Rock drilling arm manipulator for tunnel supporting construction equipment

Abstract

The utility model discloses a rock drilling arm manipulator for tunnel support construction equipment, which comprises a rock drilling arm and is characterized by comprising a folding arm, a large arm, a first rotary structure and a second rotary structure, the folding arm is hinged with one end of the large arm, the other end of the large arm is connected with the first rotary structure, and the second rotary structure is connected with the second rotary structure. The first rotation structure is connected with a second rotation structure, the rotation axis of the first rotation structure is perpendicular to the rotation axis of the second rotation structure, and the rock drilling arm is connected with the second rotation structure. The integrated rock drilling arm manipulator for the steel arch anchor rod mounting trolley is compact in structure, a quadrilateral structure is formed through double-triangle structural layout, the stability of an arm frame is high, the working range of the arm frame is wide, and the integrated rock drilling arm manipulator for the steel arch anchor rod mounting trolley can meet full-section construction, benching method construction and reserved core soil construction.

Description

Technical Field

[0001] The utility model relates to a rock drilling arm manipulator, in particular to a rock drilling arm manipulator used for tunnel support construction equipment. Background Art

[0002] After tunnel excavation, in order to control the appropriate release of surrounding rock stress and deformation, increase structural safety and facilitate construction, the initial support with low stiffness and as part of the permanent bearing structure is implemented immediately after the excavation of soft surrounding rock tunnels. Different initial support methods are determined according to different surrounding rock grades. For surrounding rocks of grade IV and above, steel arches are generally used for support during the support process. The steel arch can be made of I-beams, H-beams, steel grids or steel bars. The overall stiffness of the steel arch is large, and it can provide a certain support stiffness in the early stage of tunnel excavation. The steel arch can be well combined with anchor rods, steel mesh and shotcrete to form a joint support to enhance the support effect. The construction process of the steel arch is: first, two steel arches are transported into the tunnel, then lifted to the tunnel support surface, and then the two steel arch flanges are manually bolted together to complete the bolt connection of the two steel arches. Since the steel arch frame is usually transported to the tunnel support surface by a lifting platform, but the posture of the steel arch frame cannot be adjusted, that is, the pitch posture and horizontal posture of the steel arch frame cannot be adjusted, resulting in low installation accuracy of the steel arch frame, and during the installation process, the steel arch frame will tilt, which is very unsafe. In addition, during the docking process of the two sections of the steel arch frame, the aerial posture of the steel arch frame is also changing. The general lifting device cannot achieve posture adjustments such as pitch and horizontal rotation, and cannot adapt to the position change of the steel arch frame. That is, it is difficult for the platform to support the connection points of the two steel arch frames (because the connection points are supported on the platform before it is convenient for workers to bolt them), which is time-consuming and labor-intensive, and the construction is difficult.

[0003] At present, the domestic steel arch installation technology is backward, and the construction is simply based on loaders and excavators, and it is still mainly based on a large number of manual operations (each shift for the main steel arch installation requires at least 11 people). Foreign arch installation trolley equipment has entered the Chinese market, but it is expensive and has strict requirements for on-site supporting processes. According to investigations, it is rarely used in tunnel construction sites. Many domestic engineering equipment companies are optimistic about the market prospects of steel arch installation trolleys, but the prototypes are mainly modified from crawler walking engineering equipment. The construction effect of the prototypes on the construction site is not obvious and is not accepted by users. And the equipment flow required for the current main operation process: steel arch installation trolley installs steel arch → anchor trolley drills locking foot anchor holes and installs locking foot anchor → grouting trolley grouting. Utility Model Content

[0004] The utility model aims to provide a rock drilling arm manipulator for tunnel support construction equipment, so as to solve the problems of insufficient stability of the rock drilling arm, high limitation of working range, single function and the like in the prior art.

[0005] The utility model is implemented by adopting the following technical scheme: a rock drilling arm manipulator for tunnel support construction equipment, comprising a rock drilling arm, characterized in that it comprises a folding arm, a large arm, a first rotating structure, and a second rotating structure, the folding arm is hinged to one end of the large arm, the other end of the large arm is connected to the first rotating structure, the first rotating structure is connected to the second rotating structure, the rotating axes of the first rotating structure and the second rotating structure are perpendicular to each other, and the rock drilling arm is connected to the second rotating structure.

[0006] Furthermore, the folding arm is fixed on the mounting trolley through a folding arm swivel support, the folding arm and the folding arm swivel support are hinged through a pin shaft, the folding arm and the main arm are connected through a connecting arm, the folding arm and the connecting arm are hinged, and the main arm and the connecting arm are fixedly connected.

[0007] Furthermore, a folding arm hydraulic cylinder is provided between the folding arm and the folding arm rotating support. One end of the folding arm hydraulic cylinder is hinged to the folding arm and the other end is hinged to the folding arm rotating support. The folding arm is driven to swing on the folding arm rotating support by the folding arm hydraulic cylinder.

