In-cavern lap-joint vulcanization trolley for rubber sealing layer of artificial cavern

Abstract

The invention relates to the technical field of chamber operation equipment, in particular to an in-chamber lap-joint vulcanization trolley for a rubber sealing layer of an artificial chamber. The device comprises a trolley; the rack is rotationally connected to the trolley; the first arm group and the second arm group are arranged on the rack, and the lifting paths of the first arm group and the second arm group do not interfere with each other. The first arm set and the second arm set are fixedly installed on the same rotatable rack, the rack is static during operation, only the two arm sets move in the pre-designed lifting paths which do not interfere with each other, and therefore the relative position uncertainty between two independent devices is eliminated, the possibility of motion interference is completely eradicated from the source, and the working efficiency is improved. And a high-resolution absolute position encoder and a torque sensor are integrated, so that the accurate angle and stress state of each joint are fed back in real time, and a data basis is provided for closed-loop control.

Description

Technical Field

[0001] This invention relates to the field of tunnel operation equipment technology, and more specifically, to a vulcanizing trolley for the internal overlapping of rubber sealing layers in artificial tunnels. Background Technology

[0002] A chamber is a closed or semi-closed space that is artificially excavated in rock and soil. Its function is more focused on containment, such as for equipment installation, storage, power plant buildings or mining operations.

[0003] The sealing layer of the chamber aims to construct a continuous, dense, and highly durable artificial barrier to actively isolate the internal space of the chamber from all potentially harmful material and energy exchanges with the external geological environment. This significance transcends the simple concept of "waterproofing," and its core logic lies in achieving absolute control over environmental variables.

[0004] However, the integrity of the joints is crucial to the success of the sealing layer installation in circular chambers. Currently, vulcanization has become a reliable process for achieving molecular-level fusion of the joints. This process requires specialized vulcanization equipment to be tightly fitted onto the circumferential joint. Because the chamber cross-section is a closed circle, this joint naturally forms a continuous spatial curve surrounding the inner wall. Therefore, the vulcanization equipment must overlap the joint along this predetermined annular path, promoting chemical cross-linking of the material at the joint under constant temperature and pressure.

[0005] The use of lifting equipment for high-altitude operations is now very common. Especially with the increase in the level of equipment automation, it is now possible to use lifting equipment to carry vulcanizing equipment for automatic or semi-automatic operation. If manual operation is required, another lifting device needs to be deployed. However, the lifting equipment in the tunnel is usually parked at the lowest point. This means that two lifting devices not only occupy a lot of space, but also easily interfere with each other between the booms, greatly reducing the safety of the operation. Summary of the Invention

[0006] The purpose of this invention is to provide an internal vulcanization trolley for the rubber sealing layer of an artificial chamber, so as to solve the problem that interference easily occurs between the booms of two lifting devices, resulting in reduced operational safety.

[0007] To achieve the above objectives, a vulcanizing trolley for the internal overlapping of rubber sealing layers in an artificial chamber is provided, comprising: A small car; A frame, which is rotatably connected to a trolley; as well as, The first boom assembly and the second boom assembly are both mounted on a platform, and their lifting paths do not interfere with each other.

[0008] Specifically, the trolley's function is to enable its movement, allowing it to easily reach designated positions. The platform is rotatably connected above the trolley, forming a rotating system that rotates around the z-axis. The platform's role is to adjust the working surfaces of the first and second boom assemblies, operating during the initial stage of rubber sealing layer overlap. While the first and second boom assemblies are in motion, the platform remains stationary. In other words, the platform does not participate in the position adjustment during operation, thus reducing the possibility of interference between the first and second boom assemblies. Furthermore, mounting the first and second boom assemblies on the same platform provides them with a fixed connection point. Therefore, regardless of how the trolley is positioned, the connection point between the first and second boom assemblies is determined. Since the first and second boom assemblies cannot rotate independently, as long as their lifting paths do not interfere with each other, there will be no further possibility of interference.

[0009] Preferably, the first arm group and the second arm group are arranged in parallel. This arrangement is because the current first arm group and the second arm group both adopt a multi-arm connection method, and the arms rotate around the y-axis in order to fold. Therefore, the arms of the first arm group and the second arm group can only be raised vertically upward or retracted vertically downward. Thus, this parallel arrangement can effectively avoid interference between the first arm group and the second arm group.

