Chain type mechanical arm for tunnel wall ring muscle conveying

Abstract

The application belongs to the technical field of steel conveying equipment, and particularly relates to a chain type mechanical arm for tunnel wall ring steel conveying. The chain type mechanical arm for tunnel wall ring steel conveying comprises a mechanical arm body and a conveying chain. The conveying chain is arranged at the tail section of the mechanical arm body, and a plurality of hooks are arranged on the conveying chain. In the chain type mechanical arm for tunnel wall ring steel conveying, the flexible mechanical arm body can hang the ring steel through the hooks on the conveying chain, the driving assembly can drive the conveying chain to act, and the ring steel hung is sent to the designated position through cooperation of the conveying chain and the mechanical arm body, so that the labor intensity of the ring steel conveying is reduced, and the laying efficiency of the ring steel is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of rebar conveying equipment, and specifically relates to a chain-type robotic arm for conveying ring rebar in tunnel walls. Background Technology

[0002] The installation of wall reinforcement is an essential step in the tunnel excavation process. Among them, the installation of wall reinforcement involves the installation of ring reinforcement (circumferential reinforcement). In the process of installing wall reinforcement, the ring reinforcement needs to be fixed to the tunnel wall, and the nodes where the ring reinforcement and longitudinal reinforcement intersect are fixed (welded or tied) to complete the installation of the ring reinforcement.

[0003] Currently, the installation of ring reinforcement involves using a ring reinforcement forming machine to bend the steel bars into shape (bending them to match the curvature of the tunnel cross-section), then manually transporting the ring reinforcement to the designated location (the placement position of the ring reinforcement), and then manually supporting the ring reinforcement so that the plane of the ring reinforcement is parallel to the cross-section of the tunnel. The ring reinforcement is then fixed to the tunnel wall and secured to the longitudinal reinforcement on the tunnel wall, thus completing the placement of the ring reinforcement. Alternatively, a steel reinforcement placement trolley can be used to assist manual placement of the ring reinforcement. That is, the bent ring reinforcement is transported to the designated location by the steel reinforcement placement trolley, and workers stand on the construction platform of the steel reinforcement placement trolley to fix the ring reinforcement to the tunnel wall and secure it to the longitudinal reinforcement on the tunnel wall, thus completing the placement of the ring reinforcement.

[0004] The manual transport of reinforcing bars involves a cumbersome process of delivering and supporting them to their designated positions, which is labor-intensive and inefficient. In contrast, the method of using a reinforcing bar laying trolley to assist in the laying of reinforcing bars is limited by the size of the trolley itself, which means it can only be used for transporting reinforcing bars in tunnels of certain sizes, thus restricting the scope of application of the trolley. Summary of the Invention

[0005] This invention provides a chain-type robotic arm for conveying ring reinforcement in tunnel walls, which solves the technical problems of the cumbersome, labor-intensive and inefficient manual conveying of ring reinforcement in the prior art.

[0006] This invention is achieved through the following technical solution:

[0007] A chain-type robotic arm for conveying ring reinforcement in tunnel walls includes a robotic arm body and a conveying chain;

[0008] The end section of the robotic arm body is equipped with a drive assembly, and a conveyor chain is wound around the drive assembly. The conveyor chain is equipped with multiple hooks for hanging ring reinforcements. The ring reinforcements are hung on the hooks on the conveyor chain, and the drive assembly drives the conveyor chain to transport the ring reinforcements to one end of the end section of the robotic arm body. The position of the end section of the robotic arm body is adjusted to transport the ring reinforcements on the end section of the robotic arm body to the designated position.

[0009] To better realize the present invention, further optimizations are made to the above structure, including the main body fixing base, the upper arm, and the lower arm;

[0010] A first telescopic cylinder is hinged to the fixed base. One end of the boom is hinged to the fixed base, and the end of the first telescopic cylinder away from the fixed base is hinged to the boom. It is used to adjust the angle between the boom and the plane where the fixed base is located.

