Multifunctional mechanical arm and construction trolley

Abstract

The utility model discloses a multifunctional mechanical arm and a construction trolley, and relates to the technical field of engineering machinery, the construction trolley comprises a rack and the multifunctional mechanical arm slidably mounted on the rack, the multifunctional mechanical arm comprises a mechanical arm body, an arm frame seat, a first telescopic part and a second telescopic part, and the mechanical arm body is hinged to the arm frame seat; the first telescopic piece drives the mechanical arm body and the arm frame base to pitch together through stretching and retracting, and the second telescopic piece drives the mechanical arm body to pitch on the arm frame base through stretching and retracting. According to the mechanical arm, the operation radius of the mechanical arm can be effectively reduced to a certain extent, so that grabbing construction of an arch frame and construction materials can be completed in a limited tunnel space, the use flexibility of the mechanical arm is greatly improved, and the mechanical arm can adapt to various tunnel construction environments.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and particularly relates to a multi-functional robotic arm and a construction trolley. Background Art

[0002] In tunnel construction, for the installation of arch frames, it is usually necessary to transport the arch frames to the heading face, and then the bench crew uses a robotic arm to complete the grasping and installation. Due to the limitation of the tunnel space, the existing robotic arm is not convenient for the operation of grasping the arch frames and construction materials from the ground to above the bench during the unfolding and construction actions of the robotic arm. In view of this, in order to achieve the grasping of the arch frames and construction materials, it is particularly urgent to provide a robotic arm that can facilitate construction in a limited space. Summary of the Utility Model

[0003] The main purpose of the present application is to provide a multi-functional robotic arm and a construction trolley, aiming to solve the technical problem that the existing robotic arm cannot facilitate construction in a limited tunnel space.

[0004] The technical solution adopted by the present application is as follows:

[0005] First aspect:

[0006] A multi-functional robotic arm, comprising:

[0007] A boom base;

[0008] A robotic arm main body, which is hingedly installed on the boom base;

[0009] A first telescopic member, the telescoping of which drives the boom base and the robotic arm main body to pitch together; and,

[0010] A second telescopic member, the telescoping of which drives the robotic arm main body to pitch on the boom base.

[0011] Optionally, the multi-functional robotic arm further comprises:

[0012] A first slewing mechanism, on which a first slewing base is provided, and the first slewing base is hinged to the boom base.

[0013] Optionally, the boom base is hinged to the first slewing base through a first connecting member, and one end of the second telescopic member away from the robotic forearm is hinged to the first connecting member.

[0014] Optionally, the robotic arm main body comprises a robotic forearm and a robotic rear arm, the robotic forearm is hingedly installed on the boom base; the robotic forearm comprises multiple telescopic boom rods and a third telescopic member for realizing the telescoping of the boom rods.

[0015] Optionally, the mechanical rear arm includes a second connecting arm and a third connecting arm, and a fourth slewing mechanism for enabling the third connecting arm to complete a slewing motion is provided between the second connecting arm and the third connecting arm.

[0016] Optionally, the multifunctional robotic arm further includes a slewing and folding mechanism assembly that connects the mechanical front arm and the second connecting arm to enable the second connecting arm together with the third connecting arm to be folded in parallel with the mechanical front arm and unfolded in a straight line with the mechanical front arm.

[0017] Optionally, the slewing and folding mechanism assembly includes:

[0018] A first connecting arm;

[0019] A second slewing mechanism that is respectively connected to the first connecting arm and the mechanical front arm;

[0020] A second slewing base that is hinged to the second connecting arm; and,

[0021] A third slewing mechanism that is respectively connected to the first connecting arm and the second slewing base.

[0022] Optionally, a fourth telescopic member is laterally hinged to the second connecting arm, and one end of the fourth telescopic member away from the second connecting arm is hinged to the second slewing base.

[0023] Optionally, the multifunctional robotic arm further includes a working mechanism. The mechanical rear arm is connected to the working mechanism through a working slewing mechanism assembly to enable the working mechanism to complete a slewing motion. The working slewing mechanism assembly includes an adjusting seat and a fifth slewing mechanism. One end of the adjusting seat is hinged to the mechanical rear arm and the other end is connected to the working mechanism through the fifth slewing mechanism.

