Tunnel construction trolley

Abstract

The utility model belongs to the technical field of tunnel construction equipment, and discloses a tunnel construction trolley which comprises a trolley body and a mechanical arm. The mechanical arm comprises a large connecting arm, a gripper mechanism and a guniting mechanism; the large connecting arm is connected with the vehicle body through a first driving mechanism so that the large connecting arm can swing and / or pitch, and the end, away from the vehicle body, of the large connecting arm is connected with a second driving mechanism. The gripper mechanism is connected with the fixed part of the driving mechanism II; the guniting mechanism is connected with the power part of the driving mechanism II, so that the guniting mechanism rotates around the central axis of the connecting big arm; the gripper mechanism and the guniting mechanism are each provided with a telescopic shaft. The mechanical arm is arranged, rapid switching of an arch frame and guniting can be achieved in the construction process, the construction space of the mechanical arm cannot be affected, and the construction quality and efficiency can be effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to tunnel construction equipment technical field, especially, relate to a tunnel construction trolley. BACKGROUND

[0002] The arch spray refers to the arch and the spray process, and a layer of 3-5cm concrete is usually sprayed on the tunnel surface just excavated by the wet spray trolley in the construction process, which aims to timely close the surrounding rock, prevent the surrounding rock from being exposed to weathering and loosening for a long time, and improve the stability of the surrounding rock; the arch is further supported by the arch trolley after spraying, and the arch is connected to the whole tunnel.

[0003] At present, the arch and the spray are usually completed by two devices, and frequent scene transfer operation is required in the construction process, so there are the disadvantages of long time consumption, high labor cost and low construction efficiency. Although the current device integrates the arch mechanical arm and the spray mechanical arm on the trolley respectively, which can solve the scene transfer problem, the number of construction mechanical arms on the trolley is increased, so the degree of freedom of the single mechanical arm is reduced, and therefore the activity construction space of each mechanical arm is limited, which also reduces the construction quality and efficiency. UTILITY MODEL CONTENT

[0004] In order to solve the above technical problems, the utility model discloses a tunnel construction trolley with a mechanical arm, which can realize the quick switching of the arch and the spray in the construction process, and will not affect the construction space of the mechanical arm, and can effectively provide the construction quality and efficiency.

[0005] The specific technical scheme of the utility model is as follows:

[0006] A tunnel construction trolley comprises a trolley body and a mechanical arm.

[0007] The mechanical arm comprises:

[0008] A connecting large arm is connected to the trolley body through a driving mechanism one to swing and / or pitch the connecting large arm, and the end of the connecting large arm away from the trolley body is connected with a driving mechanism two.

[0009] A grabbing mechanism is connected with the fixed part of the driving mechanism two.

[0010] A spray mechanism is connected with the power part of the driving mechanism two to rotate the spray mechanism around the central axis of the connecting large arm.

[0011] The grabbing mechanism and the spray mechanism each have an extension shaft.

[0012] In the application, the grabbing mechanism and the spraying mechanism are arranged on the connecting arm, wherein the spraying mechanism can rotate around the central axis of the connecting arm through the driving of the second driving mechanism. Since the grabbing mechanism and the spraying mechanism also have the telescopic shaft, the arch function and the spraying function can be switched through the cooperation of the second driving mechanism and the telescopic shaft. In other words, when the spraying mechanism is needed to be used, the spraying mechanism is rotated to the appropriate position and then is extended, at this time, the grabbing mechanism is retracted and is in the unusable state. When the grabbing mechanism is needed to be used, the grabbing mechanism is extended, the spraying mechanism is rotated to the appropriate position and then is retracted, so that the spraying mechanism is in the unusable state. Thus, the grabbing mechanism and the spraying mechanism are arranged on the same mechanical arm, which can effectively reduce the excessive number of mechanical arms caused by the integration of the grabbing mechanism and the spraying mechanism, thereby avoiding the problem of insufficient construction space caused by the simultaneous existence of multiple mechanical arms, and at the same time, the construction quality and efficiency can be improved.

[0013] Preferably, the first driving mechanism is composed of at least one of a rotating device and a telescopic device.

[0014] The rotating device and the telescopic device can realize the movement of the connecting arm, thereby expanding the construction range.

