Vertical arch mechanical arm and trolley

Abstract

The utility model discloses a vertical arch mechanical arm and a trolley, and relates to the field of tunnel construction equipment, the vertical arch mechanical arm comprises a telescopic arm, and the front end of the telescopic arm is connected with a pitching adjusting seat; the leveling frame is hinged to one end, far away from the telescopic arm, of the pitching adjusting seat; the rotary arm is connected to the leveling frame; the hanging basket is arranged on one side of the rotary arm; the gripper assembly is arranged at one end of the rotary arm, used for clamping an arch frame and located on the other side of the rotary arm. The hanging basket is arranged on the side, away from the gripper assembly, of the swing arm, interference of the gripper assembly is effectively prevented when the hanging basket is installed or maintained, and assembly, disassembly and maintenance are convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tunnel construction equipment, in particular to a vertical arch mechanical arm and a trolley. BACKGROUND

[0002] In the process of tunnel construction, it is necessary to open blasting holes or anchor rod installation holes in the tunnel. The commonly used engineering machinery for drilling is a rock drilling trolley. For the installation of arch supports, an arch support installation trolley can be used.

[0003] In related technologies, the vertical arch mechanical arm of the trolley mainly includes a telescopic arm and a hanging basket installed on the telescopic arm. The front end of the telescopic arm is provided with a gripper for vertical arching. Workers are located in the hanging basket, which is convenient for checking the vertical arching position, operating the mechanical arm, welding the mesh, and installing the connecting bolts between the arch segments. Since the existing vertical arch mechanical arm is used on a conventional arch support installation trolley (for example, the arch support installation trolley shown in the Chinese patent No. 201811386069.7), the existing arch support installation trolley generally performs construction in a wide space in front of the working face. Therefore, the existing vertical arch mechanical arm does not have to worry about the space activity restriction of the arm support. However, if the existing vertical arch mechanical arm is used for an integrated machine set, because other vehicles need to pass under the trolley of the integrated machine set, the volume of the integrated machine set is relatively large, and the outer side is relatively close to the tunnel wall, leaving limited space for the vertical arch mechanical arm to move. Therefore, the existing vertical arch mechanical arm cannot meet the demand for the flexible operation of the mechanical arm in a narrow space. Therefore, there is an urgent need for a vertical arch mechanical arm structure that can be used for an integrated machine set. SUMMARY

[0004] In order to facilitate the flexible operation of the mechanical arm in a narrow space, the present application provides a vertical arch mechanical arm and a trolley.

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

[0006] A vertical arch mechanical arm, comprising:

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

[0008] A leveling frame is hinged to one end of the pitch adjusting seat away from the telescopic arm;

[0009] A rotary arm is connected to the leveling frame;

[0010] A hanging basket is arranged on one side of the rotary arm;

[0011] A gripper assembly is arranged at one end of the rotary arm for clamping the arch support and is located on the other side of the rotary arm.

[0012] By adopting the technical scheme, the grab hand and the basket are arranged on the rotary arm, and the basket is arranged on one side of the rotary arm, so that the overall height can be reduced compared with the arrangement above the rotary arm; the basket is arranged on the side of the rotary arm away from the grab hand assembly, so that the risk of head collision of the personnel in the basket is reduced when the grab hand assembly faces the tunnel side wall for construction; and when the grab hand assembly is arranged on the outer side of the rotary arm, the rotary arm can directly face the tunnel wall, and the rotary arm can quickly perform the construction of the vertical arch without large swinging; the basket of the application is arranged on the end of the rotary arm away from the telescopic arm, and is closer to the center of the working face, so that the basket of the application has a larger coverage range under the condition of the same length of the telescopic arm, and is more favorable for welding of the mesh and charging.

[0013] Optionally, a fourth rotating mechanism is connected between the rotary arm and the leveling frame, and is used to drive the rotary arm to rotate around the leveling frame.

