mechanism, and robotic arm assembly of Embodiment 1 of the tunnel canopy trolley in this invention;

[0031] Figure 5This is a schematic diagram of the structure of the first hinged member in Embodiment 1 of the tunnel canopy trolley of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the second hinge member in Embodiment 1 of the tunnel canopy trolley of the present invention;

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Vehicle body; 11. Chassis; 12. Cable reel; 13. Cab; 2. Boom assembly; 21. Mounting seat; 22. First adjustment structure; 221. Longitudinal sway cylinder; 222. Lateral sway cylinder; 23. Telescopic boom; 24. Second adjustment structure; 241. First hinge; 2411. Front connecting plate; 2412. Rear connecting plate; 2413. Ear plate; 2414. Box-type mounting base; 242. Second hinge; 2421. Bottom mounting part; 2422. Side mounting part; 2423. Central support body; 2424. Hinge sleeve; 2425. Protrusion; 243. First drive device; 244. Second drive device; 3. Rotation mechanism; 31. Main rotary cylinder; 32. L-shaped arm; 33. Micro-swing hinge seat; 34. Micro-swing cylinder; 4. Work basket; 5. Robotic arm assembly; 51. Auxiliary rotary cylinder; 52. Robotic arm body. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] The present invention will be further described in detail below with reference to the embodiments.

[0037] Specific embodiment 1 of the tunnel canopy trolley provided by the present invention:

[0038] The tunnel canopy trolley has a slewing mechanism 3 between the boom assembly 2 and the robotic arm assembly 5, which enables the robotic arm assembly 5 to rotate and perform the operation of grabbing the arch frame or support. It also facilitates the erection and installation of the arch frame located at the top of the tunnel and the support located on both sides of the tunnel.

[0039] See appendix Figure 1 and attached Figure 2 A tunnel support trolley includes a vehicle body 1, a boom assembly 2, a slewing mechanism 3, a work basket 4, and a robotic arm assembly 5.

[0040] The vehicle body 1 includes a chassis 11 and an electrical system, a hydraulic system, a cable reel 12 and a cab 13 mounted on the chassis 11.

[0041] The boom assembly 2 includes a fixed base 21, a first adjustment structure 22, a telescopic boom 23, and a second adjustment structure 24.

[0042] The fixed base 21 is fixedly installed on the vehicle body 1. The telescopic arm 23 includes an inner tube and an outer tube that are nested and guided together. One end of the outer tube is connected to the fixed base 21 through a universal joint. The outer tube is provided with a telescopic drive device that drives the inner tube to move along its axial direction. In this embodiment, the telescopic drive device is a telescopic hydraulic cylinder.

[0043] See appendix Figure 3 and attached Figure 4 The first adjustment structure 22 includes a longitudinal swing cylinder 221 and a transverse swing cylinder 222. The cylinder bodies of both the longitudinal swing cylinder 221 and the transverse swing cylinder 222 are connected to the fixed base 21 via universal joints. The piston rod ends of both the longitudinal swing cylinder 221 and the transverse swing cylinder 222 are hinged to the outer tube. The longitudinal swing cylinder 221 is located below the telescopic arm 23 and is used to lift the telescopic arm 23. The transverse swing cylinder 222 is located on one side of the telescopic arm 23 in the horizontal direction and is used to drive the telescopic arm 23 to swing laterally.

[0044] The second adjustment structure 24 includes a first hinge 241 hinged to the inner tube end of the telescopic arm 23 and a second hinge 242 hinged to the first hinge 241. The hinge axis for connecting the first hinge 241 and the second hinge 242 and the hinge axis for connecting the first hinge 241 and the telescopic arm 23 are perpendicular to each other.

[0045] See appendix Figure 5 The first hinge 241 includes two spaced-apart front connecting plates 2411 and two spaced-apart rear connecting plates 2412. A front assembly space for inserting the second hinge 242 is formed between the two front connecting plates 2411, and a rear assembly space for inserting the telescopic wall is formed between the two rear connecting plates 2412. The two rear connecting plates 2412 are perpendicular to and fixedly connected to the two front connecting plates 2411. Both the front connecting plates 2411 and the rear connecting plates 2412 are provided with hinge holes for installing the hinge shaft. The axis of the hinge hole on the rear connecting plate 2412 is horizontal. The rear connecting plate 2412 is hinged to the telescopic arm 23, and the front connecting plate 2411 is hinged to the second hinge 242.

