Multi-degree-of-freedom roadway repairing machine

Abstract

The utility model relates to the technical field of roadway construction, and provides a multi-degree-of-freedom roadway repairing machine which is characterized in that a first connecting seat is rotationally arranged at one end of a first working arm, and a first rotating axis is formed between the first connecting seat and the first working arm; the two ends of the first telescopic piece are hinged to the first working arm and the first connecting base correspondingly. One end of the second working arm is rotationally arranged on the first connecting base, a second rotating axis is arranged between the second working arm and the first connecting base, and an included angle is formed between the first rotating axis and the second rotating axis. By means of the technical scheme, the problem that in the prior art, when a roadway is narrow, a working arm of a repairing machine has no space capable of being bent, and normal use of the repairing machine is affected is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction, and specifically to a multi-degree-of-freedom tunnel repairing machine. Background Art

[0002] During mine construction, underground mining tunnels often collapse due to various reasons, resulting in stagnation of mining progress and serious impact on mining efficiency. Coal mine tunnel repair machines are multifunctional mechanical equipment designed specifically for coal mining, mainly used to maintain and repair tunnels in underground mines. These devices are capable of performing a range of complex tasks, including excavation, cutting, crushing, side cutting, loading, supporting, hoisting, etc., which are essential to maintaining the safety and accessibility of tunnels.

[0003] The patent with publication number CN 111851613 A discloses a working arm and a tunnel repair machine for coal mines having the working arm. The setting of the slewing device enables the working arm to slew 360° along the horizontal axis, and the side sleeve driving device enables operation at multiple angles. However, when the repair machine is working, it can only rotate around the slewing device. If the tunnel is very narrow, the working arm cannot be rotated during side excavation due to the limitation of the length of the working arm, which makes it impossible to excavate in narrow tunnels, resulting in a decrease in the scope of application. Utility Model Content

[0004] The utility model provides a multi-degree-of-freedom lane repairing machine, which solves the problem in the related art that when the lane is narrow, the working arm of the repairing machine has no space to bend, thus affecting the normal use of the repairing machine.

[0005] The technical solution of the utility model is as follows:

[0006] A multi-degree-of-freedom roadway repairing machine, comprising:

[0007] The first working arm;

[0008] A first connecting seat, rotatably disposed at one end of the first working arm, with a first rotation axis between the first connecting seat and the first working arm;

[0009] A first telescopic member, two ends of which are respectively hinged to the first working arm and the first connecting seat;

[0010] The second working arm has one end rotatably disposed on the first connecting seat, a second rotation axis is between the second working arm and the first connecting seat, and an angle is formed between the first rotation axis and the second rotation axis.

[0011] Optionally, also include:

[0012] The vehicle body, the other end of the first working arm is rotatably arranged relative to the vehicle body.

[0013] Optionally, also include:

[0014] A slewing device, with two ends respectively arranged on the vehicle body and the other end of the first working arm, and the slewing device is used to drive the first working arm to rotate relative to the vehicle body.

[0015] Optionally, there is an angle between the rotation center of the rotating device, the first rotation axis and the second rotation axis.

[0016] Optionally, the first working arm comprises:

[0017] A base, arranged on the rotating device;

[0018] A swing arm, rotatably disposed on the base, wherein a rotation axis of the swing arm is parallel to the first rotation axis;

[0019] The second telescopic member has two ends hinged on the swing arm and the base.

[0020] Optionally, also include:

[0021] The bucket assembly is rotatably arranged at the other end of the second working arm.

[0022] Optionally, also include:

[0023] A push plate is rotatably arranged on the vehicle body, and after the push plate rotates, it abuts against the ground or cancels the abutment.

[0024] Optionally, also include:

[0025] There are a plurality of crawlers, which are arranged on the vehicle body and are used to drive the vehicle body to move.

[0026] The working principle and beneficial effects of the utility model are:

[0027] In this embodiment, through the combination of the first working arm and the second working arm, and the adjustment of the first telescopic member, the equipment can be flexibly moved in three-dimensional space, adapting to various complex terrains and narrow spaces, and is particularly suitable for the repair work of coal mines and other mine tunnels. The first telescopic member is an oil cylinder, and can also be an air cylinder or other components that can achieve the same function. Through the design of the first telescopic member, the first connecting seat can also rotate along the first working arm. Even if the first working arm does not rotate relative to the first connecting seat, multiple different actions can be performed using only the rotation of the first connecting seat and the second working arm, making the repair machine more free and more flexible to work. The multi-degree-of-freedom design makes the operation of the tunnel repair machine more intuitive and simple. Even in the face of a changing working environment, the position and posture of the working arm can be quickly adjusted, which reduces the difficulty of operation and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present utility model.

[0029] Figure 1 It is a schematic diagram of the structure of the utility model;

[0030] Figure 2 For this utility model Figure 1 A partial enlarged view of the middle part;

[0031] Figure 3 For this utility model Figure 1 A partial enlarged view of point B in the middle;

[0032] Figure 4 This is a structural schematic diagram of the utility model from another viewing angle.