[0010] Furthermore, the first boom assembly is located on one side of the platform, while the second boom assembly is located on the other side. On one hand, given the platform's limited length, this side-to-side design maximizes the distance between the connection points of the first and second boom assemblies. The greater the distance between these connection points, the smaller the bending deformation of the platform under the same bending moment. When the first and second boom assemblies are lifted, this side-by-side layout ensures that the load acts primarily on the platform as a symmetrical couple, rather than generating a large overturning moment, thus preventing the trolley from tipping over. Moreover, the separation of the connection points on both sides creates a near-self-balancing force system, reducing the need for external counterweights. This means that even with the addition of a boom assembly, no additional external components are required, leading to a lighter and more compact trolley design.

[0011] On the other hand, the connection point inevitably requires local reinforcement structures (such as thickened connecting plates, dense stiffeners, and reinforced bearing seats) to withstand the huge concentrated loads and moments. If the first and second boom assemblies are installed on the same side, the overall width of the platform will have to be increased. This not only increases the weight and manufacturing cost of the platform itself, but more importantly, in the narrow circular chamber, a wider platform will encroach on the already extremely precious radial working space.

[0012] In addition, the reason for setting two booms on the trolley is to enable them to cooperate with each other. This way, for human-machine cooperation needs, only one trolley needs to enter the chamber, instead of using two trolleys. Therefore, in order for the first boom and the second boom to cooperate with each other, their working ranges need to cover each other.

[0013] As a feasible technical solution, the first arm assembly includes a first main arm, which is rotatably connected to one side of the platform. The second arm assembly includes a second main arm, which is rotatably connected to the other side of the platform.

[0014] Furthermore, the first arm assembly also includes a first telescopic arm, which is rotatably connected to the first main arm, and a first forearm is rotatably connected to the end of the first telescopic arm. The second arm assembly includes a second telescopic arm, which is rotatably connected to a second main arm, and a second forearm is rotatably connected to the end of the second telescopic arm.

[0015] Furthermore, a vulcanizing device is installed at the end of the first forearm, and the vulcanizing device is connected to the first forearm via a first multi-axis assembly for adjusting the working posture. A manned platform is installed at the end of the second forearm, and the manned platform is connected to the second forearm via a second multi-axis assembly for adjusting the working posture.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The artificial chamber's rubber sealing layer is integrated with the vulcanizing trolley. By fixing the first and second arm assemblies to the same rotatable platform, their relative connection points are fundamentally determined. During operation, the platform remains stationary, and only the two arm assemblies move within pre-designed, non-interfering lifting paths. This setup eliminates the uncertainty in the relative position between the two independent devices, preventing potential movement interference at the source, thereby improving operational safety and achieving an efficient and compact layout of the equipment within a limited space. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the vulcanizing trolley of the present invention; Figure 2 This is a structural diagram of the trolley of the present invention during positioning and preparation for operation; Figure 3 This is a schematic diagram of the structure when the first boom assembly begins operation at the lowest point of the annular joint. Figure 4 This is a schematic diagram showing the operating location of the vulcanizing equipment in the cross-section of the chamber; Figure 5 This is a structural diagram of the first boom assembly during operation; Figure 6 This is a structural diagram showing the first boom assembly reaching the highest point of the annular joint. Figure 7 This is a schematic diagram of the structure when the first and second boom arms work together. Figure 8 A schematic diagram of the structure for rotating the platform to the other side to perform work on the other semi-circular joint; Figure 9 This is a schematic diagram of the trolley of the present invention when it is transferred to a workstation; Figure 10 This is a schematic diagram of the initial posture of the trolley when it is working on the bottom area. Figure 11 This is a structural diagram of the first arm assembly performing specific operations in the bottom region.

