Drilling and arching mechanical arm for rack type trolley and rack type trolley

Abstract

The embodiment of the utility model provides a drilling and arching mechanical arm for a rack type trolley and the rack type trolley, and relates to the field of tunnel construction. The drilling and arching mechanical arm for the rack type trolley comprises an arm body, a drilling mechanism and an arching mechanism. The arm body is arranged on the sliding rail in a sliding mode, the drilling mechanism and the vertical arching mechanism are both rotatably connected to the arm body, and the vertical arching mechanism is used for grabbing an arching frame. According to the drilling and arching mechanical arm for the rack type trolley, the arm body can slide along the sliding rail to drive the drilling mechanism and the arching mechanism to synchronously move, the drilling mechanism is used for drilling operation, the arching mechanism can directly grab an arching frame located in the side space of the rack type trolley, the arching frame does not need to be independently grabbed from the rear portion, and the working efficiency is improved. And therefore, the vertical arch drilling operation can be efficiently carried out. The rack type trolley comprises the drilling and arching mechanical arm for the rack type trolley, and has all functions of the drilling and arching mechanical arm for the rack type trolley.

Description

Technical Field

[0001] The utility model relates to the field of tunnel construction, in particular to a drilling and arch erecting mechanical arm for a bench-type trolley and a bench-type trolley. Background Art

[0002] During tunnel construction, it is usually necessary to erect an arch on the surrounding rock surface to drive in anchor rods and cooperate with the arch frame to increase the strength of the surrounding rock.

[0003] In the existing construction process, the arch anchor trolley usually maintains a certain distance from the tunnel face, so the arch frame can be placed between the arch anchor trolley and the tunnel face for grabbing and arch erection and drilling operations. However, because the bench-type trolley is close to the tunnel face, the space between the bench-type trolley and the tunnel face is not enough to place the arch frame. When operating, the bench-type trolley needs to grab the arch frame from the rear in advance and then perform arch erection and drilling operations. Therefore, the bench-type trolley has the problem of low efficiency in arch erection and drilling operations. Utility Model Content

[0004] The utility model provides a drilling arch mechanical arm for a bench-type trolley and a bench-type trolley, which can directly grab the arch frame located in the side space of the bench-type trolley, thereby realizing efficient arch drilling operations.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] The embodiment of the utility model provides a drilling arch mechanical arm for a bench-type trolley, which comprises:

[0007] Arm body, drilling mechanism, arch erection mechanism and sliding track;

[0008] The arm body is slidably mounted on the sliding track, the drilling mechanism and the arch erecting mechanism are both rotatably connected to the arm body, and the arch erecting mechanism is used to grab the arch frame located in the side space of the platform-type trolley.

[0009] Optionally, the arch mechanism includes an arch support, an arch support arm and an arch gripper which are connected in sequence, the arch support is rotatably connected to the arm body, and the arch support arm is a telescopic structure.

[0010] Optionally, the arch erecting mechanism further includes a first deflection cylinder, and the first deflection cylinder is used to drive the arch erecting support arm to rotate along a first direction relative to the arch erecting support.

[0011] Optionally, the arch erecting mechanism also includes a second deflection cylinder and a third deflection cylinder, the second deflection cylinder is used to drive the third deflection cylinder and the arch erecting gripper to rotate in a second direction relative to the arch erecting arm, and the third deflection cylinder is used to drive the arch erecting gripper to rotate in a third direction relative to the arch erecting arm.

[0012] Optionally, the arch gripper comprises a rotating disk and a gripper clamp connected to each other, the rotating disk is rotatably connected to the arch support arm, and the gripper clamp is used to clamp the arch frame.

[0013] Optionally, the drilling mechanism includes a bracket support, a bracket, a propulsion beam and a rock drill, the bracket support is rotatably connected to the arm body, the bracket is connected to the bracket support, and the bracket, the propulsion beam and the rock drill are connected to each other.

[0014] Optionally, the bracket is rotatably connected to the bracket support.

