Construction trolley

Abstract

The utility model relates to a construction trolley which comprises a walking structure, a lifting structure and a lifting structure. The moving structure is movably arranged on the walking structure; the mechanical arm structure is arranged on the moving structure; the working structure comprises a working platform and a working part, the working platform is arranged on the mechanical arm structure, the working platform can move in at least one of the three-dimensional directions under the action of the mechanical arm structure, and the working part is movably arranged on the working platform. When the working place of the working part needs to be replaced, the moving structure can be moved firstly, then the mechanical arm structure and the working structure are driven to move, and then the working part can move to the next working place through relative movement of the working part on the working platform. Thus, through the movable moving structure and the movable working part, the working part can cover a large working range, the moving frequency of the construction trolley is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel construction, and in particular to a construction trolley. Background Art

[0002] There are currently two main methods of tunnel excavation construction: one is a method of using a manual gantry as a working platform and a handheld or hydraulic drill as a tool; the other is a mechanized construction method with a construction trolley as the main construction equipment; the first method is flexible and adaptable, especially suitable for working conditions with complex and changeable surrounding rocks, and has high efficiency, but the manual labor intensity is high and the risk is high. At the same time, with the rapid growth of labor costs and the continuous development and innovation of construction equipment manufacturing technology, the second method has gradually replaced the first method and become the mainstream of tunnel excavation construction.

[0003] When existing construction trolleys are operating in tunnels, drilling and grouting are often achieved by controlling the movement of a robotic arm. However, the operating range of the robotic arm is limited. When drilling and grouting are required in areas deep in the tunnel, the only option is to move the construction trolley. However, the construction trolley needs to be re-fixed after moving, which increases the time spent on drilling and grouting, affecting the construction progress. Summary of the invention

[0004] Based on this, it is necessary to provide a construction trolley to address the problem of limited operating range of the existing construction trolley mechanical arm.

[0005] A construction trolley, comprising:

[0006] Traveling structure, including trolley frame;

[0007] A mobile structure, movably disposed on the walking structure;

[0008] A mechanical arm structure, disposed on the mobile structure;

[0009] The working structure comprises a working platform and working parts. The working platform is arranged on the mechanical arm structure, and under the action of the mechanical arm structure, the working platform can move in at least one direction in three dimensions, and the working parts are movably arranged on the working platform.

[0010] In one of the embodiments, a first slide rail is provided on the working platform, and the working component can be slidably mounted on the second slide rail in a controlled manner.

[0011] In one of the embodiments, a retractable sliding piston rod is provided on the working platform, the retracting direction of the sliding piston rod is parallel to the first sliding rail, and the sliding piston rod is connected to the working component.

[0012] In one embodiment, the mechanical arm structure includes a boom telescopic cylinder, a swing arm and a construction pitch cylinder, the boom telescopic cylinder is installed on the mobile structure and has a telescopic boom telescopic piston rod, and the boom telescopic piston rod is connected to the swing arm;

[0013] The working platform and the swing arm are hinged to each other around a first hinge axis, the construction pitch cylinder and the swing arm are hinged to each other around a pitch hinge axis, and have a retractable construction pitch piston rod, the construction pitch piston rod and the working platform are hinged to each other around a second hinge axis, the second hinge axis, the first hinge axis, and the pitch hinge axis are parallel to each other and are spaced apart in the longitudinal direction of the construction pitch piston rod.

[0014] In one embodiment, the mechanical arm structure further includes a fixed seat, a rotating seat and a small arm pitch cylinder, the fixed seat is connected to the large arm telescopic piston rod, the rotating seat and the fixed seat are hinged to each other around a third hinge axis, and the swing arm is connected to the rotating seat;

[0015] The forearm pitch cylinder is installed on the fixed seat and has a retractable forearm pitch piston rod. The forearm pitch piston rod and the rotating seat are hinged to each other around a fourth hinge axis. The fourth hinge axis and the third hinge axis are parallel to each other and are spaced apart in the longitudinal direction of the forearm pitch piston rod.