[0018] The meanings of the labels in the diagram are as follows: 1. Trolley; 2. Second counterweight; 3. Platform; 4. First boom; 5. First telescopic boom; 6. First forearm; 7. First multi-axis assembly; 8. Vulcanizing equipment; 9. Second boom; 10. Second telescopic boom; 11. Second forearm; 12. Second multi-axis assembly; 13. Manned platform; 14. First counterweight. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Figure 1 The image shows the vulcanizing trolley for the rubber sealing layer inside the artificial chamber. See [link / reference]. Figure 1 The vehicle includes: One small car 1; Vehicle 1 uses a conventional running gear, such as a wheeled self-propelled chassis, a wheeled chassis with a driver's cab, a tracked self-propelled chassis, a tracked chassis with a driver's cab, or an omnidirectional mobile platform. With the development and innovation of technology in this field, vehicle 1 can also adopt novel mobile platforms existing in the prior art. Vehicle 1 can also adopt mobile platforms from other fields capable of providing carrying functions.

[0021] A frame 3 is rotatably connected to a trolley 1; The chassis of the trolley 3 and the trolley 1 are connected by a slewing bearing, after which the chassis 3 can be fixed above the chassis of the trolley 1. Specifically, the outer ring (or inner ring) of the slewing bearing is rigidly fixed to the chassis by high-strength bolts, and its inner ring (or outer ring) is also connected to the bottom structure of the chassis 3 by bolts. The rolling elements (steel balls or cylindrical rollers) and their raceways inside the slewing bearing together form a low-friction rotating pair that can simultaneously withstand axial force, radial force, and overturning moment.

[0022] The bottom structure of the aforementioned platform 3 is typically a slewing base or pedestal. It is a rigid frame welded from box beams or plate beams. A precise and sufficiently rigid mounting flange is machined onto the lower surface of the frame, which is rigidly connected to the inner (or outer) ring of the slewing bearing via a ring of high-strength bolts. Similarly, the chassis of the trolley 1 also uses a rigid frame welded from box beams or plate beams.

[0023] To achieve active and controllable rotation, the drive system (typically a hydraulic motor or servo motor with a reducer, and the space and support for hydraulic lines and electrical cables rotary joints) meshes with an internal or external gear ring machined on the outer (or inner) ring of the slewing bearing via a pinion, forming a precision rotary drive assembly. One installation method involves the rotary drive assembly being directly and rigidly mounted on the bottom structure of the test bench 3. A drive pinion is mounted on the output shaft of the reducer. This pinion meshes with the external (or internal) gear ring of the slewing bearing, which is fixed to the chassis of the trolley 1. Another installation method involves the rotary drive assembly being mounted on the chassis of the trolley 1. The drive pinion on its output shaft meshes with the external gear ring of the slewing bearing, which is fixed to the bottom structure of the test bench 3.

[0024] In the above scheme, the rotation of the test bench relative to the chassis can be precisely driven through the transmission of the gear pair. To ensure long-term stable operation, the entire rotary drive assembly must have good sealing to protect against dust and moisture in the chamber and be designed with centralized lubrication channels. This provides a stable rotational foundation for the test bench 3, enabling it to accurately adjust the boom assembly to the starting position of the annular joint in the chamber.

[0025] The first boom assembly and the second boom assembly are both mounted on the platform 3, and their lifting paths do not interfere with each other.

[0026] Once the first and second arm assemblies are mounted on the platform 3, they become a single unit. This means that the first and second arm assemblies can only rotate through the platform 3, and the platform 3 drives the first and second arm assemblies to rotate simultaneously, thus synchronizing their rotational movements in the time frame. Therefore, as long as the lifting paths of the first and second arm assemblies do not interfere with each other in the spatial frame, the problem of interference between the first and second arm assemblies is completely solved.

[0027] For example, if the first and second arm assemblies could rotate independently, a situation could arise where they simultaneously perform lifting actions at a certain moment. Since their lifting paths are independent in the spatial frame, they will not collide at that moment. However, if the first arm assembly rotates towards the second arm assembly at that moment, while the second arm assembly does not rotate, a collision will occur. The ingenious design of this embodiment lies in the fact that the first and second arm assemblies rotate synchronously in the temporal frame. Therefore, regardless of their rotation, they remain synchronized, preventing the aforementioned situation.