[0024] Second aspect:

[0025] A construction trolley includes a gantry and the above-mentioned multifunctional robotic arm. The multifunctional robotic arm is slidably disposed on the gantry so that the robotic arm can move along the gantry.

[0026] Compared with the prior art, the beneficial effects of the present application are:

[0027] A multi-functional robotic arm and a construction trolley proposed in this application can achieve the pitching movement of the robotic arm main body on the boom seat by setting a second telescopic member, enabling the folding of the robotic arm main body on the boom seat. By setting a first telescopic member to drive the robotic arm main body and the boom seat to pitch together, the folding of the boom seat is realized. The two-fold folding can effectively reduce the working radius of the robotic arm to a certain extent, so as to complete the grasping construction of the arch frame and construction materials in a limited tunnel space, greatly improving the flexibility of the robotic arm and enabling it to adapt to various tunnel construction environments. Brief Description of the Drawings

[0028] Figure 1 FIG. is a schematic structural diagram of the multi-functional robotic arm provided by an embodiment of this application from one perspective;

[0029] Figure 2 FIG. is a schematic structural diagram of the multi-functional robotic arm provided by an embodiment of this application in a folded state;

[0030] Figure 3 FIG. is a schematic structural diagram of the multi-functional robotic arm provided by an embodiment of this application in three different states;

[0031] Figure 4 FIG. is a schematic structural diagram of the multi-functional robotic arm rotating on the bench after folding provided by an embodiment of this application.

[0032] Explanation of the Reference Numerals in the Drawings:

[0033] 1 - First slewing base, 2 - Boom seat, 3 - Mechanical forearm, 4 - First connecting arm, 5 - Second slewing base, 6 - Second connecting arm, 7 - Third connecting arm, 8 - Adjusting seat, 9 - Operating mechanism, 10 - First slewing mechanism, 11 - Second slewing mechanism, 12 - Third slewing mechanism, 13 - Fourth slewing mechanism, 14 - Fifth slewing mechanism, 15 - First telescopic member, 16 - Second telescopic member, 17 - Third telescopic member, 18 - Fourth telescopic member, 19 - Fifth telescopic member, 20 - First connecting member, 21 - Second connecting member. Detailed Embodiment

[0034] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0035] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If this specific posture changes, the directional indications will also change accordingly.

[0036] In the present application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0038] Referring to the attached Figure 1 , the embodiments of the present application provide a multi-functional robotic arm, including a robotic arm main body, a boom base 2, a first telescopic member 15, and a second telescopic member 16. Among them, the robotic arm main body is hingedly installed on the boom base 2. The first telescopic member 15 drives the robotic arm main body and the boom base 2 to pitch together through telescoping, and the second telescopic member 16 drives the robotic arm main body to pitch on the boom base through telescoping. It is not difficult to understand that by setting the second telescopic member to drive the robotic arm main body to pitch on the boom base, the robotic arm main body can be folded on the boom base. By setting the first telescopic member to drive the robotic arm main body and the boom base to pitch together, the folding of the boom base is realized. The two-fold folding can effectively reduce the working radius of the robotic arm to a certain extent, so that the grasping construction of the arch and construction materials can be completed in a limited tunnel space, greatly improving the flexibility of the use of the robotic arm and enabling it to adapt to various tunnel construction environments.

[0039] In the above, referring to Figure 1As shown in the figure, the multi-functional robotic arm further includes a first slewing mechanism 10. A first slewing base 1 is provided on the first slewing mechanism 10. The first slewing base 1 is hinged to the boom base 2. The robotic arm body includes a robotic forearm 3 and a robotic rear arm. The robotic forearm 3 is hinged to the boom base 2. One end of a first telescopic member 15 is hinged to the first slewing base 1 and the other end is hinged to the boom base 2. By the telescoping of the first telescopic member 15, the boom base 2 is driven to rotate around the hinge point between the boom base 2 and the first slewing base 1. One end of a second telescopic member 16 is hinged to the boom base 2 and the other end is hinged to the robotic forearm 3. By the telescoping of the second telescopic member 16, the robotic forearm 3 is driven to rotate around the hinge point between the robotic forearm 3 and the boom base 2. It is not difficult to imagine that by controlling the telescoping of the first telescopic member 15 and the second telescopic member 16, the robotic arm can be folded. After folding, the working radius of the robotic arm can be effectively reduced to a certain extent, enabling the robotic arm to carry out construction operations in a limited tunnel space. At the same time, by driving the boom base 2 and the robotic arm body to perform slewing motion through the first slewing mechanism 10, the robotic arm can complete operations such as 360-degree rotation grasping and hoisting, and the working flexibility is further effectively improved.