[0016] In one embodiment, the mechanical arm structure also includes a forearm swing cylinder, the swing arm and the rotating seat are hinged to each other around a fifth hinge axis, the forearm swing cylinder and the rotating seat are hinged to each other around a sixth hinge axis, and has a retractable forearm swing piston rod, the forearm swing piston rod and the swing arm are hinged to each other around a seventh hinge axis, the seventh hinge axis, the sixth hinge axis and the fifth hinge axis are parallel to each other, and the three are spaced apart along the longitudinal direction of the forearm swing piston rod, and the seventh hinge axis is perpendicular to the third hinge axis.

[0017] In one embodiment, the movable structure comprises a sliding platform and a support seat, the sliding platform is movably arranged on the trolley frame, and the support seat and the sliding platform are hinged to each other around an eighth hinge axis;

[0018] The mechanical arm structure also includes a boom swing cylinder, which is arranged on the sliding platform and has a retractable boom swing piston rod. The boom swing piston rod and the support seat are hinged to each other around a ninth hinge axis, and the ninth hinge axis is parallel to the eighth hinge axis; and are arranged at intervals along the longitudinal direction of the boom swing piston rod.

[0019] In one embodiment, the mechanical arm structure also includes a boom pitch cylinder, the boom telescopic cylinder is hinged to the support seat around a tenth articulation axis, the boom pitch cylinder and the boom telescopic cylinder are hinged to each other around an eleventh articulation axis, and has a retractable boom pitch piston rod, the boom pitch piston rod and the support seat are hinged to each other around a twelfth articulation axis, the tenth articulation axis, the eleventh articulation axis, and the twelfth articulation axis are parallel to each other and are spaced apart along the longitudinal direction of the boom pitch cylinder, and the tenth articulation axis is perpendicular to the ninth articulation axis.

[0020] In one embodiment, the construction trolley has an initial state. When the construction trolley is in the initial state, the moving direction of the moving structure relative to the walking structure is parallel to the moving direction of the working component relative to the working platform.

[0021] In one embodiment, a second slide rail is provided on the trolley frame, and the movable structure can be slidably mounted on the second slide rail in a controlled manner.

[0022] In one embodiment, the walking structure further includes a plurality of walking members, which are arranged on the trolley frame and used to support the trolley frame to walk on the working surface;

[0023] The construction trolley further comprises a plurality of supporting members, each of which is movably mounted on the trolley frame, and each of which can abut against the working surface during movement.

[0024] In one of the embodiments, each of the support members is hinged to the trolley frame around a support hinge axis, and the support hinge axis is parallel to the working surface.

[0025] In one of the embodiments, the walking structure further includes a counterweight block, and the counterweight block is arranged on the trolley frame.

[0026] In one embodiment, the robotic arm structures include multiple, the working structures include multiple and correspond one to one with the multiple robotic arm structures, and each of the robotic arm structures is provided with the working structure.

[0027] In the actual construction process, the above-mentioned construction trolley first moves the trolley to the approximate position in the tunnel through the walking structure, and then drives the mechanical arm structure, so that the mechanical arm structure drives the working platform to move, so that the working parts move to the designated work location, so that drilling, wet spraying or milling and excavation and other parts are performed through the working parts. When the working parts need to change the work location, the mobile structure can be moved first, and then the mechanical arm structure and the working structure can be driven to move, so that the working parts can move to the next work location. If the working parts are far away from the next work location, the working parts can be moved to the next work location through the relative movement of the working parts on the work platform. In this way, through the movable mobile structure and the movable working parts, the working parts can cover a larger working range, reduce the number of times the construction trolley moves, and improve construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of a construction trolley in some embodiments of the present application.

[0029] Figure 2 This is a schematic diagram of the structure of a construction trolley in another embodiment of the present application.

