A construction manipulator for mining arch equipment

Abstract

The present invention belongs to the field of manipulators, and discloses a construction manipulator for mining arch equipment, including a boom, a telescopic arm cylinder, a forearm swing cylinder and a steel arch, wherein the telescopic arm cylinder and the forearm swing cylinder are respectively hingedly installed on the inner and outer sides of the boom, and the telescopic ends of the forearm swing cylinder and the telescopic arm cylinder are hingedly connected to the forearm, and the forearm telescopic arm and the forearm telescopic cylinder are installed on the top of the forearm. This device designs a brand-new multi-axis manipulator, which pushes the side gripper mechanism hinged to the bottom of the fixed frame by using the side gripper cylinder to change the angle of the side gripper mechanism, and finally, the side gripper mechanism is used to clamp the steel arch and move with the manipulator, thereby solving the problems of different sizes of lanes requiring the construction of various stands, high limitations, inconvenient posture adjustment when the steel arch is docked, unstable and tilted frames, difficult docking, poor working environment for manual arching, and high danger, which can effectively reduce the number of staff and improve work efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a construction manipulator for mining arch equipment. Background Art

[0002] After the excavation of the underground mine tunnel, in order to control the stress release and deformation of the surrounding rock, it is necessary to use steel arch frames or steel tube beam concrete supports to strengthen the support of the tunnel. Due to the different cross-sectional sizes of underground mine tunnels, the equipment deployment space is limited. At present, most of the tunnel arch operations are completed manually on the stand. When the steel arch frame is installed, the posture adjustment is quite inconvenient and the installation efficiency is extremely slow. The steel arch frame is also prone to tilt during adjustment, and the safety is extremely low. Moreover, the stand needs to be moved after each frame is completed. Different sizes of stands need to be set up in different tunnels at the same time, which requires a large number of operators, and the labor intensity of the operators is high, and the construction environment is poor. However, due to the complex geological conditions of underground mines, the large mining depth, the harsh working environment and the high risk, the number of workers engaged in this work is gradually decreasing, and mechanically controlled manipulators are gradually used for construction. Therefore, the present invention designs a construction manipulator for mining arch equipment to solve the above problems. Summary of the invention

[0003] The present application proposes a construction manipulator for mining arch equipment, which has the advantages of high automation and efficient multi-axis adjustment, and is used to solve the problems of harsh working environment, high risk, time-consuming and labor-intensive manual installation of steel arches.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: a construction manipulator for mining arch equipment, comprising a boom, a telescopic arm cylinder, a forearm swing cylinder and a steel arch, wherein the telescopic arm cylinder and the forearm swing cylinder are respectively hingedly installed on the inner and outer sides of the boom, the telescopic ends of the forearm swing cylinder and the telescopic arm cylinder are hingedly connected to the forearm, the top of the forearm is equipped with a forearm telescopic arm and a forearm telescopic cylinder, the telescopic end of the forearm telescopic cylinder is fixedly installed with a rotary cylinder, the top of the rotary cylinder is equipped with a fixed frame, the bottom of the fixed frame is hingedly connected with a side gripper cylinder, the telescopic end of the side gripper cylinder is hingedly connected with a side gripper mechanism, the steel arch is clamped and installed in the side gripper mechanism, and the bottom of the fixed frame is equipped with an electric winch;

[0005] A slider is slidably installed inside the boom, a lead screw is installed inside the boom, the lead screw is used to drive the slider, an articulation block is fixedly installed on the right side of the slider, the articulation block is hinged to the telescopic arm cylinder, two groups of sensing components are provided on the inner wall of the boom, and a controller is installed on the left side of the top of the inner wall of the boom.

