Arch frame grabbing arm and arch frame trolley

Abstract

The utility model provides an arch frame grabbing arm and an arch frame trolley, and relates to the technical field of tunnel construction. The lagging jack grabbing arm comprises an arm frame support, a swing arm, a grabbing hand support and a grabbing hand module which are hinged in sequence. The gripper support comprises a first seat part, a second seat part and a seat part swing oil cylinder. Specifically, the first seat part and the second seat part are hinged to form a simple rotating connecting rod mechanism. And moreover, under the driving of the seat piece swinging oil cylinder, the seat piece I rotates relative to the seat piece II, so that the accurate rotation degree of freedom adjustment is realized. Based on the arrangement, before movement is transmitted to the gripper module serving as support protection, an additional hinge point is added between the first seat part and the second seat part, so that the swing angle is increased, and the problem that the swing angle is insufficient in a narrow working area is solved; the operation requirement of a narrow area formed between the core soil and the tunnel wall is well met, it is correspondingly guaranteed that operation can be conducted within the expected working range and height, and the construction efficiency and the operation quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction, and more specifically, to an arch support gripper arm and an arch support trolley. Background Art

[0002] According to the tunnel rock strata for erection, the surrounding rock can be divided into grades I to VI according to the hardness of the surrounding rock and the integrity of the rock mass. In the rock strata of grades IV to VI, the construction method of leaving a core soil is generally adopted. At this time, a large amount of rock strata exist in the center of the tunnel interior, forming a limited working area between it and the tunnel wall.

[0003] However, due to the limitation of the above-mentioned working area, the existing equipment has the problem of insufficient movement angle, resulting in its movement range not meeting the expected construction requirements, thus affecting the construction efficiency and operation quality. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an arch support gripper arm and an arch support trolley, which can solve the problem of insufficient swing angle to achieve the expected working range or height, and ensure the construction efficiency and operation quality.

[0005] The embodiments of the utility model are implemented as follows:

[0006] In a first aspect, the utility model provides an arch support gripper arm, including a boom support, a swing arm, a gripper support, and a gripper module that are sequentially hinged. The gripper support includes a first seat member, a second seat member, and a seat swing oil cylinder. The first seat member is hinged to the second seat member and rotates relative to the second seat member under the drive of the seat swing oil cylinder.

[0007] In an alternative embodiment, the arch support gripper arm further includes a gripper support swing oil cylinder. The second seat member is hinged to the swing arm and rotates relative to the swing arm under the drive of the gripper support swing oil cylinder.

[0008] In an alternative embodiment, the second seat member includes a first mounting bracket and a second mounting bracket connected at an angle. The first mounting bracket is hinged to the swing arm, and the second mounting bracket is hinged to the first seat member.

[0009] In an alternative embodiment, the arch support gripper arm further includes a slewing reducer. The slewing reducer is arranged on the second seat member and is used to connect the hanging basket.

[0010] In an alternative embodiment, the arch support gripper arm further includes a swing arm swing oil cylinder. The swing arm rotates relative to the boom support under the drive of the swing arm swing oil cylinder.

[0011] In an alternative embodiment, the arch support gripper arm further includes a gripper swing oil cylinder. The gripper module rotates relative to the first seat member under the drive of the gripper swing oil cylinder.

[0012] In an alternative embodiment, the gripper module includes a connecting frame hinged to the first seat member, clamping jaws located on both sides of the connecting frame, and a clamping oil cylinder located at the bottom of the connecting frame. The clamping oil cylinder is hinged to the clamping jaws and drives the two clamping jaws to open and close.

[0013] In an alternative embodiment, the arch gripper arm further includes a first rotating shaft and a second rotating shaft. The first seat member is hinged to the second seat member through the first rotating shaft and is hinged to the gripper module through the second rotating shaft. The central axis of the first rotating shaft is perpendicular to the central axis of the second rotating shaft.

[0014] In an alternative embodiment, the arch gripper arm further includes a third rotating shaft and a fourth rotating shaft. The swing arm is hinged to the second seat member through the third rotating shaft and is rotatably connected to the boom support through the fourth rotating shaft. The central axis of the third rotating shaft is perpendicular to the central axis of the fourth rotating shaft.

[0015] In a second aspect, the present invention provides an arch trolley, including a vehicle body, a telescopic boom, and the arch gripper arm according to any one of the foregoing embodiments. One end of the telescopic boom is connected to the vehicle body, and the other end is connected to the arch gripper arm.