[0030] Figure 3 for Figure 2 A schematic structural diagram of the construction trolley in the embodiment from another perspective.

[0031] Figure 4 for Figure 1 A schematic diagram of a construction trolley in one of the states during construction in an embodiment.

[0032] Figure 5 for Figure 1 A schematic diagram of the construction trolley in another state during construction in the embodiment.

[0033] Figure 6 for Figure 1 A schematic diagram of the construction trolley in another state during construction in the embodiment.

[0034] Figure 7 for Figure 1 A schematic diagram of the construction trolley in another state during construction in the embodiment.

[0035] Description of reference numerals:

[0036] Walking structure 100; carriage frame 110; second slide rail 120; walking member 130; support member 140; support hinge shaft 141; counterweight 142; wheel 150; crawler track 151;

[0037] Mobile structure 200; sliding platform 210; support base 220; eighth hinge axis 230;

[0038] Mechanical arm structure 300; boom telescopic oil cylinder 310; boom telescopic piston rod 311; swing arm 320; construction pitch oil cylinder 330; construction pitch piston rod 331; first hinge axis 332; second hinge axis 333; fixed seat 340; rotating seat 341; forearm pitch oil cylinder 342; forearm pitch piston rod 343; third hinge axis 344; fourth hinge axis 345; forearm swing oil cylinder 350; forearm swing piston rod 351; fifth hinge axis 352; sixth hinge axis 353; seventh hinge axis 354; boom pitch oil cylinder 370; boom pitch piston rod 371; tenth hinge axis 372; eleventh hinge axis 373; twelfth hinge axis 374;

[0039] Working structure 400 ; working platform 410 ; first slide rail 411 ; working component 420 ; sliding piston rod 430 ; drilling motor 440 ; drill bit 441 ; drill bit support 442 . DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0041] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does 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 application.

[0042] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0044] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0046] See also Figure 1 The construction trolley provided in one embodiment of the present application includes a walking structure 100, a mobile structure 200, a mechanical arm structure 300 and a working structure 400. The walking structure 100 includes a trolley frame 110 and a plurality of walking parts 130. The plurality of walking parts 130 are arranged on the trolley frame 110 to support the trolley frame 110 to walk on a working surface through the plurality of walking parts 130. The working surface refers to the ground of the working environment in which the construction trolley is located, such as the ground of a tunnel. The walking parts 130 may be wheels 150, which can adapt to relatively flat roads to increase the walking speed of the construction trolley. In some other embodiments, the walking parts 130 may be tracks 151, such as Figure 2 As shown, the crawler tracks can adapt to relatively muddy ground to improve the passability of the construction trolley.

[0047] The mobile structure 200 is movably disposed on the walking structure 100, and the mechanical arm structure 300 is disposed on the mobile structure 200. The working structure 400 includes a working platform 410 and a working component 420. The working platform 410 is disposed on the mechanical arm structure 300, and under the action of the mechanical arm structure 300, the working platform 410 can move in at least one direction in three-dimensional directions, and the working component 420 is movably disposed on the working platform 410.

[0048] Specifically in one embodiment, the working component 420 can be a construction drill, which is specifically composed of a drilling motor 440, a drill bit 441, a drill bit bracket 442, etc. The drill bit bracket 442 is set on the working platform 410, and the drill bit 441 and the drill bit 441 motor are fixed on the drill bit bracket 442 and connected to the drilling motor 440, so that the drilling motor 440 drives the drill bit 441 to rotate, thereby performing drilling operations such as anchor holes or charge holes on the inner wall of the tunnel. It can be understood that in other embodiments, the working component 420 can also be a structure for wet spraying or milling, and the working component 420 can be selected according to actual use requirements, which is not limited here.