[0015] Optionally, the arm body includes an arm support, an arm, a swivel seat and an adapter seat which are arranged in sequence, the arm support is slidably arranged on the sliding track, the arm is rotatably connected to the arm support, the swivel seat is used to drive the adapter seat to rotate relative to the arm, and the drilling mechanism and the arch erecting mechanism are both rotatably connected to the adapter seat.

[0016] Optionally, the adapter seat is provided with a receiving groove, and the bracket support of the drilling mechanism is received in the receiving groove.

[0017] An embodiment of the utility model further provides a platform-type trolley, comprising a platform-type trolley body and the drilling arch mechanical arm for the platform-type trolley, wherein the sliding track is installed on the platform-type trolley body.

[0018] The beneficial effects of the drilling arch mechanical arm and the bench-type trolley of the embodiment of the utility model include, for example:

[0019] The drilling and arching mechanical arm for a gantry trolley includes an arm body, a drilling mechanism and an arching mechanism; wherein the arm body is slidably arranged on a sliding track, the drilling mechanism and the arching mechanism are both rotatably connected to the arm body, and the arching mechanism is used to grab the arch frame located in the side space of the gantry trolley. The drilling and arching mechanical arm for a gantry trolley can slide along the sliding track through the arm body to drive the drilling mechanism and the arching mechanism to move synchronously, the drilling mechanism is used to perform drilling operations, and the arching mechanism can directly grab the arch frame located in the side space of the gantry trolley without grabbing the arch frame separately from the rear, thereby realizing efficient arch drilling operations.

[0020] The gantry trolley comprises a drilling arch robot arm for the gantry trolley, which has all the functions of the drilling arch robot arm for the gantry trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of a drilling arch mechanical arm for a gantry trolley provided in an embodiment of the utility model at a first viewing angle;

[0023] Figure 2 It is a schematic structural diagram of a drilling arch mechanical arm for a gantry trolley provided in an embodiment of the utility model at a second viewing angle;

[0024] Figure 3 It is a schematic structural diagram of a drilling arch mechanical arm for a gantry trolley provided in an embodiment of the utility model at a third viewing angle;

[0025] Figure 4 It is a structural schematic diagram of the arch erecting mechanism provided in an embodiment of the utility model.

[0026] Icons: 100-drilling arch mechanical arm for a bench-type trolley; 110-arm body; 111-arm support; 112-arm; 113-adapter; 114-accommodating slot; 115-swivel seat; 120-drilling mechanism; 121-bracket support; 122-bracket; 123-thrust beam; 124-rock drill; 130-arch mechanism; 131-arch support; 132-arch support arm; 133-arch gripper; 1331-swivel plate; 1332-gripper clamp; 134-first deflection cylinder; 135-second deflection cylinder; 136-third deflection cylinder; 140-sliding track. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0030] In the description of the present utility model, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when used. It is only for the convenience of describing the utility model 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. Therefore, it cannot be understood as a limitation on the present utility model.

[0031] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0032] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0033] Unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral 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, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0034] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0035] Please refer to Figure 1-Figure 4The drilling arch robot arm 100 and the bench-type trolley provided in the embodiment of the utility model can solve the above-mentioned problems, which will be described in detail below.

[0036] in, Figure 1 The first perspective in the game refers to the angle of looking down from the right rear. Figure 2 The second perspective in the video refers to the side view angle. Figure 3 The third perspective refers to the top-down angle from the right front; it should be noted that the front-to-back direction refers to the direction in which the drilling arch robot arm 100 for the gantry trolley approaches or moves away from the face, the left-right direction is defined based on the front-to-back direction, and the pitch perspective refers to the field of view from a lower or higher position in the height direction.

[0037] refer to Figure 1 The drilling and arching mechanical arm 100 for a gantry trolley includes an arm body 110, a drilling mechanism 120, an arching mechanism 130 and a sliding track 140;

[0038] The arm body 110 is slidably disposed on the sliding track 140 , and the drilling mechanism 120 and the arch erecting mechanism 130 are both rotatably connected to the arm body 110 . The arch erecting mechanism 130 is used to grab the arch frame located in the side space of the platform-type trolley.

