Multifunctional mechanical arm and trolley

Abstract

The utility model discloses a multifunctional mechanical arm and a trolley, and relates to the technical field of tunnel construction, the mechanical arm comprises a telescopic arm, and the movable end of the telescopic arm is connected with a pitching adjusting seat; one end of the swinging arm is hinged to the pitching adjusting seat; the first driving assembly is connected to the swinging arm and used for driving the swinging arm to rotate in the first base plane; the gripper mounting part is hinged to the swing arm, the swing arm is provided with a second driving piece used for driving the gripper mounting part to rotate in a second base plane, and the first base plane is perpendicular to the second base plane; and the gripper assembly is arranged on the gripper mounting part and is used for clamping the arch frame. In the construction process, the swing arm is driven by the first driving assembly to rotate in the first base plane, the gripper mounting part is driven by the second driving piece to rotate in the second base plane, the gripper assembly can rotate in the first base plane and the second base plane which are perpendicular to each other, and then the purpose of adjusting the angle of the arch frame is achieved. And the adjusting range during arch erecting is effectively enlarged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel construction, in particular to a multifunctional mechanical arm for tunnel support construction equipment. BACKGROUND

[0002] When tunneling, a blasting hole needs to be opened in the tunnel, and the commonly used engineering machinery is a rock drilling jumbo, and for the installation of arches, an arch installation jumbo can be used, but the arch installation jumbo is expensive, and the on-site supporting process requirements are strict, and according to the actual application of the tunnel site, it is rarely used, and the existing technology usually relies on a loader and an excavator for construction, and still mainly relies on a large amount of manual work.

[0003] In related technologies, rock drilling and arch erection not only need the cooperation of multiple operation machines, but also need to clear the tunnel during rock drilling, arch transportation or arch erection operation due to limited space, stop other construction operations to provide space for the current operation, which reduces the overall efficiency of tunnel construction. CONTENT OF THE UTILITY MODEL

[0004] In order to improve the efficiency of tunnel construction, the present application provides a multifunctional mechanical arm and a jumbo.

[0005] On the one hand, the present application provides a multifunctional mechanical arm, which adopts the following technical scheme:

[0006] A multifunctional mechanical arm, the mechanical arm comprises:

[0007] A telescopic arm, the movable end of the telescopic arm is connected with a pitch adjusting seat;

[0008] A swing arm, one end of the swing arm is hinged to the pitch adjusting seat;

[0009] A gripper mounting portion, hinged to the swing arm, the swing arm is provided with a second driving member for driving the gripper mounting portion to rotate in a second base surface;

[0010] A gripper assembly, provided on the gripper mounting portion for clamping an arch;

[0011] A rock drilling mechanism, the rock drilling mechanism is rotationally arranged at the movable end of the telescopic arm.

[0012] By adopting the above technical scheme, in the construction process, the arch to be constructed is clamped by the gripper assembly, the telescopic arm is driven to elongate, so that the arch is elongated to the working face, the gripper mounting portion is driven to rotate in the second base surface by the second driving member, and then the purpose of adjusting the angle of the arch is achieved, the adjustment range during arch erection is effectively increased, and the arch erection operation is completed; the rock drilling mechanism can perform rock drilling operation; the present application not only can perform rock drilling operation, but also can perform arch erection and welding mesh operation, and the operation efficiency in the tunnel construction process is effectively improved.

[0013] Optionally, the telescopic arm comprises a fixed arm and a movable arm, the movable arm is arranged in the fixed arm along the length direction of the fixed arm, and the fixed arm is provided with a second driving source for driving the movable arm to slide.

[0014] By adopting the above technical scheme, the movable arm is driven to slide by the second driving source, so that the movable arm moves along the length direction of the fixed arm, thereby achieving the purpose of adjusting the length of the telescopic arm.