[0015] Preferably, the first driving mechanism comprises:

[0016] a first rotating device, which is arranged on the vehicle body and is hinged with the connecting arm;

[0017] a first telescopic device, two ends of which are respectively hinged with the rotating device and the connecting arm.

[0018] The structure is simple and can well meet the construction use requirements.

[0019] Preferably, the first driving mechanism further comprises:

[0020] a first support, which is provided with a first connecting part and a second connecting part, the first connecting part is hinged with the connecting arm, and the second connecting part is hinged with the first telescopic device;

[0021] a second telescopic device, two ends of which are respectively hinged with the first connecting part and the first rotating device.

[0022] The structure can further improve the pitch angle of the connecting arm, thereby further expanding the construction range.

[0023] Preferably, the grabbing mechanism comprises:

[0024] a grabbing member;

[0025] The one end of the connecting arm one is connected with the driving mechanism two, and the other end is connected with the gripper member through the driving mechanism three, and the driving mechanism three is a multi-axis turntable mechanism.

[0026] The gripper member needs to adapt to the grasping requirements and transfer requirements in various directions, and the multi-axis turntable mechanism can well meet the requirements of multi-angle driving, thereby meeting the actual construction requirements.

[0027] Preferably, the driving mechanism three comprises:

[0028] The connecting frame body;

[0029] The rotating device two is connected with the connecting arm one at the fixed part, and connected with the connecting frame body at the power part.

[0030] The rotating device three is connected with the connecting frame body at the fixed part, and connected with the gripper member at the power part.

[0031] The structure is simple and convenient to use, and can well realize rotation in the vertical two axial directions, thereby meeting the multi-angle requirements of actual use.

[0032] Preferably, the driving mechanism three further comprises:

[0033] The swinging body is hinged with the connecting frame body, and the rotating device three is arranged on the swinging body.

[0034] The telescopic device three is hinged with the connecting frame body and the swinging body at two ends respectively, and the telescopic device three is hinged at the end of the swinging body away from the connecting frame body.

[0035] The structure can further improve the action ability of the telescopic device three and expand the construction use range.

[0036] Preferably, the connecting large arm is a telescopic structure.

[0037] The structure is simple and can expand the construction range and improve the construction accuracy.

[0038] Preferably, a sliding mechanism is arranged between the vehicle body and the connecting large arm.

[0039] The structure is beneficial to improve the construction range, realize the recovery of the mechanical arm, facilitate the movement of the vehicle body in the tunnel, well expand the use range of the mechanical arm, and improve the construction accuracy.

[0040] Preferably, the sliding mechanism comprises:

[0041] The track arranged on the vehicle body; and

[0042] A movement block in sliding fit with the track, the driving mechanism being mounted on the movement block.

[0043] The structure is simple, easy to implement, and can well meet the driving requirements of the whole mechanical arm.

[0044] Compared with the prior art, the mechanical arm can move flexibly in limited space, has a larger operation range, and has wider adaptability; and by adjusting the angle and height of the connecting arm, the operation angle and height of the gripper mechanism and the spraying mechanism are adjusted, so that the construction is more accurate, and the construction quality is improved; the utility model can flexibly and quickly switch the use of the gripper mechanism and the spraying mechanism, does not need equipment transfer process, shortens operation time, saves time cost, and effectively improves construction efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a schematic view of the utility model embodiment;

[0046] Figure 2 is a schematic view of the mechanical arm in the utility model embodiment;

[0047] Figure 3 is a schematic view of the gripper mechanism and the spraying mechanism in the utility model embodiment;

[0048] Figure 4 is an enlarged view of A of Figure 1 ; is a schematic view of the utility model embodiment in different states.

[0049] Figure 5 is a schematic view of the utility model embodiment in different states.

[0050] In the figure: 1-vehicle body; 2-connecting arm; 3-driving mechanism two; 4-rotary device one; 5-telescopic device one; 6-support one; 7-telescopic device two; 8-connection part one; 9-connection part two; 10-gripper component; 11-connection arm one; 12-spraying component; 13-connection arm two; 14-connection frame body; 15-rotary device two; 16-rotary device three; 17-swinging body; 18-telescopic device three; 19-track; 20-movement block; 21-telescopic column; 22-supporting base; 23-rotary device four; 24-transverse moving mechanism; 25-transition frame body. DETAILED DESCRIPTION

[0051] In order for those skilled in the art to better understand the technical scheme of the utility model, the utility model will be further described in detail below in combination with specific implementation manners.