[0039] The drilling and arch erecting robot arm 100 for the gantry trolley can slide along the sliding track 140 through the arm body 110 to drive the drilling mechanism 120 and the arch erecting mechanism 130 to move synchronously. The drilling mechanism 120 is used for drilling operations, and the arch erecting mechanism 130 can directly grab the arch frame located in the side space of the gantry trolley without having to grab the arch frame separately from the rear, thereby achieving efficient arch drilling operations.

[0040] It is worth noting that the sliding rail 140 is used to be installed on the platform car body, and the platform car body acts as a mobile carrier. The extension direction of the sliding rail 140 is consistent with the length direction of the platform car body. Even if the distance between the platform car body and the heading face is small, the drilling mechanism 120 and the arch mechanism 130 can be driven to adjust their positions in the axial direction of the tunnel through the sliding cooperation between the arm body 110 and the sliding rail 140.

[0041] refer to Figure 2 and Figure 3 The arm body 110 includes an arm support 111, an arm 112, a swivel seat 115 and an adapter seat 113 which are arranged in sequence. The arm support 111 is slidably arranged on a sliding track 140. The arm 112 is rotatably connected to the arm support 111. The swivel seat 115 is used to drive the adapter seat 113 to rotate relative to the arm 112. The drilling mechanism 120 and the arch erecting mechanism 130 are both rotatably connected to the adapter seat 113.

[0042] During operation, the boom support 111 is used to support the boom 112, and the boom 112 is used to drive the swivel seat 115 to pitch or rotate left and right along the boom support 111. The swivel seat 115 can drive the adapter seat 113 to rotate in the circumferential direction of the boom 112, and the adapter seat 113 is used to install the drilling mechanism 120 and the arch erecting mechanism 130.

[0043] Specifically, the adapter 113 is provided with a receiving groove 114, and the bracket support 121 of the drilling mechanism 120 is accommodated in the receiving groove 114. By providing the receiving groove 114, the bracket support 121 can be provided with a certain receiving and protecting function, and the overall drilling mechanism 120 can be prevented from protruding too much from the adapter 113, which helps to optimize the occupied space of the overall robotic arm.

[0044] refer to Figure 2 and Figure 3 The drilling mechanism 120 includes a bracket support 121, a bracket 122, a propulsion beam 123 and a rock drill 124. The bracket support 121 is rotatably connected to the arm body 110, the bracket 122 is connected to the bracket support 121, and the bracket 122, the propulsion beam 123 and the rock drill 124 are connected to each other. In addition, the bracket 122 is rotatably connected to the bracket support 121.

[0045] Specifically, the bracket support 121 is rotatably connected to the adapter 113 and accommodated in the receiving groove 114 .

[0046] During operation, the bracket support 121 can drive the bracket 122 to rotate relative to the adapter 113, and the rotation centerline is perpendicular to the central axis of the arm 112. The bracket 122 is used to drive the propulsion beam 123 and the rock drill 124 to rotate in the pitch direction relative to the bracket support 121. The rock drill 124 can contact the tunnel face or the surrounding rock face to drill rocks, and the propulsion beam 123 can drive the rock drill 124 to telescopically move, thereby controlling the drilling depth.

[0047] refer to Figure 2-Figure 4 The arch mechanism 130 includes an arch support 131, an arch support arm 132 and an arch gripper 133 which are connected in sequence. The arch support 131 is rotatably connected to the arm body 110, and the arch support arm 132 is a telescopic structure.

[0048] Specifically, the arch support 131 is rotatably connected to the adapter 113, and the arch support 131 is located outside the adapter 113, and the rotation center of the arch support 131 is first colinear with the central axis of the arm 112, that is, the extension direction of the arch support arm 132 is consistent with the extension direction of the arm 112. In addition, the arch support 131 is rotatably arranged to compensate for the rotation of the arch support arm 132 and the arch gripper 133 through the rotatable arch support 131 when the swivel seat 115 drives the adapter 113 to rotate.

