Mechanical arm for automatically installing segment bolts for underground tunnel construction

Abstract

The utility model discloses a mechanical arm for automatically installing a duct piece bolt for underground tunnel construction, which belongs to the field of mechanical arms and comprises a mechanical arm component and a transmission component, the mechanical arm component comprises a plurality of rotating joints which are rotatably connected, one end of each of two rotating joints is rotatably connected with a first rotating block and a second rotating block respectively, and the first rotating block and the second rotating block are rotatably connected. The mechanical arm assembly comprises a first rotating block and a second rotating block, a pushing piece is fixedly connected to the surface of the first rotating block, an octagonal block is fixedly connected to the surface of the second rotating block, a first screw hole is formed in the upper end of the octagonal block, and the transmission assembly comprises a rotating disc. According to the mechanical arm, the cost loss can be reduced, meanwhile, the bolt mounting efficiency can be improved, the practicability of the mechanical arm can be improved, meanwhile, the mechanical arm can be disassembled conveniently through mutual cooperation of the structures, and the disassembling convenience of all parts is improved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a mechanical arm for automatically installing segment bolts for underground tunnel construction. Background Art

[0002] With the rapid economic and social development and the acceleration of urbanization, China has become one of the countries in the world with the fastest, largest and most complex urban underground space development. The rapid increase in urban population has led to tight land resources, and the demand for the development of urban underground space has continued to rise. At the same time, the requirements for the construction speed and quality of underground projects are getting higher and higher. The development of large-span underground projects is becoming increasingly important as an efficient means to alleviate traffic pressure and expand the use of underground space. In the development of urban underground space, it is particularly important to improve the requirements and structural performance of construction projects. Therefore, the innovation and progress of shield technology plays a vital role in increasing the utilization of underground space, alleviating urban congestion and relieving traffic pressure. Among them, a more convenient and efficient shield segment connector installation process is particularly important. Shield segments Connectors are not only the main components in tunnel construction, but also an important line of defense for tunnels. They undertake the key tasks of connecting shield segments and resisting various loads. The quality of the segments directly determines the overall quality and safety of the tunnel, and also affects the waterproofness and durability of the tunnel. Bolts are usually installed manually, which not only increases labor costs, but also affects construction efficiency. Based on this, it is necessary to provide a robotic arm that can automatically install bolts. In addition, existing robotic arms are not easy to disassemble and replace during use, which affects the convenience of using the robotic arm. Based on this, it is necessary to provide a robotic arm that is easy to disassemble. Utility Model Content

[0003] The embodiment of the utility model provides a mechanical arm for automatically installing segment bolts for underground tunnel construction, aiming to solve the problem that the existing mechanical arm is not convenient for automatic bolt installation and is not convenient for disassembly.

[0004] To achieve the above-mentioned purpose, the utility model provides a mechanical arm for automatically installing segment bolts for underground tunnel construction, comprising a mechanical arm assembly and a transmission assembly;

[0005] The mechanical arm assembly comprises a plurality of rotatably connected rotating joints, wherein one end of each of the two rotating joints is rotatably connected to a first rotating block and a second rotating block, respectively, a push piece is fixedly connected to the surface of the first rotating block, an octagonal block is fixedly connected to the surface of the second rotating block, and a first screw hole is provided at the upper end of the octagonal block;

[0006] The transmission assembly includes a turntable, the inner wall of which is provided with a plurality of tooth grooves, the interior of the turntable is meshingly connected with a gear, the surface of the turntable is detachably connected with a connecting cover, one side of the connecting cover is connected to a servo motor, the surface of the turntable is fixedly connected with a mounting shaft, the front end of the mounting shaft is provided with an octagonal hole, the upper end of the mounting shaft is provided with a second screw hole, and the internal thread of the second screw hole is connected with an organic screw.

[0007] As a preferred solution of the utility model, the surfaces of the plurality of rotating joints, the first rotating block and the second rotating block are provided with connecting holes, and the connecting shafts are inserted into the connecting holes.

[0008] As a preferred solution of the utility model, a flange is fixedly connected to the surface of the turntable, and a plurality of third screw holes are provided on the surfaces of the flange and the connecting cover, and third bolts are threadedly connected to the insides of the plurality of third screw holes, and a third nut is threadedly connected to the side surface of the third bolt.

[0009] As a preferred solution of the utility model, a mounting shell is fixedly connected to the surface of the connecting cover, and a bearing is installed inside the mounting shell.

[0010] As a preferred solution of the utility model, a limiting hole is provided on the surface of the gear, the output end of the servo motor is fixedly connected to a limiting shaft, and the limiting shaft passes through a bearing and is inserted into the limiting hole.

