Automatic dismounting trolley for pipeline in tunnel

Abstract

The utility model provides an automatic dismounting trolley for pipelines in a tunnel, and belongs to the field of tunnel pipeline dismounting devices. The automatic disassembling trolley for the pipeline in the tunnel comprises a trolley body and a walking device arranged below the trolley body, a mechanical arm device used for disassembling and transferring the pipeline is arranged on the trolley body, and the mechanical arm device comprises a mounting base, a rotating base rotationally matched with the mounting base and a swing arm movably connected to the rotating base; the tail end of the swing arm is provided with a mechanical claw used for grabbing a pipeline. The automatic disassembling trolley for the pipeline in the tunnel is provided with the mechanical arm device, so that the mechanical arm device is used for disassembling and transferring the pipeline, the labor intensity of operators is reduced, the labor cost is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the field of tunnel pipeline disassembly devices, in particular to an automatic disassembly trolley for pipelines in tunnels. Background Art

[0002] During tunnel construction, pipes are installed on the tunnel's inner walls to transport water, gas, and other slurry materials to the tunnel boring machine. These pipes need to be removed after tunnel construction is completed. Traditional removal methods require hanging a sling from the tunnel's top and manually removing the pipes using a combination of slings, steel pipes, and crowbars, resulting in low removal efficiency.

[0003] The existing Chinese utility model patent with authorization announcement number CN212127333U discloses a mud pipeline removal device, which includes a vehicle body and a lifting device arranged on the vehicle body. The lifting device includes a fixed bracket and an electric hoist arranged on the fixed bracket. After the pipeline is removed, it can be directly lifted into the vehicle body by the lifting device. Since there is no need to hang a lifting rope in the tunnel, the efficiency is improved compared with the traditional method.

[0004] The existing Chinese utility model patent with authorization announcement number CN205315041U discloses a trolley for dismantling and recycling auxiliary belt conveyors and air ducts during tunnel construction. The trolley has a doorframe-style body with two working platforms. The upper platform is equipped with a ladder for removing air ducts, and the lower platform is equipped with a collection cage for collecting and temporarily storing accessories and pipes. The bottom of the upper platform is equipped with a movable lifting device to lift the removed pipes and accessories into the collection cage for temporary storage. When the collection cage is full, a transport vehicle travels under the trolley. The lifting device can lift the empty collection cage from the transport vehicle onto the platform, and lift the full collection cage from the platform onto the transport vehicle for transportation out of the tunnel. The trolley provides a larger working platform for operators to remove pipes in the tunnel, facilitating their operations and enabling continuous dismantling operations, further improving dismantling efficiency.

[0005] However, the electric hoist on the above-mentioned mud pipeline removal device and the tunnel construction auxiliary belt conveyor and the trolley lifting device for dismantling and recovering the air duct can only play an auxiliary role in the removal of the pipeline, that is, after the operator removes the pipeline from the pipeline bracket on the tunnel wall, the pipeline is lifted to a designated location, but cannot help the operator lift the pipeline to remove it from the pipeline bracket. Therefore, the labor intensity of the operators is relatively high during the entire dismantling process. In addition, during the process of dismantling the pipeline, at least two operators are required to lift the pipeline, and at least one operator is required to connect the pipeline to the electric hoist or lifting device. Therefore, multiple operators are required to work together, which results in high labor costs. Moreover, when manually dismantling the pipeline, it is necessary to stop the vehicle at the location of each section of the pipeline to operate, and the efficiency of pipeline dismantling is relatively low. Utility Model Content

[0006] The purpose of the utility model is to provide an automatic disassembly trolley for pipelines in tunnels, so as to solve the technical problems of high labor intensity and low disassembly efficiency caused by manual disassembly of pipelines in tunnels in the prior art.

[0007] To achieve the above objectives, the technical solution of the automatic disassembly trolley for pipelines in tunnels provided by the present invention is:

[0008] An automated disassembly trolley for pipelines in tunnels comprises a vehicle body and a traveling device arranged below the vehicle body. A robotic arm device for disassembling and transferring pipelines is provided on the vehicle body. The robotic arm device comprises a mounting base, a rotating base rotatably engaged with the mounting base, and a swing arm movably connected to the rotating base. A robotic claw for grabbing the pipeline is provided at the end of the swing arm.

[0009] As a further improvement, the swing arm includes at least two arms hinged in sequence, and at least one arm is a telescopic arm that can be extended and shortened.