[0049] In the actual construction process, the above-mentioned construction trolley is first moved to the approximate position in the tunnel through the walking structure 100, and then the mechanical arm structure 300 is driven to drive the working platform 410 to move, so that the working component 420 moves to the designated work location, so that drilling, wet spraying or milling and excavation are performed by the working component 420. When the working component 420 needs to change the work location, the mobile structure 200 can be moved first, and then the mechanical arm structure 300 and the working structure 400 can be driven to move, so that the working component 420 can move to the next work location. If the working component 420 is far away from the next work location, the working component 420 can move to the next work location through the relative movement of the working component 420 on the working platform 410. In this way, through the movable mobile structure 200 and the movable working component 420, the working component 420 can cover a larger working range, reduce the number of movements of the construction trolley, and improve construction efficiency.

[0050] It should be noted that the movement direction of the mobile structure 200 relative to the walking structure 100 and the movement direction of the working component 420 relative to the working platform 410 can be selected according to actual use requirements to adapt to different construction requirements.

[0051] In some embodiments, the construction trolley has an initial state. When the construction trolley is in the initial state, the moving direction of the mobile structure 200 relative to the walking structure 100 is parallel to the moving direction of the working component 420 relative to the working platform 410. Figure 4and Figure 5 At this time, the construction trolley is in the initial state, and the mobile structure 200 can move in the horizontal direction relative to the walking structure 100, that is, along Figure 1 The working component 420 can also move horizontally relative to the working platform 410, so that the working component 420 can go deeper into the tunnel.

[0052] The construction trolley also has a working state. When the construction trolley is in the working state, the mechanical arm structure 300 drives the working structure 400 to move. Figure 6 and Figure 7 As shown, at this time, the position of the working structure 400 changes, the working component 420 is inclined relative to the working platform 410 in the horizontal direction, and the mobile structure 200 still moves in the horizontal direction relative to the walking structure 100. At this time, the working component 420 can move obliquely to the depth of the tunnel to complete drilling operations at different angles.

[0053] In some embodiments of the present application, in order to realize the movement of the working component 420 relative to the working platform 410, a first slide rail 411 is provided on the working platform 410, and the working component 420 can be slidably installed on the first slide rail 411 in a controlled manner. The direction of the first slide rail 411 can be selected according to the required moving direction of the working component 420, and the movement of the working component 420 is limited and guided by the first slide rail 411, so that the movement of the working component 420 is smoother.

[0054] Furthermore, a retractable sliding piston rod 430 is also provided on the working platform 410, and the retracting direction of the sliding piston rod 430 is parallel to the first slide rail 411, and the sliding piston rod 430 is connected to the working component 420, so that when the sliding piston rod 430 is extended or retracted, the sliding piston rod 430 will drive the working component 420 to move on the first slide rail 411, so that the working component 420 moves relative to the working platform 410. It is understandable that the working platform 410 itself can be an oil cylinder, and the oil cylinder is provided with the sliding piston rod 430, or an oil cylinder is provided on the working platform 410, and the oil cylinder is provided with the sliding piston rod 430.

[0055] It should be noted that, in other embodiments, the working component 420 may move relative to the working platform 410 in a manner such as a screw and a slider, which is not limited here.

[0056] In some embodiments of the present application, the mechanical arm structure 300 includes a boom telescopic cylinder 310, a swing arm 320, and a construction pitch cylinder 330. The boom telescopic cylinder 310 is installed on the mobile structure 200 and has a telescopic boom telescopic piston rod 311, which is connected to the swing arm 320. The swing arm 320 is driven to move by the telescopic piston rod of the boom telescopic cylinder 310, so that the working platform 410 and the working component 420 on the swing arm 320 can move together, thereby improving the coverage of the working component 420.