[0015] Optionally, one end of the movable arm away from the fixed arm is provided with a first rotary seat, a first rotary reducer is connected between the first rotary seat and the movable arm, the rock drilling mechanism is installed on the first rotary seat through a mounting mechanism, the first rotary reducer can drive the first rotary seat to rotate around the telescopic arm, and the first rotary seat has a cavity for the movable arm to pass through.

[0016] By adopting the above technical scheme, the first rotary reducer can drive the first rotary seat to rotate, thereby achieving the purpose of driving the rock drilling mechanism to rotate 360 degrees around the telescopic arm, so that the rock drilling mechanism can be rotated to the lower side of the telescopic arm and can move close to the ground to punch holes in the horizontal direction on the working face, so as to adapt to the demand of punching explosive holes and telescopic anchor rod holes on the working face, and improve the applicability.

[0017] Optionally, the mounting mechanism comprises a second rotary seat, a second rotary reducer and a third rotary reducer, the second rotary reducer is connected between the first rotary seat and the second rotary seat, and the third rotary reducer is connected between the second rotary seat and the rock drilling mechanism.

[0018] The second rotary reducer is used to drive the second rotary seat and the rock drilling mechanism to rotate around the first rotary seat, and the third rotary reducer is used to drive the rock drilling mechanism to rotate around the second rotary seat; and the rotation axes of the first rotary reducer, the second rotary reducer and the third rotary reducer are perpendicular to each other.

[0019] By adopting the above technical scheme, the rock drilling mechanism can be rotated 360 degrees around the first rotary seat by controlling the second rotary reducer, and the rock drilling mechanism can be rotated 360 degrees around the second rotary seat by controlling the third rotary reducer; the first rotary reducer, the second rotary reducer and the third rotary reducer cooperate to enable the mechanical arm to realize multi-directional rotation and multi-position movement, thereby realizing the functions of punching lock angle anchor rods, system anchor rods and advanced anchor rods.

[0020] Optionally, the mechanical arm further comprises a first driving assembly connected to the swing arm, for driving the swing arm to rotate in a first base plane, the first base plane and the second base plane being perpendicular to each other.

[0021] Optionally, the first driving assembly comprises a first driving source, a hinged shaft, a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the swing arm, the other end is hinged to the second connecting rod through the hinged shaft, one end of the second connecting rod away from the first connecting rod is hinged to the swing arm, and the first driving source is used to drive the hinged shaft to deflect.

[0022] By adopting the above technical scheme, the first driving source drives the hinged shaft to move, the hinged shaft drives the first connecting rod and the second connecting rod to deflect, and the swing arm is driven to rotate.

[0023] Optionally, the mechanical arm further comprises a rock drilling mechanism, the rock drilling mechanism is rotationally arranged at one end of the movable arm away from the fixed arm.

[0024] By adopting the above technical scheme, the rock drilling mechanism can realize rock drilling operation, and cooperates with the gripper assembly, so that the mechanical arm can realize rock drilling operation and arch erection operation, and the tunnel construction efficiency is improved.

[0025] Optionally, the mechanical arm further comprises a hanging basket, the hanging basket is arranged on the swing arm.

[0026] Optionally, the hanging basket is detachably arranged on one side of the swing arm away from the gripper assembly.

[0027] By adopting the above technical scheme, the hanging basket is arranged on one side of the swing arm away from the gripper assembly, so as to prevent the gripper assembly from interfering when the hanging basket is installed or maintained, and the installation and maintenance are convenient.

[0028] Optionally, the gripper assembly comprises a receiving plate and a gripper, one end of the receiving plate is hinged to the gripper mounting portion, and the gripper is arranged on the receiving plate for clamping the arch frame.

[0029] A third driving source is arranged between the gripper mounting portion and the receiving plate, the third driving source is used to drive the receiving plate to deflect, and the rotation plane of the receiving plate is perpendicular to the rotation plane of the gripper mounting portion.