[0011] As a preferred solution of the utility model, the turntable and the gear are both made of aluminum alloy.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. When the bolt is automatically installed, the bolt and the push piece are first fixed, and then the servo motor is started to rotate the gear. The servo motor can rotate the turntable eccentrically along the side surface of the gear in cooperation with the plurality of tooth grooves on the inner wall of the turntable. The turntable can rotate the second rotating block, the plurality of rotating joints and the first rotating block, and then the push piece can be rotated eccentrically and the bolt can be automatically threaded inside the pipe segment. Compared with the bolt installation method in the prior art, the utility model can automatically install the bolt through the above-mentioned structures, which can not only reduce labor costs, but also improve installation efficiency, thereby enhancing practicality.

[0014] 2. When disassembling the robotic arm, first take out the connecting shaft from the connecting hole to disassemble several rotating joints, the first rotating block and the second rotating block. Then take out the machine screw from the second screw hole to disassemble the turntable. Finally, take out the third bolt from the third screw hole to disassemble the connecting cover, gear and servo motor, thereby providing convenience for the disassembly of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a disassembled diagram of the mechanical arm assembly structure of the utility model;

[0017] Figure 3 This is a disassembled diagram of the transmission assembly structure of the utility model;

[0018] Figure 4 It is the right view of the transmission assembly structure of the utility model.

[0019] In the figure: 100, mechanical arm assembly; 101, rotating joint; 102, first rotating block; 103, pushing piece; 104, second rotating block; 105, octagonal block; 106, first screw hole; 111, connecting hole; 112, connecting shaft; 200, transmission assembly; 201, turntable; 202, tooth groove; 203, gear; 204, connecting cover; 205, servo motor; 206, mounting shaft; 207, octagonal hole; 208, second screw hole; 209, machine screw; 211, flange; 212, third screw hole; 213, third bolt; 214, third nut; 221, mounting shell; 222, bearing; 231, limit hole; 232, limit shaft. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-4 , the utility model provides a mechanical arm for automatically installing segment bolts for underground tunnel construction, including a mechanical arm assembly 100 and a transmission assembly 200;

[0022] The robot arm assembly 100 includes a plurality of rotatably connected rotating joints 101, wherein one end of each of the two rotating joints 101 is rotatably connected to a first rotating block 102 and a second rotating block 104, respectively; a push piece 103 is fixedly connected to the surface of the first rotating block 102; an octagonal block 105 is fixedly connected to the surface of the second rotating block 104; and a first screw hole 106 is provided at the upper end of the octagonal block 105;

[0023] The transmission assembly 200 includes a turntable 201, the inner wall of which is provided with a plurality of tooth grooves 202, the interior of the turntable 201 is meshingly connected with a gear 203, the surface of the turntable 201 is detachably connected with a connecting cover 204, one side of the connecting cover 204 is connected with a servo motor 205, the surface of the turntable 201 is fixedly connected with a mounting shaft 206, the front end of the mounting shaft 206 is provided with an octagonal hole 207, the upper end of the mounting shaft 206 is provided with a second screw hole 208, the internal thread of the second screw hole 208 is connected with an organic screw 209.

[0024] In a specific embodiment, the mechanical arm assembly 100 cooperates with the transmission assembly 200, which can not only automatically perform threaded connection operations on the bolts and the pipe segments, but also reduce cost losses and improve the installation efficiency of the bolts, thereby enhancing the practicality of the mechanical arm. At the same time, the above-mentioned structures cooperate with each other to facilitate the disassembly of the mechanical arm, thereby improving the convenience of disassembly of each component. When in use, first fix the bolts and the push piece 103 and start the servo motor 205 to rotate the gear 203 at the same time. The servo motor 205 can be controlled to rotate the turntable 201 eccentrically along the side surface of the gear 203 with the cooperation of several tooth grooves 202 on the inner wall of the turntable 201. The turntable 201 can rotate the second rotating block 104, several rotating joints 101 and the first rotating block 102, thereby driving the push piece 103 to rotate eccentrically and automatically threading the bolts inside the pipe segment, thereby reducing labor costs and improving processing efficiency, thereby enhancing the practicality of the mechanical arm.

[0025] See also Figure 2 , connection holes 111 are formed on the surfaces of the plurality of rotating joints 101 , the first rotating block 102 and the second rotating block 104 , and a connecting shaft 112 is inserted into the connecting hole 111 .

[0026] In a specific embodiment, the connection shaft 112 is inserted into the connection hole 111, which not only facilitates the connection of the rotation joint 101, the first rotation block 102 and the second rotation block 104, but also facilitates their disassembly as needed.

[0027] See also Figure 3 and Figure 4A flange 211 is fixedly connected to the surface of the turntable 201, and a plurality of third screw holes 212 are provided on the surfaces of the flange 211 and the connection cover 204. Third bolts 213 are threadedly connected to the interiors of the plurality of third screw holes 212, and a third nut 214 is threadedly connected to the side surface of the third bolt 213.