[0014] By adopting the technical scheme, the fourth rotating mechanism can be controlled to drive the rotary arm to rotate by 90 degrees around the leveling frame, so that the mechanical arm of the vertical arch avoids interference with the working face when the anchor rod is pre-advanced.

[0015] Optionally, an adjusting arm is hingedly connected to the end of the rotary arm away from the telescopic arm, a deflection seat is arranged on the adjusting arm, the grab hand assembly is arranged on the deflection seat, and a second driving member is arranged between the adjusting arm and the rotary arm and is used to drive the adjusting arm to deflect upward and downward.

[0016] By adopting the technical scheme, the second driving member can be controlled to drive the adjusting arm to deflect upward and downward, and then drive the whole grab hand assembly to deflect upward and downward, so that the adjusting range of the vertical arch is effectively increased.

[0017] Optionally, a fifth rotating mechanism is connected between the deflection seat and the grab hand assembly, and is used to drive the grab hand assembly to rotate.

[0018] By adopting the technical scheme, the fifth rotating mechanism can be controlled to drive the grab hand assembly to rotate by 360 degrees, so that the adjusting range of the vertical arch is effectively increased.

[0019] Optionally, the rotary arm comprises a horizontal arm and an inclined lifting arm, the front end of the horizontal arm is connected to the leveling frame, the rear end of the horizontal arm is connected to the lower end of the inclined lifting arm, the upper end of the inclined lifting arm is connected to the grab hand assembly, and the basket is connected to the front end side of the horizontal arm.

[0020] By adopting the technical scheme, the horizontal arm and the inclined lifting arm form a triangular structure, so that the front end of the rotary arm is less likely to collide, and the triangular structure is also more material-saving because the hypotenuse is shorter than the sum of the two straight sides.

[0021] Optionally, the telescopic arm comprises a fixed arm, a first movable arm, a second movable arm, a third driving member and a fourth driving member.

[0022] The first movable arm is slidably arranged in the fixed arm, the second movable arm is slidably arranged in the first movable arm, the third driving source is configured to drive the first movable arm to slide, and the fourth driving source is configured to drive the second movable arm to slide.

[0023] By adopting the above technical scheme, the third driving member and the fourth driving member are used to adjust the length of the telescopic arm.

[0024] Optionally, the pitch adjusting seat is provided with a first rotary seat, a first rotary reducer is connected between the first rotary seat and the pitch adjusting seat, the rock drilling mechanism is installed on the first rotary seat through an installation 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 pitch adjusting seat to pass through.

[0025] 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, thereby meeting the requirements of punching explosive holes and telescopic anchor rod holes on the working face and improving the applicability.

[0026] Optionally, the installation 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.

[0027] The second rotary reducer is configured to drive the second rotary seat and the rock drilling mechanism to rotate around the first rotary seat, and the third rotary reducer is configured 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.

[0028] 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 advance anchor rods.

[0029] Optionally, the gripper assembly comprises a receiving plate, a gripper and a fifth driving member, the gripper is hinged to the receiving plate for clamping the arch; the fifth driving member is used for driving the gripper to clamp or release.

[0030] In another aspect, the trolley provided by the present application adopts the following technical solutions:

[0031] A trolley comprises the vertical arch mechanical arm.

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

[0033] 1. The gripper and the basket are both arranged on the rotary arm, and the basket is arranged on one side of the rotary arm, which can reduce the overall height compared with the arrangement above the rotary arm; the basket is arranged on the side of the rotary arm away from the gripper assembly, that is, when the gripper assembly faces the tunnel side wall for construction, the basket is on the side of the rotary arm away from the tunnel side wall, which reduces the risk of head collision of personnel in the basket; and when the gripper assembly is arranged on the outer side of the rotary arm, it is equivalent to directly facing the tunnel wall, so the rotary arm can quickly perform the construction of the vertical frame without large swinging; the basket of the present application is arranged on the end of the rotary arm away from the telescopic arm, which is closer to the center of the working face, and in the case of the same length of the telescopic arm, the coverage range of the basket of the present application is larger, which is more advantageous when welding mesh and charging.

