Heading machine with multifunctional mechanical arm

Abstract

The utility model belongs to the technical field of mining equipment, and provides a heading machine with a multifunctional mechanical arm, which comprises a heading machine body, a body frame is fixed above the heading machine body, a revolving platform is arranged above the body frame, the mechanical arm is arranged on the revolving platform, a revolving driving part is mounted on the revolving platform, and the revolving driving part can drive the mechanical arm to rotate. The side, away from the rotary platform, of the mechanical arm is connected with a function executing mechanism, the function executing mechanism is connected with the mechanical arm in a pin shaft inserting and pulling mode, and the function executing mechanism comprises a temporary support, a mechanical gripper and a breaking hammer. The utility model can meet the requirements of various different working conditions, such as temporary support, hammering and crushing, gravel grabbing and the like, and can assist workers in performing construction operation within a safe distance around the heading machine, thereby reducing the risk of field work and improving the working efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of mining equipment and relates to a tunneling machine, in particular to a tunneling machine with a multifunctional mechanical arm. Background Art

[0002] Existing cantilevered roadheaders are commonly used in underground coal mines in China. Most of these machines are single-purpose, primarily focused on achieving basic tunneling functions. Other tasks such as bolting support, roadway repairs, and equipment installation and removal were previously performed manually, which was time-consuming, labor-intensive, and posed significant safety risks. Sometimes, when the tunneling face faces a broken roof, workers are required to install hydraulic single-strut supports themselves. This installation can be accompanied by landslides, posing safety risks to miners. Utility Model Content

[0003] In order to solve the above-mentioned background technical problems, the utility model provides a tunnel boring machine with a multifunctional robotic arm, which can meet the needs of various working conditions and assist workers to perform construction operations within a safe distance around the tunnel boring machine by using the multifunctional robotic arm, thereby reducing on-site work risks and improving work efficiency.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0005] A tunnel boring machine with a multifunctional mechanical arm includes a tunnel boring machine body with a main body frame fixed above the tunnel boring machine body. The invention is characterized in that a rotary platform is arranged above the main body frame, a mechanical arm is arranged on the rotary platform, a rotary drive unit is installed on the rotary platform, the rotary drive unit can drive the mechanical arm to rotate, and the mechanical arm is connected to a functional execution mechanism on the side away from the rotary platform. The functional execution mechanism includes temporary support, a mechanical gripper and a breaker hammer.

[0006] Preferably, the function execution mechanism is connected to the robotic arm by a pin plug-in method.

[0007] Preferably, the slewing drive unit includes a slewing cylinder, a slewing guide key, a slewing bearing, a slewing seat fixed steering groove, and a slewing seat. The slewing platform is fixed to the robotic arm through the slewing seat of the slewing drive unit, and the rotation of the entire robotic arm is supported by the slewing bearing. The slewing bearing is divided into two layers, the middle of which is fixed with the slewing cylinder. The upper layer of the slewing bearing is fixed with the slewing seat, and the lower layer of the slewing bearing is fixed with the slewing platform. A detachable slewing seat fixed steering groove is provided below the slewing seat, and a slewing guide key is provided above the slewing cylinder. The slewing guide key corresponds to the groove of the slewing seat fixed steering groove.

[0008] Preferably, an upward keyway is provided above the rotary cylinder, and a threaded hole is provided in the keyway for fixing the rotary guide key.

[0009] Preferably, the robotic arm includes a main arm, a small arm, a lifting cylinder, and a rotating cylinder. The main arm is a telescopic support arm. The telescopic end of the telescopic support arm is hinged to the small arm. A rotating cylinder is provided at the hinge axis. The rotating cylinder is used to drive the small arm to rotate and adjust the radial angle of the small arm. The main arm is hinged to the swivel seat on the side away from the telescopic end. A lifting cylinder is also connected between the main arm and the swivel seat. The lifting cylinder is used to drive the main arm to lift and adjust the angle.

[0010] Preferably, the small support arm includes a support arm, an articulated frame, a second rotating cylinder, an extension fixing frame and an extension cylinder. The two ends of the support arm are connected to the articulated frame and the extension fixing frame. The extension fixing frame is hinged to the functional actuator. An extension cylinder is also connected between the extension fixing frame and the functional actuator to adjust the angular position of the functional actuator. The articulated frame and the support arm are hinged, and the articulated part fixes the second rotating cylinder. The second rotating cylinder is used to drive the small support arm to rotate and adjust the axial angle of the small arm.