[0006] Furthermore, the sensing component includes a fixed column fixedly connected to the inner wall of the upper arm and two groups of pressure sensors on the front and rear sides of the inner wall of the upper arm, the front and rear sides of the inner wall of the upper arm are fixedly connected with fixed blocks, the outer surface of the fixed block is rotatably mounted with a transfer bar, the outer surface of the fixed column is movably sleeved with an adapter column, the outer surface of the adapter column is rotatably mounted with an adapter block, one end of the transfer bar is fixedly connected to the adapter block, the other end of the transfer bar is fixedly connected with a pressure block, the end of the pressure block abuts against the pressure sensor, a slot is provided at one end of the inner side of the fixed column, a spring is movably sleeved inside the slot, and the two ends of the spring are elastically connected to the fixed column and the adapter column respectively.

[0007] Furthermore, one outer end of the upper and lower groups of the fixing columns are respectively fixedly connected to the top and bottom of the inner wall of the upper arm, and the fixing columns are elastically supported inside the adapter column by springs.

[0008] Furthermore, the fixing block is located at the right two-thirds of the middle of the transfer bar, and the transfer bar forms two groups of force arms, the left one is longer and the right one is shorter.

[0009] Furthermore, the tops of the front and rear groups of the pressing blocks are fixedly connected with connecting rods, and the front and rear groups of the transfer strips are fixedly connected to the front and rear sides of the adapter block respectively.

[0010] Furthermore, the two groups of sensing components are symmetrically distributed up and down, the shape of the pressure block is fan-shaped, the front and rear sides of the inner wall of the upper arm are fixedly installed with slide rails, the slider is slidably installed on the outer surface of the slide rail, and the slider is threadedly installed on the outer surface of the screw.

[0011] Furthermore, the connecting rods are in a "U" shape, and are arranged in two groups that are symmetrically distributed up and down.

[0012] Furthermore, a 45° chamfer is provided at the opening of the slot, and one end of the adapter column abuts against the outer surface of the telescopic arm cylinder.

[0013] Furthermore, the telescopic end of the telescopic arm oil cylinder is fixedly connected to the telescopic arm, and the telescopic arm is movably hinged to the outer surface of the forearm.

[0014] The present application provides a construction manipulator for mining arch equipment, which has the following effects:

[0015] 1. This device designs a brand-new multi-axis manipulator, which is composed of a boom, a telescopic arm cylinder, a telescopic arm, a forearm, a forearm swing cylinder, a forearm telescopic arm, a forearm telescopic cylinder, a rotary cylinder, an electric winch, a fixed frame, a side gripper cylinder and a side gripper mechanism, and constructs a five-axis power mechanism. The boom is hinged on the trolley to provide rotation support for the entire manipulator. At the same time, the telescopic arm cylinder and the forearm swing cylinder distributed on both sides of the boom are used to drive the forearm to move. The telescopic arm is coordinated to make the forearm move horizontally, or move around the axis of the telescopic arm under the drive of the forearm swing cylinder, and then the forearm is set with a telescopic arm. The retraction cylinder executes the vertical extension and retraction movement of the rotary cylinder and the electric winch, and the rotary movement of the fixed frame and the side gripper mechanism is performed by setting a rotary cylinder. The side gripper cylinder is then used to push the side gripper mechanism hinged to the bottom of the fixed frame to change the angle of the side gripper mechanism. Finally, the side gripper mechanism is used to clamp the steel arch frame and move with the manipulator, thereby solving the problems of the need to build various scaffolds for different sizes of tunnels, high limitations, inconvenient posture adjustment when docking steel arch frames, unstable and tilted frames, difficult docking, harsh and dangerous working environment for manual arch erection, which can effectively reduce the number of staff and improve work efficiency.