[0034] 2. During construction, 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 leveling frame is driven up and down by the first driving member, and the purpose of adjusting the angle of the arch is achieved, which effectively increases the adjustment range during the construction of the vertical arch; and the rock drilling mechanism can perform rock drilling operation. The present application not only can perform rock drilling operation, but also can perform vertical arch and mesh welding operation, which effectively improves the operation efficiency during tunnel construction.

[0035] 3. By controlling the fourth rotary mechanism, the rotary arm can be driven to rotate by ninety degrees around the leveling frame, and the gripper assembly can be turned to the side of the telescopic arm, so that the vertical arch mechanical arm can avoid interference with the working face when driving the pre-anchoring rod.

[0036] 4. The first rotary speed 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 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; the first rotary speed reducer, the second rotary speed reducer and the third rotary speed reducer cooperate to enable the mechanical arm to rotate in multiple directions and move to multiple positions, thereby achieving the functions of driving the lock angle anchor rod, the system anchor rod and the pre-anchoring rod. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a schematic structural diagram of the whole structure of an embodiment of the present application;

[0038] Figure 2 is a schematic structural diagram of another view of an embodiment of the present application;

[0039] Figure 3 is a schematic structural diagram of part of an embodiment of the present application;

[0040] Figure 4 is a schematic structural diagram of a main embodiment of the present application, which mainly embodies a structure of a grabber assembly;

[0041] Figure 5 is a schematic structural diagram of a construction structure of an embodiment of the present application.

[0042] Legend: 1, guide rail; 2, sliding trolley; 21, hydraulic motor; 23, rotating table; 231, luffing oil cylinder; 24, deflection oil cylinder; 3, telescopic arm; 31, fixed arm; 32, first movable arm; 33, second movable arm; 34, third driving member; 4, rock drilling mechanism; 51, luffing adjusting seat; 52, leveling frame; 521, fourth rotating mechanism; 53, first driving member; 61, rotating arm; 611, hanging basket; 612, cross arm; 613, inclined lifting arm; 614, second driving member; 62, adjusting arm; 63, yawing seat; 64, fifth rotating mechanism; 7, grabber assembly; 71, receiving plate; 72, grabber; 73, fifth driving member; 8, first rotating seat; 81, first rotating speed reducer; 91, second rotating seat; 92, second rotating speed reducer; 93, third rotating speed reducer; 200, core soil. DETAILED DESCRIPTION

[0043] 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 labor fall within the scope of protection of the present application.

[0044] It should be noted that all directionality 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 specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0045] 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 directly connected, or indirectly connected through an intermediate medium, can be internal communication of two elements or interaction relationship of 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.

[0046] In addition, if the present application involves "first", "second" and the like in the description, the "first", "second" and the like are 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 limited by "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 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, nor within the scope of protection required by the present application.

[0047] The present application discloses a vertical arch mechanical arm.

[0048] Referring to Figure 1 A vertical arch mechanical arm includes a guide rail 1, a sliding trolley 2, a telescopic arm 3, a gripper assembly 7 and a rock drilling mechanism 4. In the present embodiment, the gripper assembly 7 is used to grab the side arch, and the rock drilling mechanism 4 is used for rock drilling operation.

[0049] Referring to Figure 1 The sliding trolley 2 is slidingly arranged on the guide rail 1, and 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, thereby driving the sliding trolley 2 to move on the guide rail 1. A hydraulic station is further arranged on the sliding trolley 2 to provide hydraulic power for the entire mechanical arm.

[0050] Optionally, a rotating table 23 is rotatably arranged on the sliding trolley 2, and the telescopic arm 3 is hingedly connected to the rotating table 23. The telescopic arm 3 can be deflected up and down. 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. The piston rod of the deflection oil cylinder 24 can be extended or 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.

[0051] Referring toFigure 1 and Figure 2 The telescopic arm 3 is capable of being lengthened or shortened, and the telescopic arm 3 comprises a fixed arm 31, a first movable arm 32, a second movable arm 33, a third driving member and a fourth driving member.