[0011] The beneficial effects of this utility model are as follows: the multifunctional robotic arm is mounted above the main frame of the tunnel boring machine. A rotary drive unit mounted on the rotary platform enables the multifunctional robotic arm to rotate 360°. The multifunctional robotic arm also has the ability to lift, retract, and twist, greatly enhancing its operational freedom. This allows it to operate in all directions in the tunnel without blind spots. Furthermore, the multifunctional robotic arm integrates gripping, crushing, and temporary support functions, each of which can be quickly installed and removed by plugging and unplugging pins, meeting the needs of various working conditions. At the same time, workers can exercise real-time control of the multifunctional robotic arm from a safe distance around the tunnel boring machine, helping to reduce on-site work risks and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of the utility model;

[0013] Figure 2 It is the structure of the multifunctional mechanical arm in the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the mechanical gripper in the utility model;

[0015] Figure 4 This is a schematic diagram of the structure of the breaker hammer in the utility model;

[0016] Figure 5 This is a schematic structural diagram of the rotary drive unit in the utility model;

[0017] Figure 6 It is a structural diagram of the mechanical arm in the utility model;

[0018] In the figure, 1 is the main body of the tunnel boring machine; 2 is the main body frame; 3 is the slewing platform; 4 is the mechanical arm; 5 is the temporary support; 6 is the mechanical gripper; 7 is the breaker hammer; 8 is the slewing cylinder; 9 is the slewing guide key; 10 is the slewing bearing; 11 is the slewing seat fixing steering groove; 12 is the slewing seat; 13 is the main support arm; 14 is the small support arm; 14-1 is the supporting arm; 14-2 is the articulated frame; 14-3 is the second rotating cylinder; 14-4 is the extension fixing frame; 14-5 is the extension cylinder; 15 is the lifting cylinder; 16 is the first rotating cylinder. DETAILED DESCRIPTION

[0019] To make the above-mentioned purposes, features, and advantages of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] like Figures 1 to 4 As shown, a tunnel boring machine with a multifunctional robotic arm includes a tunnel boring machine body 1, a main body frame 2 is fixed above the tunnel boring machine body 1, a rotary platform 3 is arranged above the main body frame 2, and a robotic arm 4 is arranged on the rotary platform 3. The rotary platform 3 is fixed on the main body frame 2 to enhance the overall stability, so that the rotary platform 3 can withstand the weight and torque of the robotic arm 4, ensuring that the tunnel boring machine can still maintain safe and stable operation in a complex tunneling working face environment; the robotic arm 4 is connected to the functional actuator on the side away from the rotary platform 3, and the functional actuator includes a temporary support 5, a mechanical gripper 6 and a breaker 7. The connection between these functional actuators and the robotic arm 4 adopts a pin-shaft plug-in method, which is convenient and quick to disassemble and install. The specific functional actuator can be rotated and adjusted according to the needs of the project to perform support, grabbing or hammering operations.

[0021] A rotary drive unit is installed on the rotary platform 3. Figure 5As shown, the rotary drive unit includes a rotary cylinder 8, a rotary guide key 9, a rotary bearing 10, a rotary seat fixed steering groove 11, and a rotary seat 12. The rotary platform 3 is fixed to the robot arm 4 through the rotary seat 12 of the rotary drive unit, and the entire robot arm 4 is supported to rotate by the rotary bearing 10. The rotary bearing 10 is divided into two layers, the rotary cylinder 8 is fixed in the middle of the two layers, the upper layer of the rotary bearing 10 is fixed to the rotary seat 12 by bolts, and the lower layer of the rotary bearing 10 is fixed to the rotary platform 3 by bolts. In order to reduce the installation height difference when the rotary seat 12 is installed on the rotary bearing 10 and connected to the rotary cylinder 8, a detachable rotary seat fixed steering groove 11 is provided below the rotary seat 12 and is fixed with bolts. An upward keyway is provided above the rotary cylinder 8, and a threaded hole is provided in the keyway to facilitate the fixation of the rotary guide key 9. The rotary guide key 9 corresponds to the groove of the rotary seat fixed steering groove 11. In this way, when the rotary oil cylinder 8 rotates, the rotary seat fixed steering groove 11 can be linked through the rotary guide key 9, and the rotary seat fixed steering groove 11 is linked to the rotary seat 12, thereby driving the mechanical arm 4 to rotate.

[0022] The front and rear of the bottom of the rotary platform 3 and the upper rear of the main frame 2 are also provided with connecting ports for oil pipes and cables, which facilitate the layout of the oil pipes and cables of the entire machine.