[0030] On the other hand, the application provides a multifunctional mechanical arm, which adopts the following technical scheme:

[0031] A trolley comprising the multifunctional mechanical arm.

[0032] In summary, the application has at least one of the following beneficial technical effects:

[0033] 1. In the construction process, the arch frame to be constructed is clamped by the gripper assembly, the telescopic arm is driven to elongate, so that the arch frame is elongated to the working face, the swing arm is driven to rotate in the first base surface by the first driving assembly, the gripper mounting part is driven to rotate in the second base surface by the second driving member, so that the gripper assembly can rotate in the mutually perpendicular first base surface and second base surface, thereby achieving the purpose of adjusting the angle of the arch frame, effectively increasing the adjustment range during the erection of the arch.

[0034] 2. The rock drilling mechanism can realize rock drilling operation, cooperates with the gripper assembly, so that the mechanical arm can realize rock drilling operation and arch erection operation, and improves the tunnel construction efficiency.

[0035] 3. The second driving member can horizontally overturn the gripper assembly part to the front / side of the telescopic arm, when arch erection construction is needed, the gripper assembly can be overturned to the front of the boom, and when rock drilling construction is needed, the gripper assembly can be overturned to the side of the boom, which provides more construction space for rock drilling construction, is convenient to use, and avoids interference.

[0036] 4. The first rotary reducer can drive the first rotary seat to rotate, thereby realizing the purpose of driving the rock drilling mechanism to rotate 360 degrees around the telescopic arm, so that the rock drilling mechanism can be rotated to the lower side of the telescopic arm and can move close to the ground to punch holes in the horizontal direction on the working face, so as to adapt to the needs of punching explosive holes and telescopic anchor rod holes on the working face, and improve the applicability; the first rotary reducer, the second rotary reducer and the third rotary reducer cooperate to enable the mechanical arm to realize multi-directional rotation and multi-position movement, and realize the functions of punching lock angle anchor rod, system anchor rod and advanced anchor rod.

[0037] 5. The hanging basket is arranged on the side of the swing arm away from the gripper assembly, so as to prevent the gripper assembly from interfering when the hanging basket is installed or maintained, and to facilitate the installation, removal and maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is the overall structure schematic diagram of the embodiment of the application;

[0039] Figure 2 is the partial structure schematic diagram of the embodiment of the application;

[0040] Figure 3 is the structure schematic diagram of the embodiment of the application mainly embodying the gripper assembly and the first driving assembly;

[0041] Figure 4 is the installation structure schematic diagram of the embodiment of the application mainly embodying the hanging basket;

[0042] Figure 5 is the installation structure schematic diagram of the embodiment of the application mainly embodying the rock drilling mechanism;

[0043] Figure 6 is a schematic diagram of a construction structure according to an embodiment of the present application.

[0044] Explanation of reference numerals: 1, guide rail; 2, sliding trolley; 21, hydraulic motor; 22, hydraulic station; 23, rotary table; 231, luffing oil cylinder; 24, yawing oil cylinder; 3, telescopic arm; 31, fixed arm; 32, movable arm; 321, luffing adjusting seat; 33, second driving source; 4, swing arm; 41, second driving member; 42, fixed block; 5, gripper mounting portion; 51, third driving source; 6, gripper assembly; 61, receiving plate; 621, clamping oil cylinder; 622, first gripper; 623, second gripper; 7, rock drilling mechanism; 81, first driving source; 82, hinged shaft; 83, first connecting rod; 84, second connecting rod; 9, basket; 91, lug plate; 92, bolt; 101, first rotary seat; 102, first rotary speed reducer; 103, second rotary seat; 104, second rotary speed reducer; 105, third rotary speed reducer; 200, core soil. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0047] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0049] When tunneling construction is carried out, a blasting hole needs to be opened in the tunnel. The commonly used engineering machinery is a rock drilling jumbo. For the installation of an arch, an arch installation jumbo can be used. However, the arch installation jumbo is expensive, and the on-site supporting process requirements are strict. According to the investigation, the tunnel site is rarely used in practice. The related technology is usually simply relied on a loader and an excavator for construction, and still mainly relies on a large amount of manual work. In the related technology, rock drilling and arch erection not only need the cooperation of multiple operation machines, but also need to clear the tunnel during the rock drilling, arch transportation or arch erection operation process to stop other construction operations to provide space for the current operation, which leads to the reduction of the overall efficiency of the tunnel construction.