[0040] In the above, to simplify the structure of the robotic arm and increase the compactness and rationality of the robotic arm structure, refer to Figure 1 As shown in the figure, the first slewing base 1 is hinged to the boom base 2 through a first connecting member 20. The boom base 2 is hinged to the robotic forearm 3 through a second connecting member 21. One end of the first telescopic member 15 is hinged to the first slewing base 1 and the other end is hinged to the second connecting member 21. One end of the second telescopic member 16 is hinged to the first connecting member 20 and the other end is hinged to the robotic forearm 3. And to realize the pitching motion of the robotic arm, the first connecting member 20 and the second connecting member 21 are arranged in parallel. The first connecting member 20 is located at one end of the boom base 2 close to the first slewing base 1, and the second connecting member 21 is located at one end of the boom base 2 far from the first slewing base 1. The first telescopic member 15 and the second connecting member 21 are respectively hinged to opposite sides of the first slewing base 1. As Figure 3 shown in the figure, by controlling the telescopic adjustment of the first telescopic member 15, the entire robotic arm can be rotated around the first connecting member 20 to realize the pitching adjustment transformation of the robotic arm from the gantry to the ground. By controlling the second telescopic member 16, the robotic arm can be rotated around the second connecting member 21 to realize the pitching of the robotic arm from the gantry to above the gantry. Through the two rotation points of the first connecting member 20 and the second connecting member 21 before and after, when the overall length of the robotic arm remains unchanged, the rotation radius when the first slewing mechanism 10 drives the robotic arm to rotate is further reduced, and it can adapt to smaller and more complex tunnel construction.

[0041] In a preferred embodiment, refer to Figure 1As shown, the mechanical front arm 3 is a multi-stage telescopic arm structure. A third telescopic member 17 for realizing the telescoping of the mechanical front arm 3 is provided on the mechanical front arm 3. The length change of the mechanical front arm 3 is adjusted by the telescoping of the third telescopic member 17 to realize operations with different radii for different robotic arms.

[0042] Meanwhile, referring to Figure 1 As shown, the mechanical rear arm includes a second connecting arm 6 and a third connecting arm 7. The second connecting arm 6 is close to one side of the second slewing base 5 and is hinged to the second slewing base 5 through a pin shaft. A fourth slewing mechanism 13 is provided between the second connecting arm 6 and the third connecting arm 7. The fourth slewing mechanism 13 can drive the third connecting arm 7 to rotate relative to the second connecting arm 6, thereby further increasing the operation flexibility of the robotic arm.

[0043] In this embodiment, a slewing and folding mechanism assembly is further provided between the mechanical front arm 3 and the second connecting arm 6. The slewing and folding mechanism assembly is used to realize the parallel folding of the second connecting arm 6 together with the third connecting arm 7 and the unfolding in a straight line with the mechanical front arm. It is not difficult to imagine that, based on the setting of the slewing and folding mechanism assembly between the mechanical front arm 3 and the second connecting arm 6, without changing the length of the robotic arm, by folding the mechanical front arm 3 and the mechanical rear arm, the robotic arm can perform construction operations within a smaller radius range, without occupying and affecting the operation space of other construction operations in the tunnel, effectively improving the operation efficiency during tunnel construction.

