A monorail gantry robot

Abstract

The application provides a single-track hanging shed robot, and belongs to the field of roadway support. The single-track hanging shed robot comprises a body, a walking unit and a shed unit. The shed unit comprises at least one main arm. The main arm comprises a main large arm and a main manipulator. At least one rotary arm is arranged in series between the main manipulator and the main large arm. Both ends of the rotary arm are provided with rotary driving devices for driving the rotary arm or components adjacent to the rotary arm to rotate. The rotary center axes of the two rotary driving devices on the same rotary arm are perpendicular to each other. The application can solve the technical problems of the prior art, i.e. the difficulty in carrying the mechanical equipment to carry the steel and the inconvenience in assisting the erection of the shed leg due to the small space beside and above the tunneling machine in the low roadway.

Description

Technical Field

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

[0002] When constructing scaffolding structures underground in coal mines, the steel sections used for the scaffolding need to be transported to the new cross-section of the tunnel before the scaffolding construction can proceed. To reduce the labor intensity of construction workers and improve construction efficiency, specialized equipment for scaffolding structures has emerged on the market.

[0003] For example, Chinese invention patent application CN112125152A, published on December 25, 2020, discloses a monorail suspended canopy machine, including a drive assembly, a carrying trolley, a track, and a tie rod. The drive assembly is movable and suspended on one side of the track via the carrying trolley, and a canopy-erecting mechanism is provided on the other side of the track. The canopy-erecting mechanism is movable and suspended on the track via the carrying trolley, and is integrated with the drive assembly via the tie rod. The canopy-erecting mechanism includes a canopy frame, which is connected to the drive assembly via the tie rod. Upper swing arms are movably connected to both sides of the canopy frame, and lower swing arms are movably connected to the bottom surface of the canopy frame. A lifting cylinder is movably connected between the upper side of each upper swing arm and the bottom surface of the canopy frame, and a support beam is movably connected between the bottom ends of the two upper swing arms. This invention, through its canopy-erecting mechanism, can reduce the labor intensity of workers, improve efficiency and safety, facilitate installation, and ensure quality.

[0004] The monorail overhead crane described above can effectively utilize the space above the tunnel roof, avoid ground obstacles, and quickly transport the steel sections used for canopy erection to the new section, while also assisting construction workers in canopy erection. However, for low-ceilinged tunnels, there is insufficient space above the tunneling machine to install the monorail overhead crane. To use the monorail overhead crane in low-ceilinged tunnels, its track needs to be offset within the tunnel, and the tunneling machine must be parked on one side of the tunnel to allow it to pass. However, the canopy erection mechanism of the monorail overhead crane can only swing in a pitching motion. When carrying the steel sections for canopy erection, the steel sections lie horizontally in the tunnel, preventing them from passing the tunneling machine smoothly. Furthermore, the monorail overhead crane can only erect the roof, not the legs, which still require manual erection by construction workers, affecting construction efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a monorail hanging canopy robot to solve the technical problems in the prior art, which are that it is difficult to use mechanical equipment to carry steel sections and pass the tunneling machine when it is in low tunnels due to the limited space on the side and above the tunneling machine, and it is also inconvenient to assist in the erection of canopy legs.

[0006] To achieve the above objectives, the technical solution of the monorail suspended canopy robot provided by this invention is as follows:

[0007] A monorail hoisting robot includes a body, a walking unit for cooperating with a track in a tunnel, and a hoisting unit for assisting in hoisting operations. The hoisting unit includes at least one main arm, which includes a main boom and a main manipulator. At least one rotary arm is connected in series between the main manipulator and the main boom. Both ends of the rotary arm are provided with rotary drive devices for driving the rotary arm or a component adjacent to the rotary arm to rotate, and the rotation center axes of the two rotary drive devices on the same rotary arm are perpendicular to each other.

[0008] The beneficial effects are as follows: The above technical solution is a further improvement on the existing technology. In the above technical solution, at least two rotary drive devices enable the robotic arm to carry the steel section and rotate it in at least two mutually perpendicular planes. This allows the steel section to be rotated to a position where its length direction is parallel to the extension direction of the tunnel, facilitating the monorail scaffolding robot's carrying of the steel section and its passing over the tunneling machine. Furthermore, it allows the steel section to be rotated to a vertical position, facilitating the use of the monorail scaffolding robot to assist in the erection of the tunnel legs, reducing the labor intensity of construction workers, and improving construction efficiency.

[0009] As a further improvement, at least two rotary arms are provided.