[0010] As a further improvement, the swing arm includes a swing arm body and a telescopic arm body. The swing arm body is hinged to the rotating base, the telescopic arm body is hinged to the end of the swing arm body away from the rotating base, and the mechanical claw is connected to the end of the telescopic arm body away from the swing arm body.

[0011] As a further improvement, the robotic arm device also includes a slide rail fixedly mounted on the vehicle body, the mounting base cooperates with the slide rail guide, and the mounting base is provided with a driving mechanism for driving the mounting base to move along the slide rail.

[0012] As a further improvement, the extending direction of the slide rail is the same as the front-rear direction of the vehicle body.

[0013] As a further improvement, the vehicle body is a frame structure, which includes an upper frame, a lower frame and a vertical frame connected between the upper frame and the lower frame. The slide rail is installed on the lower side of the upper frame. The vertical frame includes a front frame located at the front of the vehicle body and a rear frame located at the rear of the vehicle body. The space enclosed by the front frame, the rear frame, the upper frame and the lower frame constitutes a movable window for the movement of the robotic arm device.

[0014] As a further improvement, the upper surfaces of the upper frame and the lower frame are both flat, the upper frame constitutes an upper working platform for personnel to stand and stack materials, and the lower frame constitutes a lower working platform for personnel to stand and stack materials.

[0015] As a further improvement, the lower working platform includes a left platform and a right platform, and a space is left between the left platform and the right platform for transport vehicles to pass through.

[0016] As a further improvement, the slide rail is a double-rail structure, and two rows of matching structures for matching with the double-rail structure are provided on the mounting base.

[0017] As a further improvement, the vehicle body is a frame structure, which includes an upper frame, a lower frame and a vertical frame connected between the upper frame and the lower frame, and the robotic arm device is installed on the lower side of the upper frame.

[0018] The beneficial effect is that the automatic disassembly trolley for pipelines in tunnels provided by the present invention is an improvement on the existing technology. The automatic disassembly trolley for pipelines in tunnels is equipped with a robotic arm device, so that after the robotic arm device grabs the pipeline, it automatically lifts the pipeline upwards to remove the pipeline from the pipeline bracket, and the pipeline can also be directly transferred to a designated location by the robotic arm device. Compared with the existing technology, there is no need for operators to participate in the work of lifting the pipeline, which can greatly reduce the labor intensity of the operators; and except for removing the pipeline bracket above the pipeline, the disassembly and transportation of the pipeline no longer need to be completed manually, so the number of operators can be reduced and the labor cost can be reduced; finally, the process of grabbing the pipeline using the robotic arm device is simple and fast, and the pipeline transportation is more accurate, which can improve the disassembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of Example 1 of the automatic disassembly trolley for pipelines in tunnels of the present invention;

[0020] Figure 2 This is a schematic diagram of the process of dismantling a pipeline by a robotic arm device in Example 1 of the automated dismantling trolley for pipelines in tunnels of the present invention;

[0021] Figure 3 This is a schematic diagram of the process of transferring the storage cage by the robotic arm device in Example 1 of the automated disassembly trolley for pipelines in tunnels of the present invention;

[0022] Figure 4 This is a schematic structural diagram of the traveling device in Example 1 of the automatic disassembly trolley for pipelines in tunnels of the present invention;

[0023] Figure 5 This is a schematic structural diagram of the telescopic support structure in Example 1 of the automatic disassembly trolley for pipelines in tunnels of the present invention;

[0024] Figure 6 This is a schematic diagram of the traveling wheel angle adjustment process in Example 1 of the automatic tunnel pipeline disassembly trolley of the utility model.

[0025] Description of reference numerals:

[0026] 1. Vehicle body; 11. Upper working platform; 12. Lower working platform; 121. Left platform; 122. Right platform; 13. Vertical frame; 131. Front frame; 132. Rear frame; 2. Crane; 3. Storage cage; 4. Travel device; 41. Fixed frame; 42. Telescopic frame; 43. Telescopic cylinder; 44. Wheel seat; 45. Travel wheel; 46. Drive motor; 47. Cantilever frame; 48. Angle adjustment cylinder; 5. Telescopic support structure; 51. Fixed body; 52. Telescopic body; 53. Lifting cylinder; 54. Support leg; 6. Robotic arm device; 61. Slide rail; 62. Mounting base; 63. Rotating base; 64. Swing arm body; 65. Telescopic arm body; 66. Robotic claw; 67. Drive mechanism; 7. Transport vehicle; 8. Tunnel wall. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below with reference to the embodiments.