[0057] The working platform 410 and the swing arm 320 are hinged to each other around a first hinge axis 332, the construction pitch cylinder 330 and the swing arm 320 are hinged to each other around a pitch hinge axis, and have a retractable construction pitch piston rod 331, the construction pitch piston rod 331 and the working platform 410 are hinged to each other around a second hinge axis 333, the second hinge axis 333, the first hinge axis 332 and the pitch hinge axis are parallel to each other, and are spaced apart in the longitudinal direction of the construction pitch piston rod 331, so that when the construction pitch piston rod 331 is extended or retracted, the construction pitch cylinder 330 will drive the working platform 410 to rotate around the second hinge axis 333, so that the working platform 410 is at different angles relative to the swing arm 320.

[0058] Specifically, see Figure 5 and Figure 6 When the construction pitch piston rod 331 is retracted, the working platform 410 will rotate counterclockwise around the second hinge shaft 333, so that the working platform 410 and the working component 420 are tilted downward. When the working component 420 includes a drill bit 441, the drill bit 441 can drill an inclined hole. When the construction pitch piston rod 331 is extended, the working platform 410 will gradually become parallel. After the working platform 410 is parallel to the horizontal direction, the construction pitch piston rod 331 continues to extend, which will cause the working platform 410 to tilt upward.

[0059] In some embodiments, the robotic arm structure 300 also includes a fixed seat 340, a rotating seat 341 and a forearm pitch cylinder 342, the fixed seat 340 is connected to the upper arm telescopic piston rod 311, the rotating seat 341 and the fixed seat 340 are hinged to each other around a third hinge axis 344, and the swing arm 320 is connected to the rotating seat 341.

[0060] The forearm pitch cylinder 342 is installed on the fixed seat 340 and has a retractable forearm pitch piston rod 343. The forearm pitch piston rod 343 and the rotating seat 341 are hinged to each other around the fourth hinge axis 345. The fourth hinge axis 345 and the third hinge axis 344 are parallel to each other and are spaced apart in the longitudinal direction of the forearm pitch piston rod 343. In this way, when the forearm pitch piston rod 343 is extended or retracted, the forearm pitch cylinder 342 will drive the rotating seat 341 to rotate around the third hinge axis 344, thereby changing the angle of the swing arm 320 on the rotating seat 341 relative to the boom telescopic cylinder 310, and cooperating with the construction pitch piston rod 331 to drive the rotation of the working platform 410, so that the working component 420 can form a larger angle relative to the horizontal or vertical direction, further improving the construction range of the working component 420.

[0061] Furthermore, the mechanical arm structure 300 also includes a forearm swing cylinder 350, the swing arm 320 and the rotating seat 341 are hinged to each other around a fifth hinge axis 352, the forearm swing cylinder 350 and the rotating seat 341 are hinged to each other around a sixth hinge axis 353, and have a retractable forearm swing piston rod 351, the forearm swing piston rod 351 and the swing arm 320 are hinged to each other around a seventh hinge axis 354, the seventh hinge axis 354, the sixth hinge axis 353 and the fifth hinge axis 352 are parallel to each other, and the three are spaced apart along the longitudinal direction of the forearm swing piston rod 351, and the seventh hinge axis 354 and the third hinge axis 344 are perpendicular to each other.

[0062] Specifically in one embodiment, refer to Figure 1 The arm pitch cylinder 342 can be used to tilt the swing arm 320 relative to the horizontal or vertical direction, while the arm swing cylinder 350 can be used to tilt the swing arm 320 relative to the direction perpendicular to the paper surface. In this way, the two work together to expand the construction range of the working component 420.

[0063] In some embodiments, the mobile structure 200 includes a sliding platform 210 and a support seat 220. The sliding platform 210 is movably arranged on the trolley frame 110, and the support seat 220 and the sliding platform 210 are mutually hinged around the eighth hinge axis 230. The mechanical arm structure 300 also includes a boom swing oil cylinder, which is arranged on the sliding platform 210 and has a retractable boom swing piston rod. The boom swing piston rod and the support seat 220 are mutually hinged around the ninth hinge axis, and the ninth hinge axis is parallel to the eighth hinge axis 230; and is arranged at intervals along the longitudinal direction of the boom swing piston rod.