[0028] Furthermore, by sharing a single platform 3, the first and second boom assemblies can achieve the effect of one trolley replacing two, thus saving space occupied by the trolleys. Especially in the type of chamber described in this embodiment, the two trolleys cannot park side by side, but only one behind the other. This not only takes up space, but also results in the first and second boom assemblies occupying most of the space inside the chamber when they are to reach adjacent target positions. In this embodiment, the placement and orientation of the first and second boom assemblies are not restricted by the trolleys; they can be installed arbitrarily on the platform 3 (the installation positions need to be designed in advance, and then it needs to be ensured that the lifting paths of the first and second boom assemblies do not interfere with each other in the spatial system).

[0029] In one preferred embodiment, the first arm assembly is disposed on one side of the platform 3; The second arm assembly is located on the other side of the platform 3.

[0030] See Figure 1 The first boom assembly is installed on side A (or side B) of the platform 3, and the second boom assembly is installed on side B (or side A) of the platform 3. It should be noted that "side A" and "side B" are not practically definitive, but merely used to conveniently describe the positional relationship between one side and the other. This arrangement takes into account the symmetry of the forces acting on the platform 3. Furthermore, the dual-side installation fully utilizes the space on both sides of the platform 3, ensuring that the width of the platform 3 does not increase due to the addition of a boom assembly.

[0031] In a preferred embodiment, the first arm group and the second arm group are arranged in parallel.

[0032] See Figure 1Firstly, the multiple arms of the first and second arm groups are all in a vertical plane (xz) and rotate around the y-axis. The deployment is achieved through the rotation between the arms. In other words, when the first and second arm groups are set in parallel, the arms of the first and second arm groups are deployed in two non-overlapping vertical planes, so that the first and second arm groups will not interfere with each other.

[0033] Secondly, considering that both the first and second boom assemblies are retracted through folding between the arms, and the length of the platform 3 limits the space available for storing the first and second boom assemblies, the first boom assemblies are installed on side A of the platform 3 and the second boom assemblies on side B, with the first and second boom assemblies arranged parallel to each other. This allows both boom assemblies to fully utilize the length of the platform 3 during retraction, maximizing their lifting height. Furthermore, after folding, the first and second boom assemblies maintain the same direction as the platform 3, i.e., the x-direction, which is also the direction of travel for the trolley.

[0034] Thirdly, since the joint between the sealing layers is annular, the first and second arm groups can be aligned with the platform 3 after being set in parallel. Therefore, before starting work, the trolley is driven to the joint, and then the platform 3 is rotated 90° so that the working surfaces of the first and second arm groups are coplanar with the joint. In this way, the working position can be adjusted by lifting and extending the first and second arm groups, and the platform 3 no longer needs to be rotated during work.

[0035] Furthermore, while either the first or second boom assembly can operate independently, simultaneous operation of both assemblies usually requires their coordinated effort. Therefore, the working ranges of the first and second boom assemblies must overlap. As a further requirement, the coverage area should extend to the entire annular cross-section of the joint, ideally with an additional margin.

[0036] In a preferred embodiment, the first arm assembly includes a first main arm 4, which is rotatably connected to one side of the platform 3; the second arm assembly includes a second main arm 9, which is rotatably connected to the other side of the platform 3. The number of first main arms 4 and second main arms 9 can be one or more. Since the first main arms 4 and the second main arms have the same structure, the principle description below will refer to them as "main arms".

[0037] Taking a boom as an example, a hinge pin made of high-strength alloy steel, located at the base of the boom, passes through the ear plate at the base of the boom and the hinge support on the frame 3. This, along with a large self-lubricating sliding bearing or needle roller bearing installed in the holes of the ear plate and support, forms a low-friction, high-load-bearing rotary hinge point. This allows the boom to pitch around this fixed axis (y-axis), providing a physical basis for angle adjustment. By hinged at the bottom of one (or more) double-acting hydraulic cylinders to a specific position on the frame via a pin below or to the side of the boom, and simultaneously hinged at the piston rod head of the cylinder to a specially welded cylinder ear plate at the middle and rear of the boom via another pin, a stable triangular force transmission relationship is formed between the cylinder mounting point on the frame 3, the boom, and the rotation fulcrum (the boom root hinge point). When the hydraulic system supplies oil to the rodless or rod chamber of the cylinder, the piston rod of the cylinder extends or retracts. This linear thrust or pull acts on the cylinder lug of the boom. Since the hinge point at the root of the boom is fixed, according to the lever principle, this linear driving force is converted into a rotational torque that drives the boom to lift upward or pitch downward around its hinge point, thereby allowing the lifting angle and end height of the boom to be precisely adjusted and controlled.

