Multifunctional integrated mechanical arm for electric power tunnel

Abstract

The utility model discloses a multifunctional integrated mechanical arm for an electric power tunnel, which drives a mounting arm frame to vertically rotate through a rotary assembly so as to drive a clamping assembly to vertically rotate relative to the rotary assembly, so that an operation machine is driven to vertically rotate in a large range relative to the rotary assembly; the clamping assembly is driven by the mounting arm frame to axially stretch, axially rotate and pitch, so that the working machine is driven to axially stretch, axially rotate and pitch; the clamping assembly is used for clamping the operation machine and driving the operation machine to vertically rotate in a small range; according to the scheme, through cooperation of the rotation assembly, the installation arm frame and the clamping assembly, the operation machine can be driven to conduct large-range vertical rotation, axial stretching and retracting, axial rotation, pitching action and small-range vertical rotation, compared with the prior art, the degree-of-freedom adjusting range of the operation machine is large, the operation machine can rapidly and accurately move to the construction position, and the working efficiency is improved. And the construction efficiency is high, practicability is high, and wide application and popularization are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction equipment technology, and in particular, to a multi-functional integrated robotic arm for shallow buried and mined power tunnels. Background Technology

[0002] A power tunnel is a cable corridor or tunnel structure used to accommodate a large number of cables laid on cable supports. It is a tunnel specifically for carrying cables. In order to improve the safety factor and ensure construction efficiency during tunnel construction, timely support is required, especially when dealing with weak surrounding rock of level 5 or above. Multiple support processes such as drilling small guide pipes, erecting arch frames, and spraying concrete are required.

[0003] To improve construction efficiency and make it suitable for the construction of small, single tunnels such as power tunnels, Chinese invention patent application CN117532628A discloses a multi-functional robotic arm for the initial support operation of small-section shallow-buried cut-and-cover power tunnels. This arm includes a multi-functional clamping component mounting base, and a gripper device, longitudinal hydraulic motor, vertical hydraulic motor, and pitch leveling cylinder mounted on the mounting base. It can use the gripper device to clamp the drilling mechanism, arch support mechanism, and concrete spraying device, integrating initial support drilling, small guide pipe drilling, arch erection, and shotcreting functions into one unit. This achieves multiple functions including drilling, small guide pipe drilling, arch erection, and shotcreting. The gripper device can quickly switch between the drilling mechanism, arch support mechanism, and concrete spraying device to achieve continuous operation of drilling, small guide pipe drilling, arch erection, and shotcreting initial support processes. Furthermore, multiple degrees of freedom can be adjusted through the longitudinal hydraulic motor, vertical hydraulic motor, and pitch leveling cylinder.

[0004] However, the operating end of the above-mentioned device has a relatively small range of freedom for adjustment during actual construction. The support positions for different processes are not the same, and it is necessary to change the operating machinery. As a result, the above-mentioned device cannot reach the support position in time during construction, and the construction efficiency is affected. Utility Model Content

[0005] This utility model provides a multi-functional integrated robotic arm for power tunnels, which solves the technical problem of limited adjustment range of the working end and low construction efficiency when existing tunnel construction equipment is used for power tunnel support.

[0006] According to one aspect of the present invention, a multi-functional integrated robotic arm for power tunnels is provided, comprising a slewing assembly, an installation boom mounted on the movable end of the slewing assembly, a clamping assembly mounted on the free end of the installation boom, and a working machine mounted on the clamping assembly. The slewing assembly is used to drive the installation boom to rotate vertically, the free end of the installation boom is used to drive the clamping assembly to perform axial extension, axial rotation, and pitching movements, and the clamping assembly is used to clamp the working machine and drive the working machine to rotate vertically.

[0007] As a further improvement to the above technical solution:

[0008] Furthermore, the slewing assembly includes a slewing reducer, a slewing drive connected to the input end of the slewing reducer, and a slewing table rotatably mounted on the output end of the slewing reducer and connected to the mounting boom.

