Wrist rotating mechanism for supporting arm of tunnel arching machine

Abstract

The utility model relates to a wrist rotating mechanism for a supporting arm of a tunnel arching machine, which is rotatably connected to the front end of the supporting arm through a pivot and comprises a front-back pitching seat, a rotary table and a left-right pitching seat. The multi-axis movement device can simulate similar actions of human wrists, realize multi-axis movement including front-back pitching, plane rotation, left-right pitching and front-back movement, is high in space flexibility, and can realize accurate position adjustment, so that the positions of steel arch segments can be effectively adjusted, and the accuracy of the mounting positions of the steel arches and the splicing efficiency are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel steel arch frame assembling machinery, in particular to a wrist rotation mechanism for a supporting arm of a tunnel arch erecting machine. Background Art

[0002] The typical tunnel formation process involves initial shotcreting of the rock face, followed by erection of the steel arch, installation of locking anchors, installation of steel mesh, installation of system anchors, installation of anchor pads for reinforcement, and finally re-shotcreting to the designed thickness. In existing technology, multiple steel arch segments are positioned directly within the tunnel before being assembled and welded together to form a complete arch. However, due to the limited space within the tunnel, the mechanical equipment used for arch erection is significantly limited, which impacts the efficiency and quality of the steel arch assembly. Summary of the Invention

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a wrist rotation mechanism for the support arm of a tunnel arch machine, which can imitate similar movements of the human wrist, meet the needs of multi-dimensional adjustment of workpieces during the assembly of steel arch frames, and improve the efficiency and quality of tunnel steel arch frame assembly.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A wrist rotation mechanism for the support arm of a tunnel arch machine, wherein the wrist rotation mechanism is connected to the front end of the support arm through a pivot, and the wrist rotation mechanism includes a front and rear pitch seat, a rotating platform, and a left and right pitch seat;

[0006] The front-to-back pitch seat comprises a pitch seat body and a front-to-back pitch driver connected to the support arm and used to drive the pitch seat body to perform front-to-back pitch motion;

[0007] The turntable is horizontally arranged on the front and rear pitching seats, and the front and rear pitching seats drive the turntable to do front and rear pitching movements. The turntable includes a turntable seat and a support frame driven to rotate by the turntable seat;

[0008] The left and right pitch seats are rotatably connected to the top of the support frame. The left and right pitch seats include a frame and a left and right pitch driver connected to the support frame for driving the frame to perform left and right pitch motion.

[0009] Furthermore, the wrist rotation mechanism further includes a sliding assembly, the sliding assembly being provided on the upper end surfaces of the left and right pitch seats, the sliding assembly including a clamping panel, a guide rail, and a slide seat, the guide rail being fixed between the front and rear ends of the clamping panel, the guide rail being slidably connected to the slide seat, the slide seat being fixedly connected to the top end surface of the support frame, and the sliding assembly being further provided with a shift driver for driving the clamping panel to move forward and backward along the guide rail;

[0010] The clamping panel is slidably connected to the frame, and the clamping panel is driven by the frame to perform left and right pitching motion.

[0011] Furthermore, the side end surface of the pitch seat body is L-shaped.

[0012] Furthermore, the front-rear pitch driver is connected between the front end of the support arm and the front end of the front-rear pitch seat.

[0013] Furthermore, the support frame is a barrel-shaped structure with two opposite side walls of different heights, and its side surface is concave-shaped. The driver on the rotary base that drives the support frame to rotate is a hydraulic drive motor.

[0014] Furthermore, the front and rear ends of the frame are rotatably connected to the top of the support frame via pivots, and the left and right pitch actuators are connected to the side walls of the support frame and at least one side of the left and right ends of the frame.

[0015] Furthermore, sliders are provided between the clamping panel and the left and right ends of the frame.

[0016] Furthermore, the shift driver is a hydraulic cylinder, one end of the shift driver is connected to the front end of the clamping panel, and the other end of the shift driver is connected to the slide seat through a universal ball joint.