[0010] The beneficial effects are: the above technical solution allows the main boom to have more degrees of freedom, making it easier to grab the steel section and flexibly avoid obstacles during the transfer of the steel section. In particular, for arched steel sections, it can flexibly install the steel section into place during the erection process.

[0011] As a further improvement, a single rotary drive is shared between two adjacent rotary arms.

[0012] The beneficial effects are: the above technical solution can simplify the connection structure between the slewing arms and facilitate production and manufacturing.

[0013] As a further improvement, the rotary arm includes a first rotary arm with a B-type structure and a second rotary arm with an L-type structure. A first rotary drive device with a vertical rotary center axis is provided between the first rotary arm and the main arm. A second rotary drive device with a horizontal rotary center axis is provided between the first rotary arm and the second rotary arm. A third rotary drive device is provided between the second rotary arm and the main manipulator.

[0014] The beneficial effects are: the above technical solution can simplify the structure of the slewing arm, make the main arm more compact, and save space.

[0015] As a further improvement, the main boom has a pickup station, a material-carrying travel station, a canopy leg installation station, and a top beam installation station. The rotation center axis of the third rotary drive device of the pickup station and the material-carrying travel station is vertical and the robot arm is pointing downwards. The rotation center axis of the third rotary drive device of the top beam installation station is vertical and the main robot arm is pointing upwards. The rotation center axis of the third rotary drive device of the canopy leg installation station is horizontal and is aligned with the width direction of the roadway.

[0016] The beneficial effect is that the above technical solution enables the main boom to have more usage states, covering all steps of the canopy construction.

[0017] As a further improvement, the scaffolding unit also includes an auxiliary arm, which includes an auxiliary main arm, an auxiliary swing arm, and an auxiliary manipulator. An auxiliary swing drive device for driving the auxiliary swing arm to pitch and swing is provided between the auxiliary swing arm and the auxiliary main arm. The main arm also has a handover station for the main manipulator and the auxiliary manipulator to hinge to the top beam. At the handover station, the rotation center axis of the third rotary drive device is vertical and the main manipulator is facing upward. The length of the third rotary drive device is sufficient to allow the main manipulator and the auxiliary manipulator to be aligned.

[0018] The beneficial effect is that the above technical solution can use an auxiliary arm to assist in the installation of the top beam when there is no front extension beam, thereby improving the convenience and applicability of use.

[0019] As a further improvement, the main arm is provided with at least two.

[0020] The beneficial effect is that the two main arms in the above technical solution can simultaneously grab the left and right canopy legs, enabling the left and right canopy legs to be installed at the same time, thus improving installation efficiency.

[0021] As a further improvement, the canopy unit also includes an auxiliary arm, which includes an auxiliary upper arm, an auxiliary swing arm, and an auxiliary manipulator. An auxiliary swing drive device for driving the auxiliary swing arm to pitch and swing is provided between the auxiliary swing arm and the auxiliary upper arm.

[0022] The beneficial effects are: the auxiliary arm structure in the above technical solution is simple, and when there is no front extension beam to assist in supporting the top beam, the auxiliary arm can play the role of lifting the top beam, thus facilitating the installation of the top beam.

[0023] As a further improvement, the walking unit includes at least one set of suspension structures, which include two short balance arms and a long balance arm located below the short balance arms for connection with the fuselage. The short balance arms are provided with a carrying trolley for guiding and cooperating with the guide rail. The front and rear parts of the long balance arm are respectively hinged to the two short balance arms so that the long balance arm can rotate horizontally relative to the short balance arms.

[0024] The beneficial effect is that, in the above technical solution, when the guide rail has an arc-shaped structure, the two short balance arms can rotate relative to the long balance arm, which facilitates the monorail hanging shed robot to pass through the curve smoothly and improves the applicability of the monorail hanging shed robot.

[0025] As a further improvement, a cross shaft is provided between the short balance arm and the long balance arm. The upper end of the cross shaft is hinged to the short balance arm through a horizontal hinge shaft, and the lower end of the cross shaft is rotatably engaged with the long balance arm.