[0011] The forearm is the end section of the main body of the robotic arm. One end of the forearm is hinged to the end of the main arm away from the fixed base. A second telescopic cylinder is installed on the main arm. The end of the second telescopic cylinder away from the main arm is hinged to the forearm and used to adjust the angle between the forearm and the main arm. The drive assembly includes a drive motor, a first sprocket and a second sprocket. The first sprocket and the second sprocket are respectively arranged close to the two ends of the forearm, and the rotation axes of the first sprocket and the second sprocket are parallel to the horizontal plane. The shaft of the drive motor is connected to the first sprocket or the second sprocket for transmission.

[0012] The conveyor chain is wound around the first sprocket and the second sprocket, and multiple hooks are located on the outer edge of the conveyor chain and are arranged along the length of the conveyor chain.

[0013] To better realize the present invention, the above structure is further optimized, and the upper arm includes a main arm and a telescopic arm;

[0014] One end of the main arm is hinged to the fixed base. The main arm has a cavity inside. The end of the main arm away from the fixed base has an opening that communicates with the cavity. A third telescopic cylinder is installed on the main arm.

[0015] One end of the telescopic arm slides through the opening and is set in the cavity, while one end of the forearm is hinged to the end of the telescopic arm away from the main arm.

[0016] The end of the third telescopic cylinder furthest from the main arm is connected to the telescopic arm and is used to adjust the relative position of the main arm and the telescopic arm.

[0017] The end of the second telescopic cylinder furthest from the forearm is hinged to the telescopic arm.

[0018] To better realize the present invention, further optimizations are made to the above structure, and the chain robotic arm for conveying the ring reinforcement of the tunnel wall also includes a rotary platform.

[0019] The fixed base is located at the moving end of the rotary platform, and the rotation axis of the moving end of the rotary platform is perpendicular to the horizontal plane.

[0020] To better realize the present invention, the above structure is further optimized, the forearm is an arc-shaped structure; when the two ends of the forearm are at the same height, the upper end surface of the forearm is a convex surface.

[0021] To better realize the present invention, the above structure is further optimized, and the conveyor chain includes chain links and chain plates;

[0022] There are multiple links, and two adjacent links are connected by two chain plates, which are respectively located on both sides of the link.

[0023] The hook is mounted on the chain plate.

[0024] To better realize the present invention, the above structure is further optimized, wherein the hook and the chain plate are integrally formed components.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] The chain-type robotic arm for conveying ring reinforcement in tunnel walls provided by this invention allows the flexible robotic arm body to hang ring reinforcement with hooks on the conveying chain. The drive component can drive the conveying chain to move, and the conveying chain and the robotic arm body work together to deliver multiple hung ring reinforcements to the designated position, replacing manual labor to complete the conveying of ring reinforcements, thereby reducing the labor intensity of ring reinforcement conveying and improving the laying efficiency of ring reinforcements. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a chain-type robotic arm for conveying ring reinforcement in tunnel walls according to the present invention.

[0028] Figure 2 This is a diagram showing the state of a chain-type robotic arm used for conveying ring reinforcement in tunnel walls during use, according to the present invention.

[0029] Figure 3 This is a diagram showing the coordination state of the conveying chain and drive assembly in a chain-type robotic arm for conveying ring reinforcement in tunnel walls according to the present invention.

[0030] Figure 4 yes Figure 3 A magnified view of part A in the middle.

[0031] Figure 5 This is a schematic diagram of the chain plate and hook in a chain-type robotic arm for conveying ring reinforcement in tunnel walls according to the present invention.

[0032] In the picture:

[0033] 1. Fixed base; 11. First telescopic hydraulic cylinder;

[0034] 2. Main boom; 21. Second telescopic cylinder; 22. Main boom; 23. Telescopic boom; 24. Third telescopic cylinder;

[0035] 3. Forearm; 31. Drive motor; 32. First sprocket; 33. Second sprocket;

[0036] 4. Conveyor chain; 41. Chain plate; 42. Chain link; 43. Hook;

[0037] 5. Rotary platform. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below.