[0016] 2. The manipulator is also provided with a sensing component inside the arm. The sensing component is arranged in two groups, upper and lower, and is symmetrically distributed on the upper and lower sides of the inner wall of the arm, and is used to monitor the deviation caused by the telescopic stroke of the telescopic arm cylinder and the difference between the telescopic stroke and the forearm swing cylinder during the telescopic movement, that is, the telescopic arm cylinder and the forearm swing cylinder are not parallel when performing the telescopic movement. The fixed column is fixedly connected to the upper and lower sides of the inner wall of the arm, and a spring and an adapter column are movably sleeved on the outer surface of the fixed column. The spring is used to push the adapter column to abut against the outer surface of the telescopic arm cylinder. When the telescopic arm cylinder deviates upward, it will push the adapter column on the upper side to move upward. It also drives the adapter block and the transfer bar on the upper side to rotate around the axis of the fixed block, and drives the pressure block on the other side of the transfer bar to move toward the pressure sensor on the upper side and squeeze the pressure sensor. After the pressure sensor is subjected to pressure, it will send a signal to the controller, causing the controller to drive the lead screw to rotate, and drive the slider and the hinge block to move to the left, pulling the telescopic arm cylinder as a whole to the left, thereby rotating the axis of the telescopic arm cylinder as a whole toward the horizontal side until the pressure on the pressure sensor is zero, so that the telescopic arm cylinder can compensate for the deviation from the telescopic stroke of the forearm swing cylinder caused by the hydraulic error through horizontal movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0018] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0019] Figure 1 It is a front perspective schematic diagram of the overall structure of the present invention;

[0020] Figure 2 A schematic diagram of a grabbing steel arch frame of the overall structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the internal section of the upper arm of the present invention;

[0022] Figure 4 For the present invention Figure 3 A magnified schematic diagram of the structure at center A;

[0023] Figure 5 It is a schematic diagram of the internal structure of the big arm of the present invention;

[0024] Figure 6 It is a schematic diagram of the internal top view structure of the upper arm of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the sensing structure of the present invention;

[0026] Figure 8 Schematic diagram of the separation of the sensing structure of the present invention.

[0027] Among them: 1. Boom; 2. Telescopic arm cylinder; 3. Telescopic arm; 4. Forearm; 5. Forearm swing cylinder; 6. Forearm telescopic arm; 7. Forearm telescopic cylinder; 8. Rotary cylinder; 9. Electric winch; 10. Fixed frame; 11. Side gripper cylinder; 12. Side gripper mechanism; 13. Steel arch frame; 14. Slide rail; 15. Slider; 16. Lead screw; 17. Articulated block; 18. Controller; 19. Fixed column; 20. Adapter block; 21. Transfer strip; 22. Fixed block; 23. Connecting rod; 24. Pressure block; 25. Adapter column; 26. Slot; 27. Spring; 28. Pressure sensor. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] Example 1: Please refer to Figure 1-Figure 8The present invention discloses a construction manipulator for mining arch equipment, comprising a boom 1, a telescopic arm cylinder 2, a forearm swing cylinder 5 and a steel arch 13, wherein the telescopic arm cylinder 2 and the forearm swing cylinder 5 are respectively hingedly installed on the inner and outer sides of the boom 1, and the telescopic ends of the forearm swing cylinder 5 and the telescopic arm cylinder 2 are hingedly connected with a forearm 4, and a forearm telescopic arm 6 and a forearm telescopic cylinder 7 are installed on the top of the forearm 4, and a rotary cylinder 8 is fixedly installed on the telescopic end of the forearm telescopic cylinder 7, and a fixed frame 10 is installed on the top of the rotary cylinder 8, and a side gripper cylinder 11 is hingedly connected to the bottom of the fixed frame 10, and a side gripper mechanism 12 is hingedly connected to the telescopic end of the side gripper cylinder 11, and the steel arch 13 is clamped and installed in the side gripper mechanism 12, and an electric winch 9 is installed on the bottom of the fixed frame 10;

[0030] A slider 15 is slidably installed inside the boom 1, a lead screw 16 is installed inside the boom 1, the lead screw 16 is used to drive the slider 15, a hinge block 17 is fixedly installed on the right side of the slider 15, the hinge block 17 is hinged to the telescopic arm cylinder 2, two sets of sensing components are arranged on the inner wall of the boom 1, and a controller 18 is installed on the left side of the top of the inner wall of the boom 1;