[0026] The beneficial effects are: the lower end of the cross shaft rotates in conjunction with the long balance arm, allowing the short balance arm to rotate horizontally relative to the long balance arm, thus facilitating the smooth passage of the monorail hanging robot through curves. Furthermore, the upper end of the cross shaft is hinged to the short balance arm via a hinge axis, enabling the short balance arm to pitch and swing relative to the cross shaft, allowing the monorail hanging robot to pass smoothly even when the guide rail experiences ups and downs. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the monorail hanging canopy robot in this invention;

[0028] Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the monorail hanging canopy robot in this invention;

[0029] Figure 3 This is a schematic diagram of the main arm of Embodiment 1 of the monorail hanging canopy robot of the present invention;

[0030] Figure 4 This is a schematic diagram of the auxiliary arm of Embodiment 1 of the monorail hanging canopy robot in this invention;

[0031] Figure 5 This is a schematic diagram of the suspension structure and body of the monorail hanging canopy robot of embodiment 1 in this invention;

[0032] Figure 6 This is a schematic diagram of the suspension structure of Embodiment 1 of the monorail hanging canopy robot in this invention;

[0033] Figure 7 This is a state diagram of the monorail suspended canopy robot with the assistance of the forward-reaching beam in Embodiment 1 of the canopy-building method of the present invention;

[0034] Figure 8 This is a diagram showing the state of the monorail suspended canopy robot in Embodiment 1 of the present invention when it is erecting the top beam and the right canopy leg without the assistance of the front extension beam;

[0035] Figure 9 This is a diagram showing the state of the monorail suspended canopy robot in Embodiment 1 of the present invention when it is erecting the top beam and the left canopy leg without the assistance of the front extension beam;

[0036] Figure 10 This is a diagram showing the state of the main arm and auxiliary arm of the monorail suspended canopy robot connecting to the top beam without the assistance of the front extension beam in Embodiment 1 of the present invention.

[0037] Figure 11 This is a schematic diagram of the overall structure of Embodiment 4 of the monorail hanging canopy robot in this invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Frame unit; 11. Main boom; 111. Main boom; 1111. Outer cylinder; 1112. Inner cylinder; 1113. Adjustment platform; 1114. Adjustment cylinder; 112. Main manipulator; 113. Rotary base; 114. First rotary arm; 115. Second rotary arm; 116. First rotary drive device; 117. Second rotary drive device; 118. Third rotary drive device; 12. Auxiliary arm; 121. Auxiliary boom; 122. Auxiliary swing arm; 123. Auxiliary swing drive cylinder; 124. Auxiliary adjustment cylinder; 125. Auxiliary manipulator; 2. Cable trolley; 3. Body; 31. Front frame; 32. Rear frame; 33. Connecting frame; 34. Bracket; 35. Telescopic outrigger; 36. Support shoe; 4. Hydraulic system; 5. Electrical system; 6. Walking unit; 61. Suspension structure; 611. Carrying trolley; 612. Short balance arm; 613. Cross shaft; 614. Long balance arm; 62. Drive structure. Detailed Implementation

[0040] 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.

[0041] The present invention will be further described in detail below with reference to the embodiments.

[0042] Specific embodiment 1 of the monorail hanging canopy robot provided by the present invention:

[0043] This monorail hanging canopy robot, by setting up a first rotary drive device, a second rotary drive device, and a third rotary drive device, enables the main manipulator to have a high degree of freedom, thereby facilitating the adjustment of the posture and position of the steel section, so that the monorail hanging canopy robot can pass the tunneling machine in the roadway while carrying the steel section.

[0044] See appendix Figure 1 and attached Figure 2A monorail suspended canopy robot includes a body 3, a walking unit 6, a canopy-raising unit 1, a hydraulic system 4, and an electrical system 5.

[0045] The traveling unit 6 is used to cooperate with the track erected on the top of the tunnel to carry the body 3 and the canopy unit 1 to move back and forth in the tunnel.

[0046] See appendix Figure 5 and attached Figure 6 The walking unit 6 includes two sets of suspension structures 61 and two sets of drive structures 62.

[0047] The suspension structure 61 includes four support trolleys 611 arranged along the extension direction of the track. A short balance arm 612 is provided between each of the first two and last two support trolleys 611. The two ends of each short balance arm 612 are hinged to the corresponding two support trolleys 611 via pins, allowing the short balance arm 612 to rotate in the horizontal plane. A cross shaft 613 is hinged to the middle of each short balance arm 612 via a pin, and this hinge shaft is horizontal. A long balance arm 614 is provided below each support trolley 611. The long balance arm 614 has a frame-like structure, and its two ends are rotatably engaged with the lower ends of the two cross shafts 613, preventing it from disengaging along the axial direction of the cross shafts 613, thus allowing the long balance arm 614 to rotate relative to the cross shafts 613 in the horizontal plane.