[0008] Furthermore, a boom hydraulic cylinder is also provided on the folding arm, one end of the boom hydraulic cylinder is hinged to the folding arm, and the other end is connected to a transmission rod 1 and a transmission rod 2. One end of the transmission rod 1 and the transmission rod 2 are hinged to the boom hydraulic cylinder through the same axis, the other end of the transmission rod 1 is hinged to the folding arm, and the other end of the transmission rod 2 is hinged to the connecting arm. The boom hydraulic cylinder drives the connecting arm and the folding arm to swing relative to each other, thereby driving the boom.

[0009] Furthermore, the boom hydraulic cylinder is a double hydraulic cylinder, and there are two transmission rods 1 and 2 respectively, which are symmetrically arranged on both sides of the folding arm and the connecting arm.

[0010] Furthermore, the second rotary structure is connected to a pitch connection seat, the pitch connection seat is provided with a mounting bracket, the mounting bracket is hinged to the pitch connection seat, and the rock drilling arm is fixed on the mounting bracket.

[0011] Furthermore, a pitch hydraulic cylinder is provided between the mounting bracket and the pitch connecting seat, one end of the pitch hydraulic cylinder is hinged to the mounting bracket, and the other end is hinged to the pitch connecting seat, and the rock drilling arm is driven to swing relative to the pitch connecting seat by the pitch hydraulic cylinder.

[0012] The beneficial effects of the utility model are: compact structure, double triangle structure layout, forming a quadrilateral structure, high arm stability, wide arm working range, and can meet the integrated rock drilling arm manipulator for the steel arch anchor installation trolley for full-section, step method and reserved core soil construction, while also meeting the needs of personnel for high-altitude operations and the needs of different processes in the construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0014] Figure 1 A schematic diagram of a rock drilling arm manipulator for tunnel support construction equipment;

[0015] Figure 2 A schematic diagram of a manned state of a rock drilling arm manipulator used in tunnel support construction equipment;

[0016] In the figure, 1-folding arm, 2-folding arm hydraulic cylinder, 3-big arm hydraulic cylinder, 4-folding arm slewing support, 5-transmission rod one, 6-transmission rod two, 7-connecting arm, 8-big arm, 9-first slewing structure, 10-slewing connecting seat, 11-second slewing structure, 12-pitch connecting seat, 13-mounting bracket, 14-rock drilling arm, 15-manned hanging basket. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] like Figure 1 As shown, a rock drilling arm manipulator for tunnel support construction equipment includes a folding arm 1, a boom 8, a first rotary structure 9, a second rotary structure 11, and a rock drilling arm 14, wherein the folding arm 1 is fixed to the mounting trolley through a folding arm rotary support 4, and the folding arm 1 and the folding arm rotary support 4 are hinged through a pin shaft. The folding arm 1 and the boom 8 are connected through a connecting arm 7, the folding arm 1 is hinged to the connecting arm 7, the boom 8 is fixedly connected to the connecting arm 7, and the boom 8 is a telescopic arm.

[0020] A folding arm hydraulic cylinder 2 is also provided between the folding arm slewing support 4 and the folding arm 1. One end of the folding arm hydraulic cylinder 2 is hinged to the folding arm 1 and the other end is hinged to the folding arm slewing support 4. The folding arm 1 is driven to swing on the folding arm slewing support 4 by the folding arm hydraulic cylinder 2. A boom hydraulic cylinder 3 is also provided on the folding arm 1. The boom hydraulic cylinder 3 is a double hydraulic cylinder. One end of the boom hydraulic cylinder 3 is hinged to the folding arm 1, and the other end is connected to a transmission rod 1 5 and a transmission rod 2 6. One end of the transmission rod 1 5 and the transmission rod 2 6 are hinged to the boom hydraulic cylinder 3 through the same shaft. There are two transmission rods 1 5 and 2 6 respectively, and they are symmetrically arranged on both sides of the folding arm 1 and the connecting arm 7. The other end of the transmission rod 1 5 is hinged to the folding arm 1, and the other end of the transmission rod 2 6 is hinged to the connecting arm 7. The boom hydraulic cylinder 3 can drive the connecting arm 7 and the folding arm 1 to swing relative to each other, thereby driving the boom 8. At the same time, the transmission rod 1 5, the folding arm 1, and the boom hydraulic cylinder 3 form a triangular structure, and the folding arm 1, the folding arm hydraulic cylinder 2, and the folding arm slewing support 4 also form a triangular structure. The folding arm 1 is a common side of the two triangular structures, that is, from the overall point of view, the transmission rod 1 5, the boom hydraulic cylinder 3, the folding arm hydraulic cylinder 2, and the folding arm slewing support 4 form a quadrilateral, which makes the boom more stable and improves the operating accuracy. At the same time, the transmission rod 1 5, the transmission rod 2 6 and the connecting arm 7 also form a triangular structure, that is, there are three interconnected triangular structures at the folding arm 1 and the connecting arm 7, which makes this part have a relatively high stability.