[0046] A first driving device 243 for driving the first hinge 241 to swing is connected between the telescopic arm 23 and the first hinge 241. A second driving device 244 for driving the second hinge 242 to swing is connected between the first hinge 241 and the second hinge 242. In this embodiment, both the first driving device 243 and the second driving device 244 are hydraulic cylinders. In other embodiments, the first driving device 243 and the second driving device 244 can also be electric actuators.

[0047] The cylinder of the first drive device 243 is hinged to the lower side of the inner tube of the telescopic arm 23. The lower surface of the front connecting plate 2411 on the lower side is fixedly provided with a lug plate 2413, and a hinge hole is also provided on the lug plate 2413. The piston rod end of the first drive device 243 is hinged to the lug plate 2413.

[0048] See appendix Figure 6 The second hinge member 242 includes a central support body 2423. One side of the central support body 2423 has a hinge sleeve 2424 for extending into the front assembly space and hinged to the first hinge member 241. The side of the central support body 2423 away from the hinge sleeve 2424 has a circular side mounting portion 2422 for connecting to the main rotary table. One side of the central support body 2423 has a protrusion 2425 with a hinge hole. A box-type mounting base 2414 is fixedly mounted on the same side of the two front connecting plates 2411. The cylinder end of the second drive device 244 is hinged to the box-type mounting base 2414, and the piston rod end of the second drive device 244 is hinged to the protrusion 2425 on the central support body 2423.

[0049] A connecting body is also fixedly installed on the lower side of the central support 2423, and the end of the connecting body away from the central support 2423 constitutes the bottom mounting part 2421. In this embodiment, there are two working baskets 4, which are respectively on both sides of the boom assembly 2. A connecting beam is provided between the two working baskets 4 and they are connected by the connecting beam. The connecting beam is fixedly installed on the bottom mounting part 2421 by bolts.

[0050] The rotary mechanism 3 includes a main rotary table and an L-shaped arm 32 connected to the output end of the main rotary table. The rotation axis of the main rotary table extends horizontally in the front-back direction, which in this embodiment refers to the extension direction of the tunnel. In this embodiment, the main rotary table is a main rotary cylinder 31, which is fixedly mounted on the side mounting portion 2422 of the second hinge member 242. The L-shaped arm 32 includes a horizontal portion and a vertical portion. The main rotary cylinder 31 can drive the L-shaped arm 32 to rotate around the central axis of its horizontal portion. A micro-swing hinge seat 33 is hinged to the end of the vertical portion of the L-shaped arm 32. A micro-swing drive device for driving the micro-swing hinge seat 33 to swing is provided on the L-shaped arm 32. In this embodiment, the micro-swing drive device is a micro-swing cylinder 34. The cylinder body of the micro-swing cylinder 34 is hinged to the vertical portion of the L-shaped arm 32, and the piston rod end of the micro-swing cylinder 34 is hinged to the micro-swing hinge seat 33. In this embodiment, the micro-swing cylinder 34 is located on the side of the vertical portion of the L-shaped boom 32 facing the boom assembly 2.

[0051] The robotic arm assembly 5 includes an auxiliary rotary table and a robotic arm body 52. ​​The robotic arm body 52 is connected to the output end of the auxiliary rotary table. In this embodiment, the auxiliary rotary table is an auxiliary rotary cylinder 51, which is mounted on the micro-swing hinge seat 33.

[0052] During operation, the first adjustment structure 22, assisted by the telescopic arm 23, performs coarse adjustments to the position of the robotic arm assembly 5. The second adjustment structure 24 performs fine adjustments to the angle and position of the robotic arm assembly 5. Simultaneously, the cooperation between the second adjustment structure 24 and the first adjustment structure 22 ensures that the internal platform of the work basket 4 remains level, facilitating operator work. The micro-swing cylinder 34 further adjusts the angle of the robotic arm assembly 5, positioning it on the tangential surface of the required arch frame location in the roadway, enabling precise arch frame installation.

[0053] The rotary mechanism 3 allows the robotic arm assembly 5 to rotate to face the ground, facilitating its gripping of arch frames on the ground or transport vehicles without requiring additional equipment or operator assistance, thus effectively improving construction efficiency. Furthermore, the auxiliary rotary table within the robotic arm assembly 5 can drive the main robotic arm body 52 to rotate, ensuring that even when arch frames are scattered, the main robotic arm body 52 can still flexibly grip them.