[0028] In order to solve the problems in the existing technology, the basic concept of the present invention is to equip the automatic disassembly trolley of the pipeline in the tunnel with a robotic arm device, so as to use the robotic arm device to disassemble and transport the pipeline, thereby reducing the labor intensity of the operator, reducing labor costs and improving construction efficiency.

[0029] Specific embodiment 1 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0030] An automatic disassembly trolley for pipelines in tunnels, see attached Figure 1 , including a vehicle body 1, a walking device 4 and a telescopic support structure 5 arranged under the vehicle body 1, and a mechanical arm device 6 arranged on the vehicle body 1.

[0031] The vehicle body 1 is a frame structure, including an upper frame, a lower frame and a stand 13 connected between the upper frame and the lower frame. Both the upper frame and the lower frame have a flat surface for operators to stand and materials to be stacked, so they can be used as working platforms for pipeline removal operations, wherein the upper frame is the upper working platform 11 and the lower frame is the lower working platform 12. Figure 2 and attached Figure 3 The upper work platform 11 is equipped with a crane 2 for lifting the disassembled air duct downward. The lower work platform 12 is divided into a left platform 121 and a right platform 122. A space is left between the left and right platforms 121, 122 for transport vehicles 7 to pass through. Specifically, one of the left and right platforms 121, 122 can be used as a stand for operators to perform pipe disassembly operations, while the other can be used to house a storage cage 3 for disassembled pipes and accessories.

[0032] The frame 13 comprises four columns, one at each corner of the vehicle body 1. The two front columns comprise a front frame 131, and the other two rear columns comprise a rear frame 132. The space enclosed by the front frame 131, rear frame 132, upper work platform 11, and lower work platform 12 forms a movable window for the manipulator assembly 6 to move.

[0033] See attached Figure 4 The walking device 4 includes a mounting frame and a wheel assembly located at the lower end of the mounting frame. The mounting frame includes a fixed frame body 41 fixedly connected to the vehicle body 1 and a telescopic frame body 42 that cooperates with the upper and lower guides of the fixed frame body 41. A telescopic cylinder 43 is connected between the fixed frame body 41 and the telescopic frame body 42. The fixed frame body 41 and the telescopic frame body 42 are both hollow structures and nested with each other. The telescopic cylinder 43 is installed on the inner side of the fixed frame body 41 and the telescopic frame body 42. The wheel assembly includes a wheel seat 44 and a walking wheel 45 rotatably mounted on the wheel seat 44. The wheel seat 44 is connected to the mounting frame in the form of a ball hinge. The ball hinge connection has higher stability and reliability and is conducive to bearing larger loads. In other embodiments, the wheel seat 44 can also be connected to the mounting frame through a hinge shaft, and the axial direction of the hinge shaft is in the same direction as the front and rear direction of the vehicle body 1.

[0034] The wheel assembly also includes a drive structure fixedly mounted on the wheel seat 44 for driving the travel wheel 45 to rotate. The drive structure is specifically a drive motor 46. By directly mounting the drive structure on the wheel seat 44, a transmission can be omitted, simplifying the overall structure. The drive structure is not limited to the drive motor 46, and in other embodiments, it can also be a hydraulic motor.

[0035] The fixed frame 41 and the telescopic frame 42 constitute the main components of the mounting frame. A cantilever frame 47 is fixedly mounted on one lateral side of the lower end of the telescopic frame 42. An angle adjustment cylinder 48 is hingedly mounted on the cantilever frame 47. The piston rod end of the angle adjustment cylinder 48 is hingedly connected to the wheel seat 44. Specifically, the cantilever frame 47 is located outside the corresponding telescopic frame 42. Therefore, when the angle adjustment cylinder 48 is shortened, the corresponding running wheel 45 deflects outward. This ensures that the wheel seat 44 has a sufficiently long power arm during adjustment and rotation, thereby reducing the load on the angle adjustment cylinder 48.

[0036] See attached Figure 5 The telescopic support structure 5 includes a fixed body 51 fixedly connected to the vehicle body 1 and a telescopic body 52 that cooperates with the fixed body 51 in a vertically guided manner. A lifting cylinder 53 is connected between the telescopic body 52 and the fixed body 51. The fixed body 51 and the telescopic body 52 are both hollow structures and fit into each other. The lifting cylinder 53 is installed on the inner sides of the fixed body 51 and the telescopic body 52.

