Arch erecting mechanical arm for tunnel trolley

Abstract

The invention provides a vertical arch mechanical arm for a tunnel trolley, and relates to the field of tunnel construction equipment. The vertical arch mechanical arm comprises a sliding rail, a sliding base, an overturning piece, a telescopic arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder and a mechanical claw. The sliding rail is arranged on the trolley, and the sliding seat can move along the sliding rail; one end of the overturning piece and the sliding seat form a first rotating mechanism which is driven by a first oil cylinder and is used for realizing rotation of the overturning piece, and the other end of the overturning piece, the telescopic arm, a first connecting rod and a second connecting rod form a second rotating mechanism which is driven by a second oil cylinder and is used for realizing rotation of the telescopic arm; the third oil cylinder and the mechanical claw are hinged to the telescopic end of the telescopic arm to form a third rotating mechanism used for achieving pitching rotation of the mechanical claw. According to the vertical arch mechanical arm, the telescopic arm can be turned over and turned round in a limited space, and it is guaranteed that an arch frame does not deflect. The vertical arch mechanical arm can extend outwards for operation, the trolley does not need to be moved into a working face for operation, and safety is high.

Description

Technical Field

[0001] The present invention specifically relates to an arch - erecting robotic arm for a tunnel jumbo, belonging to the technical field of tunnel construction equipment. Background Technique

[0002] During tunnel construction, arch frames are required to support the excavated tunnel. Arch frames are large in size and heavy in weight. Special arch - erecting jumbos are needed to lift the arch frames, then transfer them into the working face, and finally install the arch frames through lifting and anchoring.

[0003] In the prior art, most arch - erecting jumbos have the following defects: 1. The jumbo needs to move into the working face for operation, and there is a risk that the staff and the jumbo may be injured by falling rocks. 2. After each arch erection, the mechanical claws need to turn around to grab a new arch frame. Due to the limitation of the tunnel space, it is difficult to achieve turning around. 3. Poor adaptability and lack of flexibility.

[0004] References: Chinese Patent: CN 217813525 U Chinese Patent: CN 211008682 U Chinese Patent: CN 220267732 U Chinese Patent: CN 217055205 U Chinese Patent: CN 117703446 A Summary of the Invention

[0005] In order to overcome the deficiencies in the background technique, the present invention discloses an arch - erecting robotic arm for a tunnel jumbo, adopting the following technical solutions: An arch - erecting robotic arm for a tunnel jumbo includes a slide rail, a slide seat, a flipping member, a telescopic arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder, and a mechanical claw; the slide rail is arranged on the jumbo, and the slide seat can move along the slide rail; one end of the flipping member and the slide seat form a first rotating mechanism driven by the first oil cylinder for realizing the rotation of the flipping member, and the other end of the flipping member, the telescopic arm, the first connecting rod, and the second connecting rod form a second rotating mechanism driven by the second oil cylinder for realizing the rotation of the telescopic arm; the third oil cylinder and the mechanical claw are hinged at the telescopic end of the telescopic arm, forming a third rotating mechanism for realizing the pitching rotation of the mechanical claw; During operation, through the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm, the telescopic arm can achieve flipping and turning around.

[0006] A further improved technical solution: the slide rail is arranged longitudinally along the jumbo, and a driving device is arranged between the slide rail and the slide seat.

[0007] Further improved technical solution: The third rotating mechanism further includes a third connecting rod, and the third connecting rod is hinged between the third oil cylinder and the mechanical claw.

[0008] Further improved technical solution: The mechanical claw mainly consists of a base, a hydraulic slewing motor, a support, a rocker arm, a fourth oil cylinder, and a hydraulic chuck. The base is hinged to the telescopic end of the telescopic arm. The hydraulic slewing motor is installed between the base and the support and is used to drive the support to rotate horizontally. The fourth oil cylinder is hinged between the support and the rocker arm and is used to drive the rocker arm to swing laterally. The hydraulic chuck is arranged on the rocker arm and is used to clamp the arch frame.