[0038] Taking multiple boom sections as an example, based on the above, by setting ear plate assemblies at the root of the rear boom section (such as the second or third boom section) and inserting them between the fork-shaped hinge supports at the head of the front boom section (such as the first or second boom section), a high-strength intermediate hinge pin passes through all the ear plate holes, and bushings or spherical bearings are installed between the pin and the ear plate holes, thus constructing an intermediate slewing hinge point between the two boom sections, which is similar in nature to the three hinge points between the boom and the frame. This hinge point allows the rear boom section to pitch relative to the front boom section, thereby connecting multiple rigid boom sections into a continuous boom system that can be bent in multiple stages. Similarly, by hinged the bottom (or middle ear) of a drive cylinder to a specific position on the front boom section (e.g., its head or side support), and simultaneously hinged the piston rod head of the cylinder to the cylinder ear plate of the rear boom section (usually located in the middle or near the root of the rear boom section). In this way, the drive cylinder is positioned between two adjacent moving parts (the front arm and the rear arm). When the angle of the front arm is fixed or moving, the control system adjusts the extension and retraction of the cylinder, and the resulting thrust or pull force acts directly on the lugs of the rear arm. Since the root of the rear arm is hinged to the head of the front arm, according to the lever principle, this force is converted into a torque that drives the rear arm to rotate independently around its own root hinge point (i.e., the intermediate hinge point), thereby enabling the rear arm to extend or retract relative to the front arm, ultimately achieving deeper and more flexible control over the end effector position.

[0039] Preferably, the number of first booms 4 is N, and the number of second booms 9 is N-1; where N≥2. In this way, the end effectors (such as clamps, working heads, and guardrails) of the two first boom groups and the second boom group can converge spatially and be located on the same side of the platform 3. That is, after the first boom group and the second boom group are folded independently, their end effectors can be positioned basically flush with the side of the platform 3, or only slightly and similarly protruding, greatly reducing the overall length of the trolley during transportation or relocation. Furthermore, the compact and regular outline facilitates parking in warehouses or construction sites, reduces space occupation, and makes it easier to cover or secure with a tarpaulin to prevent accidental scratches.

[0040] As a preferred option, see [reference] Figure 1 The trolley 1 is positioned on side A of the first and second boom groups, with the ends of the first and second boom groups positioned on side B. Additionally, a first counterweight 14 is positioned on side A of the platform, and a second counterweight 2 is positioned on side B of the trolley 1.

[0041] In a preferred embodiment, the first arm assembly further includes a first telescopic arm 5, which is rotatably connected to the first upper arm 4, and a first lower arm 6 is rotatably connected to the end of the first telescopic arm 5; the second arm assembly includes a second telescopic arm 10, which is rotatably connected to the second upper arm 9, and a second lower arm 11 is rotatably connected to the end of the second telescopic arm 10.

[0042] The first telescopic arm 5 and the second telescopic arm 10 are the core structures for achieving height lifting. Their function is to provide linear degrees of freedom along the arm axis, thereby significantly expanding the reach of the working point in the vertical or inclined direction. The connection method between the first telescopic arm 5 and the second telescopic arm 10 and the main arm is the same as the connection method between the main arms, so it will not be described in detail here. The first telescopic arm 5 and the second telescopic arm 10 adopt a sleeve-type design driven by hydraulic cylinders or electric push rods. The first forearm 6 and the second forearm 11, because of their short distance and their position at the end, can achieve precise adjustment of the working position. Since the physical length of the forearm is significantly shorter than that of the main arm and the telescopic arm, and it is directly connected to the fixture, working head, or sensor, this characteristic gives it a unique advantage: the short arm produces a smaller linear displacement at the end of the same joint angular displacement; this means that the small input of the unit driving the rotation of the forearm (such as a hydraulic motor or servo motor) can be converted into extremely precise position and attitude changes of the end effector. Furthermore, because it is located at the end of the kinetic chain, the rotation of the forearm acts directly on the working point, without the need for amplification or accumulation of errors by subsequent joints, thus ensuring the directness and accuracy of the adjustment.