[0037] The telescopic support structure 5 also includes a support leg 54 disposed at the lower end of the telescopic body 52. ​​The support leg 54 comprises a support plate for contact with the tunnel wall 8 or the ground, and a hinged seat located above the support plate. The hinged seat is hinged to the lower end of the telescopic body 52 via a pin, with the axis of the pin oriented in the same direction as the front-to-back direction. The support leg 54 can be adaptively adjusted based on the angle of the tunnel wall 8 to increase the contact area with the tunnel wall 8 and provide more stable support. The support leg 54 can also be configured in different ways based on actual needs, such as configuring the support plate to be a curved plate with the same curvature as the tunnel wall 8.

[0038] The robotic arm assembly 6 is mounted on the underside of the upper work platform 11. The upper work platform 11 provides both an operating platform for duct removal and a mounting platform for the robotic arm assembly 6, allowing the robotic arm assembly 6 to be positioned directly above the lower work platform 12. The robotic arm assembly 6 includes a slide rail 61, a mounting base 62, a rotating base 63, a swing arm, and a mechanical claw 66.

[0039] See attached Figure 1 , Attachment Figure 2 and attached Figure 3 The slide rail 61 is fixedly mounted on the lower side of the upper working platform 11. The slide rail 61 is a double-track structure, which is composed of two parallel tracks. The extension direction of the slide rail 61 is in the same direction as the front-rear direction of the vehicle body 1. The double-track structure has good stability. In other embodiments, the slide rail 61 can also be a single-track structure. The mounting base 62 is mounted on the slide rail 61 through a matching structure that cooperates with the guide of the slide rail 61, and the mounting base 62 is provided with a driving mechanism 67 for driving the mounting base 62 to move forward and backward along the slide rail 61. The driving mechanism 67 is a prior art and will not be described in detail here. The rotating base 63 is rotatably mounted on the mounting base 62, and its rotation axis is vertical.

[0040] One end of the swing arm is connected to the rotating base 63, and the other end is connected to the mechanical claw 66. The swing arm includes a swing arm body 64 and a telescopic arm body 65. One end of the swing arm body 64 is hinged to the rotating base 63, and the other end is hinged to the telescopic arm body 65. The mechanical claw 66 is rotatably mounted on the end of the telescopic arm body 65 away from the swing arm body 64. The rotation of the rotating base 63 and the mechanical claw 66, as well as the swinging of the swing arm, are driven by corresponding drive devices. This is prior art and will not be described in detail here. The swing arm in this embodiment has high flexibility, enabling the grabbing of pipelines at different locations within the tunnel.

[0041] The method of using the automatic disassembly trolley for pipelines in the tunnel to disassemble the pipelines is as follows: for the pipelines on the top of the tunnel, such as the air ducts, they can be first disassembled by the operator and then stacked on the upper working platform 11. When the transport vehicle 7 travels to the bottom of the automatic disassembly trolley for pipelines in the tunnel, the crane 2 can be used to lift the air duct onto the transport vehicle 7; for the grouting pipelines in the middle of the tunnel, the operator can first disassemble the pipeline bracket that is buckled above the grouting pipeline, and then the robotic arm device 6 directly grabs the grouting pipeline, lifts the grouting pipeline upward, removes the grouting pipeline from the pipeline bracket, and then transfers the grouting pipeline to the storage cage 3 on the lower working platform 12. After the transport vehicle 7 travels to the bottom of the automatic disassembly trolley for pipelines in the tunnel, the robotic arm device 6 is used to transfer the empty storage cage 3 on the transport vehicle 7 to the lower working platform 12, and then the full storage cage 3 on the lower working platform 12 is transferred to the transport vehicle 7, and the transport vehicle 7 transfers it to the outside of the tunnel.

[0042] After the pipes are dismantled using the robot arm device 6 , the labor intensity of the operators is greatly reduced, and the number of operators involved in the dismantling work is reduced, which reduces the labor cost and improves the dismantling efficiency.

[0043] Since the robotic arm device 6 can only grab the grouting pipeline at one position, in order to keep the grouting pipeline stable, the robotic claw 66 needs to grab as close to the middle of the grouting pipeline as possible. Since the mounting base 62 can move along the slide rail 61, during the construction process, if the automatic disassembly trolley for the pipeline in the tunnel is not in a suitable position, the robotic arm device 6 can move automatically to the middle of the grouting pipeline and perform grabbing and disassembly operations.