[0054] After the robotic arm assembly 5 grasps the arch frame, the rotary mechanism 3 can rotate the robotic arm assembly 5 180° to erect the arch frame on the top of the tunnel. After the robotic arm assembly 5 grasps the support, the rotary mechanism 3 drives the robotic arm assembly 5 to rotate 90°, which can then be used to erect the support, providing high operational flexibility.

[0055] Specific embodiment 2 of the tunnel canopy trolley provided by the present invention:

[0056] This embodiment provides another connection method between the robot arm assembly and the L-shaped arm. The difference from Embodiment 1 is that in this embodiment, the robot arm assembly is directly fixedly mounted on the L-shaped arm, rather than hinged to the L-shaped arm.

[0057] In this embodiment, the angle and position of the robot arm assembly are adjusted using only the first and second adjustment structures.

[0058] Specific embodiment 3 of the tunnel canopy trolley provided by the present invention:

[0059] This embodiment provides another installation form of the micro-swing cylinder. The difference from Embodiment 1 is that in this embodiment, the micro-swing cylinder is located on the side of the vertical part of the L-shaped arm away from the boom assembly. It can also further adjust the angle of the robot arm assembly so that the robot arm assembly is located on the tangential surface of the arch frame position required in the roadway.

[0060] Specific embodiment 4 of the tunnel canopy trolley provided by the present invention:

[0061] This embodiment provides another installation form of the micro-oscillating cylinder. The difference from Embodiment 1 is that in this embodiment, the micro-oscillating cylinder is located on one side of the vertical part of the L-shaped arm in the direction of rotation.

[0062] In this embodiment, the micro-swing cylinder adjusts the swing direction of the robot arm assembly differently than in Embodiment 1, but it still serves the same purpose of positioning the robot arm assembly on the tangential surface of the arch frame location required in the roadway.

[0063] Specific embodiment 5 of the tunnel canopy trolley provided by the present invention:

[0064] This embodiment provides another installation method for the micro-swing cylinder. The difference from Embodiment 1 is that in this embodiment, the micro-swing hinge seat and the L-shaped arm are connected by a universal hinge structure, and the micro-swing cylinder and the L-shaped arm are also connected by a universal hinge structure. There are two micro-swing cylinders, one located on one side of the vertical part of the L-shaped arm in the rotation direction, and the other located on the side of the vertical part of the L-shaped arm facing the boom assembly.

[0065] In this embodiment, the micro-swing hinge seat can swing in any direction under the joint control of two micro-swing cylinders, which can further improve the accuracy of adjustment and ensure that the robot arm assembly can be located on the tangential surface of the arch frame position required in the roadway.

[0066] Specific embodiment 6 of the tunnel canopy trolley provided by the present invention:

[0067] This embodiment provides another structural form of the robot arm assembly. The difference from Embodiment 1 is that in this embodiment, the robot arm assembly only includes the robot arm body, which is directly mounted on the L-shaped arm. The robot arm body cannot perform rotational movement.

[0068] Specific embodiment 7 of the tunnel canopy trolley provided by the present invention:

[0069] This embodiment provides another structural form of the tunnel canopy trolley. The difference from embodiment 1 is that no work basket is set in this embodiment, and the operator performs the work through other lifting equipment.

[0070] Specific embodiment 8 of the tunnel canopy trolley provided by the present invention:

[0071] This embodiment provides another structural form of the telescopic boom. The difference from Embodiment 1 is that the telescopic boom in this embodiment is a scissor telescopic boom. The scissor telescopic boom is existing technology and will not be described in detail here.

[0072] Specific embodiment 9 of the tunnel canopy trolley provided by the present invention:

[0073] This embodiment provides another structural form of the second adjustment structure. The difference from embodiment 1 is that the first hinge member is not provided in this embodiment, and the second hinge member is directly hinged to the telescopic arm in the form of a ball joint.

[0074] Specific embodiment 10 of the tunnel canopy trolley provided by the present invention:

[0075] This embodiment provides another structural form of the first adjustment structure. The difference from Embodiment 1 is that a universal hinge is provided between the telescopic arm and the fixed seat in this embodiment. The two sides of the universal hinge are respectively hinged to the telescopic arm and the fixed seat, and the universal hinge is perpendicular to the hinge axis of the two.

[0076] In this embodiment, the cylinder body of the longitudinal swing cylinder is hinged to the fixed base, the piston rod end of the longitudinal swing cylinder is hinged to the universal joint, and the longitudinal swing cylinder is located below the telescopic arm; the cylinder body of the transverse swing cylinder is hinged to the universal joint, the piston rod end of the transverse swing cylinder is hinged to the telescopic arm, and the transverse swing cylinder is located on one side of the horizontal direction of the telescopic arm.