[0050] In addition, for the installation of the arch, since the arch erection area is outside the jib and inside the tunnel, the arch erection covers a small area, and the jib covers a low area. When a large range needs to be adjusted, the jib cannot well cover the entire section, which greatly affects the arch erection efficiency.

[0051] Therefore, the embodiments of the present application disclose a multifunctional mechanical arm.

[0052] Referring to Figure 1 A multifunctional mechanical arm includes a guide rail 1, a sliding trolley 2, a telescopic arm 3, a swing arm 4, a gripper mounting portion 5, a gripper assembly 6 and a rock drilling mechanism 7. In the present embodiment, the gripper assembly 6 is used to grab the side arch.

[0053] Referring to Figure 1 The sliding trolley 2 is slidingly arranged on the guide rail 1. A hydraulic motor 21 is arranged on the sliding trolley 2. The bottom of the sliding trolley 2 is provided with a roller which is in rolling contact with the guide rail 1. The hydraulic motor 21 drives the roller to rotate through a chain, and in turn drives the sliding trolley 2 to move on the guide rail 1. A hydraulic station 22 is further arranged on the sliding trolley 2 to provide hydraulic power for the entire mechanical arm.

[0054] Optionally, the rotating table 23 is rotatably arranged on the sliding trolley 2, and the telescopic arm 3 is hingedly connected to the rotating table 23 and can be deflected upward and downward. A deflection oil cylinder 24 is arranged between the sliding trolley 2 and the rotating table 23, the piston rod of the deflection oil cylinder 24 is hingedly connected to the side wall of the rotating table 23, and the piston rod of the deflection oil cylinder 24 can be extended and retracted to drive the rotating table 23 to rotate in the horizontal plane, thereby driving the entire telescopic arm 3 to deflect left and right.

[0055] With reference to Figure 1 and Figure 2 , the telescopic arm 3 can be lengthened or shortened, and the telescopic arm 3 comprises a fixed arm 31 and a movable arm 32, one end of the fixed arm 31 is hingedly connected to the rotating table 23, and the movable arm 32 is slidingly arranged in the fixed arm 31 along the length direction of the fixed arm 31. A second driving source 33 for driving the movable arm 32 to slide is arranged on the fixed arm 31, and the second driving source 33 is a second oil cylinder arranged on the fixed arm 31, and the piston rod of the second oil cylinder is hingedly connected to the movable arm 32. In order to ensure the smooth movement of the movable arm 32, two second oil cylinders are arranged.

[0056] With reference to Figure 1 , a pitch oil cylinder 231 is arranged between the rotating table 23 and the telescopic arm 3, specifically, the piston rod of the pitch oil cylinder 231 is hingedly connected to the bottom wall of the fixed arm 31, and the pitch oil cylinder 231 can drive the fixed arm 31 to pitch and deflect upward or downward.

[0057] With reference to Figure 2 , the movable end of the telescopic arm 3 is connected with a pitch adjusting seat 321, specifically, the pitch adjusting seat 321 is arranged at the end of the movable arm 32 away from the fixed arm 31. The end of the pitch adjusting seat 321 away from the telescopic arm 3 is hingedly connected with the swing arm 4.