[0049] Specifically, the swivel seat 115 can realize the position adjustment of the drilling mechanism 120 by driving the adapter seat 113 to rotate, and the rotation setting of the arch support 131 can avoid the negative impact of the adjustment process on the arch mechanism 130, so that when the position of the drilling mechanism 120 relative to the arm 112 changes circumferentially, the circumferential position of the arch mechanism 130 relative to the arm 112 will not change.

[0050] refer to Figure 2-Figure 4 In order to improve the degree of freedom of the arch support arm 132, the arch mechanism 130 may further include a first deflection cylinder 134, which is used to drive the arch support arm 132 to rotate along a first direction relative to the arch support 131. That is, the arch support arm 132 may rotate around the arch support 131.

[0051] In order to further improve the freedom of movement of the arch erecting gripper 133, the arch erecting mechanism 130 may also include a second deflection cylinder 135 and a third deflection cylinder 136. The second deflection cylinder 135 is used to drive the third deflection cylinder 136 and the arch erecting gripper 133 to rotate along the second direction relative to the arch erecting support arm 132, and the third deflection cylinder 136 is used to drive the arch erecting gripper 133 to rotate along the third direction relative to the arch erecting support arm 132.

[0052] That is, the arch gripper 133 and the third deflection cylinder 136 can rotate around the arch support arm 132; it should be noted that when the arch gripper 133 rotates along the third direction around the arch support arm 132, the arch gripper 133 can perform a twisting motion, that is, the two gripper clamps 1332 on the arch gripper 133 can be one close to the reference object and the other away from the reference object.

[0053] The arch erecting mechanism 130 can drive the arch erecting gripper 133 to rotate in different planes by setting the second rotating cylinder and the third deflecting cylinder 136, so as to realize the flexible movement of the arch erecting gripper 133 in the narrow space on both sides of the platform-type vehicle body, so as to better flexibly grasp the arch frame.

[0054] refer to Figure 2-Figure 4The arch gripper 133 includes a rotating disk 1331 and a gripper clamp 1332 connected to each other. The rotating disk 1331 is rotatably connected to the arch support arm 132, and the gripper clamp 1332 is used to clamp the arch frame.

[0055] Specifically, the second deflection cylinder 135 and the second deflection cylinder 135 are both connected to the rotating disk 1331, and the two deflection cylinders can drive the rotating disk 1331 and the gripper 1332 to rotate. In addition, the rotating disk 1331 can also drive the gripper 1332 to adjust its circumferential position through its own circumferential rotation.

[0056] In this embodiment, the number of the gripping clamps 1332 is two, and the gripping clamps 1332 are provided with a tensioning drive mechanism, which can complete the tightening or opening action under the action of the tensioning drive mechanism, thereby realizing the gripping operation of the arch frame.

[0057] It is worth noting that the type of arch frame grasped by the arch erecting mechanism 130 is not limited, and it can be used to grasp a folding arch frame or a segmented arch frame.

[0058] To sum up, when arch erection operation is required, the rock drill 124 is usually retracted by the propulsion beam 123 first to avoid interference with the action of the arch erection mechanism 130; then the slewing seat 115 is controlled to rotate at an appropriate angle to drive the drilling mechanism 120 to rotate synchronously, and the arch erection support 131 can be rotated in the opposite direction relative to the slewing seat 115 by the same angle to avoid synchronous rotation of the arch erection support arm 132 and the arch erection gripper 133; then the first deflection cylinder 134 and the second deflection cylinder 135 are controlled to extend to drive the arch erection support arm 132 to rotate further away from the drilling mechanism 120 to avoid interference; then the arm frame 112 is controlled to rotate so that the arch erection gripper 133 can move in the radial direction of the face; the third deflection cylinder 136 is extended to make the gripper 1332 close to the arch frame, and then the slewing plate 1331 is controlled to rotate 90° so that the gripper 1332 can easily grab the arch frame. The embodiment of the utility model further provides a gantry trolley, comprising a gantry trolley body and a drilling arch mechanical arm 100 for the gantry trolley, wherein a sliding track 140 is installed on the gantry trolley body. The gantry trolley comprises the drilling arch mechanical arm 100 for the gantry trolley, which has all the functions of the drilling arch mechanical arm 100 for the gantry trolley.