[0064] In this way, when the boom piston rod is extended or retracted, the support seat 220 will rotate around the sliding machine 210, thereby changing the angle of the boom piston rod relative to the sliding machine 210, and finally changing the angle of the swing arm 320 and the working component 420, thereby increasing the construction range of the working component 420.

[0065] Furthermore, the mechanical arm structure 300 also includes a boom pitch cylinder 370, a boom telescopic cylinder 310 which is hinged to the support seat 220 around a tenth articulation axis 372, the boom pitch cylinder 370 and the boom telescopic cylinder 310 are hinged to each other around an eleventh articulation axis 373, and have a retractable boom pitch piston rod 371, the boom pitch piston rod 371 and the support seat 220 are hinged to each other around a twelfth articulation axis 374, the tenth articulation axis 372, the eleventh articulation axis 373, and the twelfth articulation axis 374 are parallel to each other, and are spaced apart along the longitudinal direction of the boom pitch cylinder 370, and the tenth articulation axis 372 and the ninth articulation axis are perpendicular to each other.

[0066] Specifically in one embodiment, refer to Figure 1 The boom pitch cylinder 370 can be used to tilt the boom telescopic cylinder 310 relative to the horizontal or vertical direction, while the boom swing cylinder can be used to tilt the swing arm 320 relative to the direction perpendicular to the paper surface. In this way, the two can cooperate with each other to expand the construction range of the working component 420.

[0067] Among them, when the construction trolley is in the initial state, the boom telescopic piston rod 311 extends in the horizontal direction, the first articulated axis 332, the second articulated axis 333, the third articulated axis 344, the fourth articulated axis 345, the tenth articulated axis 372, the eleventh articulated axis 373, and the twelfth articulated axis 374 all extend longitudinally in a direction perpendicular to the paper surface, while the fifth articulated axis 352, the sixth articulated axis 353, the seventh articulated axis 354, the eighth articulated axis 230 and the ninth articulated axis extend longitudinally in the vertical direction.

[0068] Thus, by controlling one or more of the boom telescopic cylinder 310, the boom pitch cylinder 370, the boom swing cylinder, the arm pitch cylinder 342, the arm swing cylinder 350, the construction pitch cylinder 330, and the sliding cylinder, the movement of the working component 420 in three dimensions can be achieved, thereby increasing the construction range of the working component 420. It is understandable that in some other embodiments, the mechanical arm structure 300 can also be a component capable of three-dimensional movement, such as an industrial robot.

[0069] In some embodiments of the present application, in order to make the movement of the mobile structure 200 relative to the trolley frame 110 smoother, a second slide rail 120 is provided on the trolley frame 110, and the mobile structure 200 can be slidably installed on the second slide rail 120. The movement mode of the mobile structure 200 on the second slide rail 120 can be hydraulically driven, motor driven, etc., which is not limited here.

[0070] In some embodiments of the present application, after the moving part drives the construction trolley to move into place, the construction trolley also needs to be fixed. For this purpose, the construction trolley also includes a plurality of support members 140, each support member 140 is movably installed on the trolley frame 110, and each support member 140 can abut against the working surface during the movement, so that the construction trolley is lifted up by the plurality of support members 140, thereby avoiding the movement of the construction trolley on the working surface and causing errors in the position of the working component 420.

[0071] In some embodiments, since the working surface of the construction trolley is often an unformed road surface, the working surface is usually in a rugged state. For this reason, each support member 140 is hinged to the trolley frame 110 around a support hinge shaft 141, and the support hinge shaft 141 is parallel to the working surface, so that the support member 140 can rotate around the trolley frame 110 to adapt to the rugged road surface.

[0072] Specifically in some embodiments, the walking structure 100 also includes a counterweight block 142, which is arranged on the trolley frame 110 to balance the weight of the robotic arm structure 300 and the working structure 400 through the counterweight block 142, thereby ensuring that the weight of the trolley frame 110 is evenly distributed, thereby ensuring that the construction trolley can walk stably.