[0052] Generally, in the process of tunnel construction, it is necessary to carry out shotcreting operation and arch operation, however, due to technical limitations, the corresponding trolley needs to be frequently transferred, or there is insufficient construction space, thereby affecting the construction progress. Therefore, the embodiment provides a tunnel construction trolley, which comprises a trolley body 1 and a mechanical arm, the mechanical arm is installed on the trolley body 1 and can move in the tunnel following the trolley body 1. The mechanical arm is integrated with a grabbing hand mechanism and a shotcreting mechanism through a connecting large arm 2, and the shotcreting mechanism is arranged on the connecting large arm 2 through a driving mechanism 3, so that the relative position between the shotcreting mechanism and the grabbing hand mechanism can be adjusted when the driving mechanism 3 acts, and in the embodiment, the grabbing hand mechanism and the shotcreting mechanism both have telescopic shafts, so that the functional switching requirement between the shotcreting mechanism and the grabbing hand mechanism can be realized.

[0053] Specifically, as shown in Figures 1 to 3 a tunnel construction trolley, which comprises a trolley body 1 and a mechanical arm; the mechanical arm comprises a connecting large arm 2, a grabbing hand mechanism and a shotcreting mechanism; the connecting large arm 2 is connected with the trolley body 1 through a driving mechanism 1, so that the connecting large arm 2 swings and / or pitches, and an end of the connecting large arm 2 away from the trolley body 1 is connected with a driving mechanism 3; the grabbing hand mechanism is connected with a fixed part of the driving mechanism 3; the shotcreting mechanism is connected with a power part of the driving mechanism 3, so that the shotcreting mechanism rotates around the central axis of the connecting large arm 2; the grabbing hand mechanism and the shotcreting mechanism both have telescopic shafts.

[0054] In the embodiment, the grabbing hand mechanism and the shotcreting mechanism are both arranged on the connecting large arm 2, so that if the connecting large arm 2 acts, the grabbing hand mechanism and the shotcreting mechanism can be simultaneously driven, so that the action of two mechanical arms can be completed by using one mechanical arm, on this basis, the grabbing hand mechanism is connected with the connecting large arm 2 through the driving mechanism 3, so that by using the action of the driving mechanism 3, the functional switching between the grabbing hand mechanism and the shotcreting mechanism can be realized, thereby meeting the actual use requirement, so that the equipment transfer is not needed, and the construction efficiency is effectively improved. Specifically, the driving mechanism 3 is a rotary device, when the driving mechanism 3 acts, the grabbing hand mechanism can rotate around the central axis of the connecting large arm 2, thereby meeting the construction condition of the shotcreting mechanism. Further, the grabbing hand mechanism and the shotcreting mechanism both have telescopic shafts, so that when one of them is used for construction operation, it is elongated, and the other is retracted, so that under the action of the driving mechanism 3, they do not affect each other, thereby better meeting the functional switching. It can be known that in some working conditions, the functional switching can also be realized by the telescoping of the grabbing hand mechanism and / or the shotcreting mechanism, and in the specific shotcreting process, the driving mechanism 3 can be used to improve the action range of the shotcreting.

[0055] In the embodiment, the driving mechanism one is composed of at least one of the rotating device and the telescopic device. That is, the rotating device and the telescopic device can realize the swing and / or the pitch of the connecting arm 2. It should be noted that in the embodiment, taking the horizontal plane as an example, the pitch movement refers to the rotation in the vertical plane, and the swing refers to the rotation in the horizontal plane, so according to the actual position of the corresponding device, the pitch movement or the swing should be known, and specifically, as shown in Figure 2 The driving mechanism one includes the rotating device one 4 and the telescopic device one 5; the rotating device one 4 is arranged on the vehicle body 1, and the connecting arm 2 and the rotating device one 4 are hinged; the two ends of the telescopic device one 5 are hinged with the rotating device and the connecting arm 2 respectively. In the embodiment, the swing and the pitch movement of the connecting arm 2 are realized by the rotating device one 4 and the telescopic device one 5, which has the advantages of simple structure, easy realization and good realization of the corresponding functions. Further, in the embodiment, the driving mechanism one further includes the support one 6 and the telescopic device two 7; the support one 6 is provided with the connecting part one 8 and the connecting part two 9, the connecting part one 8 is hinged with the connecting arm 2, and the connecting part two 9 is hinged with the telescopic device one 5; the two ends of the telescopic device two 7 are hinged with the connecting part one 8 and the rotating device one 4 respectively. The telescopic device two 7 can further flexibly adjust the overall pitch angle of the connecting arm 2, so as to make the action of the grabbing mechanism and the spraying mechanism more accurate, thereby effectively improving the construction quality, and specifically, the connecting arm 2 can effectively reduce the rotation radius when the rotating device one 4 drives the connecting arm 2 to rotate under the condition that the overall length is unchanged, and can adapt to smaller and more complex tunnel construction.