[0009] Furthermore, the mounting boom includes a telescopic member hinged to the rotary table and extendably mounted at its movable end for driving the clamping assembly to extend and retract axially; a first pitch drive member hinged to the fixed end of the telescopic member and the rotary table for driving the telescopic member to pitch relative to the rotary table; an axial rotation drive member mounted on the movable end of the telescopic member and hinged to the clamping assembly for driving the clamping assembly to rotate axially; and a second pitch drive member hinged to the movable end of the axial rotation drive member and the clamping assembly for driving the clamping assembly to pitch relative to the axial rotation drive member.

[0010] Furthermore, the telescopic component includes a telescopic drive and multiple telescopic arms, with adjacent telescopic arms being telescopically connected, and the telescopic drive is used to drive the adjacent telescopic arms to extend and retract axially.

[0011] Furthermore, the axial rotation drive includes an axial swing motor connected to the movable end of the telescopic member, and a rotating member connected to the output end of the axial swing motor and hinged to the clamping assembly and the second pitch drive respectively.

[0012] Furthermore, the rotating component includes a connecting part and a cylinder seat. The connecting part is connected to the output end of the axial swing motor and hinged to the clamping assembly. The cylinder seat is located below the connecting seat and has a receiving cavity for accommodating the second pitch drive component.

[0013] Furthermore, the clamping assembly includes a connecting seat that is hinged to the connecting part and the second pitch drive, a vertical rotation drive that is rotatably arranged on the connecting seat in the vertical direction, and a clamping component for clamping the working machinery arranged on the output end of the vertical rotation drive.

[0014] Furthermore, the clamping component includes a mounting bracket disposed on the output end of the vertical rotation drive, a clamping drive disposed within the mounting bracket and whose movable end is retractable, a first clamping block connected to the movable end of the clamping drive, and a second clamping block disposed within the mounting bracket and disposed opposite to the first clamping block.

[0015] Furthermore, the first clamping block and the second clamping block together form a bag-shaped stop that is smaller at the top and larger at the bottom, used for clamping the operating machinery.

[0016] Furthermore, the operating machinery includes a drilling mechanism, an arch support mechanism, or a nozzle clamping mechanism.

[0017] This utility model has the following beneficial effects:

[0018] This utility model discloses a multi-functional integrated robotic arm for power tunnels. A slewing assembly drives the vertical rotation of the mounting boom, which in turn drives the clamping assembly to rotate vertically relative to the slewing assembly, thereby causing the working machinery to rotate vertically over a wide range relative to the slewing assembly. The mounting boom drives the clamping assembly to perform axial extension, axial rotation, and pitch movements, which in turn drive the working machinery to perform axial extension, axial rotation, and pitch movements. The clamping assembly clamps the working machinery and causes it to rotate vertically over a small range. This solution, through the coordinated operation of the slewing assembly, mounting boom, and clamping assembly, can drive the working machinery to perform large-range vertical rotation, axial extension, axial rotation, pitch movements, and small-range vertical rotation. Compared to existing technologies, this provides a wider range of degrees of freedom for the working machinery, allowing it to move quickly and accurately to the construction position, resulting in high construction efficiency, strong practicality, and suitability for widespread promotion and application.

[0019] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. The present utility model will now be described in further detail with reference to the figures. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the structure of a multifunctional integrated robotic arm for power tunnels according to a preferred embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a multifunctional integrated robotic arm for power tunnels according to a preferred embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a multifunctional integrated robotic arm for power tunnels according to a preferred embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the rotary component in a preferred embodiment of the multifunctional integrated robotic arm for power tunnels of this utility model;

[0025] Figure 5 This is a schematic diagram of the structure of the multi-functional integrated robotic arm for power tunnels according to a preferred embodiment of the present invention, showing the installation of the boom.