[0016] The beneficial effects of the embodiments of the present invention include:

[0017] The present application provides an arch gripper arm and an arch trolley. The arch gripper arm includes a boom support, a swing arm, a gripper support, and a gripper module that are sequentially hinged. Among them, the gripper support includes a first seat member, a second seat member, and a seat swing oil cylinder. Specifically, the first seat member is hinged to the second seat member to form a simple rotating link mechanism. And, driven by the seat swing oil cylinder, the first seat member rotates relative to the second seat member to achieve precise rotational degree-of-freedom adjustment. Based on the above settings, before transmitting the motion to the gripper module as the bracket protection, an additional hinge point is added between the first seat member and the second seat member, thereby increasing the swing angle, solving the problem of insufficient swing angle in a narrow working area, well meeting the operation requirements in the narrow area formed between the core soil and the tunnel wall, and correspondingly ensuring that it can operate within the expected working range and height, improving construction efficiency and operation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a working schematic diagram of the arch trolley provided by the embodiment of the present invention;

[0020] Figure 2 Schematic diagram of the arch support gripper arm provided by an embodiment of the present utility model;

[0021] Figure 3 Another schematic diagram of the arch support gripper arm provided by an embodiment of the present utility model;

[0022] Figure 4 Yet another schematic diagram of the arch support gripper arm provided by an embodiment of the present utility model;

[0023] Figure 5 Schematic diagram of the first seat member provided by an embodiment of the present utility model;

[0024] Figure 6 Schematic diagram of the second seat member and the seat member swing oil cylinder provided by an embodiment of the present utility model;

[0025] Figure 7 Partial schematic diagram of the arch support gripper arm provided by an embodiment of the present utility model;

[0026] Figure 8 Another partial schematic diagram of the arch support gripper arm provided by an embodiment of the present utility model.

[0027] Icon: 1 - Arch support trolley; 2 - Core soil; 3 - Tunnel wall; 4 - Arch support; 10 - Arch support gripper arm; 30 - Telescopic boom; 50 - Vehicle body; 100 - Boom support; 200 - Swing arm swing oil cylinder; 300 - Swing arm; 400 - Gripper support swing oil cylinder; 500 - Gripper support; 510 - First seat member; 520 - Seat member swing oil cylinder; 530 - Second seat member; 531 - First mounting bracket; 533 - Second mounting bracket; 550 - Rotary reducer; 600 - Gripper swing oil cylinder; 700 - Gripper module; 710 - Connecting frame; 730 - Claw; 750 - Clamping oil cylinder; 910 - First rotating shaft; 930 - Second rotating shaft; 950 - Third rotating shaft; 970 - Fourth rotating shaft. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0029] Accordingly, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0030] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it is not necessary to further define and explain it in subsequent drawings.

[0031] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0032] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0033] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "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 directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Embodiment

[0035] An embodiment of the present invention provides an arch trolley 1, and in particular provides an arch trolley 1 applied to tunnel construction. Specifically, please refer to Figure 1 , Figure 1Schematic diagram of the working state of the arch support trolley 1 provided by the embodiment of the present invention. The arch support trolley 1 includes a vehicle body 50, a telescopic boom 30, and an arch support gripper 10. One end of the telescopic boom 30 is connected to the vehicle body 50, and the other end is connected to the arch support gripper 10.

[0036] Among them, the vehicle body 50 can serve as a support platform for the arch support gripper 10, allowing the arch support gripper 10 to move in a specific area. At the same time, it can also serve as a transportation tool to move the telescopic boom 30 to a designated working location, improving work efficiency and flexibility.

[0037] On this basis, the telescopic boom 30 can flexibly install and adjust the position of the arch support 4 in the tunnel to ensure that the arch support gripper 10 connected to its front end can accurately install the arch support 4 at a predetermined position. Correspondingly, on this basis, the arch support gripper 10 can solve the problem of insufficient swing angle to reach the expected working range or height, ensuring construction efficiency and operation quality.

[0038] In addition, it can be understood that the arch support gripper 10 provided in this embodiment can be connected to the telescopic boom 30 through the boom support 100 for application on the arch support trolley 1; it can also be directly installed and applied in a mobile robot. Next, the specific structures of the various components of the arch support gripper 10 provided in this embodiment and the corresponding relationships between them will be described in detail.