[0031] The device designs a brand-new multi-axis manipulator, which is composed of a boom 1, a telescopic arm cylinder 2, a telescopic arm 3, a forearm 4, a forearm swing cylinder 5, a forearm telescopic arm 6, a forearm telescopic cylinder 7, a rotary cylinder 8, an electric winch 9, a fixed frame 10, a side gripper cylinder 11 and a side gripper mechanism 12, to construct a five-axis power mechanism, through the setting of the boom 1 is hinged on the trolley, used to provide rotation support for the entire manipulator, at the same time, the telescopic arm cylinder 2 and the forearm swing cylinder 5 distributed on the inner and outer sides of the boom 1 are used to drive the forearm 4 to move, and the telescopic arm 3 is cooperated to make the forearm 4 move horizontally, or move around the axis of the telescopic arm 3 under the drive of the forearm swing cylinder 5, and then the forearm extension is provided. The retracting cylinder 7 executes the vertical extension and retraction movement of the rotary cylinder 8 and the electric winch 9. The rotary cylinder 8 is provided to perform the rotational movement of the fixed frame 10 and the side gripper mechanism 12. The side gripper cylinder 11 is then used to push the side gripper mechanism 12 hinged to the bottom of the fixed frame 10 to change the angle of the side gripper mechanism 12. Finally, the side gripper mechanism 12 is used to clamp the steel arch frame 13 and move it with the manipulator, thereby solving the problems of the need to build various scaffolds for tunnels of different sizes, high limitations, inconvenient posture adjustment of the steel arch frame 13 during docking, unstable and tilted frames, difficult docking, harsh and dangerous working environment for manual arching, and can effectively reduce the number of staff and improve work efficiency.

[0032] Embodiment 2: The sensing component includes a fixed column 19 fixedly connected to the inner wall of the upper arm 1 and two groups of pressure sensors 28 on the front and rear sides of the inner wall of the upper arm 1, the front and rear sides of the inner wall of the upper arm 1 are fixedly connected with a fixed block 22, the outer surface of the fixed block 22 is rotatably mounted with a transfer bar 21, the outer surface of the fixed column 19 is movably sleeved with an adapter column 25, the outer surface of the adapter column 25 is rotatably mounted with an adapter block 20, one end of the transfer bar 21 is fixedly connected to the adapter block 20, the other end of the transfer bar 21 is fixedly connected with a pressure block 24, the end of the pressure block 24 abuts against the pressure sensor 28, a slot 26 is provided at one end of the inner side of the fixed column 19, a spring 27 is movably sleeved inside the slot 26, and the two ends of the spring 27 are elastically connected to the fixed column 19 and the adapter column 25 respectively;

[0033] The present manipulator is also provided with a sensing component inside the boom 1. The sensing component is arranged in two groups, upper and lower, and is symmetrically distributed on the upper and lower sides of the inner wall of the boom 1, for monitoring the deviation caused by the telescopic movement of the telescopic arm cylinder 2 due to the difference in telescopic stroke from the forearm swing cylinder 5, that is, the telescopic arm cylinder 2 and the forearm swing cylinder 5 are not parallel when performing the telescopic movement. A fixed column 19 is provided to be fixedly connected to the upper and lower sides of the inner wall of the boom 1, and a spring 27 and an adapter column 25 are movably sleeved on the outer surface of the fixed column 19. The spring 27 is used to push the adapter column 25 to abut against the outer surface of the telescopic arm cylinder 2. When the telescopic arm cylinder 2 deviates upward, it will push the adapter column 25 on the upper side to move upward, and drive the adapter column 25 on the lower side to move upward. The adapter block 20 and the transfer bar 21 on the upper side rotate around the axis of the fixed block 22, driving the pressure block 24 on the other side of the transfer bar 21 to move toward the pressure sensor 28 on the upper side and squeeze the pressure sensor 28. After the pressure sensor 28 is subjected to pressure, it will send a signal to the controller 18, so that the controller 18 drives the screw 16 to rotate, and drives the slider 15 and the hinge block 17 to move to the left, pulling the telescopic arm cylinder 2 as a whole to the left, thereby rotating the axis of the telescopic arm cylinder 2 as a whole toward the horizontal side until the pressure on the pressure sensor 28 is zero, so that the telescopic arm cylinder 2 can compensate for the deviation from the telescopic stroke of the forearm swing cylinder 5 caused by the hydraulic error through horizontal movement.