[0028] In a specific embodiment, the third bolt 213 is threadedly connected inside the third screw hole 212 and matched with the third nut 214 to enhance the connection strength between the turntable 201 and the connection cover 204. The third bolt 213 can be removed from the third screw hole 212 to be disassembled.

[0029] See also Figure 3 and Figure 4 A mounting shell 221 is fixedly connected to the surface of the connecting cover 204 , and a bearing 222 is installed inside the mounting shell 221 .

[0030] In a specific embodiment, the mounting shell 221 is used to improve the mounting stability of the bearing 222 . The presence of the bearing 222 can reduce the friction of the rotation of the gear 203 and reduce the operating load of the servo motor 205 .

[0031] See also Figure 3 and Figure 4 A limiting hole 231 is formed on the surface of the gear 203 , and an output end of the servo motor 205 is fixedly connected to a limiting shaft 232 . The limiting shaft 232 passes through the bearing 222 and is inserted into the limiting hole 231 .

[0032] In a specific embodiment, the limiting shaft 232 is inserted into the limiting hole 231. When the servo motor 205 rotates, the gear 203 can be rotated under the action of the limiting shaft 232. At the same time, the limiting shaft 232 can be taken out to be disassembled.

[0033] See also Figure 3 and Figure 4 , the turntable 201 and the gear 203 are both made of aluminum alloy.

[0034] In a specific embodiment, the turntable 201 and the gear 203 made of aluminum alloy can not only enhance their own strength, but also avoid rust and extend the service life.

[0035] Working principle: When in use, first fix the bolt and the push piece 103 and start the servo motor 205 at the same time to rotate the gear 203. The several tooth grooves 202 on the inner wall of the turntable 201 can control the servo motor 205 to drive the turntable 201 to rotate eccentrically along the side surface of the gear 203. Then the turntable 201 can rotate with the second rotating block 104, several rotating joints 101 and the first rotating block 102, so as to drive the push piece 103 to rotate eccentrically and automatically thread the bolt inside the pipe segment, thereby reducing labor costs and improving processing efficiency to enhance the practicality of the robotic arm.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm for automatically installing segment bolts for underground tunnel construction, characterized in that: include: A mechanical arm assembly (100), the mechanical arm assembly (100) comprising a plurality of rotatably connected rotating joints (101), wherein one end of each of the two rotating joints (101) is rotatably connected to a first rotating block (102) and a second rotating block (104), respectively; a push piece (103) is fixedly connected to the surface of the first rotating block (102), and an octagonal block (105) is fixedly connected to the surface of the second rotating block (104); and a first screw hole (106) is provided at the upper end of the octagonal block (105); A transmission assembly (200), the transmission assembly (200) comprising a turntable (201), the inner wall of the turntable (201) being provided with a plurality of tooth grooves (202), the interior of the turntable (201) being meshedly connected with a gear (203), the surface of the turntable (201) being detachably connected with a connection cover (204), one side of the connection cover (204) being connected with a servo motor (205), the surface of the turntable (201) being fixedly connected with a mounting shaft (206), the front end of the mounting shaft (206) being provided with an octagonal hole (207), the upper end of the mounting shaft (206) being provided with a second screw hole (208), the interior of the second screw hole (208) being threadedly connected with an organic screw (209).

2. The mechanical arm for automatically installing segment bolts for underground tunnel construction according to claim 1, characterized in that: The surfaces of the plurality of rotating joints (101), the first rotating block (102) and the second rotating block (104) are all provided with connecting holes (111), and the interior of the connecting holes (111) is plugged with connecting shafts (112).

3. The mechanical arm for automatically installing segment bolts for underground tunnel construction according to claim 1, characterized in that: A flange (211) is fixedly connected to the surface of the turntable (201); a plurality of third screw holes (212) are provided on the surfaces of the flange (211) and the connection cover (204); third bolts (213) are threadedly connected to the interiors of the plurality of third screw holes (212); and a third nut (214) is threadedly connected to the side surface of the third bolt (213).

4. The mechanical arm for automatically installing segment bolts for underground tunnel construction according to claim 1, characterized in that: A mounting shell (221) is fixedly connected to the surface of the connection cover (204), and a bearing (222) is installed inside the mounting shell (221).

5. The mechanical arm for automatically installing segment bolts for underground tunnel construction according to claim 1, characterized in that: A limiting hole (231) is provided on the surface of the gear (203); the output end of the servo motor (205) is fixedly connected to a limiting shaft (232); and the limiting shaft (232) passes through a bearing (222) and is inserted into the limiting hole (231).

6. The mechanical arm for automatically installing segment bolts for underground tunnel construction according to claim 1, characterized in that: The rotating disk (201) and the gear (203) are both made of aluminum alloy.

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