[0044] Specifically, referring to Figure 1 As shown, the above-mentioned slewing and folding mechanism assembly includes a first connecting arm 4, a second slewing mechanism 11, a second slewing base 5, and a third slewing mechanism 12. Among them, the second slewing mechanism 11 is installed at one end of the mechanical front arm 3 far from the boom seat 2. One end of the first connecting arm 4 is connected to the second slewing mechanism 11 and the other end is connected to the third slewing mechanism 12. The second slewing base 5 is provided on the third slewing mechanism 12. The second connecting arm 6 is hingedly installed on the second slewing base 5. From Figure 1 、 Figure 2 and Figure 4 As shown, it can be easily obtained that by controlling the second slewing mechanism 11 and the third slewing mechanism 12 to rotate 90° in the same direction respectively, the front section and the mechanical rear arm of the robotic arm can be folded by 180°, thereby reducing the rotation operation radius when the robotic arm rotates. After folding, the robotic arm can perform operations within a smaller range. At the same time, after the robotic arm is unfolded, the mechanical front arm 3 and the mechanical rear arm are still in a straight line. During construction, the force state of the robotic arm will not be changed due to the design of the slewing and folding mechanism assembly.

[0045] In this embodiment, in order to realize the parallel folding and the straight-line unfolding of the mechanical front arm 3 and the mechanical rear arm, referring to Figure 1As shown, the first connecting arm 4 is used to connect the two connecting end faces of the second slewing mechanism 11 and the third slewing mechanism 12, which are located in two vertically misaligned horizontal planes in the same vertical plane. To achieve this, the first connecting arm 4 is optimally in an L-shaped arm structure because the L-shaped arm structure is simple and convenient to manufacture. The first connecting arm 4 adopts an L-shaped arm. When specifically installing the second slewing mechanism 11 and the third slewing mechanism 12, the second slewing mechanism 11 is installed on the horizontal plane where the end of the vertical section of the L-shaped arm is located, and the third slewing mechanism 12 is installed on the horizontal plane at the top side of the end of the horizontal section of the L-shaped arm. In this way, the L-shaped arm provides a slewing space for the folding of the mechanical front arm 3 and the mechanical rear arm, ensuring the smooth folding and unfolding of the robotic arm, and the distance between the two sections of the robotic arm after folding parallel can be controlled.

[0046] In the above, the mechanical rear arm is hinged to the second slewing base 5. To enable the mechanical rear arm to rotate around the second base, refer to Figure 1 As shown, a fourth telescopic member 18 is laterally hinged to the mechanical rear arm. One end of the fourth telescopic member 18 away from the mechanical rear arm is hinged to the second slewing base 5. It is not difficult to imagine that by controlling the telescoping of the fourth telescopic member 18, the mechanical rear arm can perform a pitching motion on the second slewing base 5.

[0047] Of course, in the above, the pitching motion completed by the mechanical rear arm relative to the second slewing mechanism 11 can be achieved by laterally hinging one end of the fourth telescopic member 18 to the second connecting arm 6 and the other end to the second slewing base 5. By the telescoping of the fourth telescopic member 18, the second connecting arm 6 can be rotated around its hinge point with the second slewing base 5, further changing the pitching angle of the robotic arm.

[0048] In addition, as Figure 1 shown, a multi-functional robotic arm provided by an embodiment of the present application further includes a working mechanism 9. Specifically, the mechanical rear arm is connected to the working mechanism 9 through a working slewing mechanism assembly to enable the working mechanism 9 to complete a slewing motion.

[0049] Among them, the working slewing mechanism assembly includes an adjustment seat 8 and a fifth slewing mechanism 14. One end of the adjustment seat 8 is hinged to the mechanical rear arm and the other end is connected to the working mechanism 9 through the fifth slewing mechanism 14. By controlling the fifth slewing mechanism 14, the working mechanism 9 can be driven to rotate. At the same time, a fifth telescopic member 19 is also hinged to the third connecting arm 7. One end of the fifth telescopic member 19 away from the third connecting arm 7 is hinged to the adjustment seat 8. By controlling the telescoping of the fifth telescopic member 19, the working mechanism 9 can be rotated around the hinge point between the adjustment seat 8 and the mechanical rear arm to complete the construction operation using the working mechanism 9.

[0050] In this embodiment, the working mechanism 9 can be a gripper mechanism, a lifting hook, or other working tools capable of grasping or hoisting. Thus, the robotic arm can not only grasp the arch support but also be used as a lifting hook for material hoisting.