[0039] In the embodiments of this application, such as Figures 1 to 5 As shown, this chain-type robotic arm is mainly used for conveying the ring reinforcement in the tunnel wall, so as to easily complete the layout of the ring reinforcement in the tunnel wall. It includes a robotic arm body and a conveying chain 4; wherein,

[0040] The end section of the robotic arm body is equipped with a drive assembly, and a conveyor chain 4 is wound around the drive assembly. The conveyor chain 4 is equipped with multiple hooks 43 for hanging ring ribs. The ring ribs are hung by the hooks 43 on the conveyor chain 4, and the drive assembly drives the conveyor chain 4 to convey the ring ribs to one end of the end section of the robotic arm body. The position of the end section of the robotic arm body is adjusted to convey the ring ribs on the end section of the robotic arm body to the designated position.

[0041] In this chain-type robotic arm, the flexible robotic arm body can hang ring reinforcements using hooks 43 on the conveyor chain 4. The drive component can drive the conveyor chain 4 to move, and the conveyor chain 4 and the robotic arm body work together to deliver multiple hanging ring reinforcements to the designated position, replacing manual labor in conveying the ring reinforcements. That is, it replaces manual labor in delivering the ring reinforcements to the designated position and makes the plane where the ring reinforcements are located parallel to the cross-section of the tunnel, so as to facilitate the workers to fix the ring reinforcements, thereby reducing the labor intensity of ring reinforcement conveying and improving the efficiency of ring reinforcement layout.

[0042] Specifically, the aforementioned robotic arm includes a fixed base 1, a large arm 2, and a small arm 3. A first telescopic cylinder 11 is hinged to the fixed base 1. One end of the large arm 2 is hinged to the fixed base 1, and the end of the first telescopic cylinder 11 furthest from the fixed base 1 is hinged to the large arm 2, used to adjust the angle between the large arm 2 and the plane of the fixed base 1. In this embodiment, the fixed base 1 can be installed and fixed on a vehicle platform, that is, on the frame of a trailer, to facilitate quick adjustment of the position of the chain-type robotic arm and improve its flexibility and maneuverability.

[0043] Forearm 3 is the distal segment of the aforementioned robotic arm body. One end of forearm 3 is hinged to the end of the upper arm 2 furthest from the fixed base 1. A second telescopic cylinder 21 is mounted on the upper arm 2, and the end of the second telescopic cylinder 21 furthest from the upper arm 2 is hinged to the forearm 3. This cylinder is used to adjust the angle between the forearm 3 and the upper arm 2. (See [link]). Figure 1 ;

[0044] The aforementioned drive assembly includes a drive motor 31, a first sprocket 32, and a second sprocket 33. The first sprocket 32 ​​and the second sprocket 33 are respectively arranged close to both ends of the forearm 3, and the rotation axes of both the first sprocket 32 ​​and the second sprocket 33 are parallel to the horizontal plane. The shaft of the drive motor 31 is drive-connected to either the first sprocket 32 ​​or the second sprocket 33. In this embodiment, the drive motor 31 is drive-connected to the first sprocket 32. (See [reference]). Figure 1 ;

[0045] The conveyor chain 4 is wound around the first sprocket 32 ​​and the second sprocket 33. Multiple hooks 43 are located on the outer edge of the conveyor chain 4 and are arranged along the length of the conveyor chain 4.

[0046] When conveying the ring reinforcement, the operator can adjust the position of the forearm 3 by controlling the extension and retraction of the first telescopic cylinder 11 and the second telescopic cylinder 21, so that the forearm 3 is horizontal and close to the ground, that is, the forearm 3 is adjusted to the lowest position, which makes it easier for the operator to hang the ring reinforcement.

[0047] The worker hangs one of the ring bars on one of the hooks 43 of the conveyor chain 4, and makes the length of the ring bar on both sides of the forearm 3 as consistent as possible. Then, the drive motor 31 is controlled to move, and the drive motor 31 drives the first sprocket 32 ​​to move, so as to drive the conveyor chain 4 to move the ring bar away from the worker. The above ring bar hanging steps are repeated to continue hanging the ring bars until the upper surface of the forearm 3 is full or a sufficient number of ring bars are hung, and the spacing between two adjacent ring bars meets the ring bar layout requirements.