[0039] Figure 2 Schematic diagram of the arch support gripper 10 provided by the embodiment of the present invention Figure 3 Another schematic diagram of the arch support gripper 10 provided by the embodiment of the present invention Figure 4 Another schematic diagram of the arch support gripper 10 provided by the embodiment of the present invention. Please refer to Figures 2 to 4 , this application provides an arch support gripper 10, which includes a boom support 100, a swing arm 300, a gripper support 500, and a gripper module 700 that are sequentially hinged.

[0040] Among them, as Figure 5 and Figure 6 shown, the gripper support 500 includes a seat member 510, a seat member 530, and a seat swing oil cylinder 520. Specifically, the seat member 510 is hinged to the seat member 530 to form a simple rotating link mechanism. And, driven by the seat swing oil cylinder 520, the seat member 510 rotates relative to the seat member 530 to achieve precise rotational degree-of-freedom adjustment.

[0041] It can be understood that before transmitting the motion to the gripper module 700 serving as the support protection, additional hinge points are added between the seat member 510 and the seat member 530, thereby increasing the swing angle, reaching the expected working range or height, and ensuring construction efficiency and operation quality.

[0042] In addition, it should be noted that both ends of the seat swing oil cylinder 520 are hinged to the first seat member 510 and the second seat member 530 respectively, that is, both ends can rotate by a certain angle and have a certain degree of freedom, and can offset part of the acting force by rotating, so as to avoid being damaged by a large external acting force.

[0043] Next, the boom support 100, the swing arm 300, and the gripper module 700 will be introduced in sequence according to the order of motion transmission. Please refer to Figure 7 , Figure 7 which is a partial schematic diagram of the arch grab arm 10 provided by the embodiment of the present invention.

[0044] To facilitate the independent movement of the swing arm 300, the arch grab arm 10 further includes a swing arm swing oil cylinder 200. Driven by the swing arm swing oil cylinder 200, the swing arm 300 rotates relative to the boom support 100 to achieve precise adjustment of the rotational degree of freedom.

[0045] Correspondingly, to facilitate the independent movement of the second seat member 530, the arch grab arm 10 further includes a gripper support swing oil cylinder 400. The second seat member 530 is hinged to the swing arm 300 to form a simple link mechanism. And, driven by the gripper support swing oil cylinder 400, the second seat member 530 rotates relative to the swing arm 300 to achieve precise adjustment of the rotational degree of freedom.

[0046] Based on the above settings, the boom support 100, the swing arm 300, and the second seat member 530 form a multi-link mechanism at the distal end of the gripper module 700, which has two rotational connections inside and can perform multi-degree-of-freedom adjustment, so as to combine simple movements into more complex movements to meet the application requirements of actual working scenarios.

[0047] In some other embodiments, a connecting frame 710 can be further provided between the swing arm 300 and the boom support 100 to further increase the degree of freedom of the arch grab arm 10 and further improve the positioning accuracy of the gripper module 700, so that it can perform fine operations in a narrow space, which will not be elaborated here.

[0048] On the above basis, the arch grab arm 10 further includes a third rotating shaft 950 and a fourth rotating shaft 970. The swing arm 300 is hinged to the second seat member 530 through the third rotating shaft 950 to form a compact rotating joint to ensure rotational movement in a single direction. Correspondingly, the swing arm 300 is also rotatably connected to the boom support 100 through the fourth rotating shaft 970 to form another compact rotating joint to ensure rotational movement in another single direction.

[0049] On the basis described above, the central axis of the third rotating shaft 950 is perpendicular to the central axis of the fourth rotating shaft 970, so that the above-mentioned distal motion chain can be independently controlled in two orthogonal planes, thereby reducing mechanical interference problems during the movement, increasing the overall movement flexibility of the arch grab arm 10, and improving the operation accuracy.

[0050] In addition, it should be noted that, similar to the seat swing oil cylinder 520, both ends of the swing arm swing oil cylinder 200 are respectively hinged to the boom support 100 and the swing arm 300, and both ends of the gripper support swing oil cylinder 400 are respectively hinged to the swing arm 300 and the second seat 530, so as to achieve the beneficial effect of offsetting the acting force, which will not be elaborated here.

[0051] Please refer to again Figure 6 , the second seat 530 includes a first mounting bracket 531 and a second mounting bracket 533 connected at an angle. The first mounting bracket 531 is hinged to the swing arm 300, and the second mounting bracket 533 is hinged to the first seat 510. It can be understood that a fixed joint is formed between the first mounting bracket 531 and the second mounting bracket 533, and the fixed joint ensures the structural stability through rigid connection to bear the motion load.