[0051] In addition, as Figure 3 shown, the embodiment of the present application further provides a construction trolley, including a trolley frame and the above-mentioned multi-functional robotic arm. The multi-functional robotic arm is slidably mounted on the trolley frame through a sliding assembly. A guide rail is usually provided on the trolley frame, and the sliding assembly is driven by a power assembly to slide along the guide rail, driving the multi-functional robotic arm to move back and forth on the trolley frame. It is not difficult to foresee that through the above structural design, during the tunnel construction process, the robotic arm of the construction trolley can grasp construction materials such as arch supports and mesh sheets from the ground behind the trolley frame and transport them along the guide rail to the trolley frame or the tunnel face. At the same time, the robotic arm has a hoisting function, which can meet the up-and-down movement and transfer of construction materials, and can also be used for equipment maintenance and component replacement, with extremely strong practicability. Moreover, since the robotic arm has a folding function, it realizes functions such as the pitching, yawing, and slewing of the arm in a limited space.

[0052] Finally, it should be noted that: in the above content, the first connecting member 20 and the second connecting member 21 can, but are not limited to, use pin shafts. The first telescopic member 15, the second telescopic member 16, the third telescopic member 17, the fourth telescopic member 18, and the fifth telescopic member 19 can, but are not limited to, use devices such as oil cylinders, air cylinders, and electric cylinders that can achieve automatic telescoping.

[0053] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multifunctional robotic arm, characterized in that: include: Boom stand; A mechanical arm body, the mechanical arm body is hingedly mounted on the arm support seat; A first telescopic member, the telescopic movement of which drives the arm support seat and the mechanical arm body to pitch together; as well as, A second telescopic member, the telescopic movement of which drives the mechanical arm body to pitch on the arm support seat.

2. The multifunctional mechanical arm according to claim 1, characterized in that: Also includes: The first rotating mechanism is provided with a first rotating base, and the first rotating base is hinged to the arm support seat.

3. The multifunctional mechanical arm according to claim 2, characterized in that: The arm support seat is hinged to the first rotary base through a first connecting member, and one end of the second telescopic member away from the mechanical arm body is hinged to the first connecting member.

4. The multifunctional robotic arm according to any one of claims 1 to 3, characterized in that: The mechanical arm body comprises a mechanical forearm and a mechanical rear arm, and the mechanical forearm is hingedly mounted on the arm support seat; the mechanical forearm comprises a multi-stage telescopic arm rod and a third telescopic member for realizing the telescopic operation of the arm rod.

5. The multifunctional mechanical arm according to claim 4, characterized in that: The mechanical rear arm includes a second connecting arm and a third connecting arm, and a fourth rotating mechanism is arranged between the second connecting arm and the third connecting arm to enable the third connecting arm to complete the rotating motion.

6. The multifunctional mechanical arm according to claim 5, characterized in that: It also includes a rotary folding mechanism assembly, which connects the mechanical forearm and the second connecting arm to enable the second connecting arm together with the third connecting arm to complete folding parallel to the mechanical forearm and unfolding in the same straight line as the mechanical forearm.

7. The multifunctional mechanical arm according to claim 6, characterized in that: The rotary folding mechanism assembly comprises: a first connecting arm; a second swivel mechanism, the second swivel mechanism being connected to the first connecting arm and the mechanical forearm respectively; A second swivel base, the second swivel base being hinged to the second connecting arm; and A third rotating mechanism is connected to the first connecting arm and the second rotating base respectively.

8. The multifunctional mechanical arm according to claim 7, characterized in that: The second connecting arm is laterally hinged to a fourth telescopic member, and one end of the fourth telescopic member away from the second connecting arm is hinged to the second rotating base.

9. The multifunctional mechanical arm according to claim 4, characterized in that: It also includes an operating mechanism, wherein the mechanical rear arm is connected to the operating mechanism through an operating slewing mechanism assembly to enable the operating mechanism to complete slewing motion, and the operating slewing mechanism assembly includes an adjustment seat and a fifth slewing mechanism, one end of the adjustment seat is hinged to the mechanical rear arm and the other end is connected to the operating mechanism through the fifth slewing mechanism.

10. A construction trolley, characterized in that: It comprises a platform and the multifunctional robot arm according to any one of claims 1 to 9, wherein the multifunctional robot arm is slidably arranged on the platform so that the robot arm can move along the platform.

Images