[0033] In the figure: 1. first working arm, 2. first connecting seat, 3. first telescopic member, 4. second working arm, 6. vehicle body, 7. slewing device, 8. base, 9. swing arm, 10. second telescopic member, 11. bucket assembly, 12. push plate, 14. third telescopic member, 13. crawler track. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, they can also be understood as further technical solutions without paying creative work. In some figures, components with the same structure or function are only schematically illustrated, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0035] In this article, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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 it can be indirectly connected 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.

[0036] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0037] Reference Figure 1~Figure 4 , which is the first embodiment of the utility model, proposes a multi-degree-of-freedom tunnel repairing machine, including: a first connecting seat 2 is rotatably set at one end of a first working arm 1, and a first rotation axis is between the first connecting seat 2 and the first working arm 1; two ends of a first telescopic member 3 are respectively hinged on the first working arm 1 and the first connecting seat 2; one end of a second working arm 4 is rotatably set on the first connecting seat 2, and a second rotation axis 5 is between the second working arm 4 and the first connecting seat 2, and an angle is formed between the first rotation axis 5 and the second rotation axis 5.

[0038] In this embodiment, through the combination of the first working arm 1 and the second working arm 4, and the adjustment of the first telescopic member 3, the equipment can be flexibly moved in three-dimensional space, adapt to various complex terrains and narrow spaces, and is particularly suitable for the repair work of coal mines and other mine tunnels. The first connecting seat 2 itself can be rotated, and a rotating oil cylinder is used inside to drive it. Through the rotation of the first connecting seat 2, the angle of rotation of the second working arm 4 can be made more flexible and free. The first telescopic member 3 is an oil cylinder, or it can be a cylinder or other components that can achieve the same function. Through the design of the first telescopic member 3, the first connecting seat 2 can also rotate along the first working arm 1. Even if the first working arm 1 does not rotate relative to the first connecting seat 2, only the rotation of the first connecting seat 2 and the second working arm 4 can perform multiple different actions, making the repair machine more free and more flexible. The multi-degree-of-freedom design makes the operation of the tunnel repair machine more intuitive and simple. Even in the face of a changing working environment, the position and posture of the working arm can be quickly adjusted, which reduces the difficulty of operation and improves the working efficiency.

[0039] Furthermore, it also includes: the other end of the first working arm 1 of the vehicle body 6 is rotatably arranged relative to the vehicle body 6.

[0040] In this embodiment, the vehicle body 6 cooperates with the first working arm 1 and the second working arm 4 to make the tunnel repair machine more maneuverable, and can move freely in the tunnel without frequent manual handling, which greatly improves the flexibility and operation efficiency of the equipment. As the main body of the equipment, the vehicle body 6 can integrate more control and operation components, such as the cab, control system, power system, etc., to form a complete operation platform, simplify the operation process, and improve the comfort and safety of the operator. The automated movement capability of the vehicle body 6 reduces the dependence on manpower, especially in dangerous or inaccessible working areas, which can significantly reduce labor costs and operation risks.

[0041] Furthermore, the invention further comprises: two ends of a slewing device 7 are respectively arranged on the vehicle body 6 and the other end of the first working arm 1 , and the slewing device 7 is used for driving the first working arm 1 to rotate relative to the vehicle body 6 .

[0042] In this embodiment, the slewing device 7 enables the first working arm 1 to rotate 360 ​​degrees relative to the vehicle body 6, greatly enhancing the operating range and flexibility of the equipment, and repair operations can be performed in all directions without frequently adjusting the position of the vehicle body 6. Through the rotation function of the slewing device 7, the tunnel repair machine can better adapt to the repair needs of various angles and positions, especially in the space-constrained tunnel environment. At the same time, the design of the slewing device 7 takes into account the safety of the operation, and can adjust the direction of the working arm without changing the position of the vehicle body 6, reducing the safety hazards during the movement of the equipment.

[0043] Furthermore, there is an angle between the rotation center of the rotating device 7, the first rotation axis and the second rotation axis 5.

[0044] In this embodiment, the spatial angle formed between the three axes enables the device to perform more complex movements in three-dimensional space, breaking through the limitations of traditional equipment in spatial operations and improving the flexibility and coverage of operations. By adjusting the relative angles of the three axes, the precise positioning of the operating point can be achieved, and fine-tuning can be performed in height, depth, and horizontal directions, thereby improving the accuracy of the repair operation. In a narrow lane space, the angle design between the three axes enables the device to use limited space more efficiently, avoiding unnecessary waste of space and improving the adaptability and practicality of the equipment.

[0045] Furthermore, the first working arm 1 includes: a base 8 disposed on the rotating device 7; a swing arm 9 rotatably disposed on the base 8, and the rotation axis of the swing arm 9 is parallel to the first rotation axis; and two ends of the second telescopic member 10 are hinged on the swing arm 9 and the base 8.