[0048] Then, the position of the forearm 3 is adjusted by controlling the extension and retraction of the first telescopic cylinder 11 and the second telescopic cylinder 21, so that the forearm 3 moves to the designated position, that is, the ring ribs hanging on the forearm 3 are sent to the designated position, completing the conveying of multiple ring ribs at one time, reducing the labor intensity of ring rib conveying. See [link to documentation]. Figure 2 At this point, the upper end face of the forearm 3 is close to the top of the tunnel. In this state, the ring reinforcement on the forearm 3 hangs down naturally, and the staff can easily adjust the state of the ring reinforcement so that the plane where the ring reinforcement is located is parallel to the cross-section of the tunnel, and fix the ring reinforcement (weld or tie) to complete the layout of the ring reinforcement.

[0049] In this embodiment, the conveying chain 4 is mounted on the forearm 3 via the first sprocket 32 ​​and the second sprocket 33, and the forearm 3 is hinged to the boom 2, which is hinged to the fixed base 1. By controlling the action of the first telescopic cylinder 11 and the second telescopic cylinder 21, the position of the forearm 3 can be flexibly adjusted to easily complete the conveying of the ring reinforcement. The entire conveying process is relatively simple, with low labor intensity and high efficiency in conveying and laying the ring reinforcement, which can effectively improve the construction efficiency of the tunnel.

[0050] It is worth noting that the aforementioned ring reinforcement refers to a circular or horseshoe-shaped steel bar with an opening on one side. During the installation process, the position of the opening corresponds to the position of the boom 2, so that when the conveyor chain 4 transports the ring reinforcement to the end of the forearm 3 away from the boom 2, the opening on the ring reinforcement can pass smoothly through the boom 2 or the vehicle platform below the boom 2, making the transport of the ring reinforcement more stable and smooth.

[0051] In some embodiments, the conveyor chain 4 described above includes chain links 42 and chain plates 41, see [link to previous document]. Figure 3 and Figure 4 ;in,

[0052] There are multiple links 42. Each link 42 includes two inner plates (inner chain plates) and two pins. The two inner plates and the two pins are arranged opposite each other, and the two ends of the pins extend from the two sides of the inner plates.

[0053] Two adjacent links 42 are connected by two chain plates 41 (outer chain plates). That is, the chain plates 41 are hinged to the end of the pin and arranged close to the inner plate. The two chain plates 41 are respectively arranged on both sides of the link 42.

[0054] Hook 43 is mounted on chain plate 41.

[0055] The conveyor chain 4 in this embodiment is a chain commonly used in chain drives in mechanical structures. It has a simple and practical structure. Setting the hook 43 on the chain plate 41 can realize the hanging and limiting of the ring reinforcement, so as to facilitate the conveying of the ring reinforcement.

[0056] Preferred, see Figure 5 The hook 43 and the chain plate 41 are integrally formed components to make the structure of the conveyor chain 4 more stable and improve the service life of the conveyor chain 4.

[0057] In some embodiments, the aforementioned upper arm 2 includes a main arm 22 and a telescopic arm 23, see [link to previous document]. Figure 1 and Figure 2 ;in,

[0058] One end of the main arm 22 is hinged to the fixed base 1. The main arm 22 has a cavity inside. The end of the main arm 22 away from the fixed base 1 has an opening that communicates with the cavity. The main arm 22 is equipped with a third telescopic cylinder 24.

[0059] One end of the telescopic arm 23 is slidably disposed in the cavity through the opening, and the shape of the cross-section of the telescopic arm 23 matches the shape of the cross-section of the cavity so that one end of the telescopic arm 23 can slide smoothly in the cavity. One end of the forearm 3 is hinged to the end of the telescopic arm 23 away from the main arm 22.

[0060] The end of the third telescopic cylinder 24 away from the main arm 22 is connected to the telescopic arm 23, and is used to adjust the relative position of the main arm 22 and the telescopic arm 23, that is, to adjust the length of the boom 2.