[0017] Furthermore, the sliding assembly also includes at least one clamp provided on the upper end surface of the clamping panel, the clamp includes a fixed clamping block and a movable clamping block arranged at intervals, and the movable clamping block is driven to rotate by the clamping driver to clamp or release the arch frame segment.

[0018] Furthermore, the front and rear pitch actuators and the left and right pitch actuators are all hydraulic cylinders.

[0019] By adopting the above-mentioned technical solution, the beneficial effects of the utility model are as follows: the utility model can imitate similar movements of the human wrist to realize multi-axis motion, including forward and backward pitching, plane rotation, left and right pitching and forward and backward movement, with high spatial flexibility and capable of achieving precise position adjustment, thereby being able to effectively adjust the position of the steel arch frame segment and ensure the accuracy of the steel arch frame installation position and the efficiency of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 This is a schematic diagram of the connection between the displacement drive (hydraulic cylinder) and the slide using a universal ball joint. DETAILED DESCRIPTION

[0023] like Figure 1-2 As shown, the present invention utilizes a wrist rotation mechanism 22 for the support arm 1 of a tunnel arch machine. This mechanism 2 is pivotally connected to the front end of the support arm 1 and can mimic the movements of the human wrist, elbow, and shoulder joints, achieving multi-axis motion and precise position adjustment of steel arch segments. Specifically, the wrist rotation mechanism 2 includes a front and rear pitch seat 21, a rotating platform 22, a left and right pitch seat 23, and a sliding assembly.

[0024] The pitch base 21 includes a pitch base body and a pitch actuator 25 connected to the support arm 1 for driving the pitch base body to perform pitch motion. The side end surface of the pitch base body is L-shaped. The pitch actuator 25 is connected between the front end of the support arm 1 and the front end of the pitch base 21.

[0025] The turntable 22 is mounted horizontally on the pitch base 21. The pitch base 21 drives the turntable 22 in pitching motion. The turntable 22 comprises a turntable base and a support frame 26, which is driven by the turntable base. The support frame 26 is a barrel-shaped structure with two opposing walls of different heights and a concave side profile. The actuator driving the support frame 26 on the turntable base is a hydraulic drive motor 210.

[0026] The left and right pitch mount 23 is pivotally connected to the top of the support frame 26. The left and right pitch mount 23 includes a frame and a left and right pitch actuator 27 connected to the support frame 26 to drive the frame to pitch. The front and rear ends of the frame are pivotally connected to the top of the support frame 26 via pivots. The left and right pitch actuator 27 is connected to the side walls of the support frame 26 and to at least one of the left and right ends of the frame.

[0027] The sliding assembly is located on the upper end surface of the left and right pitching seats 23. The sliding assembly includes a clamping panel 24, a guide rail 211, and a slide 213. The guide rail 211 is fixed between the front and rear ends of the clamping panel 24 and is slidably connected to the slide 213. The slide 213 is fixedly connected to the top end surface of the support frame 26. The sliding assembly also includes a shift actuator 28 for driving the clamping panel 24 to move back and forth along the guide rail 211. The shift actuator 28 is a hydraulic cylinder, one end of which is connected to the front end of the clamping panel 24, and the other end is connected to the slide 213 via a universal ball joint 214. The use of the universal ball joint 214 can prevent the shift actuator 28 from twisting when the clamping panel 24 is pitched. Of course, the other end of the shift actuator 28 can also be hinged to the left and right pitching seats 23, which will eliminate the twisting problem of the shift actuator 28.

[0028] The clamping panel 24 is slidably connected to the frame, and the clamping panel 24 moves left and right with the frame. Sliders 212 are provided between the clamping panel 24 and the left and right ends of the frame. This design ensures that the clamping panel 24 and the frame move relative to each other through sliding friction, improving the stability of the clamping panel 24 during sliding.