[0034] Embodiment 3: The outer ends of the upper and lower sets of fixing columns 19 are fixedly connected to the top and bottom of the inner wall of the upper arm 1 respectively, and the fixing columns 19 are elastically supported inside the adapter column 25 by the spring 27;

[0035] The outer surface of the fixed column 19 is used to elastically support the adapter column 25 with the cooperation of the spring 27, so that the adapter column 25 can always maintain an adaptive contact with the outer surface of the telescopic arm cylinder 2, wherein the electric winch 9 can release the steel wire and provide auxiliary support to the steel arch frame 13.

[0036] Embodiment 4: The fixing block 22 is located at the right two-thirds of the middle of the transfer bar 21, and the transfer bar 21 forms two sets of force arms, the left one is longer and the right one is shorter;

[0037] The fixed block 22 divides the adapter bar 21 into two parts, and the length ratio of the adapter bar 21 on the right side and the adapter bar 21 on the left side is 2:1. With this design, the upward displacement stroke of the adapter column 25 driven by the telescopic arm cylinder 2 is amplified several times through the fixed block 22 and the adapter bar 21, thereby making the pressure stroke sensing of the pressure sensor 28 more sensitive.

[0038] Embodiment 5: The tops of the front and rear groups of pressing blocks 24 are fixedly connected with connecting rods 23, and the front and rear groups of transfer strips 21 are fixedly connected to the front and rear sides of the adapter block 20 respectively;

[0039] The front and rear transfer bars 21 need to avoid the telescopic arm cylinder 2 located in the middle of the boom 1. Therefore, the two are symmetrically distributed front and back. A connecting rod 23 is fixedly installed on the left side of the top to firmly connect the front and rear groups of transfer bars 21 together to ensure the stability of the movement of the pressure block 24.

[0040] Embodiment 6: The two sets of sensing components are symmetrically distributed up and down, the shape of the pressing block 24 is fan-shaped, the front and rear sides of the inner wall of the upper arm 1 are fixedly installed with slide rails 14, the slider 15 is slidably installed on the outer surface of the slide rail 14, and the slider 15 is threadedly installed on the outer surface of the lead screw 16;

[0041] The two sets of sensing components are used to detect the angular displacement of the telescopic arm cylinder 2 in the up and down directions in real time. The lead screw 16 is controlled by the controller 18. When the telescopic arm cylinder 2 deviates upward, the lead screw 16 will drive the slider 15, the hinge block 17 and the telescopic arm cylinder 2 to move to the left, and vice versa, it will drive them to move to the right, offsetting the angular displacement of the telescopic arm cylinder 2.

[0042] Embodiment 7: The shape of the connecting rod 23 is "U"-shaped, and the connecting rod 23 is arranged in two groups symmetrically distributed up and down;

[0043] The "U"-shaped design of the connecting rod 23 is adapted to the telescopic arm cylinder 2 to avoid abutment and jamming when the two move relative to each other.

[0044] Embodiment 8: A 45° chamfer is formed at the opening of the slot 26, and one end of the adapter column 25 abuts against the outer surface of the telescopic arm cylinder 2;

[0045] The spring 27 is elastically supported in the slot 26 and elastically connected to the inner wall of the adapter column 25 . The chamfer at the opening of the slot 26 can prevent the spring 27 from getting stuck in contact with the slot 26 , thereby maintaining the normal telescopic function of the spring 27 .