[0048] The fuselage 3 includes a front frame 31, a rear frame 32, and a connecting frame 33 for connecting the front frame 31 and the rear frame 32. The connecting frame 33 is connected to the front frame 31 and the rear frame 32 via two front and rear pins, allowing the front frame 31 to swing relative to the rear frame 32 in the horizontal plane. The front frame 31 and the rear frame 32 are respectively hinged to two long balance arms 614 in two sets of suspension structures 61 via pins.

[0049] The fuselage 3 also includes a bracket 34, which is fixedly connected to the rear frame 32. The hydraulic system 4 and the electrical system 5 are mounted on the bracket 34.

[0050] The drive structure 62 is located behind the bracket 34. The drive structure 62 includes a drive frame that can guide and cooperate with the guide rail. Two friction wheels are rotatably mounted on the drive frame, located on both sides of the guide rail and clamping it. The drive frame also has a drive device for driving the friction wheels to rotate. The drive device can be an electric motor or a hydraulic motor. The drive structure 62 is prior art and will not be described in detail here. A connecting member is provided between the drive frame of the drive structure 62 located at the front and the bracket 34. The connecting member is hinged to the corresponding drive frame and bracket 34 via two front and rear pins. A connecting rod is provided between the two drive frames, and the connecting rod is hinged to the two drive frames via two front and rear pins.

[0051] Multiple cable trolleys 2, which are guided by the guide rail, are provided behind the drive structure 62 for suspending cables.

[0052] The long balance arm 614 and the short balance arm 612 are connected by a cross shaft 613, allowing the long balance arm 614 to rotate horizontally relative to the short balance arm 612. The connecting frame 33 is connected to the front frame 31 and the rear frame 32 via two pins, allowing the front frame 31 to swing horizontally relative to the rear frame 32. Therefore, in use, the walking unit 6 and the body 3 in this embodiment have high flexibility and can travel stably in curves. Furthermore, in this embodiment, the drive structure 62 is connected to the body 3 in series, thereby enhancing the driving force and improving the carrying capacity and climbing ability of the monorail hanging scaffold robot.

[0053] Both the front frame 31 and the rear frame 32 are equipped with support systems. These systems include telescopic outriggers 35 located on either side of the front or rear frame 32. Support boots 36 are mounted on the upper ends of the telescopic outriggers 35. The support boots 36 are long rod-shaped structures, and their length is greater than the distance between two adjacent canopy sections within the tunnel. This ensures that, at any position, the extended telescopic outriggers 35 can press the support boots 36 onto at least two canopy sections, guaranteeing the stability of the machine body 3 and preventing it from swaying left and right. When the monorail suspended canopy robot is moving, the telescopic outriggers 35 are retracted; when the robot is performing canopy erection work, the telescopic outriggers 35 are extended. The thrust of the hydraulic cylinders controlling the telescopic outriggers 35 can be adjusted according to actual usage needs to ensure the stability of the machine body 3 while preventing the suspension structure 61 from detaching from the guide rail.

[0054] The canopy unit 1 includes a main arm 11 and an auxiliary arm 12, wherein the auxiliary arm 12 is located above the main arm 11.

[0055] See appendix Figure 3 The main arm 11 includes a main boom 111 and a main robotic arm 112. Two rotary arms are connected in series between the main boom 111 and the robotic arm.

[0056] A swing drive structure 62 for driving the main boom 111 to pitch and swing left and right is provided between the main boom 111 and the fuselage 3. The swing drive structure 62 includes a swivel base 113 that rotates with the front frame 31 and has a vertical rotation center axis. The fuselage 3 is also provided with a yaw drive device for driving the swivel base 113 to rotate. The main boom 111 is hinged to the swivel base 113 and the hinge axis is horizontal. The swivel base 113 is provided with a pitch drive device for driving the main boom 111 to pitch. In this embodiment, both the yaw drive device and the pitch drive device are hydraulic cylinders. In other embodiments, they can also be pneumatic cylinders or electric actuators.

[0057] The main boom 111 has a rectangular cross-sectional shape and is a telescopic structure, including an outer cylinder 1111 and an inner cylinder 1112 sleeved inside the outer cylinder 1111. A hydraulic cylinder is installed inside the outer cylinder 1111 to drive the inner cylinder 1112 to extend or retract the outer cylinder 1111. The telescopic structure of the main boom 111 is existing technology and will not be described in detail here. The main boom 111 also includes an adjustment platform 1113 hinged to the end of the inner cylinder 1112. An adjustment cylinder 1114 is hinged to the bottom of the inner cylinder 1112, and the piston rod end of the adjustment cylinder 1114 is hinged to the adjustment platform 1113 to adjust the pitch of the adjustment platform 1113.