[0052] Specifically, one end of the fixed arm 31 is hinged to the rotating table 23, the first movable arm 32 is slidably arranged in the fixed arm 31, and the second movable arm 33 is slidably arranged in the first movable arm 32. The third driving source is used for driving the first movable arm 32 to slide, and in the embodiment, the third driving source is a third oil cylinder arranged on the fixed arm 31, and a piston rod of the third oil cylinder is hinged to the first movable arm 32. The fourth driving source is used for driving the second movable arm 33 to slide, and the fourth driving source is a fourth oil cylinder (not shown in the figure).

[0053] Referring to Figure 1 The rotating table 23 and the telescopic arm 3 are provided with a luffing oil cylinder 231, and specifically, a piston rod of the luffing oil cylinder 231 is hinged to a bottom wall of the fixed arm 31, and the luffing oil cylinder 231 is capable of driving the fixed arm 31 to luff and deflect upward or downward.

[0054] Optionally, the movable end of the telescopic arm 3 is connected with a luffing adjusting seat 51, and the luffing adjusting seat 51 is arranged at one end of the second movable arm 33 away from the fixed arm 31. A leveling frame 52 is hinged to one end of the luffing adjusting seat 51 away from the telescopic arm, and a first driving member 53 for driving the leveling frame 52 to deflect upward or downward is arranged between the luffing adjusting seat 51 and the leveling frame 52. The first driving member 53 is a first oil cylinder, the first oil cylinder is hinged to the luffing adjusting seat 51, and a piston rod of the first oil cylinder is hinged to the leveling frame 52. The piston rod of the first oil cylinder is capable of being retracted or extended, thereby driving the leveling frame 52 to deflect upward or downward relative to the luffing adjusting seat 51.

[0055] Optionally, referring to Figure 3 One end of the leveling frame 52 away from the luffing adjusting seat 51 is connected with a slewing arm 61, and the slewing arm 61 comprises a horizontal arm 612 and an inclined lifting arm 613. The front end of the horizontal arm 612 is connected with the leveling frame 52, the rear end of the horizontal arm 612 is connected with the lower end of the inclined lifting arm 613, the upper end of the inclined lifting arm 613 is connected with the gripper assembly 7, and the basket 611 is connected with the front end side of the horizontal arm 612. The horizontal arm 612 and the inclined lifting arm 613 form a triangular structure, so that the front end of the slewing arm 61 is less likely to bump, and the triangular structure also saves materials because the hypotenuse is shorter than the sum of the two perpendicular sides.

[0056] The fourth slewing mechanism 521 is connected between the slewing arm 61 and the leveling frame 52, and the fourth slewing mechanism 521 is used for driving the slewing arm 61 to rotate around the leveling frame 52. The fourth slewing mechanism 521 is a fourth slewing reducer. By controlling the fourth slewing mechanism 521, the slewing arm 61 can be driven to rotate by ninety degrees around the leveling frame 52, thereby avoiding interference with the working face when the mechanical arm strikes the anchor rod in advance.

[0057] With reference to Figure 3 , the rotary arm 61 is hinged at one end of the telescopic arm 3 with an adjusting arm 62, the adjusting arm 62 is provided with a swing seat 63, and the gripper assembly 7 is arranged on the swing seat 63. A second driving member 614 is arranged between the adjusting arm 62 and the rotary arm 61 for driving the adjusting arm 62 to swing up and down, and the second driving member 614 is a second oil cylinder hinged on the rotary arm 61, and the piston rod of the second oil cylinder is hinged with the adjusting arm 62. By controlling the second driving member 614, the adjusting arm 62 can be driven to swing up and down, and the whole gripper assembly can be driven to swing up and down, effectively increasing the adjustment range when standing arch.

[0058] In order to further increase the adjustment range when standing arch, a fifth rotary mechanism 64 is connected between the swing seat 63 and the gripper assembly 7, the fifth rotary mechanism 64 is used to drive the gripper assembly 7 to rotate, and the fifth rotary mechanism 64 is a fifth rotary speed reducer.