[0077] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tunnel canopy trolley, comprising a boom assembly and a robotic arm assembly, characterized in that, A slewing mechanism is provided between the boom assembly and the robot arm assembly. The slewing mechanism includes a main rotary table mounted at the front end of the boom assembly and an L-shaped arm connected to the output end of the main rotary table. The rotation center axis of the main rotary table extends horizontally in the front-rear direction. The robot arm assembly is mounted at the end of the L-shaped arm away from the main rotary table. The boom assembly includes a telescopic arm and a first adjustment structure and a second adjustment structure respectively disposed at both ends of the telescopic arm. The first adjustment structure is used to adjust the angle of the telescopic arm, and the second adjustment structure is connected to the slewing mechanism and used to adjust the robot arm. The angle of the assembly; the second adjustment structure includes a first hinge for hinged to the telescopic arm and a second hinge for hinged to the first hinge, the second hinge being connected to the rotary mechanism, the hinge axis for connecting the first hinge and the second hinge and the hinge axis for connecting the first hinge and the telescopic arm being perpendicular to each other, and one of the hinge axes being horizontal, a first drive device for driving the first hinge to swing is connected between the telescopic arm and the first hinge, and a second drive device for driving the second hinge to swing is connected between the first hinge and the second hinge.

2. The tunnel canopy trolley according to claim 1, characterized in that, The L-shaped arm is hinged with a micro-swing hinge seat for mounting the robot arm assembly, and the L-shaped arm is also equipped with a micro-swing drive device for driving the micro-swing hinge seat to swing.

3. The tunnel canopy trolley according to claim 2, characterized in that, The swing center axis of the micro-swing hinge seat is perpendicular to the rotation center axis of the main rotary table.

4. The tunnel canopy trolley according to any one of claims 1-3, characterized in that, The robotic arm assembly includes an auxiliary rotary table and a robotic arm body installed at the output end of the auxiliary rotary table.

5. The tunnel canopy trolley according to any one of claims 1-3, characterized in that, The boom assembly also includes a fixed base, and the telescopic boom includes a nested and guided inner tube and an outer tube. One end of the outer tube is connected to the fixed base via a universal joint. The first adjustment structure includes a longitudinal swing cylinder. The cylinder bodies of the longitudinal swing cylinder and the lateral swing cylinder are both connected to the fixed base via universal joints, and the piston rod ends of the longitudinal swing cylinder and the lateral swing cylinder are both hinged to the outer tube.

6. The tunnel canopy trolley according to claim 1, characterized in that, The L-shaped arm is universally hinged with a micro-swing hinge seat, and the L-shaped arm is also universally hinged with a micro-swing drive device that drives the micro-swing hinge seat to swing.

7. The tunnel canopy trolley according to claim 1, characterized in that, The first hinge includes two spaced-apart front connecting plates for hinged to the second hinge and two spaced-apart rear connecting plates for hinged to the telescopic arm. A front assembly space for inserting the second hinge is formed between the two front connecting plates, and a rear assembly space for inserting the telescopic arm is formed between the two rear connecting plates. The two rear connecting plates are perpendicular to and fixedly connected to the two front connecting plates. Both the front and rear connecting plates have hinge holes for mounting the hinge shaft. An ear plate for hinged to the first drive device is fixedly provided on the outer side of one of the two front connecting plates. A box-shaped mounting base for mounting the second drive device is fixedly provided on the same side of both front connecting plates.

8. The tunnel canopy trolley according to claim 1, characterized in that, The second hinge includes a central support body. A hinge sleeve for hinged to the first hinge is provided on one side of the central support body. A circular side mounting part for connecting to the main rotary table is formed on the side of the central support body away from the hinge sleeve. A protrusion is formed on one side of the central support body, and a hinge hole for hinged to the second drive device is provided on the protrusion.

9. The tunnel canopy trolley according to claim 8, characterized in that, A connecting body is also fixedly installed on the upper or lower side of the central support body. A connecting beam is fixedly installed at the end of the connecting body away from the central support body, and a work basket for carrying people is provided at least one end of the connecting beam.

10. The tunnel canopy trolley according to claim 1, characterized in that, The second adjustment structure has a work basket for carrying people on at least one side, and the work basket is connected to the first hinge or the second hinge.

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