[0056] As Figure 3As shown, in the embodiment, the gripper mechanism comprises a gripper member 10 and a connecting arm 11; one end of the connecting arm 11 is connected with the driving mechanism 2, and the other end is connected with the gripper member 10 through a driving mechanism 3, which is a multi-axis rotary table mechanism. The spraying mechanism comprises a spraying member 12 and a connecting arm 13; one end of the connecting arm 13 is connected with the driving mechanism 2, and the other end is connected with the spraying member 12. Since the gripper mechanism and the spraying mechanism both have telescopic shafts, in order to simplify the structure, in the embodiment, the connecting arm 11 and the connecting arm 13 are both configured as telescopic shafts. When the gripper member 10 is needed to be used, the connecting arm 11 is extended, and the connecting arm 13 is retracted, and vice versa, when the spraying member 12 is needed to be used, the connecting arm 11 is retracted, and the connecting arm 13 is extended. In order to further improve the use precision of the gripper member 10, the gripper member 10 in the embodiment is configured with a multi-axis rotary table mechanism, the components in the multi-axis rotary table mechanism can rotate around at least two rotation axes, thus having higher activity freedom, specifically, in the embodiment, the driving mechanism 3 comprises a connecting frame 14, a rotary device 15 and a rotary device 16; the fixed part of the rotary device 15 is connected with the connecting arm 11, and the power part is connected with the connecting frame 14; the fixed part of the rotary device 16 is connected with the connecting frame 14, and the power part is connected with the gripper member 10. The connecting frame 14 serves as an intermediate connecting piece, when the rotary device 15 acts, it rotates with the connecting frame 14 and carries the gripper member 10 to rotate, when the rotary device 16 acts, the connecting frame 14 keeps relative static with the connecting arm 2, that is, at this time, the rotation of the rotary device 16 only drives the gripper member 10 to rotate, thus meeting the use requirements of the gripper member 10. Further, in the embodiment, the driving mechanism 3 further comprises a swing body 17 and a telescopic device 18; the swing body 17 is hinged with the connecting frame 14, and the rotary device 16 is arranged on the swing body 17; the two ends of the telescopic device 18 are respectively hinged with the connecting frame 14 and the swing body 17, and the telescopic device 18 is hinged at the end of the swing body 17 away from the connecting frame 14. Among them, the upper part of the connecting frame 14 is connected with the swing body 17, and the lower part is connected with the telescopic device 18. In order to improve the connection stability, the cross section of the connecting frame 14 is in triangular structure. The telescopic device 18 can realize the overturning of the gripper member 10, thus better meeting the requirements of multi-angle application construction, thus further improving the construction quality. And the structure can also conveniently hand over the arch frame gripped by the gripper member 10 to the mechanical arm on another vehicle body, thus better completing the tunnel construction task.

[0057] In the embodiment, the connecting arm 2 is in telescopic structure. The connecting arm 23 comprises a plurality of sliding arms that are mutually slidingly matched, and further comprises telescopic cylinders for driving the movement of each sliding arm, thus facilitating driving and being simple in structure.

[0058] As Figure 2 shown in the embodiment, a sliding mechanism is arranged between the vehicle body 1 and the connecting arm 2. Specifically, the sliding mechanism in the embodiment is arranged between the driving mechanism one and the vehicle body 1. Further, the sliding mechanism comprises a track 19 arranged on the vehicle body 1, and a moving block 20 in sliding cooperation with the track 19, and the driving mechanism one is arranged on the moving block 20. Thus, when the moving block 20 slides along the track 19, the use range of the mechanical arm can be effectively improved.