[0061] The second telescopic cylinder 21 mentioned above is hinged to the telescopic arm 23 at the end away from the forearm 3, so as to adjust the angle between the forearm 3 and the telescopic arm 23 to better complete the conveying of the ring reinforcement.

[0062] In this embodiment, the first telescopic cylinder 11, the second telescopic cylinder 21, and the third telescopic cylinder 24 are all controlled by hydraulic oil supplied by a hydraulic pump station to achieve telescopic movement. The hydraulic pump station, the first telescopic cylinder 11, the second telescopic cylinder 21, and the third telescopic cylinder 24 are all commercially available hydraulic pump stations and cylinders with relatively simple structures, and will not be described in detail here.

[0063] In some embodiments, the chain-type robotic arm further includes a rotary platform 5, see [link to documentation]. Figure 1 and Figure 2 The fixed base 1 is set at the moving end of the rotary platform 5, and the rotation axis of the moving end of the rotary platform 5 is perpendicular to the horizontal plane. The orientation of the upper arm 2 and the lower arm 3 can be adjusted through the rotary platform 5, so that the chain robotic arm can also complete the conveying of the ring reinforcement at the turning position of the tunnel, thus making the use of the chain robotic arm more convenient.

[0064] It is worth noting that the aforementioned slewing platform 5 is a mechanical structure that connects to a vehicle-mounted platform via a slewing bearing, enabling 360° full rotation. It is widely used in excavators, welding equipment, and rocket launch towers, among other fields.

[0065] In some embodiments, see Figure 1 and Figure 2 The forearm 3 mentioned above has an arc-shaped structure, that is, the long axis of the forearm 3 is an arc. When the two ends of the forearm 3 are at the same height, the upper end surface of the forearm 3 is a convex surface. The actuating end of the second telescopic cylinder 21 is hinged to the lower end surface of the forearm 3, that is, hinged to the concave surface of the forearm 3.

[0066] When laying the ring reinforcement, the workers can first control the end of the forearm 3 away from the upper arm 2 to be close to the tunnel wall. At this time, the other positions of the forearm 3 are at a certain distance from the tunnel wall (tunnel top wall).

[0067] In this state, the ring reinforcement on the part of the forearm 3 away from the upper arm 2 can be tightly attached to the longitudinal reinforcement of the tunnel wall, and the ring reinforcement on other parts of the forearm 3 will naturally fall down under the action of gravity, without interfering with the fixation of the ring reinforcement on the part of the forearm 3 away from the upper arm 2, so as to facilitate the workers to fix the ring reinforcement.

[0068] After the ring reinforcement is fixed (welded or tied) at the above position, the workers can adjust the state of the forearm 3 so that the end of the forearm 3 away from the upper arm 2 moves away from the tunnel wall. At this time, there is a certain gap between both ends of the forearm 3 and the tunnel wall, while the middle part of the forearm 3 is close to the longitudinal reinforcement of the tunnel wall. The ring reinforcement on the part of the forearm 3 close to the upper arm 2 hangs down naturally under the action of gravity and will not interfere with the fixing of the ring reinforcement on the middle part of the forearm 3, so as to facilitate the workers to fix the ring reinforcement.

[0069] After the ring reinforcement on the middle part of the forearm 3 is fixed, the staff will adjust the state of the forearm 3 again, so that the end of the forearm 3 away from the upper arm 2 and the middle part of the forearm 3 move away from the tunnel wall. The end of the forearm close to the upper arm 2 will be in close contact with the longitudinal reinforcement of the tunnel wall, and all the ring reinforcements on this part will hang down naturally and be in close contact with the longitudinal reinforcement of the tunnel wall, so as to facilitate the staff to fix the ring reinforcement.

[0070] Fixing the ring reinforcement in the above manner can improve the fixing efficiency of the ring reinforcement.