[0021] A first swivel structure 9 is also provided at the end of the boom 8. The first swivel structure 9 is connected to a second swivel structure 11 through a swivel connection seat 10. The swivel axes of the first swivel structure 9 and the second swivel structure 11 are perpendicular to each other. A pitch connection seat 12 is connected to the second swivel structure 11. A bracket 13 is mounted on the pitch connection seat 12. The mounting bracket 13 is hinged to the pitch connection seat 12. A pitch hydraulic oil cylinder is also provided between the mounting bracket 13 and the pitch connection seat 12. One end of the pitch hydraulic oil cylinder is hinged to the mounting bracket 13, and the other end is hinged to the pitch connection seat 12. The rock drilling arm 14 is fixed on the mounting bracket 13. The rock drilling arm 14 can swing relative to the pitch connection seat 12 through the pitch hydraulic oil cylinder. The pitch connection seat 12 can rotate in the horizontal and vertical directions through the first swivel structure 9 and the second swivel structure 11, so that the rock drilling arm 14 has a high degree of flexibility and can meet the construction of full section, step method and reserved core soil. The front end of the rock drilling arm 14 is also connected to a manned hanging basket 15 by a latch. When rock drilling work is not being performed, high-altitude operations can be performed through the manned hanging basket 15. When rock drilling work is required, the rock drilling arm 14 and the manned hanging basket 15 are connected by a latch and can also be quickly removed.

[0022] The above embodiments describe the basic principle and main features of the utility model and the advantages of the utility model. The technicians in this industry should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the changes and modifications made by the technicians in this field shall be within the scope of protection of the claims attached to the utility model.

Claims

1. A rock drilling arm manipulator for tunnel support construction equipment, comprising a rock drilling arm (14), characterized in that: The invention comprises a folding arm (1), a boom (8), a first rotating structure (9), and a second rotating structure (11), wherein the folding arm (1) is hinged to one end of the boom (8), the other end of the boom (8) is connected to the first rotating structure (9), the first rotating structure (9) is connected to the second rotating structure (11), the rotating axes of the first rotating structure (9) and the second rotating structure (11) are perpendicular to each other, and the rock drilling arm (14) is connected to the second rotating structure (11); The folding arm (1) is fixed on the mounting trolley via a folding arm swivel support (4); the folding arm (1) and the folding arm swivel support (4) are hinged via a pin shaft; the folding arm (1) and the upper arm (8) are connected via a connecting arm (7); the folding arm (1) and the connecting arm (7) are hinged; and the upper arm (8) and the connecting arm (7) are fixedly connected; The folding arm (1) is also provided with a boom hydraulic cylinder (3), one end of the boom hydraulic cylinder (3) is hinged to the folding arm (1), and the other end is connected to a transmission rod 1 (5) and a transmission rod 2 (6), one end of the transmission rod 1 (5) and the transmission rod 2 (6) are hinged to the boom hydraulic cylinder (3) via the same shaft, the other end of the transmission rod 1 (5) is hinged to the folding arm (1), and the other end of the transmission rod 2 (6) is hinged to the connecting arm (7), and the boom hydraulic cylinder (3) pushes the connecting arm (7) and the folding arm (1) to swing relative to each other, thereby driving the boom (8).

2. A rock drilling arm manipulator for tunnel support construction equipment according to claim 1, characterized in that: A folding arm hydraulic oil cylinder (2) is also provided between the folding arm (1) and the folding arm swivel support (4); one end of the folding arm hydraulic oil cylinder (2) is hinged to the folding arm (1) and the other end is hinged to the folding arm swivel support (4); the folding arm hydraulic oil cylinder (2) drives the folding arm (1) to swing on the folding arm swivel support (4).

3. A rock drilling arm manipulator for tunnel support construction equipment according to claim 1, characterized in that: The boom hydraulic cylinder (3) is a double hydraulic cylinder, and the transmission rod 1 (5) and the transmission rod 2 (6) are respectively provided in pairs and are symmetrically arranged on both sides of the folding arm (1) and the connecting arm (7).

4. A rock drilling arm manipulator for tunnel support construction equipment according to claim 1, characterized in that: The second rotating structure (11) is connected to a pitch connection seat (12), a mounting bracket (13) is provided on the pitch connection seat (12), the mounting bracket (13) is hinged to the pitch connection seat (12), and the rock drilling arm (14) is fixed on the mounting bracket (13).

5. A rock drilling arm manipulator for tunnel support construction equipment according to claim 4, characterized in that: A pitch hydraulic oil cylinder is also provided between the mounting bracket (13) and the pitch connecting seat (12); one end of the pitch hydraulic oil cylinder is hinged to the mounting bracket (13), and the other end is hinged to the pitch connecting seat (12); the pitch hydraulic oil cylinder drives the rock drilling arm (14) to swing relative to the pitch connecting seat (12).

6. A rock drilling arm manipulator for tunnel support construction equipment according to claim 1, characterized in that: The front end of the rock drilling arm (14) is also connected to a manned hanging basket (15) via a latch.

7. A rock drilling arm manipulator for tunnel support construction equipment according to claim 1, characterized in that: The large arm (8) is a telescopic arm.

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