[0044] When the grouting pipeline in the tunnel is merely stuck on the pipeline support, with no pipeline support mounted above it, or when the operator has already removed the pipeline support mounted above the grouting pipeline in the tunnel, the automated pipeline disassembly vehicle in the tunnel can slowly travel in the tunnel while using the robotic arm device 6 to grab the pipeline. Specifically, as the vehicle body 1 moves from one pipeline section to the next, the robotic arm device 6 places the already grabbed pipeline into the storage cage 3 and returns the robotic claw 66 to the position of the pipeline. When the vehicle body 1 moves to the position of the next pipeline section, the robotic arm device 6 grabs the pipeline section and repeats the above steps. To ensure that the pipeline can be smoothly grabbed by the robotic arm device 6, the mounting base 62 can be moved backward at the same speed relative to the vehicle body 1 at the moment of grabbing. The robotic claw 66 will then remain stationary in the front-to-back direction relative to the tunnel wall 8, thereby improving the stability and safety of the grabbing.

[0045] In addition, see the attached Figure 6When the tunnel pipeline disassembly trolley enters or exits the tunnel, first, each telescopic support structure 5 is extended and the support legs 54 are pressed against the tunnel wall 8 or the ground; then the mounting frames of each traveling device 4 are shortened, so that each traveling wheel 45 leaves the tunnel wall 8 or the ground; then the angle adjustment cylinder 48 is used to adjust the inclination angle of the traveling wheel 45. After the traveling wheel 45 is adjusted to a suitable angle, the mounting frames of each traveling device 4 are extended, so that the traveling wheel 45 contacts the tunnel wall 8 or the ground again; finally, each telescopic support structure 5 is shortened, and the tunnel pipeline disassembly trolley can continue to move.

[0046] Since the entire traveling device 4 is suspended in the air and is not affected by other external forces during the angle adjustment of the traveling wheel 45, the load on the angle adjustment cylinder 48 is relatively small, ensuring that the angle of the traveling wheel 45 can be adjusted smoothly. In addition, the traveling wheel 45 is protected from large friction during the adjustment process, thereby preventing the traveling wheel 45 from being damaged.

[0047] Specific embodiment 2 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0048] This embodiment is based on Example 1, and differs from Example 1 in that the swing arm in this embodiment includes three swing arm bodies connected in sequence. Since the number of swing arm bodies is large, flexible transportation of pipelines can be achieved without setting up a telescopic arm body.

[0049] Specific embodiment 3 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0050] This embodiment is based on embodiment 1, and differs from embodiment 1 in that the swing arm in this embodiment includes two swing arm sections and one telescopic arm section, and the two swing arm sections are respectively located at the two ends of the telescopic arm section.

[0051] In other embodiments, the two sections of the swing arm bodies may be connected, and the telescopic arm body may be arranged at the end of the swing arm, which will not be described in detail here.

[0052] Specific embodiment 4 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0053] This embodiment is based on Example 1, differing from Example 1 in that the swing arm in this embodiment comprises only a single telescopic arm section, one end of which is hinged to the mounting base and the other end is connected to the mechanical claw. The swing arm in this embodiment has a simple structure and low cost, making it suitable for construction in tunnels with simple working conditions.

[0054] Specific embodiment 5 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0055] This embodiment is based on the first embodiment, and differs from the first embodiment in that the slide rails in this embodiment extend in the left-right direction.

[0056] The automated disassembly trolley for tunnel pipes in this embodiment is suitable for tunnels with larger diameters. The mounting base of the robotic arm device can move left and right along the vehicle body, so that the pipes on both sides of the tunnel can be dismantled when the swing arm of the robotic arm device is shorter.

[0057] Specific embodiment 6 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0058] This embodiment is based on embodiment 1, and differs from embodiment 1 in that the robotic arm device in this embodiment does not include a slide rail, and the mounting base is directly fixedly mounted on the upper frame.

[0059] In this embodiment, the robotic arm device removes the pipeline in situ, so in this embodiment, the vehicle body needs to be driven to a suitable position to ensure that the robotic arm device can grab the middle position of the pipeline.