[0043] In a preferred embodiment, a vulcanizing device 8 is provided at the end of the first forearm 6, and the vulcanizing device is connected to the first forearm 6 via a first multi-axis assembly 7 for adjusting the working posture. A manned platform 13 is provided at the end of the second forearm 11, and the manned platform is connected to the second forearm 11 via a second multi-axis assembly 12 for adjusting the working posture.

[0044] The first multi-axis assembly 7 and the second multi-axis assembly 12 are the core mechanisms for enabling precise and flexible attitude adjustments in three-dimensional space at the end effector. Essentially, they are compact multi-degree-of-freedom serial robot joint modules, typically composed of a series of sequentially connected rotary joints. Structurally, a multi-axis assembly contains at least three core parts: joint actuators, transmission and support structures, and an integrated sensing and control system. Each joint is powered by an independent drive source (such as a high-precision servo motor, hydraulic oscillating cylinder, or torque motor), with precision reducers (such as harmonic reducers, planetary reducers, or RV reducers) increasing output torque and improving motion resolution. These joint units are interconnected via rigid linkages and crossed roller bearings or large angular contact bearings, ensuring that each joint can rotate independently and smoothly around its axis while bearing all forces and torques from the end effector. The arrangement of joint axes typically follows an orthogonal or staggered principle (e.g., the first joint performs pitch, the second yaw, and the third rotation) to ensure that the combined motion covers as many attitude directions as possible. The entire module typically integrates a high-resolution absolute position encoder and a torque sensor to provide real-time feedback on the precise angle and force state of each joint, providing a data foundation for closed-loop control.

[0045] Its working principle is rooted in coordinate transformations of spatial kinematics. When it is necessary to adjust the end effector (such as a vulcanizing head or a manned platform) to a specific posture, the control system inversely calculates the required rotation angle of each joint in the multi-axis assembly based on the target posture (usually described by Euler angles or quaternions). Subsequently, the drive system drives the joints to move in coordination according to the instructions. For example, to make the vulcanizing head conform to a complex curved surface at a certain angle, the control system may command the first joint to perform a pitch motion to adjust the contact angle, while commanding the second joint to perform a yaw motion to align the direction, and the third joint may perform a slight rotation to optimize the circumferential position of the tool. The vector superposition of the motions of each joint ultimately synthesizes a smooth and precise end effector posture change. For the manned platform, the core of its control logic is active leveling: regardless of the movement of the forearm below, the control system of the multi-axis assembly will calculate and drive each joint to make reverse compensation movements in real time based on feedback from the integrated inertial measurement unit (IMU), ensuring that the platform remains level and stable during movement and when stationary, thus guaranteeing the safety and comfort of the operators.

[0046] The aforementioned vulcanizing equipment and manned platform represent a typical dual-arm operation method. The vulcanizing equipment operates automatically or semi-automatically, while personnel on the manned platform perform human-machine collaborative work, or carry out maintenance, inspection, and other tasks.

[0047] In addition, the first forearm 6 is a telescopic structure, which allows the first forearm 6 to work in conjunction with the first multi-axis assembly 7 and the platform 3 in the retracted state.

[0048] The specific principle for overlapping the sealing layer of the chamber is as follows: See Figure 1 The trolley travels along the x-axis, which is also the basic posture of the trolley during its travel. The trolley travels to the designated joint (starting position) inside the chamber. Figure 2 The posture of the trolley during seam operation is shown in the image. Figure 2 The platform 3 rotates 90°, and the first arm 4 and the second arm 9 are initially at zero degrees.

[0049] Figure 3 The first boom assembly is shown in its initial state during operation. Figure 4 The minimum operating height dimensions for the vulcanizing equipment are shown in the figure. Figure 3 Raising the first boom 4 and adjusting the angle of the first forearm 6 will achieve the lowest possible operating height of the chuck (i.e., the vulcanizing equipment). See [link to relevant documentation]. Figure 4 The 15 chamber with a diameter of 15000mm has a chuck located at an angle of 31.2° between the center of the circle and the vertical line. The vertical distance between the chuck and the center of the circle is 6527mm. At this point, the position of the chuck is the minimum working height dimension.