[0052] In addition, the arch grab arm 10 further includes a slewing reducer 550. The slewing reducer 550 is arranged on the second seat 530 and is used to connect the hanging basket. Based on the above settings, when the arch grab arm 10 provided in the present application is applied to the actual scenario, the multi-degree-of-freedom regulation of the hanging basket can also be realized simultaneously.

[0053] Please refer to Figure 8 , Figure 8 is another partial schematic diagram of the arch grab arm 10 provided by the embodiment of the present invention. To facilitate the independent transmission of the gripper module 700, the arch grab arm 10 further includes a gripper swing oil cylinder 600. The gripper module 700 rotates relative to the first seat 510 under the drive of the gripper swing oil cylinder 600 to achieve precise rotational degree-of-freedom adjustment.

[0054] Based on the above settings, the second seat 530, the first seat 510, and the gripper module 700 form a multi-link mechanism at the proximal end of the gripper module 700, which has two rotational connections and can perform multi-degree-of-freedom adjustment, thereby combining simple movements into more complex movements to meet the application requirements of the actual working scenario.

[0055] In addition, it should be noted that both ends of the gripper swing oil cylinder 600 are respectively hinged to the first seat 510 and the gripper module 700, so as to achieve the beneficial effect of offsetting the acting force. Its working principle is similar to that of the seat swing oil cylinder 520, which will not be elaborated here.

[0056] Among other embodiments, a connecting frame 710 may be further provided between the seat member 510 and the gripper module 700 to further increase the degrees of freedom of the arch gripper arm 10 and further improve the positioning accuracy of the gripper module 700, enabling it to perform fine operations in a narrow space. Details are not elaborated here.

[0057] As Figure 5 shown, the arch gripper arm 10 further includes a first rotating shaft 910 and a second rotating shaft 930. The seat member 510 is hinged to the seat member 530 through the first rotating shaft 910 to form a compact rotating joint to ensure rotational movement in a single direction. Correspondingly, the seat member 510 is also hinged to the gripper module 700 through the second rotating shaft 930 to form another compact rotating joint to ensure rotational movement in another single direction.

[0058] On the above basis, the central axis of the first rotating shaft 910 is perpendicular to the central axis of the second rotating shaft 930, so that the above proximal motion chain can be independently controlled in two orthogonal planes, thereby reducing mechanical interference problems during the movement process, increasing the overall movement flexibility of the arch gripper arm 10, and improving the operation accuracy.

[0059] Please refer to Figure 8 again. The gripper module 700 includes a connecting frame 710 hinged to the seat member 510, clamping jaws 730 located on both sides of the connecting frame 710, and a clamping oil cylinder 750 located at the bottom of the connecting frame 710. The clamping oil cylinder 750 is hinged to the clamping jaws 730 and drives the two clamping jaws 730 to open and close, so as to grab and fix the arch 4 under actual working conditions. In other embodiments, the clamping jaws 730 can also be replaced with vacuum suction cups, and the clamping oil cylinder 750 can also be set as a vacuum pumping device for easy clamping. This application does not make any limitations.

[0060] Taking this embodiment as an example, this application provides an arch gripper arm 10, and its working principle and working process are as follows:

[0061] At the distal end of the gripper module 700, the boom support 100, the swing arm 300, and the seat member 530 form a multi-link mechanism. Driven by the swing arm swing oil cylinder 200, the swing arm 300 rotates relative to the boom support 100 to achieve the adjustment of one distal rotational degree of freedom; driven by the gripper support swing oil cylinder 400, the seat member 530 rotates relative to the swing arm 300 to achieve the adjustment of another distal degree of freedom.

[0062] At the proximal end of the gripper module 700, the second base member 530, the first base member 510, and the gripper module 700 form another multi-link mechanism. Driven by the base member swing oil cylinder 520, the first base member 510 rotates relative to the second base member 530 to achieve the adjustment of one proximal rotational degree of freedom; driven by the gripper swing oil cylinder 600, the gripper module 700 rotates relative to the first base member 510 to achieve the adjustment of another proximal degree of freedom.

[0063] Moreover, in the above-mentioned kinematic chain, the second base member 530 serves as a transmission member, which can superimpose and transfer multiple distal degrees of freedom of the distal transmission chain to the proximal transmission chain, and superimpose with multiple proximal degrees of freedom, complementing each other to increase the degrees of freedom of movement of the gripper module 700, and further solving the problem of insufficient swing angle in a narrow working area.