[0058] The two rotary arms are a first rotary arm 114 of type B and a second rotary arm 115 of type L. The first rotary arm 114 has a first rotary drive device 116 and a second rotary drive device 117 at both ends. The first rotary arm 114 is connected to the adjustment platform 1113 via the first rotary drive device 116, which drives the first rotary arm 114 to rotate. The first rotary arm 114 is connected to the second rotary arm 115 via the first rotary drive device 116, and the second rotary drive device 117 drives the second rotary arm 115 to rotate. A third rotary drive device 118 is located at the end of the second rotary arm 115 furthest from the first rotary arm 114, and the second rotary arm 115 is connected to the main robot arm 112 via the third rotary drive device 118.

[0059] The rotation center axes of the first rotary drive device 116 and the second rotary drive device 117 are perpendicular to each other but do not intersect. The rotation center axes of the second rotary drive device 117 and the third rotary drive device 118 are perpendicular to each other and intersect. The first rotary drive device 116 and the second rotary drive device 117 are speed reducers, and the third rotary drive device 118 is a rotary cylinder. In other embodiments, the first rotary drive device 116, the second rotary drive device 117, and the third rotary drive device 118 may all be rotary cylinders.

[0060] The main boom 11 has a pickup station, a material-carrying travel station, a canopy leg installation station, and a top beam installation station. The rotation center axis of the third rotary drive device 118 of the pickup station and the material-carrying travel station is vertical and the manipulator is pointing downwards. The rotation center axis of the third rotary drive device 118 of the top beam installation station is vertical and the main manipulator 112 is pointing upwards. The rotation center axis of the third rotary drive device 118 of the canopy leg installation station is horizontal and in the same direction as the width of the roadway.

[0061] See appendix Figure 2After the main boom 111 first picks up the steel section for the canopy at the picking station, it is adjusted by the rotation of the third rotary drive device 118 to position the main boom 111 in the material-carrying travel position. At this time, the length direction of the steel section is in the same direction as the extension direction of the tunnel, so as to facilitate the passing of the monorail canopy robot carrying the material with the tunneling machine. When there is a forward extension beam for assistance, the main boom 111 can be used to directly install the top beam. In this case, the main boom 111 is in the top beam installation position. See Appendix. Figure 7 See appendix. Figure 8 and attached Figure 9 When the main boom 11 is located in the canopy leg installation position, it can assist in the installation of the left and right canopy legs.

[0062] The first slewing boom 114 and the second slewing boom 115 allow the posture of the steel section to be adjusted arbitrarily. In addition, since the main boom 111 can swing in both pitch and lateral directions and can extend and retract, and there is also an adjustment platform 1113 on the main boom 111 that can adjust the pitch, the position of the steel section can also be flexibly adjusted to avoid various obstacles in the tunnel.

[0063] See appendix Figure 4 The auxiliary arm 12 includes an auxiliary upper arm 121, an auxiliary swing arm 122, and an auxiliary robotic arm 125.

[0064] The auxiliary boom 121 is fixedly mounted on the front frame 31 by bolts. The auxiliary boom 121 is also a telescopic structure, and the telescopic structure of the auxiliary boom 121 is similar to that of the main boom 111. The difference is that the hydraulic cylinder used to drive the extension and retraction of the auxiliary boom 121 is located on the outside of the auxiliary boom 121.

[0065] The auxiliary swing arm 122 is hinged to the auxiliary boom 121. The auxiliary boom 121 is also provided with an auxiliary swing drive cylinder 123 for driving the auxiliary swing arm 122 to pitch and swing. The cylinder body of the auxiliary swing drive cylinder 123 is hinged to the auxiliary boom 121, and the piston rod end is hinged to the auxiliary swing arm 122.

[0066] The auxiliary manipulator 125 is hinged to the auxiliary swing arm 122, and the auxiliary swing arm 122 is also hinged to an auxiliary adjusting cylinder 1114 for controlling the left and right tilting and swinging of the auxiliary manipulator 125. The piston rod end of the auxiliary adjusting cylinder 1114 is hinged to the auxiliary manipulator 125.