[0059] Thus, the moving block 20 can slide on the track 19, the rotating device one 4 on the moving block 20 can swing the connecting arm 2, the telescopic device one 5 arranged on the side of the connecting arm 2 can adjust the pitch angle of the connecting arm 2 within a certain angle range, and the telescopic device two 7 can adjust the pitch angle of the support two. When the telescopic device one 5 and the telescopic device two 7 are adjusted in cooperation, the connecting arm 2 can be further driven to switch to a certain angle when the connecting arm 2 is at the maximum opening angle, so as to further improve the pitch range of the connecting arm 2. Since the connecting arm 2 is a telescopic structure, the connecting arm 2 can be telescoped by a certain length. The driving mechanism two 3 is arranged between the connecting arm two 13 and the connecting arm 2, and the connecting arm two 13 can be rotated around the connecting arm 2 by a certain angle for work through the driving mechanism two 3. When the arch work is performed, the connecting arm two 13 can be shortened and collected, the connecting arm one 11 is elongated, the gripper member 10 grasps the arch, and the position state of the gripper member 10 can be flexibly adjusted through the cooperation of the rotating device two 15, the rotating device three 16 and the telescopic device three 18, so as to make the arch accurately reach the specified position. When the shotcrete work is performed, the connecting arm one 11 is shortened and collected, and the connecting arm two 13 is elongated, so that the shotcrete work can be performed. In the process of function switching, the position of the shotcrete mechanism can be changed by using the driving mechanism two 3, so as to avoid work interference, thereby improving the stability and accuracy of the work.

[0060] Thus, in the process of using the embodiment, the actual use demand can be met by switching at least three states, such as Figure 5In the example shown, the connecting arm 2 is moved to the rear end of the vehicle body 1 by the movement of the moving block 20, and then the arch frame is picked up from the rear end of the vehicle body 1 by the cooperation of the rotating device one 4, the telescopic device one 5, and the telescopic device two 7, and then the moving block 20 is moved to the front end of the vehicle body 1, and the arch frame is transferred to the support surface by the cooperation of the rotating device one 4, the telescopic device one 5, and the telescopic device two 7. In the above process, after the arch frame is grasped, the occupied volume after grasping the arch frame can be reduced by the extension and retraction of the telescopic device one 5 and the telescopic device two 7, thereby avoiding movement interference. That is, the embodiment can realize the grasping, transferring, and installing of the arch frame in the front-rear direction of the vehicle body 1, and effectively reduce the occupied volume during the transferring process. In the idle time period, the moving block 20 can be driven to move to the middle part of the vehicle body 1, and the telescopic device one 5 and the telescopic device two 7 can be retracted, thereby better realizing the movement of the vehicle body 1. In other words, the embodiment can avoid the space limitation, and the disadvantages of clearing the tunnel and stopping other construction operations during the arch frame transportation or arch erecting operation, thereby avoiding the reduction of the overall efficiency of the tunnel construction.

[0061] As shown in Figure 4 In the embodiment, the vehicle body 1 is provided with a plurality of telescopic columns 21, and the end of the telescopic column 21 is provided with a support base 22. Further, the free end of the telescopic column 21 is connected with a rotating device four 23, and the support base 22 is connected with the telescopic column 21 through the rotating device four 23; the rotating device four 23 adjusts the relative angle between the support base 22 and the vehicle body 1, so as to adjust the support position of the support base 22. Further, a horizontal moving mechanism 24 is further arranged between the rotating mechanism and the support base 22, for driving the support base 22 to horizontally move relative to the vehicle body.