[0059] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A drilling and arching mechanical arm for a bench-type trolley, characterized in that: include: An arm body (110), a drilling mechanism (120), an arch erecting mechanism (130) and a sliding track (140); The arm body (110) is slidably mounted on the sliding track (140), the drilling mechanism (120) and the arch erecting mechanism (130) are both rotatably connected to the arm body (110), and the arch erecting mechanism (130) is used to grasp the arch frame.

2. The drilling and arching mechanical arm for a gantry trolley according to claim 1, characterized in that: The arch mechanism (130) comprises an arch support (131), an arch support arm (132) and an arch gripper (133) which are connected in sequence; the arch support (131) is rotatably connected to the arm body (110); and the arch support arm (132) is a telescopic structure.

3. The drilling and arching mechanical arm for a gantry trolley according to claim 2, characterized in that: The arch erecting mechanism (130) further comprises a first deflection cylinder (134), wherein the first deflection cylinder (134) is used to drive the arch erecting support arm (132) to rotate along a first direction relative to the arch erecting support seat (131).

4. The drilling and arching mechanical arm for a gantry trolley according to claim 2 or 3, characterized in that: The arch erecting mechanism (130) further comprises a second deflection cylinder (135) and a third deflection cylinder (136); the second deflection cylinder (135) is used to drive the third deflection cylinder (136) and the arch erecting gripper (133) to rotate relative to the arch erecting support arm (132) along a second direction; and the third deflection cylinder (136) is used to drive the arch erecting gripper (133) to rotate relative to the arch erecting support arm (132) along a third direction.

5. The drilling arch mechanical arm for a gantry trolley according to claim 4, characterized in that: The arch gripper (133) comprises a rotating disk (1331) and a gripper clamp (1332) connected to each other. The rotating disk (1331) is rotatably connected to the arch support arm (132), and the gripper clamp (1332) is used to clamp the arch frame.

6. The drilling arch mechanical arm for a gantry trolley according to any one of claims 1 to 3, characterized in that: The drilling mechanism (120) comprises a bracket support (121), a bracket (122), a propulsion beam (123) and a rock drill (124); the bracket support (121) is rotatably connected to the arm body (110); the bracket (122) is connected to the bracket support (121); and the bracket (122), the propulsion beam (123) and the rock drill (124) are connected to each other.

7. The drilling and arching mechanical arm for a gantry trolley according to claim 6, characterized in that: The bracket (122) is rotatably connected to the bracket support (121).

8. The drilling arch mechanical arm for a gantry trolley according to any one of claims 1 to 3, characterized in that: The arm body (110) comprises an arm support (111), an arm (112), a swivel seat (115) and an adapter seat (113) which are arranged in sequence; the arm support (111) is slidably arranged on the sliding track (140); the arm (112) is rotatably connected to the arm support (111); the swivel seat (115) is used to drive the adapter seat (113) to rotate relative to the arm (112); and the drilling mechanism (120) and the arch erecting mechanism (130) are both rotatably connected to the adapter seat (113).

9. The drilling arch mechanical arm for a gantry trolley according to claim 8, characterized in that: The adapter seat (113) is provided with a receiving groove (114), and the bracket support (121) of the drilling mechanism (120) is received in the receiving groove (114).

10. A platform-type trolley, characterized in that: It comprises a platform-type vehicle body and a drilling arch robot arm for a platform-type vehicle as described in any one of claims 1 to 9, wherein the sliding track (140) is installed on the platform-type vehicle body.

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