[0058] Optionally, with reference to Figure 2 and Figure 3 , the mechanical arm further comprises a first driving assembly connected to the swing arm 4, for driving the swing arm 4 to rotate in a first base surface, and in the embodiment, the first base surface is a horizontal plane. The first driving assembly comprises a first driving source 81, a hinged shaft 82, a first connecting rod 83 and a second connecting rod 84. One end of the first connecting rod 83 is hingedly connected to the swing arm 4, the other end is hingedly connected to the second connecting rod 84 through the hinged shaft 82, the hinged shaft 82 is vertically arranged and perpendicular to the telescopic rod. The end of the second connecting rod 84 away from the first connecting rod 83 is hingedly connected to the swing arm 4, and the first driving source 81 is used for driving the hinged shaft 82 to deflect. In the embodiment, the first driving source 81 is a first oil cylinder, and the piston rod of the first oil cylinder is hingedly connected to the hinged shaft 82. In other embodiments, the first driving source 81 can also be a first air cylinder. The first driving source 81 drives the hinged shaft 82 to move, the hinged shaft 82 drives the first connecting rod 83 and the second connecting rod 84 to deflect, thereby achieving the purpose of driving the swing arm 4 to rotate.

[0059] With reference toFigure 2 and Figure 3 The swing arm 4 is hinged at one end away from the telescopic rod with a gripper mounting portion 5. The swing arm 4 is provided with a second driving member 41 for driving the gripper mounting portion 5 to rotate in a second base surface. The first base surface and the second base surface are perpendicular to each other, i.e. the second base surface is a vertical surface. The second driving member 41 is a second hydraulic cylinder hinged on the swing arm 4, and the piston rod of the second hydraulic cylinder is hinged with the gripper mounting portion 5.

[0060] Optionally, referring to Figure 2 and Figure 3 The gripper assembly 6 is arranged on the gripper mounting portion 5 for clamping the arch. The gripper assembly 6 comprises a receiving plate 61 and a gripper. One end of the receiving plate 61 is hinged on the gripper mounting portion 5, and the gripper is arranged on the receiving plate 61 for clamping the arch. A third driving source 51 is arranged between the gripper mounting portion 5 and the receiving plate 61, and the third driving source 51 is used to drive the receiving plate 61 to deflect. The rotation plane of the receiving plate 61 is perpendicular to the rotation plane of the gripper mounting portion 5. The third driving source 51 is a third oil cylinder hinged on the gripper mounting portion 5, and the piston rod of the third oil cylinder is hinged with the bottom wall of the receiving plate 61.

[0061] Wherein, referring to Figure 3 and Figure 4 The gripper comprises a clamping oil cylinder 621, a first gripper 622 and a second gripper 623. The first gripper 622 is fixedly arranged on one side of the receiving plate 61, and the second gripper 623 is hinged on the other side of the receiving plate 61. The clamping oil cylinder 621 is arranged on the receiving plate 61, one end of the clamping oil cylinder 621 is hinged with one end of the first gripper 622, and the piston rod of the clamping oil cylinder 621 is hinged with one end of the second gripper 623. The clamping oil cylinder 621 can drive the second gripper 623 to open or clamp.

[0062] Optionally, referring to Figure 2 and Figure 4 The mechanical arm further comprises a hanging basket 9 arranged on the swing arm 4. The hanging basket 9 is detachably arranged on one side of the swing arm 4 away from the gripper assembly 6 through a bolt 92. Specifically, the side wall of the swing arm 4 is fixedly provided with a fixed block 42, and the fixed block 42 is spaced apart from two fixed blocks 42. The side wall of the hanging basket 9 is fixedly provided with an ear plate 91, and the fixed block 42 is provided with a slot for inserting the ear plate 91. The fixed block 42 and the ear plate 91 are provided with a through hole, the ear plate 91 is inserted into the slot, the bolt 92 is inserted into the through hole, and the bolt 92 penetrates the fixed block 42 and the ear plate 91 to realize the installation and fixation of the hanging basket 9. The hanging basket 9 is arranged on one side of the swing arm 4 away from the gripper assembly 6, which prevents the interference of the gripper assembly 6 during the installation or maintenance of the hanging basket 9, and facilitates the installation, removal and maintenance.