[0071] If the forearm 3 is set as a straight structure, the ring reinforcement will sway slightly during transportation. When the forearm 3 is in contact with the tunnel wall, the ring reinforcement is squeezed and its position no longer changes. However, when the ring reinforcement sways, it may get stuck between the ring reinforcement and the longitudinal reinforcement in front or behind, affecting the fixation of the ring reinforcement. The staff can only repeatedly adjust the state of the forearm 3 so that the ring reinforcement on the forearm 3 can hang down completely naturally before the forearm 3 can be in close contact with the tunnel wall and the ring reinforcement can be fixed, which affects the fixing efficiency of the ring reinforcement.

[0072] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A chain type robot arm for tunnel wall ring delivery, characterized by: It comprises a mechanical arm body and a conveying chain (4); The end section of the mechanical arm body is provided with a driving assembly, the conveying chain (4) is arranged around the driving assembly, and a plurality of hooks (43) for hanging the ring rib are arranged on the conveying chain (4); the ring rib is hung through the hooks (43) on the conveying chain (4), and the driving assembly drives the conveying chain (4) to convey the ring rib to one end of the end section of the mechanical arm body, the position of the end section of the mechanical arm body is adjusted, and the ring rib on the end section of the mechanical arm body is conveyed to a specified position; The mechanical arm body comprises a fixed seat (1), a large arm (2) and a small arm (3); The first telescopic oil cylinder (11) is hinged to the fixed seat (1), one end of the large arm (2) is hinged to the fixed seat (1), and the end of the first telescopic oil cylinder (11) away from the fixed seat (1) is hinged to the large arm (2), so as to adjust the included angle between the large arm (2) and the plane where the fixed seat (1) is located; The small arm (3) is the end section of the mechanical arm body, one end of the small arm (3) is hinged to the end of the large arm (2) away from the fixed seat (1), the second telescopic oil cylinder (21) is arranged on the large arm (2), and the end of the second telescopic oil cylinder (21) away from the large arm (2) is hinged to the small arm (3), so as to adjust the included angle between the small arm (3) and the large arm (2); the driving assembly comprises a driving motor (31), a first sprocket (32) and a second sprocket (33), the first sprocket (32) and the second sprocket (33) are arranged close to the two ends of the small arm (3) respectively, the rotation axes of the first sprocket (32) and the second sprocket (33) are parallel to the horizontal plane, and the rotating shaft of the driving motor (31) is in transmission connection with the first sprocket (32) or the second sprocket (33); The conveying chain (4) is arranged around the first sprocket (32) and the second sprocket (33), the plurality of hooks (43) are located on the outer edge of the conveying chain (4), and are arranged along the length direction of the conveying chain (4); The small arm (3) is in an arc line structure; when the two ends of the small arm (3) are located at the same height, the upper end surface of the small arm (3) is a convex surface; The large arm (2) comprises a main arm (22) and a telescopic arm (23); One end of the main arm (22) is hinged to the fixed seat (1), the inside of the main arm (22) is provided with a cavity, the end of the main arm (22) away from the fixed seat (1) is provided with an opening in communication with the cavity, and the third telescopic oil cylinder (24) is arranged on the main arm (22); One end of the telescopic arm (23) is slidably arranged in the cavity through the opening, and one end of the small arm (3) is hinged to the end of the telescopic arm (23) away from the main arm (22); The end of the third telescopic oil cylinder (24) away from the main arm (22) is connected with the telescopic arm (23), so as to adjust the relative position of the main arm (22) and the telescopic arm (23); The end of the second telescopic oil cylinder (21) away from the small arm (3) is hinged to the telescopic arm (23).

2. The chain robot arm for tunnel wall ring delivery according to claim 1, characterized in that: It also comprises a rotary platform (5); The fixed seat (1) is arranged on the action end of the rotary platform (5), and the rotating axis of the action end of the rotary platform (5) is perpendicular to the horizontal plane.

3. The chain robot arm for tunnel wall ring delivery according to claim 1, characterized in that: The conveying chain (4) comprises a chain link (42) and a chain plate (41). The plurality of chain links (42) are connected by two chain plates (41) arranged on both sides of the chain link (42). The hook (43) is arranged on the chain plate (41).

4. The chain robot arm for transporting the hoops of a tunnel wall according to claim 3, characterized in that: The hook (43) and the chain plate (41) are an integral component.

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