[0067] Without the front extension beam, an auxiliary boom 12 needs to be installed. The main boom 11 transfers the support of the top beam to the auxiliary boom 12 for support. See Appendix. Figure 10The main arm 11 also has a handover station for the main manipulator 112 and the auxiliary manipulator 125 to articulate the top beam. When handover station is in place, the rotation center axis of the third rotary drive device 118 is vertical and the main manipulator 112 is facing upward. The length of the third rotary drive device 118 meets the requirement that the main manipulator 112 and the auxiliary manipulator 125 are aligned.

[0068] The working process of this monorail suspended canopy robot is as follows:

[0069] The tunneling machine enters the tunnel to carry out tunneling operations. During the tunneling process, the machine uses the excavated material to build a working platform of appropriate height and compacts it. The width of the working platform is the same as the width of the tunnel. After tunneling a certain distance, the tunneling machine retreats to the new tunnel face and stops on one side of the tunnel, leaving a material passage between the tunneling machine and the other side of the tunnel.

[0070] Construction workers can stand on the work platform to hang netting and install backboards on the top of the tunnel. The work platform provides sufficient working space for construction workers, who can carry out the above operations without the need for climbing tools, and can effectively ensure the safety of construction workers.

[0071] Then, a guide rail sufficient for construction to guide the monorail gantry robot is erected forward 31, and a vehicle stopper is installed at the front of the guide rail.

[0072] The monorail-mounted scaffolding robot picks up the steel section for scaffolding from behind the tunneling machine, positioning its main boom 11 at the pick-up station. Then, it positions the main boom 11 at the material-carrying travel station to adjust the steel section's posture, ensuring its length is aligned with the tunnel's extension direction. The monorail-mounted scaffolding robot then carries the steel section through the material passage to the front of the tunneling machine, readjusting its posture and position to reach the predetermined installation location, thus assisting construction personnel in installing the steel section.

[0073] After the new cross-section of the tunnel is completed, the monorail crane robot returns to the rear of the tunneling machine, and the tunneling machine moves forward to continue the tunneling operation, repeating the above process.

[0074] In this embodiment, the tunnel cross-section is trapezoidal, therefore each section of the tunnel frame includes a top beam and left and right legs. During the installation of the top beam, the monorail-mounted tunnel frame robot carries the top beam and left and right legs through the material passage to the front of the tunneling machine, positioning the main boom 11 at the top beam installation position and placing the top beam above the forward extension beam, which provides auxiliary support for the top beam. Afterwards, the main boom 11 of the monorail-mounted tunnel frame robot can grasp the left and right legs and adjust them to the leg installation position, placing either the left or right leg in a suitable location. At this point, the construction personnel can adjust and secure it.

[0075] When there is no front extension beam for assistance, an auxiliary arm 12 can be installed. When erecting the top beam, the main arm 11 picks up the top beam from the ground and adjusts it to the handover position, then hands the top beam over to the auxiliary manipulator 125 on the auxiliary arm 12. After the auxiliary manipulator 125 adjusts the top beam to the appropriate position, the main arm 11 of the monorail scaffolding robot can also grab the left or right scaffolding leg, so that construction personnel can fix and install the top beam and the left or right scaffolding leg. The cooperation between the main arm 11 and the auxiliary arm 12 can effectively improve the scaffolding efficiency.

[0076] When installing the left and right canopy legs, the tunneling machine can remove the working platform to leave enough space for the installation of the left and right canopy legs.

[0077] Specific embodiment 2 of the monorail hanging canopy robot provided by the present invention:

[0078] This embodiment provides another structure for the rotary arm. The difference from Embodiment 1 is that only one rotary arm is provided in this embodiment. Specifically, a second rotary arm and a third rotary drive device are not provided in this embodiment; the main manipulator is connected to the second rotary drive device. In this embodiment, both the first and second rotary drive devices are rotary cylinders.

[0079] In use, after the main boom grabs the steel section used for the canopy, it can rotate the steel section horizontally so that the length direction of the steel section is in the same direction as the extension direction of the roadway, so as to pass through narrow places. In addition, it can also rotate the steel section to an upright position to facilitate installation in various positions. Therefore, this embodiment can also meet the requirements of passing and installation.

[0080] Specific embodiment 3 of the monorail hanging canopy robot provided by the present invention:

[0081] This embodiment provides another structure for the slewing arm. The difference from Embodiment 1 is that the rotation center axes of the first slewing drive device and the second slewing drive device at both ends of the first slewing arm also intersect in this embodiment.

[0082] Specific embodiment 4 of the monorail hanging canopy robot provided by the present invention:

[0083] This embodiment provides another configuration of the main arm, which differs from Embodiment 1 in that, see Appendix 1. Figure 11 In this embodiment, there are two main arms, which are distributed left and right.