[0073] In some embodiments of the present application, refer to Figure 3 In order to improve the construction efficiency of the construction trolley, the mechanical arm structure 300 includes multiple, the working structure 400 includes multiple, and corresponds to the multiple mechanical arm structures 300 one by one, and each mechanical arm structure 300 is provided with a working structure 400, such as Figure 2 As shown, through the multiple working components 420 on the multiple working structures 400, construction at multiple locations can be carried out simultaneously, effectively improving the construction efficiency of the construction trolley.

[0074] The above-mentioned construction trolley has at least the following advantages:

[0075] In the actual construction process, the walking structure 100 is first used to move the trolley to the approximate position in the tunnel, and then the mechanical arm structure 300 is driven, so that the mechanical arm structure 300 drives the working platform 410 to move, so that the working component 420 moves to the designated work location, so that drilling, wet spraying or milling and digging are performed by the working component 420. When the working component 420 needs to change the work location, the mobile structure 200 can be moved first, and then the mechanical arm structure 300 and the working structure 400 can be driven to move, so that the working component 420 can move to the next work location. If the working component 420 is far away from the next work location, the working component 420 can move to the next work location through the relative movement of the working component 420 on the working platform 410. In this way, through the movable mobile structure 200 and the movable working component 420, the working component 420 can cover a larger working range, reduce the number of movements of the construction trolley, and improve construction efficiency.

[0076] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A construction trolley, characterized in that: The construction trolley comprises: The walking structure (100) comprises a trolley frame (110); A mobile structure (200) movably disposed on the walking structure (100); A mechanical arm structure (300) disposed on the mobile structure (200); The working structure (400) comprises a working platform (410) and a working component (420); the working platform (410) is arranged on the mechanical arm structure (300), and under the action of the mechanical arm structure (300), the working platform (410) can move in at least one direction in three dimensions; the working component (420) is movably arranged on the working platform (410).

2. The construction trolley according to claim 1, characterized in that: The working platform (410) is provided with a first slide rail (411), and the working component (420) can be slidably mounted on the first slide rail (411) in a controlled manner.

3. The construction trolley according to claim 2, characterized in that: A retractable sliding piston rod (430) is provided on the working platform (410); the retractable direction of the sliding piston rod (430) is parallel to the first sliding rail (411), and the sliding piston rod (430) is connected to the working component (420).

4. The construction trolley according to claim 1, characterized in that: The mechanical arm structure (300) comprises a boom telescopic oil cylinder (310), a swing arm (320) and a construction pitch oil cylinder (330); the boom telescopic oil cylinder (310) is mounted on the mobile structure (200) and has a telescopic boom telescopic piston rod (311); the boom telescopic piston rod (311) is connected to the swing arm (320); The working platform (410) and the swing arm (320) are hinged to each other around a first hinge axis (332), the construction pitch cylinder (330) and the swing arm (320) are hinged to each other around a pitch hinge axis, and have a retractable construction pitch piston rod (331), the construction pitch piston rod (331) and the working platform (410) are hinged to each other around a second hinge axis (333), the second hinge axis (333), the first hinge axis (332), and the pitch hinge axis are parallel to each other and are spaced apart in the longitudinal direction of the construction pitch piston rod (331).

5. The construction trolley according to claim 4, characterized in that: The mechanical arm structure (300) further comprises a fixed seat (340), a rotating seat (341) and a forearm pitch cylinder (342); the fixed seat (340) is connected to the large arm telescopic piston rod (311); the rotating seat (341) and the fixed seat (340) are hinged to each other around a third hinge axis (344); and the swing arm (320) is connected to the rotating seat (341); The forearm pitch cylinder (342) is mounted on the fixing seat (340) and has a retractable forearm pitch piston rod (343). The forearm pitch piston rod (343) and the rotating seat (341) are hinged to each other around a fourth hinge axis (345). The fourth hinge axis (345) and the third hinge axis (344) are parallel to each other and are spaced apart in the longitudinal direction of the forearm pitch piston rod (343).