[0063] Wherein, referring to Figure 1 and Figure 5, the rock drilling mechanism 7 is rotationally arranged at the end of the movable arm 32 away from the fixed arm 31, and the rock drilling mechanism 7 can realize rock drilling operation and cooperate with the gripper assembly 6 to enable the mechanical arm to realize rock drilling operation and arch construction operation, thereby improving the tunnel construction efficiency. The specific structure of the rock drilling mechanism 7 is the prior art, which will not be described here.

[0064] Optionally, referring to Figure 1 and Figure 5 , the end of the movable arm 32 away from the fixed arm 31 is provided with a first rotating seat 101, the first rotating seat 101 has a cavity for the movable arm 32 to pass through, and the size of the cavity is larger than the size of the movable arm 32 to prevent the movable arm 32 from interfering during the rotation of the first rotating seat 101. A first rotary reducer 102 is connected between the first rotating seat 101 and the movable arm 32, and the rock drilling mechanism 7 is mounted on the first rotating seat 101 through a mounting mechanism, and the first rotary reducer 102 can drive the first rotating seat 101 to rotate around the telescopic arm 3.

[0065] Referring to Figure 5 , the mounting mechanism includes a second rotating seat 103, a second rotary reducer 104 and a third rotary reducer 105, the second rotary reducer 104 is connected between the first rotating seat 101 and the second rotating seat 103, and the third rotary reducer 105 is connected between the second rotating seat 103 and the rock drilling mechanism 7.

[0066] The second rotary reducer 104 is used to drive the second rotating seat 103 and the rock drilling mechanism 7 to rotate around the first rotating seat 101, and the third rotary reducer 105 is used to drive the rock drilling mechanism 7 to rotate around the second rotating seat 103; the rotation axes of the first rotary reducer 102, the second rotary reducer 104 and the third rotary reducer 105 are perpendicular to each other.

[0067] The first rotary reducer 102 can drive the first rotating seat 101 to rotate, thereby realizing the purpose of driving the rock drilling mechanism 7 to rotate 360 degrees around the telescopic arm 3, so that the rock drilling mechanism 7 can be rotated to the lower side of the telescopic arm 3 and can be moved close to the ground to punch holes in the horizontal direction on the working face to meet the needs of punching explosive holes and telescopic anchor rod holes on the working face, thereby improving the applicability. By controlling the second rotary reducer 104, the rock drilling mechanism 7 can be rotated 360 degrees around the first rotating seat 101; by controlling the third rotary reducer 105, the rock drilling mechanism 7 can be rotated 360 degrees around the second rotating seat 103; the cooperation of the first rotary reducer 102, the second rotary reducer 104 and the third rotary reducer 105 enables the mechanical arm to realize multi-directional rotation and multi-position movement, thereby realizing the functions of punching lock angle anchor rods, system anchor rods and advance anchor rods.

[0068] Referring to Figure 6Note that the tunnel rock stratum of the stand is preliminarily divided into 6 levels of I to VI according to the hardness of the surrounding rock and the completeness of the rock mass. In poor rock stratum, the construction method of reserved core soil is adopted. In this case, a large amount of rock stratum is stored in the center of the tunnel, so that the equipment needs to be small and flexible in operation to successfully complete the stand support. The multifunctional mechanical arm of the present application can not only be used on the gantry type equipment, but also be used on the general wheel type arch support trolley. When used on the wheel type arch support trolley, the multifunctional mechanical arm can meet the operation requirements of the narrow area formed between the core soil 200 and the tunnel wall.

[0069] The embodiment of the present application also discloses a trolley.

[0070] The trolley comprises the multifunctional mechanical arm.