[0046] Embodiment 9: The telescopic end of the telescopic arm oil cylinder 2 is fixedly connected to the telescopic arm 3, and the telescopic arm 3 is movably hinged to the outer surface of the forearm 4;

[0047] The telescopic arm 3 is used to articulate the telescopic arm cylinder 2 and the forearm 4. When the forearm 4 needs to be translated, the telescopic arm cylinder 2 and the forearm swing cylinder 5 act simultaneously. When the forearm 4 needs to be rotated, the telescopic arm cylinder 2 remains stationary, and the forearm swing cylinder 5 is extended and retracted, thereby driving the forearm 4 to rotate around the axis of the telescopic arm 3.

[0048] Working principle:

[0049] When the device is working, the steel arch frame 13 can be placed on the trolley in advance and enter the designated position with the trolley, or the steel wire released by the electric winch 9 of the manipulator can be used for lifting, or the trolley drives the manipulator and uses the side gripper mechanism 12 to grab the steel arch frame on the outside in advance. The above three transportation modes of the steel arch frame are all possible. The present invention only introduces the following one: the left end of the boom 1 can be hinged on the trolley through a pin shaft, and the steel arch frame 13 is lifted up by the steel wire released by the electric winch 9, and then the side gripper mechanism 12 is started, and the steel arch frame 13 is clamped, and the side gripper cylinder 11 is started to drive the side gripper The mechanism 12 and the steel arch frame 13 move to make the steel arch frame 13 leave the ground, and then the trolley drives the steel arch frame 13 to move to the inside of the mine tunnel and installs the steel arch frame 13 at the specified position. At this time, the rotary cylinder 8 is driven to drive the fixed frame 10, the side gripper cylinder 11, the side gripper mechanism 12 and the steel arch frame 13 to rotate, and then the arm swing cylinder 5 and the telescopic arm cylinder 2 are driven to synchronously push the telescopic arm 3 and the arm 4 to move horizontally outward. When the steel arch frame 13 is installed to the specified position and abuts against the inner wall of the tunnel to form a stable support, the side gripper mechanism 12 is released, the trolley is withdrawn, and the installation is completed;

[0050] When the telescopic arm cylinder 2 and the forearm swing cylinder 5 extend outward synchronously, due to the error of the hydraulic drive, the axes of the forearm swing cylinder 5 and the telescopic arm cylinder 2 are transformed from parallel to intersecting under the action of the deviation of the telescopic stroke. When the outer surface of the telescopic arm cylinder 2 moves toward the sensing component on one side, such as when the axis of the telescopic arm cylinder 2 moves upward, the telescopic arm cylinder 2 abuts against a group of sensing components located on the upper side. At this time, the telescopic arm cylinder 2 pushes the adapter column 25 upward and compresses the spring 27 through the adapter column 25. At this time, the adapter column 25 drives the adapter block 20, the transfer bar 21 and the pressure block 24 to rotate upward. The transfer bar 21 rotates on the axis of the fixed block 22, and drives the connecting rod 23 and the pressure block 24 at the other end thereof to move toward each other, and the connecting rod 23 begins to squeeze the pressure sensor 28 downward. After the pressure sensor 28 is subjected to pressure, it sends a signal to the controller 18, so that the controller 18 drives the lead screw 16 to rotate, and drives the slider 15 and the hinge block 17 to move left, pulling the telescopic arm cylinder 2 as a whole to the left, thereby rotating the axis of the telescopic arm cylinder 2 as a whole toward the horizontal side until the pressure on the pressure sensor 28 is zero. At this time, the telescopic stroke of the forearm swing cylinder 5 and the telescopic arm cylinder 2 can be kept consistent.