[0084] In this embodiment, the two main arms can respectively grab the left and right canopy legs, thereby installing the left and right canopy legs simultaneously, which can effectively improve the efficiency of canopy erection.

[0085] Specific embodiment 5 of the monorail hanging canopy robot provided by the present invention:

[0086] This embodiment provides another configuration of the main boom. The difference from Embodiment 1 is that this embodiment has two main booms, positioned one in front of the other. The rear main boom does not have a main robotic arm; instead, it is equipped with a work basket to carry construction workers.

[0087] Specific embodiment 6 of the monorail hanging canopy robot provided by the present invention:

[0088] This embodiment provides another configuration of the main boom. The difference from Embodiment 1 is that this embodiment has three main booms: two are located at the front of the front frame and arranged laterally, and the third is located behind the first two. The rear main boom does not have a main robotic arm; instead, it is equipped with a work basket to carry construction workers.

[0089] Specific embodiment 7 of the monorail hanging canopy robot provided by the present invention:

[0090] This embodiment provides another structure for the main boom. The difference from Embodiment 1 is that the main boom in this embodiment is directly fixed on the front frame. The second slewing arm in this embodiment is longer. Under the drive of the second slewing drive device, the end of the second slewing arm away from the second slewing drive device rotates downward and reaches the ground. Then, the main manipulator grabs the steel profiles used for the canopy.

[0091] Specific embodiment 8 of the monorail hanging canopy robot provided by the present invention:

[0092] This embodiment provides another structure for the main boom. The difference from Embodiment 1 is that in this embodiment, both the first and second slewing arms are L-shaped structures.

[0093] Specific embodiment 9 of the monorail hanging canopy robot provided by the present invention:

[0094] This embodiment provides another structure for the main boom. The difference from Embodiment 1 is that in this embodiment, the rotation center axis of the first rotation drive device is horizontal, while the second and third rotation center axes have two states, horizontal and vertical, depending on the usage state.

[0095] Specific embodiment 10 of the monorail hanging canopy robot provided by the present invention:

[0096] This embodiment provides another structure for the main arm. The difference from Embodiment 1 is that this embodiment also includes a third rotary arm and a fourth rotary drive device. One end of the third rotary arm is connected to the second rotary arm through the third rotary drive device, and the main manipulator is connected to the end of the third rotary arm away from the second rotary arm through the fourth rotary drive device.

[0097] Specific embodiment 11 of the monorail hanging canopy robot provided by the present invention:

[0098] This embodiment provides another structure for the main arm. The difference from Embodiment 1 is that, in this embodiment, a fifth rotary drive device is provided at the end of the second rotary arm away from the main manipulator. A connecting rod is provided between the fifth rotary drive device and the second rotary drive device, and the two ends of the connecting rod are respectively connected to the second rotary drive device and the fifth rotary drive device.

[0099] Specific embodiment 12 of the monorail hanging canopy robot provided by the present invention:

[0100] This embodiment provides another structure for the swing drive structure. The difference from Embodiment 1 is that the swing drive structure in this embodiment includes a universal joint, and the main boom and the front frame are connected through the universal joint. The cylinder bodies of the hydraulic cylinders used to drive the pitch and lateral swing of the main boom are universally hinged to the front frame, and the piston rods are universally hinged to the main boom.

[0101] Specific embodiment 13 of the monorail hanging canopy robot provided by the present invention:

[0102] The difference from Embodiment 1 is that no auxiliary arm is provided in this embodiment.

[0103] Specific embodiment 14 of the monorail hanging canopy robot provided by the present invention:

[0104] This embodiment provides another structure for the walking unit. The difference from Embodiment 1 is that the suspension structure in this embodiment only includes a carrying trolley, which is directly and fixedly connected to the front frame and the rear frame.

[0105] Specific embodiment 15 of the monorail hanging canopy robot provided by the present invention:

[0106] This embodiment provides another structure for the walking unit. The difference from Embodiment 1 is that in this embodiment, only one suspension structure is set, and no connecting frame is set between the front frame and the rear frame. The front frame and the rear frame are directly fixedly connected, and the front frame and the rear frame are simultaneously fixedly connected to the long balance arm of the suspension structure.

[0107] Specific embodiment 16 of the monorail hanging canopy robot provided by the present invention:

[0108] This embodiment provides another structure for the walking unit. The difference from Embodiment 1 is that in this embodiment, a suspension hinge shaft is provided between the long balance arm and the corresponding short balance arm. The upper and lower ends of the suspension hinge shaft are rotatably engaged with the short balance arm and the long balance arm, respectively, and cannot be axially disengaged.

