Auxiliary mounting mechanical arm for steel arch

Abstract

The utility model discloses a steel arch auxiliary installation mechanical arm which comprises a connecting part, a horizontal angle adjusting part, an axial angle adjusting part and a clamping part which are connected in sequence, the connecting part replaces an excavator bucket to be connected to an excavator small arm, the horizontal angle adjusting part is horizontally and rotatably connected to the connecting part, and the clamping part is connected to the horizontal angle adjusting part. The axial angle adjusting component is axially and rotatably connected to the horizontal angle adjusting component, the clamping component comprises a fixing piece and a pair of clamping claws, the fixing piece is fixedly connected to the axial angle adjusting component, the pair of clamping claws are oppositely arranged on the fixing piece, one clamping claw is fixed to the fixing piece, and the other clamping claw is fixed to the clamping component. And the other clamping jaw is hinged to the fixing piece and is driven by a driving mechanism to be far away from or close to the opposite clamping jaw to rotate. The device is suitable for the limited operation space environment of the tunnel, is low in equipment cost and flexible to use, and can be used for mechanically replacing workers, improving the intensity of the workers and guaranteeing the safety of the workers.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel initial support steel arch installation operation, and more specifically, to a steel arch auxiliary installation mechanical arm. Background Art

[0002] As an important part of the tunnel support structure, the initial support is generally composed of anchor rods, steel arch frames and shotcrete. However, in the construction of the steel arch frames of the initial support of the tunnel, due to factors such as limited working sites, working environment, and cost, traditional tunnel steel arch frame construction is adopted, which is often carried out by people on their shoulders, with high labor intensity and high safety risks. In addition, special assembly equipment is used for construction. The steel arch frame assembly equipment currently on the market is large in size and not suitable for small-section tunnel operations. In addition, the equipment cost is high, and there are great obstacles to its promotion and application, which cannot effectively improve the current difficulties of steel arch frame assembly operations. In summary, based on tunnel operating conditions and market demand, the steel arch frame auxiliary installation mechanical arm of this application is proposed. Utility Model Content

[0003] One purpose of the utility model is to provide a steel arch frame auxiliary installation mechanical arm, which is a tunnel arch frame assembly device suitable for a limited working space environment in a tunnel, with low equipment cost and flexible use. It uses mechanized replacement of personnel to improve the strength of operators and ensure the safety of operators.

[0004] In order to solve the above technical problems, the utility model provides a steel arch frame auxiliary installation mechanical arm, including a connecting component, a horizontal angle adjustment component, an axial angle adjustment component and a clamping component connected in sequence, the connecting component replaces the excavator bucket and is connected to the excavator arm, the horizontal angle adjustment component is horizontally rotatably connected to the connecting component, the axial angle adjustment component is axially rotatably connected to the horizontal angle adjustment component, the clamping component includes a fixing member and a pair of clamping claws, the fixing member is fixedly connected to the axial angle adjustment member, a pair of clamping claws are relatively arranged on the fixing member, one of the clamping claws is fixed on the fixing member, and the other clamping claw is hinged on the fixing member and is driven by a driving mechanism to rotate away from or close to the clamping claw opposite to it.

[0005] Preferably, the horizontal angle adjustment component includes a horizontal flange, on the outer circumference of which a plurality of pin holes are arranged at intervals in an annular direction, and the axial angle adjustment component includes an axial flange, on the outer circumference of which a plurality of pin holes are also arranged at intervals in an annular direction, the horizontal flange and the axial flange are vertically arranged and are both connected to a connecting member, the connecting member is L-shaped and has a pair of horizontal pins and a pair of axial pins on its two surfaces respectively, the pair of horizontal pins and the pair of axial pins are respectively inserted into the corresponding two pin holes on the horizontal flange and the axial flange and are detachably fixed, the horizontal flange is fixedly connected to the connecting component, and the axial flange is fixedly connected to the fixing member.

[0006] Preferably, the centers of the horizontal flange and the axial flange are rotatably connected to the connecting piece.

[0007] Preferably, the bottom surfaces of the pair of clamping claws facing each other are fixedly provided with a rubber layer.

[0008] Preferably, the clamping claw is L-shaped, and its inner end is hinged to the fixing member, the driving mechanism is a hydraulic rod, and its cylinder is fixed to the fixing member, and the telescopic end of the hydraulic rod is hinged to the middle part of the clamping claw.

[0009] Preferably, the hydraulic rod is controlled to move by a PLC control system arranged on the connecting component.

[0010] Preferably, a support base is provided on the connecting member, and the support base and the front end of the robotic arm jointly support the robotic arm.

[0011] The utility model at least has the following beneficial effects:

[0012] 1. The robotic arm of the present application is a modification of a commonly used construction equipment excavator, using the excavator as a power source. Combined with the excavator model, it can be applied to various sections and tunnel operation scenarios.

[0013] 2. The robotic arm of the present application can improve the degree of mechanization of tunnel construction, realize the grabbing, adjustment and installation of steel arch frames, and effectively reduce the intensity of tunnel arch frame assembly operations.