[0046] In this embodiment, the third telescopic member is the same as the first telescopic member 3, and is also an oil cylinder. Through the cooperation of the swing arm 9 and the second telescopic member 10, the equipment can distribute the load more reasonably, avoid excessive pressure on a single point, extend the service life of the equipment, and reduce maintenance costs. The base 8 serves as the fixing point of the swing arm 9 and is connected to the slewing device 7 to form a stable support structure. Even in the extended state, the stability of the equipment can be maintained, thereby improving the safety of the operation. By refining the design of the first working arm 1, the repair machine not only improves the telescopic adjustment ability and operation accuracy of the equipment, but also optimizes the load distribution and spatial layout, improves the stability and safety of the equipment, and has a positive effect on the efficiency and reliability of mine tunnel repair operations.

[0047] Furthermore, it also includes: a bucket assembly 11 is rotatably arranged at the other end of the second working arm 4 .

[0048] In this embodiment, the design of the bucket assembly 11 enables the equipment to dig, load and transport materials. The tunnel repair machine can not only perform repair operations, but also process waste generated during the operation or materials required for excavation, thereby improving the versatility of the equipment. The bucket assembly 11 enables the tunnel repair machine to replace a separate loader or excavator, reducing the overall investment in mining equipment and reducing costs.

[0049] Furthermore, it also includes: the push plate 12 is rotatably arranged on the vehicle body 6, and the push plate 12 abuts against the ground or cancels the abutment after rotating.

[0050] In this embodiment, the design of the push plate 12 enables the equipment to perform preliminary leveling of the ground during the tunnel repair process, remove or flatten obstacles, and create favorable conditions for subsequent repair operations. Under certain conditions, such as soft foundations or inclined ground, the push plate 12 can serve as a support to enhance the stability of the equipment and improve the safety of the operation.

[0051] Furthermore, it also includes: a plurality of crawler tracks 13 are arranged on the vehicle body 6, and the crawler tracks 13 are used to drive the vehicle body 6 to move.

[0052] In this embodiment, the crawler 13 has better ground adaptability than tires, especially on soft soil, muddy, uneven or inclined ground, and can provide a larger contact area, reduce ground pressure, and avoid sinking or slipping. The design of the crawler 13 can provide greater traction, especially when it is necessary to overcome greater resistance or climb a slope, which can ensure the stable advancement of the equipment and improve work efficiency. The use of the crawler 13 allows the equipment to move freely in the complex and changeable mine tunnel environment, and can flexibly shuttle even in narrow or obstructed tunnels, thereby improving the flexibility and adaptability of the equipment.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A multi-degree-of-freedom tunnel repair machine, characterized in that: include: A first working arm (1); A first connecting seat (2) is rotatably arranged at one end of the first working arm (1), and a first rotation axis is between the first connecting seat (2) and the first working arm (1); A first telescopic member (3), two ends of which are respectively hinged on the first working arm (1) and the first connecting seat (2); A second working arm (4) has one end rotatably disposed on the first connecting seat (2), a second rotation axis is between the second working arm (4) and the first connecting seat (2), and an angle is formed between the first rotation axis and the second rotation axis.

2. A multi-degree-of-freedom tunnel repair machine according to claim 1, characterized in that: Also includes: A vehicle body (6), wherein the other end of the first working arm (1) is rotatably arranged relative to the vehicle body (6).

3. A multi-degree-of-freedom tunnel repair machine according to claim 2, characterized in that: Also includes: A slewing device (7) has two ends respectively arranged on the vehicle body (6) and the other end of the first working arm (1), and the slewing device (7) is used to drive the first working arm (1) to rotate relative to the vehicle body (6).

4. A multi-degree-of-freedom tunnel repair machine according to claim 3, characterized in that: An included angle is formed between the rotation center of the rotating device (7), the first rotation axis, and the second rotation axis.

5. The multi-degree-of-freedom tunnel repairing machine according to claim 3, characterized in that: The first working arm comprises: A base (8) is arranged on the rotating device (7); A swing arm (9) is rotatably disposed on the base (8), wherein the rotation axis of the swing arm (9) is parallel to the first rotation axis; The second telescopic member (10) has two ends hinged on the swing arm (9) and the base (8).

6. The multi-degree-of-freedom tunnel repairing machine according to claim 1, characterized in that: Also includes: A bucket assembly (11) is rotatably arranged at the other end of the second working arm (4).

7. The multi-degree-of-freedom tunnel repairing machine according to claim 2, characterized in that: Also includes: A push plate (12) is rotatably arranged on the vehicle body (6); after the push plate (12) rotates, it abuts against the ground or cancels the abutment.

8. The multi-degree-of-freedom tunnel repairing machine according to claim 2, characterized in that: Also includes: A plurality of crawler tracks (13) are provided on the vehicle body (6); the crawler tracks (13) are used to drive the vehicle body (6) to move.

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