[0059] Optionally, with reference to Figure 3 and Figure 4 , the gripper assembly 7 is arranged at one end of the rotary arm 61 for clamping the arch; the gripper assembly 7 comprises a receiving plate 71, a gripper 72 and a fifth driving member 73, the receiving plate 71 is fixedly arranged on the second rotary mechanism, the gripper 72 is hinged on the receiving plate 71 for clamping the arch; the fifth driving member 73 is used to drive the gripper 72 to clamp or release, and the fifth driving member 73 is a fifth oil cylinder.

[0060] With reference to Figure 1 and Figure 3 , the standing arch mechanical arm further comprises a hanging basket 611, the hanging basket 611 is arranged on the rotary arm 61, and the hanging basket 611 is arranged on the side of the rotary arm 61 away from the gripper assembly 7, so as to prevent the gripper 72 from interfering with the installation or maintenance of the hanging basket 611, and facilitate the installation, disassembly and maintenance.

[0061] Optionally, the rock drilling mechanism 4 is rotatably arranged at one end of the second movable arm 33 away from the fixed arm 31, the rock drilling mechanism 4 can realize rock drilling operation, and cooperates with the gripper 72 to enable the mechanical arm to realize rock drilling operation and standing arch operation, thereby improving the tunnel construction efficiency. The specific structure of the rock drilling mechanism 4 is the prior art, which is not described here.

[0062] With reference to Figure 2 , the first rotary seat 8 is arranged on the pitch adjusting seat 51, the first rotary seat 8 is connected with the pitch adjusting seat 51 through a first rotary speed reducer 81, the rock drilling mechanism 4 is installed on the first rotary seat 8 through a mounting mechanism, the first rotary speed reducer 81 can drive the first rotary seat 8 to rotate around the telescopic arm 3, and the first rotary seat 8 has a cavity for the pitch adjusting seat 51 to pass through.

[0063] With reference to Figure 2The mounting mechanism comprises a second rotating seat 91, a second rotary speed reducer 92 and a third rotary speed reducer 93, the second rotary speed reducer 92 is connected between the first rotating seat 8 and the second rotating seat 91, and the third rotary speed reducer 93 is connected between the second rotating seat 91 and the rock drilling mechanism 4.

[0064] The second rotary speed reducer 92 is used for driving the second rotating seat 91 and the rock drilling mechanism 4 to rotate around the first rotating seat 8, and the third rotary speed reducer 93 is used for driving the rock drilling mechanism 4 to rotate around the second rotating seat 91; the rotation axes of the first rotary speed reducer 81, the second rotary speed reducer 92 and the third rotary speed reducer 93 are perpendicular to each other.

[0065] The first rotary speed reducer 81 can drive the first rotating seat 8 to rotate, thereby realizing the purpose of driving the rock drilling mechanism 4 to rotate 360 degrees around the telescopic arm 3, so that the rock drilling mechanism 4 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, so as to adapt to the requirements of punching explosive holes and telescopic anchor rod holes on the working face and improve the applicability. By controlling the second rotary speed reducer 92, the rock drilling mechanism 4 can be rotated 360 degrees around the first rotating seat 8; by controlling the third rotary speed reducer 93, the rock drilling mechanism 4 can be rotated 360 degrees around the second rotating seat 91; the first rotary speed reducer 81, the second rotary speed reducer 92 and the third rotary speed reducer 93 cooperate to enable the mechanical arm to realize multi-directional rotation and multi-position movement, and realize the functions of punching lock angle anchor rods, system anchor rods and advance anchor rods.

[0066] It should be noted that the tunnel rock stratum of the stand is preliminarily divided into six levels of I to VI according to the hardness of the surrounding rock and the integrity of the rock mass. In poor rock stratum, the core soil 200 construction method is currently used. In this case, a large amount of rock stratum is stored in the center of the tunnel, and the device is required 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 device, but also be used on a general wheel-type arch support trolley. When used on the wheel-type arch support trolley, the multifunctional mechanical arm can meet the operation requirements in the narrow area formed between the core soil 200 and the tunnel wall.