Claims

1. A construction manipulator for mining arch equipment, comprising a large arm (1), a telescopic arm cylinder (2), a small arm swing cylinder (5) and a steel arch (13), characterized in that: The telescopic arm cylinder (2) and the forearm swing cylinder (5) are respectively hingedly mounted on the inner and outer sides of the boom (1); the telescopic ends of the forearm swing cylinder (5) and the telescopic arm cylinder (2) are hingedly mounted with a forearm (4); the top of the forearm (4) is mounted with a forearm telescopic arm (6) and a forearm telescopic cylinder (7); the telescopic end of the forearm telescopic cylinder (7) is fixedly mounted with a slewing cylinder (8); the top of the slewing cylinder (8) is mounted with a fixing frame (10); the bottom of the fixing frame (10) is hingedly mounted with a side gripper cylinder (11); the telescopic end of the side gripper cylinder (11) is hingedly mounted with a side gripper mechanism (12); the steel arch frame (13) is clamped and mounted in the side gripper mechanism (12); the bottom of the fixing frame (10) is mounted with an electric winch (9); A slider (15) is slidably mounted inside the boom (1), a lead screw (16) is mounted inside the boom (1), the lead screw (16) is used to drive the slider (15), a hinge block (17) is fixedly mounted on the right side of the slider (15), the hinge block (17) is hinged to the telescopic arm cylinder (2), two groups of sensing components are arranged on the inner wall of the boom (1), and a controller (18) is mounted on the left side of the top of the inner wall of the boom (1).

2. A construction manipulator for mining arch equipment according to claim 1, characterized in that: The sensing component comprises a fixed column (19) fixedly connected to the inner wall of the upper arm (1) and two groups of pressure sensors (28) on the front and rear sides of the inner wall of the upper arm (1); the front and rear sides of the inner wall of the upper arm (1) are fixedly connected to a fixed block (22); a transfer bar (21) is rotatably mounted on the outer surface of the fixed block (22); an adaptor column (25) is movably sleeved on the outer surface of the fixed column (19); an adaptor block (20) is rotatably mounted on the outer surface of the adaptor column (25); one end of the transfer bar (21) is fixedly connected to the adaptor block (20); the other end of the transfer bar (21) is fixedly connected to a pressure block (24); the end of the pressure block (24) abuts against the pressure sensor (28); a slot (26) is provided at one end of the inner side of the fixed column (19); a spring (27) is movably sleeved inside the slot (26); the two ends of the spring (27) are elastically connected to the fixed column (19) and the adaptor column (25), respectively.

3. A construction manipulator for mining arch equipment according to claim 2, characterized in that: The outer ends of the upper and lower groups of fixing columns (19) are respectively fixedly connected to the top and bottom of the inner wall of the upper arm (1), and the fixing columns (19) are elastically supported inside the adapting column (25) by means of springs (27).

4. A construction manipulator for mining arch equipment according to claim 3, characterized in that: The fixing block (22) is located at the right two-thirds of the middle of the transfer bar (21), and enables the transfer bar (21) to form two groups of force arms, the left one being longer and the right one being shorter.

5. A construction manipulator for mining arch equipment according to claim 4, characterized in that: The tops of the front and rear groups of the pressing blocks (24) are fixedly connected with connecting rods (23), and the front and rear groups of the transfer strips (21) are respectively fixedly connected to the front and rear sides of the adapter block (20).

6. A construction manipulator for mining arch equipment according to claim 5, characterized in that: The two groups of sensing components are symmetrically distributed up and down, the pressure block (24) is fan-shaped, the front and rear sides of the inner wall of the upper arm (1) are fixedly installed with slide rails (14), the slider (15) is slidably installed on the outer surface of the slide rail (14), and the slider (15) is threadedly installed on the outer surface of the lead screw (16).

7. A construction manipulator for mining arch equipment according to claim 6, characterized in that: The connecting rods (23) are in a "U" shape, and the connecting rods (23) are arranged in two groups that are symmetrically distributed up and down.

8. The construction manipulator of mining arch equipment according to claim 7, characterized in that: The opening of the slot (26) is provided with a 45° chamfer, and one end of the adapter column (25) abuts against the outer surface of the telescopic arm cylinder (2).

9. A construction manipulator for mining arch equipment according to claim 8, characterized in that: The telescopic end of the telescopic arm oil cylinder (2) is fixedly connected to a telescopic arm (3), and the telescopic arm (3) is movably hinged to the outer surface of a forearm (4).

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