[0071] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A multi-functional robot arm characterized by, The mechanical arm comprises: a telescopic arm (3), the movable end of the telescopic arm (3) being connected with a pitch adjusting seat (321); a swing arm (4), one end of the swing arm (4) being hinged to the pitch adjusting seat (321); a gripper mounting portion (5), the swing arm (4) being hinged to the swing arm (4), the swing arm (4) being provided with a second driving member (41) for driving the gripper mounting portion (5) to rotate in a second base surface; a gripper assembly (6), the gripper assembly (6) being arranged on the gripper mounting portion (5) for clamping an arch; a rock drilling mechanism (7), the rock drilling mechanism (7) being rotationally arranged at the movable end of the telescopic arm (3).

2. The multifunctional robotic arm of claim 1, wherein, The telescopic arm (3) comprises a fixed arm (31) and a movable arm (32), the movable arm (32) being slidingly arranged in the fixed arm (31) along the length direction of the fixed arm (31), the fixed arm (31) being provided with a second driving source (33) for driving the movable arm (32) to slide.

3. The multifunctional robotic arm of claim 2, wherein, The movable arm (32) is provided with a first rotating seat (101) at the end away from the fixed arm (31), the first rotating seat (101) being connected with the movable arm (32) through a first rotary reducer (102), the rock drilling mechanism (7) being mounted on the first rotating seat (101) through a mounting mechanism, the first rotary reducer (102) being capable of driving the first rotating seat (101) to rotate around the telescopic arm (3), the first rotating seat (101) having a cavity for the movable arm (32) to pass through.

4. The multifunctional robotic arm of claim 3, wherein, The mounting mechanism comprises a second rotating seat (103), a second rotary reducer (104) and a third rotary reducer (105), the second rotary reducer (104) being connected between the first rotating seat (101) and the second rotating seat (103), the third rotary reducer (105) being connected between the second rotating seat (103) and the rock drilling mechanism (7); the second rotary reducer (104) being used for driving the second rotating seat (103) and the rock drilling mechanism (7) to rotate around the first rotating seat (101), the third rotary reducer (105) being used for driving the rock drilling mechanism (7) to rotate around the second rotating seat (103); the rotation axes of the first rotary reducer (102), the second rotary reducer (104) and the third rotary reducer (105) being perpendicular to each other.

5. The multi-functional robotic arm of claim 1, wherein, The mechanical arm further comprises a first driving assembly, the first driving assembly being connected to the swing arm (4) and being used for driving the swing arm (4) to rotate in a first base surface, the first base surface and the second base surface being perpendicular to each other.

6. The multi-functional robotic arm of claim 5, wherein, The first driving assembly comprises a first driving source (81), a hinged shaft (82), a first connecting rod (83) and a second connecting rod (84), one end of the first connecting rod (83) is hinged with the swing arm (4), the other end is hinged with the second connecting rod (84) through the hinged shaft (82), one end of the second connecting rod (84) away from the first connecting rod (83) is hinged with the swing arm (4), and the first driving source (81) is used for driving the hinged shaft (82) to deflect.

7. The multi-functional robotic arm of claim 1, wherein, The mechanical arm further comprises a hanging basket (9) arranged on the swing arm (4).

8. The multi-functional robotic arm of claim 7, wherein, The hanging basket (9) is detachably arranged on the swing arm (4) away from the gripper assembly (6).

9. The multi-functional robotic arm of claim 1, wherein, The gripper assembly (6) comprises a receiving plate (61) and a gripper, one end of the receiving plate (61) is hinged on the gripper mounting portion (5), and the gripper is arranged on the receiving plate (61) for clamping the arch; A third driving source (51) is arranged between the gripper mounting portion (5) and the receiving plate (61), the third driving source (51) is used for driving the receiving plate (61) to deflect, and the rotation plane of the receiving plate (61) is perpendicular to the rotation plane of the gripper mounting portion (5).

10. A bogie, characterized by The multifunctional mechanical arm comprises any one of claims 1-9.

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