[0009] Further improved technical solution: The telescopic arm is a three-section hydraulic telescopic arm.

[0010] After implementing the above technical solutions, compared with the background technology, the beneficial effects of the present invention are as follows: 1. This arch erection robotic arm can enable the telescopic arm to turn around by flipping within a limited space and ensure that the arch frame will not be skewed. 2. The trolley does not need to move into the tunnel working face for operation, and the staff and the trolley will not be injured by falling rocks. 3. This arch erection robotic arm has enough degrees of freedom to adapt to the arch erection operations of different tunnels and has good flexibility. Description of the Drawings

[0011] Att Figure 1 Figure 1 shows a schematic plan view of this arch erection robotic arm.

[0012] Att Figure 2 Figure 2 shows a schematic three-dimensional view of this arch erection robotic arm.

[0013] Att Figure 3 Figure 3 shows a schematic view of the structure of the mechanical claw.

[0014] Att Figures 4 - 7 Figure 4 shows a schematic view of this arch erection robotic arm during the process of turning around by flipping.

[0015] Att Figure 8 Figure 5 shows a schematic view of the structure of this arch erection robotic arm during the arch erection operation.

[0016] In the drawings: 1. Slide rail; 2. Slide seat; 3. Flipping member; 4. Telescopic arm; 5. First connecting rod; 6. Second connecting rod; 7. First oil cylinder; 8. Second oil cylinder; 9. Third oil cylinder; 10. Mechanical claw; 11. Third connecting rod; 12. Base; 13. Hydraulic slewing motor; 14. Support; 15. Rocker arm; 16. Fourth oil cylinder; 17. Hydraulic chuck; 18. Arch frame. Detailed Embodiments

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention. It should be noted that in the description of the present invention, the terms "front", "rear", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation and positional relationship. Therefore, it should not be construed as a limitation of the present invention. It should also be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] An arch erecting robotic arm for a tunnel jumbo, which relates to the field of tunnel construction equipment, is mainly used to solve the problem that it is difficult for a robotic arm to turn around in the prior art. The following specifically describes the composition structure and working principle of this arch erecting robotic arm.

[0019] Refer to the attached Figure 1 and the attached Figure 2 This tunnel jumbo is equipped with three arch erecting robotic arms. The arch erecting robotic arm mainly consists of a slide rail 1, a sliding seat 2, a flipping member 3, a telescopic arm 4, a first connecting rod 5, a second connecting rod 6, a first oil cylinder 7, a second oil cylinder 8, a third oil cylinder 9, and a mechanical claw 10. Among them, the slide rail 1 is arranged on the jumbo and is arranged along the longitudinal direction of the jumbo. The sliding seat 2 can move along the slide rail 1, and a driving device is arranged between the slide rail 1 and the sliding seat 2.

[0020] The flipping member 3 is arranged below the telescopic arm 4. One end of the flipping member 3 is hinged to the sliding seat 2, thereby forming a first rotating mechanism, which is driven by the first oil cylinder 7 to realize the rotation of the flipping member 3. The other end of the flipping member 3 is hinged to the telescopic arm 4, the first connecting rod 5, and the second connecting rod 6, thereby forming a second rotating mechanism. The second rotating mechanism is a four-bar linkage mechanism and is driven by the second oil cylinder 8 to realize the rotation of the telescopic arm 4.

[0021] In this embodiment, the telescopic arm 4 is a three-stage hydraulic telescopic arm. The third oil cylinder 9, the third connecting rod 11, and the mechanical claw 10 are hinged to the telescopic end of the telescopic arm 4, thereby forming a third rotating mechanism for realizing the pitching rotation of the mechanical claw 10.