[0067] The embodiment of the present application also discloses a trolley.

[0068] A trolley comprises the stand arch mechanical arm.

[0069] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape and principle of the present application should be covered in the protection scope of the present application.

Claims

1. A vaulting robot arm, characterized in that, The invention relates to a rock drilling machine, comprising: a telescopic arm (3) having a front end connected with a pitch adjusting seat (51); a leveling frame (52) hinged to the pitch adjusting seat (51) at a position away from the telescopic arm (3); a swivel arm (61) connected to the leveling frame (52); a basket (611) arranged on one side of the swivel arm (61); a gripper assembly (7) arranged on one end of the swivel arm (61) for clamping an arch and located on the other side of the swivel arm (61).

2. The standing arch robotic arm of claim 1, wherein, A fourth swivel mechanism (521) is connected between the swivel arm (61) and the leveling frame (52) for driving the swivel arm (61) to rotate around the leveling frame (52).

3. The vertical arching robotic arm of claim 2, wherein, A regulating arm (62) is hinged to the end of the swivel arm (61) away from the telescopic arm (3), and a yaw seat (63) is arranged on the regulating arm (62), the gripper assembly (7) is hinged to the yaw seat (63), and a second driving member (614) is arranged between the regulating arm (62) and the swivel arm (61) for driving the regulating arm (62) to deflect up and down.

4. The vaulting robot of claim 3, wherein, A fifth swivel mechanism (64) is connected between the yaw seat (63) and the gripper assembly (7) for driving the gripper assembly (7) to rotate.

5. The standing arch robotic arm of claim 1, wherein, The swivel arm (61) comprises a cross arm and an inclined lifting arm, the front end of the cross arm is connected to the leveling frame (52), the rear end of the cross arm is connected to the lower end of the inclined lifting arm, the upper end of the inclined lifting arm is connected to the gripper assembly (7), and the basket (611) is connected to the front side of the cross arm.

6. The vaulting robot of claim 1, wherein, A rock drilling mechanism (4) is arranged rotatably on the front end of the telescopic arm (3).

7. The vaulting robot of claim 6, wherein, A first rotating seat (8) is arranged on the pitch adjusting seat (51), a first swivel speed reducer (81) is connected between the first rotating seat (8) and the pitch adjusting seat (51), the rock drilling mechanism (4) is installed on the first rotating seat (8) through a mounting mechanism, the first swivel speed reducer (81) can drive the first rotating seat (8) to rotate around the telescopic arm (3), and the first rotating seat (8) has a cavity for the pitch adjusting seat (51) to pass through.

8. The vaulting robot of claim 7, wherein, The mounting mechanism comprises a second rotating seat (91), a second swivel speed reducer (92) and a third swivel speed reducer (93), the second swivel speed reducer (92) is connected between the first rotating seat (8) and the second rotating seat (91), and the third swivel speed reducer (93) is connected between the second rotating seat (91) and the rock drilling mechanism (4). The second swivel speed reducer (92) is used for driving the second rotating seat (91) and the rock drilling mechanism (4) to rotate around the first rotating seat (8), the third swivel speed reducer (93) is used for driving the rock drilling mechanism (4) to rotate around the second rotating seat (91), and the rotation axes of the first swivel speed reducer (81), the second swivel speed reducer (92) and the third swivel speed reducer (93) are perpendicular to each other.

9. The vertical arching robotic arm of claim 1, wherein, The grabber assembly (7) comprises a receiving plate (71), a grabber (72) and a fifth driving member (73), the grabber (72) is hinged on the receiving plate (71) for clamping the arch; the fifth driving member (73) is used for driving the grabber (72) to clamp or release.

10. A bogie, characterized by The invention provides a standing arch mechanical arm comprising any one of claims 1-9.

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