[0050] Figure 5 The posture of the first arm assembly during the operation is shown. Figure 6 The posture of the first boom assembly is shown when the operation reaches its highest point. See [link / reference]. Figure 5 and Figure 6 The operation proceeds sequentially from the lowest point to the highest point. The movement of the first upper arm 4, the first telescopic arm 5, the first lower arm 6, and the chuck is as follows: the first upper arm 4 lifts, the first telescopic arm 5 extends and retracts, the position of the first lower arm 6 can be controlled, the contact angle of the chuck can be rotated by the first lower arm 6, and the chuck itself can also rotate and adjust its angle under the connection of the first multi-axis assembly 7.

[0051] Figure 7 The simultaneous operation posture of the first and second boom assemblies is shown. See [link / reference] Figure 7 The second boom lifts, allowing the operating range of the corresponding manned platform to also cover the range of the chuck, that is, the entire semicircle of the tunnel can be reached.

[0052] Figure 8 The posture of platform 3 rotated to the other side is shown; see [link / reference]. Figure 8 Then, rotate the frame 3 to the other side and repeat the above process to overlap the seam of the other semicircle.

[0053] Figure 9 The posture of the retracted boom rear vehicle is shown. Figure 10 The image shows the posture of the trolley when it is working in the bottom area. Figure 11 The posture of the first boom assembly when engaged in bottom area operations is shown; see [link / reference]. Figure 9 The arm retracts, and the entire back carriage moves forward. See also... Figure 10 and Figure 11 The work is carried out within the ±31.2° area at the bottom, as follows: Starting from zero degrees, adjust the angle of the platform 3 sequentially, rotate the first large arm 4, adjust the first small arm 6 (extend / retract to bring the chuck to the working position), and adjust the swing cylinder of the first multi-axis assembly 7 to rotate the clamp approximately 15°. Continue adjusting the angle of the platform 3, rotate the first large arm 4, adjust the first small arm 6 (extend / retract to bring the chuck to the working position), and adjust the swing cylinder of the first multi-axis assembly 7 to rotate the clamp approximately 35°.

[0054] There is still room for maneuver in all of the above-mentioned work areas.

[0055] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An in-mine rubber seal layer in-mine lap vulcanization trolley, characterized in that, The utility model relates to a vulcanization equipment lifting device, which comprises: a trolley (1); a rack (3) rotatably connected to the trolley (1); a first arm group and a second arm group, both of which are arranged on the rack (3) and have non-interfering lifting paths. The first arm group is arranged on one side of the rack (3).

2. The in-mine splicing and vulcanizing trolley for artificial chamber rubber sealing layer as claimed in claim 1, characterized in that, The second arm group is arranged on the other side of the rack (3). The first arm group and the second arm group are arranged in parallel.

3. The in-mine splicing and vulcanizing trolley for artificial chamber rubber sealing layer as claimed in claim 1 or 2, characterized in that, The working ranges of the first arm group and the second arm group can cover each other.

4. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer as claimed in claim 1, characterized in that, The first arm group comprises a first large arm (4) rotatably connected to one side of the rack (3).

5. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer according to claim 2, characterized in that, The second arm group comprises a second large arm (9) rotatably connected to the other side of the rack (3). The first arm group further comprises a first telescopic arm (5) rotatably connected to the first large arm (4), and the end of the first telescopic arm (5) is rotatably connected to a first small arm (6).

6. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer according to claim 5, characterized in that, The second arm group comprises a second telescopic arm (10) rotatably connected to the second large arm (9), and the end of the second telescopic arm (10) is rotatably connected to a second small arm (11). The end of the first small arm (6) is provided with a vulcanization equipment, and the vulcanization equipment is connected to the first small arm (6) through a first multi-axis assembly (7) to adjust the working posture.

7. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer according to claim 6, characterized in that, The end of the second small arm (11) is provided with a manned platform, and the manned platform is connected to the second small arm (11) through a second multi-axis assembly (12) to adjust the working posture.

8. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer as claimed in claim 6, characterized in that, The first small arm (6) is a telescopic structure.

9. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer as claimed in claim 7, characterized in that, The number of the first large arms (4) is N, and the number of the second large arms (9) is N-1.

10. The in-mine splicing and curing trolley for artificial mine chamber rubber seal layer as claimed in claim 5, characterized in that, Wherein, N≥2. ​

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