[0064] In summary, the present application provides an arch support gripper arm 10 and an arch support trolley 1. The arch support gripper arm 10 includes a boom support 100, a swing arm 300, a gripper support 500, and a gripper module 700 that are sequentially hinged. Among them, the gripper support 500 includes a first base member 510, a second base member 530, and a base member swing oil cylinder 520. Specifically, the first base member 510 is hinged to the second base member 530 to form a simple rotating link mechanism. And, driven by the base member swing oil cylinder 520, the first base member 510 rotates relative to the second base member 530 to achieve precise adjustment of the rotational degree of freedom. Based on the above settings, before transmitting the motion to the gripper module 700 serving as the support protection, an additional hinge point is added between the first base member 510 and the second base member 530, thereby increasing the swing angle, solving the problem of insufficient swing angle in a narrow working area, well meeting the operation requirements in the narrow area formed between the core soil 2 and the tunnel wall 3, and correspondingly ensuring that it can operate within the expected working range and height, improving the construction efficiency and operation quality.

[0065] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An arch grab arm, characterized in that: The invention comprises an arm support (100), a swing arm (300), a gripper support (500) and a gripper module (700) which are hinged in sequence. The gripper support (500) comprises a seat part 1 (510), a seat part 2 (530) and a seat part swing cylinder (520). The seat part 1 (510) is hinged to the seat part 2 (530) and rotates relative to the seat part 2 (530) under the drive of the seat part swing cylinder (520).

2. The arch grabbing arm according to claim 1, characterized in that: The arch frame grabbing arm (10) also includes a grab support swing cylinder (400), and the seat part 2 (530) is hinged to the swing arm (300) and rotates relative to the swing arm (300) under the drive of the grab support swing cylinder (400).

3. The arch grabbing arm according to claim 2, characterized in that: The second seat component (530) comprises a first mounting frame (531) and a second mounting frame (533) connected at an angle, wherein the first mounting frame (531) is hinged to the swing arm (300), and the second mounting frame (533) is hinged to the first seat component (510).

4. The arch grabbing arm according to claim 2, characterized in that: The arch grabbing arm (10) further comprises a rotary reducer (550), wherein the rotary reducer (550) is arranged on the second seat component (530) and is used for connecting the hanging basket.

5. The arch grabbing arm according to claim 1, characterized in that: The arch frame grabbing arm (10) further comprises a swing arm swing cylinder (200), and the swing arm (300) is driven by the swing arm swing cylinder (200) to rotate relative to the arm frame support (100).

6. The arch grabbing arm according to claim 1, characterized in that: The arch frame grabbing arm (10) further comprises a grabbing hand swinging oil cylinder (600), and the grabbing hand module (700) is driven by the grabbing hand swinging oil cylinder (600) to rotate relative to the seat member 1 (510).

7. The arch grabbing arm according to claim 1, characterized in that: The gripper module (700) comprises a connecting frame (710) hinged to a seat member (510), claws (730) located on both sides of the connecting frame (710), and a clamping cylinder (750) located at the bottom of the connecting frame (710); the clamping cylinder (750) is hinged to the claws (730) and drives the two claws (730) to open and close.

8. The arch grabbing arm according to any one of claims 1 to 7, characterized in that: The arch frame grab arm (10) also includes a first rotating shaft (910) and a second rotating shaft (930), the seat member 1 (510) is hinged to the seat member 2 (530) through the first rotating shaft (910), and is hinged to the gripper module (700) through the second rotating shaft (930), and the central axis of the first rotating shaft (910) is perpendicular to the central axis of the second rotating shaft (930).

9. The arch grabbing arm according to any one of claims 1 to 7, characterized in that: The arch frame grabbing arm (10) also includes a third rotating shaft (950) and a fourth rotating shaft (970); the swing arm (300) is hinged to the second seat member (530) via the third rotating shaft (950), and is rotationally connected to the arm frame support (100) via the fourth rotating shaft (970); the central axis of the third rotating shaft (950) is perpendicular to the central axis of the fourth rotating shaft (970).

10. An arch trolley, characterized in that: It comprises a vehicle body (50), a telescopic arm (30), and the arch grabbing arm (10) according to any one of claims 1 to 9, wherein one end of the telescopic arm (30) is connected to the vehicle body (50), and the other end is connected to the arch grabbing arm (10).

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