[0023] Robotic arm 4, such as Figure 6 As shown, it includes a main arm 13, a small arm 14, a lifting cylinder 15, and a rotating cylinder 16. The main arm 13 is a telescopic support arm. The telescopic end of the telescopic support arm is hinged to the small arm 14. A rotating cylinder 16 is set at the hinge axis. The rotating cylinder 16 is used to drive the small arm 14 to rotate and adjust the radial angle of the small arm 14. The main arm 13 is hinged to the swivel seat 12 on the side away from the telescopic end. A lifting cylinder 15 is also connected between the main arm 13 and the swivel seat 12. The lifting cylinder 15 is used to drive the main arm 13 to rise and fall to adjust the angle. Small arm 14 comprises a support arm 14-1, an articulated frame 14-2, a second rotary cylinder 14-3, an extension bracket 14-4, and an extension cylinder 14-5. The two ends of support arm 14-1 are connected to articulated frame 14-2 and extension bracket 14-4. Extension bracket 14-4 is articulated to a function actuator. Extension cylinder 14-3 is also connected between extension bracket 14-4 and the function actuator to adjust the angular position of the function actuator. Articulated frame 14-2 is hinged to support arm 14-1, and the hinged portion secures second rotary cylinder 14-3, which is used to rotate small arm 14 to adjust the axial angle of small arm 14. Rotating cylinder 16 and rotating cylinder 2 14-3 each control the rotation of small arm 14 in one direction, thereby facilitating the adjustment of the angular position of the function actuator, enabling the tunnel boring machine to operate in all directions and at multiple angles.

[0024] When the tunnel boring machine is working, workers can install the required functional actuators on the extension fixing frame 14-4 of the mechanical arm 4 by plugging and pulling out the pins according to the needs of the project. If support is required, install temporary support 5. If grabbing is required, install mechanical gripper 6. If hammering is required at the construction location, install breaker hammer 7. Then, operate the rotary cylinder 8 on the tunnel boring machine in a safe position around the tunnel boring machine to drive the rotary seat 12 to rotate the entire mechanical arm 4 360° in any direction. At the same time, operate the lifting cylinder 15 to control the angle of the main arm 13; operate the rotating cylinder 16 and the rotating cylinder 2 14-3 to control the radial and axial angles of the small arm 14, and finally complete the angle control of the functional actuator and complete the execution of the corresponding construction plan.

[0025] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to them. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this utility model should be included in the scope of protection of the present utility model. Therefore, the scope of protection of the present utility model should be based on the scope of protection of the claims.

Claims

1. A tunnel boring machine with a multifunctional mechanical arm, comprising a tunnel boring machine body, a body frame fixed above the tunnel boring machine body, characterized in that: A rotary platform is provided above the main body frame, a robotic arm is provided on the rotary platform, a rotary drive unit is installed on the rotary platform, the rotary drive unit can drive the robotic arm to rotate, and the robotic arm is connected to a functional execution mechanism on the side away from the rotary platform, and the functional execution mechanism includes temporary support, a mechanical gripper and a breaker hammer.

2. The tunnel boring machine with a multifunctional mechanical arm according to claim 1, characterized in that: The connection between the function execution mechanism and the mechanical arm adopts a pin shaft plug-in method.

3. The tunnel boring machine with a multifunctional mechanical arm according to claim 1, characterized in that: The slewing drive unit includes a slewing cylinder, a slewing guide key, a slewing bearing, a slewing seat fixed steering groove, and a slewing seat. The slewing platform is fixed to the robotic arm through the slewing seat of the slewing drive unit, and the rotation of the entire robotic arm is supported by the slewing bearing. The slewing bearing is divided into two layers, the middle of which is fixed with the slewing cylinder. The upper layer of the slewing bearing is fixed with the slewing seat, and the lower layer of the slewing bearing is fixed with the slewing platform. A detachable slewing seat fixed steering groove is provided below the slewing seat, and a slewing guide key is provided above the slewing cylinder. The slewing guide key corresponds to the groove of the slewing seat fixed steering groove.

4. The tunnel boring machine with a multifunctional mechanical arm according to claim 3, characterized in that: An upward keyway is provided above the rotary oil cylinder, and a threaded hole is provided in the keyway for fixing the rotary guide key.

5. The tunnel boring machine with a multifunctional mechanical arm according to claim 1, characterized in that: The robotic arm includes a main arm, a small arm, a lifting cylinder, and a rotating cylinder. The main arm is a telescopic support arm. The telescopic end of the telescopic support arm is hinged to the small arm. A rotating cylinder is set at the hinge axis. The rotating cylinder is used to drive the small arm to rotate and adjust the radial angle of the small arm. The main arm is hinged to the swivel seat on the side away from the telescopic end. A lifting cylinder is also connected between the main arm and the swivel seat. The lifting cylinder is used to drive the main arm to lift and adjust the angle.

6. The tunnel boring machine with a multifunctional mechanical arm according to claim 5, characterized in that: The small support arm includes a support arm, an articulated frame, a second rotating cylinder, an extension fixing frame and an extension cylinder. The two ends of the support arm are connected to the articulated frame and the extension fixing frame. The extension fixing frame is articulated to the function actuator. An extension cylinder is also connected between the extension fixing frame and the function actuator to adjust the angular position of the function actuator. The articulated frame and the support arm are hinged, and the articulated part fixes the second rotating cylinder. The second rotating cylinder is used to drive the small support arm to rotate and adjust the axial angle of the small arm.

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