[0014] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the utility model mechanical arm grabbing a steel arch frame;

[0016] Figure 2 It is a schematic diagram of the overall structure of the mechanical arm of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the angle adjustment component in the mechanical arm of the utility model.

[0018] Description of reference numerals:

[0019] 1: connecting part, 2: horizontal angle adjustment part, 2-1: horizontal flange, 2-2: horizontal pin, 2-3: connecting part, 3: axial angle adjustment part, 3-1: axial pin, 3-2: axial flange, 3-3: pin hole, 4: clamping part, 4-1: fixing part, 4-2: clamping claw, 5: PLC control system, 5-1: hydraulic rod, 6: support base, 7: steel arch frame. DETAILED DESCRIPTION

[0020] In order to better understand the purpose, structure and function of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement it according to the description.

[0021] It should be noted that, in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] like Figures 1 to 3 As shown, the utility model provides a steel arch frame auxiliary installation mechanical arm, including a connecting component 1, a horizontal angle adjustment component 2, an axial angle adjustment component 3 and a clamping component 4 connected in sequence, the connecting component 1 replaces the excavator bucket and is connected to the excavator arm, the horizontal angle adjustment component 2 is horizontally rotatably connected to the connecting component 1, the axial angle adjustment component 3 is axially rotatably connected to the horizontal angle adjustment component 2, the clamping component 4 includes a fixing member 4-1 and a pair of clamping claws 4-2, the fixing member 4-1 is fixedly connected to the axial angle adjustment component 3, a pair of clamping claws 4-2 are relatively arranged on the fixing member 4-1, one of the clamping claws 4-2 is fixed on the fixing member 4-1, and the other clamping claw 4-2 is hinged on the fixing member 4-1 and driven by a driving mechanism to rotate away from or close to the clamping claw 4-2 opposite thereto, thereby realizing the clamping or loosening of the steel arch frame 7 by a pair of clamping claws 4-2.

[0023] The mechanical arm connecting component 1 mainly serves to connect the entire device with the excavator's forearm. It is composed of two rotating pins. Under the hydraulic drive of the excavator, the mechanical arm can be adjusted vertically in a small range, lifted, swung, and other actions. The horizontal angle adjustment component 2 can adjust the horizontal angle of the mechanical arm and the steel arch frame 7 by rotation, and can adjust various horizontal angles by replacing the positions of multiple corresponding pin holes 3-3. After adjustment, two horizontal pins 2-2 are used to fix it, which is suitable for the installation of steel arch frames 7 with multiple horizontal angles. The axial angle adjustment component 3 adjusts the axial angle of the mechanical arm and the steel arch frame 7 by rotation. After adjustment, two axial pins 3-1 are used to fix it, which is suitable for the installation of steel arch frames 7 with multiple angles.

[0024] In another technical solution, the horizontal angle adjustment component 2 includes a horizontal flange 2-1, on which a plurality of pin holes 3-3 are arranged circumferentially at intervals on the outer circumference; the axial angle adjustment component 3 includes an axial flange 3-2, on which a plurality of pin holes 3-3 are also arranged circumferentially at intervals on the outer circumference; the horizontal flange 2-1 and the axial flange 3-2 are arranged vertically and are both connected to the connecting member 2-3; the connecting member 2-3 is arranged in an L-shape and a pair of horizontal pin shafts 2-2 and a pair of axial pin shafts 3-1 are respectively arranged on both surfaces thereof; the pair of horizontal pin shafts 2-2 and the pair of axial pin shafts 3-1 are respectively inserted into the corresponding two pin holes 3-3 on the horizontal flange 2-1 and the axial flange 3-2 and are detachably fixed; the horizontal flange 2-1 is fixedly connected to the connecting component 1, and the axial flange 3-2 is fixedly connected to the fixing member 4-1.

[0025] By rotating the position of the connecting piece 2-3 and the pair of horizontal pins 2-2 thereon, the pair of horizontal pins 2-2 are adjusted to fit and insert into different pin holes 3-3 of the horizontal flange 2-1, so as to adjust the horizontal angle of the robot arm. By rotating the position of the axial flange 3-2, the pair of axial pins 3-1 are adjusted to fit and insert into different pin holes 3-3 of the axial flange 3-2, so as to adjust the axial angle of the robot arm.

[0026] In another technical solution, the centers of the horizontal flange 2-1 and the axial flange 3-2 are both rotatably connected to the connecting piece 2-3. After the horizontal pin 2-2 and the axial pin 3-1 are both fitted into the corresponding pin hole 3-3, the position of the pin is fixed by combining the rotational connection between the flange center and the connecting piece 2-3, without the need to set up other detachable fixing methods, and a temporary fixing method, such as nut fixing, can also be set up as needed.

[0027] In another technical solution, a rubber layer is fixedly provided on the opposite bottom surfaces of a pair of clamping claws 4-2 to protect the steel arch frame 7 during clamping.