[0060] Specific embodiment 7 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0061] This embodiment is based on Example 1, and differs from Example 1 in that the vehicle body in this embodiment only includes a lower working platform, but no upper working platform and stand, and the robotic arm device in this embodiment is also installed on the upper side of the lower working platform.

[0062] In this embodiment, after the robotic arm device removes the pipeline, it transfers the pipeline from above it to the other side of the lower working platform. After the lower working platform is full, the automated pipeline disassembly trolley in the tunnel directly drives out of the tunnel and unloads the pipeline stored on it.

[0063] In other embodiments, in order to facilitate the robotic arm device to grasp the pipeline, a raising platform can be fixedly installed at the center position of the lower working platform, and then the robotic arm device can be installed on the raising platform so that the robotic arm device is at the same height as or higher than the disassembled pipeline.

[0064] Specific embodiment 8 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0065] This embodiment is based on Example 1, and differs from Example 1 in that the upper frame in this embodiment only has a frame and is only used to install a robotic arm device. The air duct located at the top of the tunnel in this embodiment can be removed by other equipment.

[0066] Specific embodiment 9 of the automatic disassembly trolley for tunnel pipelines provided by the utility model:

[0067] This embodiment is based on Example 1, and differs from Example 1 in that the lower working platform in this embodiment is a whole. In this embodiment, the transport vehicle can be docked behind the lower working platform, and then the robotic arm device is lengthened so that the robotic arm device can transfer the storage cage backward to the lower working platform.

[0068] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments without inventive effort, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An automated disassembly trolley for pipelines in tunnels, comprising a trolley body and a traveling device arranged below the trolley body, characterized in that: The vehicle body is provided with a robotic arm device for disassembling and transferring pipelines. The robotic arm device includes a mounting base, a rotating base rotatably matched with the mounting base, and a swing arm movably connected to the rotating base. The end of the swing arm is provided with a mechanical claw for grabbing the pipeline.

2. The automatic disassembly trolley for tunnel pipelines according to claim 1 is characterized in that: The swing arm comprises at least two arm bodies hinged in sequence, and at least one arm body is a telescopic arm body that can be extended and shortened.

3. The automatic disassembly trolley for tunnel pipelines according to claim 2 is characterized in that: The swing arm includes a swing arm body and a telescopic arm body. The swing arm body is hinged to the rotating base. The telescopic arm body is hinged to one end of the swing arm body away from the rotating base. The mechanical claw is connected to the end of the telescopic arm body away from the swing arm body.

4. The automatic disassembly trolley for pipelines in tunnels according to any one of claims 1 to 3, characterized in that: The robotic arm device also includes a slide rail fixedly mounted on the vehicle body, the mounting base cooperates with the slide rail guide, and the mounting base is provided with a driving mechanism for driving the mounting base to move along the slide rail.

5. The automatic disassembly trolley for tunnel pipelines according to claim 4 is characterized in that: The extending direction of the slide rail is the same as the front-rear direction of the vehicle body.

6. The automatic disassembly trolley for tunnel pipelines according to claim 5 is characterized in that: The vehicle body is a frame structure, which includes an upper frame, a lower frame and a vertical frame connected between the upper frame and the lower frame. The slide rail is installed on the lower side of the upper frame. The vertical frame includes a front frame located at the front of the vehicle body and a rear frame located at the rear of the vehicle body. The space enclosed by the front frame, the rear frame, the upper frame and the lower frame constitutes a movable window for the movement of the robotic arm device.

7. The automatic disassembly trolley for pipelines in tunnels according to claim 6 is characterized in that the upper The upper surfaces of the frame and the lower frame are both flat. The upper frame constitutes an upper working platform for personnel to stand and stack materials, and the lower frame constitutes a lower working platform for personnel to stand and stack materials.

8. The automatic disassembly trolley for tunnel pipelines according to claim 7 is characterized in that: The lower working platform includes a left platform and a right platform, and there is space between the left platform and the right platform for transport vehicles to pass through.

9. The automatic disassembly trolley for tunnel pipelines according to claim 4 is characterized in that: The slide rail is a double-rail structure, and the mounting base is provided with two rows of matching structures for matching with the double-rail structure.

10. The automatic disassembly trolley for pipelines in tunnels according to any one of claims 1 to 3, characterized in that: The vehicle body is a frame structure, which includes an upper frame, a lower frame and a vertical frame connected between the upper frame and the lower frame. The robotic arm device is installed on the lower side of the upper frame.

Images