[0022] Refer to the attached Figure 3。The mechanical claw 10 mainly consists of a base 12, a hydraulic slewing motor 13, a support 14, a rocker arm 15, a fourth oil cylinder 16, and a hydraulic jaw 17. Among them, the base 12 is hinged to the telescopic end of the telescopic arm 4, and the hydraulic slewing motor 13 is installed between the base 12 and the support 14 for driving the support 14 to rotate horizontally. The fourth oil cylinder 16 is hinged between the support 14 and the rocker arm 15 for driving the rocker arm 15 to swing laterally. There are two hydraulic jaws 17, which are respectively arranged at both ends of the rocker arm 15 for clamping the arch frame 18.

[0023] Working process: Refer to the appendix Figures 4 - 7 。First, the three arch erecting robotic arms move to the left end of the trolley. The mechanical claw 10 grabs the arch frame 18 lifted by the lifting mechanism, and then the three arch erecting robotic arms move to the right. Through the mutual cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm 4, the telescopic arm 4 can be turned over and reversed within a limited space. Due to having sufficient degrees of freedom, during the process of turning over and reversing, it can be ensured that the arch frame 18 will not skew.

[0024] Refer to the appendix Figure 8 。After turning over and reversing, through the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm 4, the arch frame 18 extends out of the trolley and enters the tunnel working face, and the position of the arch frame 18 is adjusted in the longitudinal and height directions. Since the mechanical claw 10 has a hydraulic slewing motor 13, the installation angle of the arch frame 18 can be adjusted in the horizontal direction. Moreover, since the mechanical claw 10 has a fourth oil cylinder 16, the installation position of the arch frame 18 can be adjusted in the lateral direction. In this way, the installation position of the arch frame 18 can be adjusted in multiple degrees of freedom.

[0025] Summary: This arch erecting robotic arm can turn over and reverse the telescopic arm within a limited space and ensure that the arch frame will not skew. Since the trolley does not need to move into the tunnel working face for operation, the staff and the trolley will not be injured by falling rocks. In addition, due to this arch erecting robotic arm having sufficient degrees of freedom, it can adapt to the arch erecting operations of different tunnels and has good flexibility.

[0026] It should be noted that the content not described in detail in the above embodiments is the prior art. It should also be noted that for those skilled in the art, any increase, replacement, and improvement made under the structure and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A tunnel trolley arch mechanical arm, characterized in that: It includes a slide rail, a slide seat, a flip member, a telescopic arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder and a mechanical claw; the slide rail is arranged on a trolley, and the slide seat can move along the slide rail; one end of the flip member and the slide seat form a first rotating mechanism driven by the first oil cylinder for realizing the rotation of the flip member, and the other end of the flip member and the telescopic arm, the first connecting rod and the second connecting rod form a second rotating mechanism driven by the second oil cylinder for realizing the rotation of the telescopic arm; the third oil cylinder and the mechanical claw are hinged at the telescopic end of the telescopic arm, forming a third rotating mechanism for realizing the pitch rotation of the mechanical claw; During operation, the telescopic arm can be turned over and reversed through the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism and the telescopic arm.

2. The tunnel trolley arch-erecting mechanical arm according to claim 1, characterized in that: The slide rail is arranged along the longitudinal direction of the trolley, and a driving device is arranged between the slide rail and the slide seat.

3. The tunnel trolley arch-erecting mechanical arm according to claim 1, characterized in that: The third rotating mechanism also includes a third connecting rod, and the third connecting rod is hinged between the third oil cylinder and the mechanical claw.

4. The tunnel trolley arch-erecting mechanical arm according to claim 1, characterized in that: The mechanical claw is mainly composed of a base, a hydraulic rotary motor, a support, a rocker arm, a fourth oil cylinder and a hydraulic claw. The base is hinged at the telescopic end of the telescopic arm. The hydraulic rotary motor is installed between the base and the support to drive the support to rotate horizontally; the fourth oil cylinder is hinged between the support and the rocker arm to drive the rocker arm to swing horizontally; the hydraulic claw is arranged on the rocker arm to clamp the arch frame.

5. The tunnel trolley arch erecting mechanical arm according to claim 1, characterized in that: The telescopic arm is a three-section hydraulic telescopic arm.

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