[0028] In another technical solution, the clamping claw 4-2 is L-shaped, and its inner end is hinged to the fixing member 4-1. The driving mechanism is a hydraulic rod 5-1, and its cylinder is fixed to the fixing member 4-1. The telescopic end of the hydraulic rod 5-1 is hinged to the middle part of the clamping claw 4-2. Figure 1 and Figure 2 The connection mode, position and shape shown. The hydraulic rod 5-1 is controlled by the PLC control system 5 set on the connecting component 1. The arch frame clamping component 4 is composed of two upper and lower clamping claws 4-2. The lower clamping claw 4-2 is fixed on the fixing member 4-1. The upper clamping claw 4-2 is driven by the hydraulic rod 5-1 to clamp and release the steel arch frame 7. The hydraulic rod 5-1 is controlled by the PLC control system 5 to clamp and release the clamping claw 4-2.

[0029] In another technical solution, a support base 6 is provided on the connecting member 2-3, and the support base 6 and the front end of the mechanical arm jointly support the mechanical arm. The support base 6 only plays a supporting role when the steel arch frame 7 mechanical arm is placed, and jointly supports the entire steel arch frame 7 mechanical arm with the front end of the mechanical arm to maintain the stability of the placement of the mechanical arm.

[0030] The mechanical arm of the present application can realize the functions of grabbing, axial rotation and horizontal rotation of the steel arch frame 7, and uses the excavator commonly used in tunnel construction as the power equipment. The mechanical arm is composed of several parts such as a connecting part 1, a horizontal angle adjustment part 2, an axial angle adjustment part 3, an arch frame clamping part 4, a PLC control system 5, and a support base 6.

[0031] The whole device is powered by the excavator. Before installation, the horizontal and axial rotation angles of the mechanical arm are adjusted, and then the whole device is installed on the excavator arm. The steel arch frame 7 is grasped and clamped by the PLC control system 5. Then the steel arch frame 7 is transported to the position by the excavator, and the excavator angle is rotated and the excavator arm and arm are adjusted to complete the installation of the steel arch frame 7. The rapid installation of the mechanical arm of the steel arch frame 7 is achieved by replacing the excavator bucket, which can be applied to various sections and tunnel limited working space scenes, improving the applicability of the equipment; at the same time, the equipment has a simple structure and low transformation cost, which can effectively reduce the number of steel frame installation workers, reduce the work intensity, and improve the safety of tunnel construction.

[0032] It can be understood that the present invention is described by some embodiments, and those skilled in the art know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation mode. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, other modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to specific details and the illustrations shown and described here.

Claims

1. Steel arch frame auxiliary installation mechanical arm, characterized in that: It includes a connecting component, a horizontal angle adjustment component, an axial angle adjustment component and a clamping component which are connected in sequence. The connecting component replaces the excavator bucket and is connected to the excavator arm. The horizontal angle adjustment component is horizontally rotatably connected to the connecting component. The axial angle adjustment component is axially rotatably connected to the horizontal angle adjustment component. The clamping component includes a fixing component and a pair of clamping claws. The fixing component is fixedly connected to the axial angle adjustment component. The pair of clamping claws are relatively arranged on the fixing component, one of the clamping claws is fixed on the fixing component, and the other clamping claw is hinged on the fixing component and is driven by a driving mechanism to rotate away from or close to the clamping claw opposite to it.

2. The steel arch auxiliary installation mechanical arm according to claim 1, characterized in that: The horizontal angle adjustment component includes a horizontal flange, and a plurality of pin holes are arranged at intervals in the circumferential direction of the outer circumference thereof; the axial angle adjustment component includes an axial flange, and a plurality of pin holes are also arranged at intervals in the circumferential direction of the outer circumference thereof; the horizontal flange and the axial flange are arranged vertically and are both connected to the connecting member; the connecting member is arranged in an L-shape and a pair of horizontal pins and a pair of axial pins are respectively arranged on both surfaces thereof; the pair of horizontal pins and the pair of axial pins are respectively inserted into the corresponding two pin holes on the horizontal flange and the axial flange and are detachably fixed; the horizontal flange is fixedly connected to the connecting component, and the axial flange is fixedly connected to the fixing member.

3. The steel arch auxiliary installation mechanical arm according to claim 2, characterized in that: The centers of the horizontal flange and the axial flange are both rotatably connected to the connecting piece.

4. The steel arch auxiliary installation mechanical arm according to claim 1, characterized in that: The bottom surfaces opposite to each other of the pair of clamping claws are both fixedly provided with rubber layers.

5. The steel arch auxiliary installation mechanical arm according to claim 1, characterized in that: The clamping claw is L-shaped, and its inner end is hinged on the fixing part. The driving mechanism is a hydraulic rod, and its cylinder body is fixed on the fixing part. The telescopic end of the hydraulic rod is hinged on the middle part of the clamping claw.

6. The steel arch auxiliary installation mechanical arm according to claim 5, characterized in that: The hydraulic rod is controlled by a PLC control system arranged on the connecting component.

7. The steel arch auxiliary installation mechanical arm according to claim 2, characterized in that: A supporting base is arranged on the connecting piece, and the supporting base and the front end of the mechanical arm jointly support the mechanical arm.

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