[0062] A transition frame 25 is arranged between the horizontal moving mechanism 24 and the rotating mechanism. The rotating device four 23 comprises a rotating seat and a rotating motor; one side of the rotating seat is connected with the telescopic column 21, and the other side is connected with the transition frame 25; the rotating motor is drivingly connected with the rotating seat, and is used to drive the transition frame 25 to rotate along the circumferential direction of the central axis of the rotating seat. The horizontal moving mechanism 24 comprises a slide rail, the slide rail is in sliding fit with the transition frame 25, and the slide rail is arranged on the support base 22. Thus, the support base 22 can be pulled by the telescopic cylinder to realize translation relative to the transition frame 25. Thus, during the construction process, when it is needed to install or transport the arch frame, the support base 22 is driven by the horizontal moving mechanism 24 to move to the inside of the trolley, and the telescopic column 21 is extended to the ground to provide stable support for the machine body; for the case that the arch frame is long, if the arch frame contacts with the support base 22 or the space for the transportation and installation of the arch frame is insufficient, the rotating angle of the support base 22 can be controlled by the rotating device four 23, the support base 22 is rotated to a proper position, the space for the installation and transportation of the arch frame is ensured to be sufficient, interference is avoided, and the construction efficiency is improved. Thus, the horizontal moving mechanism 24 and the rotating device four 23 are reasonably arranged, the support base 22 has flexible adjustment capability during the trolley construction, the transportation of the side arch and the vertical arch operation can be ensured to be smoothly performed, and the collision between the support base 22 and the arch frame is avoided, so that the safety and efficiency of the construction process are ensured.

[0063] The above merely is the preferred embodiment of the present application, and it should be pointed out that the above preferred embodiment should not be regarded as the limitation of the present application, and the protection scope of the present application should be defined by the scope of the claims. For the ordinary skilled in the art, some improvements and decorations can be made without departing from the spirit and scope of the present application, and these improvements and decorations should be regarded as the protection scope of the present application.

Claims

1. A tunneling jumbo, characterized in that, The vehicle body and the mechanical arm are connected by a connecting arm. The mechanical arm comprises: A connecting arm, one end of which is connected with the vehicle body, and the other end of which is connected with a driving mechanism two; A gripper mechanism, which is connected with the fixed part of the driving mechanism two; A spraying mechanism, which is connected with the power part of the driving mechanism two, so as to rotate the spraying mechanism around the central axis of the connecting arm; The gripper mechanism and the spraying mechanism both have telescopic shafts.

2. A tunneling trolley as claimed in claim 1, characterized in that The connecting arm is connected with the vehicle body by a driving mechanism one, so as to swing and / or pitch the connecting arm.

3. A tunneling trolley as claimed in claim 2, wherein, The driving mechanism one is composed of at least one of a rotating device and a telescopic device.

4. A tunneling trolley as claimed in claim 3, wherein, The driving mechanism one comprises: A rotating device one, which is arranged on the vehicle body, and the connecting arm is hinged with the rotating device one; A telescopic device one, two ends of which are respectively hinged with the rotating device and the connecting arm.

5. A tunneling trolley as claimed in claim 4, wherein, The driving mechanism one further comprises: A support one, on which a connecting part one and a connecting part two are arranged, the connecting part one is hinged with the connecting arm, and the connecting part two is hinged with the telescopic device one; A telescopic device two, two ends of which are respectively hinged with the connecting part one and the rotating device one.

6. A tunneling trolley as claimed in claim 1, wherein, The gripper mechanism comprises: A gripper member; A connecting arm one, one end of which is connected with the driving mechanism two, and the other end of which is connected with the gripper member through a driving mechanism three, the driving mechanism three being a multi-axis turntable mechanism.

7. A tunneling trolley as claimed in claim 6, wherein, The driving mechanism three comprises: A connecting frame; A rotating device two, the fixed part of which is connected with the connecting arm one, and the power part of which is connected with the connecting frame; A rotating device three, the fixed part of which is connected with the connecting frame, and the power part of which is connected with the gripper member.

8. A tunneling trolley as claimed in claim 7, wherein, The driving mechanism three further comprises: A swinging body, one end of which is hinged with the connecting frame, and the rotating device three is arranged on the swinging body; A telescopic device three, two ends of which are respectively hinged with the connecting frame and the swinging body, and the telescopic device three is hinged at the end of the swinging body away from the connecting frame.

9. A tunneling trolley as claimed in claim 1, wherein, The connecting arm is of telescopic structure.

10. A tunneling trolley as claimed in claim 2, wherein, A sliding mechanism is arranged between the vehicle body and the connecting arm. The sliding mechanism comprises: A track arranged on the vehicle body; and A moving block in sliding cooperation with the track, and the driving mechanism one is arranged on the moving block.

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