[0029] The sliding assembly also includes at least one clamp 29 mounted on the upper end of the clamping panel 24. Clamp 29 is used to clamp and secure the arch segments. Clamp 29 includes a fixed clamping block 291 and a movable clamping block 292 spaced apart. The movable clamping block 292 is rotated by a clamping driver 293 to tighten or loosen the arch segments.

[0030] In the present invention, the front and rear pitching actuator 25, the left and right pitching actuator 27, and the clamping actuator 293 are also hydraulic cylinders.

[0031] It should be noted that the wrist rotation mechanism described in the present invention can also be used in engineering machinery with a robotic arm that has similar requirements.

[0032] The above describes the specific implementation of the present invention, but those skilled in the art should understand that this is only an example. Those skilled in the art can make various changes or modifications to this implementation without departing from the principle and essence of the present invention, but these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. The wrist rotation mechanism for the support arm of a tunnel arch machine is characterized by: The wrist rotation mechanism is rotatably connected to the front end of the support arm, and the wrist rotation mechanism includes a front and rear pitch seat, a rotating platform, and a left and right pitch seat; The front-to-back pitch seat comprises a pitch seat body and a front-to-back pitch driver connected to the support arm and used to drive the pitch seat body to perform front-to-back pitch motion; The turntable is horizontally arranged on the front and rear pitching seats, and the front and rear pitching seats drive the turntable to do front and rear pitching movements. The turntable includes a turntable seat and a support frame driven to rotate by the turntable seat; The left and right pitch seats are rotatably connected to the top of the support frame. The left and right pitch seats include a frame and a left and right pitch driver connected to the support frame for driving the frame to perform left and right pitch motion.

2. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 1, characterized in that: The wrist rotation mechanism also includes a sliding assembly, which is arranged on the upper end surface of the left and right pitch seat, and the sliding assembly includes a clamping panel, a guide rail, and a slide seat. The guide rail is fixed between the front and rear ends of the clamping panel, and the guide rail is slidably connected to the slide seat. The slide seat is fixedly connected to the top end surface of the support frame. The sliding assembly is also provided with a shift driver for driving the clamping panel to move forward and backward along the guide rail; The clamping panel is slidably connected to the frame, and the clamping panel is driven by the frame to perform left and right pitching motion.

3. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 1 or 2, characterized in that: The side end surface of the pitch seat body is L-shaped, and the front and rear pitch drivers are connected between the front end of the support arm and the front end of the front and rear pitch seat.

4. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 1 or 2, characterized in that: The support frame is a barrel-shaped structure with two opposite side walls of different heights, and its side surface is concave. The driver on the rotary table that drives the support frame to rotate is a hydraulic drive motor.

5. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 4, characterized in that: The front and rear ends of the frame are rotatably connected to the top of the support frame through pivots respectively, and the left and right pitch drivers are connected to the side walls of the support frame and at least one side of the left and right ends of the frame.

6. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 2, characterized in that: Slide blocks are provided between the clamping panel and the left and right ends of the frame.

7. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 2, characterized in that: The shift driver is a hydraulic cylinder, one end of the shift driver is connected to the front end of the clamping panel, and the other end of the shift driver is connected to the sliding seat through a universal ball joint.

8. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 2, characterized in that: The sliding assembly also includes at least one clamp provided on the upper end surface of the clamping panel, the clamp including a fixed clamping block and a movable clamping block arranged at intervals, and the movable clamping block is rotated by the clamping driver to clamp or release the arch frame segment.

9. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 1, characterized in that: The left and right pitch seats include a frame and at least one clamp arranged on the upper end surface of the frame. The clamp includes a fixed clamp block and a movable clamp block arranged at intervals. The movable clamp block is rotated by a clamping driver to clamp or loosen the arch frame segment.

10. The wrist rotation mechanism for the support arm of a tunnel arch machine according to claim 1 or 2, characterized in that: The wrist rotation mechanism is rotatably connected to the front end of the support arm through a pivot.

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