6. The construction trolley according to claim 5, characterized in that: The mechanical arm structure (300) further comprises a forearm swing cylinder (350), the swing arm (320) and the rotating seat (341) are hinged to each other around a fifth hinge axis (352), the forearm swing cylinder (350) and the rotating seat (341) are hinged to each other around a sixth hinge axis (353), and has a retractable forearm swing piston rod (351), the forearm swing piston rod (351) and the swing arm (320) are hinged to each other around a seventh hinge axis (354), the seventh hinge axis (354), the sixth hinge axis (353) and the fifth hinge axis (352) are parallel to each other, and the three are spaced apart along the longitudinal direction of the forearm swing piston rod (351), and the seventh hinge axis (354) and the third hinge axis (344) are perpendicular to each other.

7. The construction trolley according to claim 4, characterized in that: The mobile structure (200) comprises a sliding platform (210) and a support seat (220); the sliding platform (210) is movably arranged on the trolley frame (110); the support seat (220) and the sliding platform (210) are hinged to each other around an eighth hinge axis (230); The mechanical arm structure (300) also includes a boom swing cylinder, which is arranged on the sliding platform (210) and has a retractable boom swing piston rod, the boom swing piston rod and the support seat (220) are hinged to each other around a ninth hinge axis, the ninth hinge axis and the eighth hinge axis (230) are parallel to each other, and are arranged at intervals along the longitudinal direction of the boom swing piston rod.

8. The construction trolley according to claim 7, characterized in that: The mechanical arm structure (300) further comprises a boom pitch cylinder (370), the boom telescopic cylinder (310) being hinged to the support seat (220) around a tenth hinge axis (372), the boom pitch cylinder (370) and the boom telescopic cylinder (310) being hinged to each other around an eleventh hinge axis (373), and having a telescopic boom pitch piston rod (371), the boom pitch piston rod (371) and the support seat (220) being hinged to each other around a twelfth hinge axis (374), the tenth hinge axis (372), the eleventh hinge axis (373), and the twelfth hinge axis (374) being parallel to each other and spaced apart along the longitudinal direction of the boom pitch cylinder (370), and the tenth hinge axis (372) and the ninth hinge axis being perpendicular to each other.

9. The construction trolley according to claim 1, characterized in that: The construction trolley has an initial state. When the construction trolley is in the initial state, the moving direction of the moving structure (200) relative to the walking structure (100) is parallel to the moving direction of the working component (420) relative to the working platform (410).

10. The construction trolley according to claim 1, characterized in that: The trolley frame (110) is provided with a second slide rail (120), and the moving structure (200) can be slidably mounted on the second slide rail (120) in a controlled manner.

11. The construction trolley according to claim 1, characterized in that: The walking structure (100) further comprises a plurality of walking parts (130), wherein the plurality of walking parts (130) are arranged on the trolley frame (110) and are used to support the trolley frame (110) to walk on a working surface; The construction trolley further comprises a plurality of support members (140), each of the support members (140) being movably mounted on the trolley frame (110), and each of the support members (140) being capable of abutting against the working surface during movement.

12. The construction trolley according to claim 11, characterized in that: Each of the support members (140) is hingedly connected to the trolley frame (110) around a support hinge shaft (141), and the support hinge shaft (141) is parallel to the working surface.

13. The construction trolley according to claim 1, characterized in that: The walking structure (100) further comprises a counterweight block (142), wherein the counterweight block (142) is arranged on the trolley frame (110).

14. The construction trolley according to claim 1, characterized in that: The mechanical arm structures (300) include a plurality of them, the working structures (400) include a plurality of them, and correspond one-to-one with the plurality of the mechanical arm structures (300), and each of the mechanical arm structures (300) is provided with the working structure (400).

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