[0109] 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 monorail suspended canopy robot, comprising a body, a walking unit for cooperating with a track in a tunnel, and a canopy-raising unit for assisting canopy-raising operations, characterized in that, The canopy unit includes at least one main arm, which includes a main boom and a main manipulator. The main boom is telescopic. The machine body includes a front frame, on which is mounted a rotary seat with a vertical rotation center. The main boom is hinged to the rotary seat with the hinge axis horizontal. The machine body is equipped with hydraulic cylinders for driving the rotary seat and main boom to swing left and right. The rotary seat is equipped with a pitch drive device for driving the main boom to pitch. Two rotary arms are connected in series between the main manipulator and the main boom. The rotary arms include a first rotary arm with a B-type structure and a second rotary arm with an L-type structure. A first rotary drive device with a vertical rotary center axis is provided between the first rotary arm and the main boom. The first rotary drive device is a reducer or a rotary cylinder. A second rotary drive device with a horizontal rotary center axis is provided between the first rotary arm and the second rotary arm. A third rotary drive device is provided between the second rotary arm and the main manipulator. The rotary center axes of the two rotary drive devices on the same rotary arm are perpendicular to each other. The main boom has a canopy leg installation position. At this position, the rotary center axis of the third rotary drive device is horizontal and is aligned with the width direction of the roadway.

2. The monorail suspended canopy robot according to claim 1, characterized in that, The main boom includes an outer cylinder and an inner cylinder fitted inside the outer cylinder. The outer cylinder is equipped with a hydraulic cylinder for driving the inner cylinder to extend or retract the outer cylinder.

3. The monorail suspended canopy robot according to claim 2, characterized in that, Two adjacent slewing arms share a single slewing drive device.

4. The monorail suspended canopy robot according to claim 3, characterized in that, The machine body also includes a rear frame, and telescopic outriggers are provided on both sides of the front or rear frame. Support boots are installed on the upper end of the telescopic outriggers. The support boots are long rod-shaped structures, and the length of the support boots is greater than the distance between two adjacent canopy sections in the tunnel.

5. The monorail suspended canopy robot according to claim 4, characterized in that, The main arm has a pickup station, a material-carrying travel station, and a top beam installation station. The rotation center axis of the third rotary drive device of the pickup station and the material-carrying travel station is vertical and the robot arm is pointing downwards. The rotation center axis of the third rotary drive device of the top beam installation station is vertical and the main robot arm is pointing upwards.

6. The monorail suspended canopy robot according to claim 5, characterized in that, The canopy unit also includes an auxiliary arm, which includes an auxiliary main arm, an auxiliary swing arm, and an auxiliary manipulator. An auxiliary swing drive device for driving the auxiliary swing arm to pitch and swing is provided between the auxiliary swing arm and the auxiliary main arm. The main arm also has a handover station for the main manipulator and the auxiliary manipulator to connect to the top beam. At the handover station, the rotation center axis of the third rotary drive device is vertical and the main manipulator is facing upward. The length of the third rotary drive device is sufficient to allow the main manipulator and the auxiliary manipulator to be aligned.

7. The monorail hanging canopy robot according to any one of claims 1-6, characterized in that, The main arm is provided with at least two.

8. The monorail hanging canopy robot according to any one of claims 1-5, characterized in that, The canopy unit also includes an auxiliary arm, which includes an auxiliary upper arm, an auxiliary swing arm, and an auxiliary manipulator. An auxiliary swing drive device for driving the auxiliary swing arm to pitch and swing is provided between the auxiliary swing arm and the auxiliary upper arm.

9. The monorail hanging canopy robot according to any one of claims 1-5, characterized in that, The walking unit includes at least one suspension structure, which includes two short balance arms and a long balance arm located below the short balance arms for connection with the fuselage. The short balance arms are equipped with a carrying trolley for guiding and cooperating with the guide rail. The front and rear parts of the long balance arm are respectively hinged to the two short balance arms so that the long balance arm can rotate horizontally relative to the short balance arms.

10. The monorail hanging canopy robot according to claim 9, characterized in that, A cross shaft is provided between the short balance arm and the long balance arm. The upper end of the cross shaft is hinged to the short balance arm through a horizontal hinge shaft, and the lower end of the cross shaft is rotatably engaged with the long balance arm.

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