[0026] Figure 6 This is a partial structural diagram of the mounting frame in the multifunctional integrated robotic arm for power tunnels according to a preferred embodiment of this utility model;

[0027] Figure 7This is a schematic diagram of the clamping assembly in a multifunctional integrated robotic arm for power tunnels according to a preferred embodiment of the present invention.

[0028] Legend:

[0029] 100. Rotary assembly; 101. Rotary reducer; 102. Rotary drive component; 103. Rotary table; 200. Mounting boom; 210. Telescopic component; 211. Telescopic drive component; 212. Telescopic boom; 220. First pitch drive component; 230. Axial rotation drive component; 231. Axial swing motor; 232. Connecting part; 233. Cylinder seat; 300. Clamping assembly; 301. Connecting seat; 302. Vertical rotation drive component; 303. Clamping component; 400. Drilling mechanism; 500. Arch support mechanism; 600. Nozzle clamping mechanism. Detailed Implementation

[0030] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0031] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more. It should be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] like Figures 1-3 As shown, the multi-functional integrated robotic arm for power tunnels in this embodiment includes a slewing assembly 100, an installation boom 200 mounted on the movable end of the slewing assembly 100, a clamping assembly 300 mounted on the free end of the installation boom 200, and a working machine deployed on the clamping assembly 300. The slewing assembly 100 is used to drive the installation boom 200 to rotate vertically, and the free end of the installation boom 200 is used to drive the clamping assembly 300 to perform axial extension, axial rotation, and pitching movements. The clamping assembly 300 is used to clamp the working machine and drive the working machine to rotate vertically.

[0033] like Figures 1-3As shown, it should be understood that the axial direction in this embodiment is based on the axial direction of the mounting boom 200. It should be understood that vertical rotation refers to rotation about the vertical direction.

[0034] like Figures 1-3 As shown, specifically, the multi-functional integrated robotic arm for power tunnels of this utility model drives the mounting boom 200 to rotate vertically via the slewing assembly 100, thereby causing the clamping assembly 300 to rotate vertically relative to the slewing assembly 100, and thus causing the working machine to rotate vertically over a large range relative to the slewing assembly 100. The mounting boom 200 drives the clamping assembly 300 to perform axial extension, axial rotation, and pitch movements, thereby causing the working machine to perform axial extension, axial rotation, and pitch movements. The clamping assembly 300 clamps the working machine and causes it to rotate vertically over a small range. This solution, through the coordinated operation of the slewing assembly 100, the mounting boom 200, and the clamping assembly 300, can drive the working machine to perform large-range vertical rotation, axial extension, axial rotation, pitch movements, and small-range vertical rotation. Compared with existing technologies, the working machine has a large range of degrees of freedom adjustment, can be quickly and accurately moved to the construction position, has high construction efficiency, strong practicality, and is suitable for widespread promotion and application.

[0035] like Figure 4 As shown, in this embodiment, the slewing assembly 100 includes a slewing reducer 101, a slewing drive 102 connected to the input end of the slewing reducer 101, and a turntable 103 rotatably mounted on the output end of the slewing reducer 101 and connected to the mounting boom 200. Specifically, the slewing drive 102 provides rotational power, which is then transmitted through the slewing reducer 101. A preset transmission ratio ensures that the rotational speed of the turntable 103 is appropriate, thereby driving the mounting boom 200 to rotate, allowing the working machinery located away from the turntable 103 to rotate vertically over a wide range. Optionally, the slewing drive 102 is a cycloidal motor or a servo motor.

[0036] Optionally, the slewing reducer 101 is mounted on the frame of the work vehicle by bottom bolts, specifically at the left front end of the frame. Optionally, the turntable 103 is mounted on the slewing reducer 101 by bolts. Optionally, the slewing drive component 102 is mounted on the side of the slewing reducer 101 by bolts.

[0037] like Figure 5 and Figure 6As shown, in this embodiment, the mounting boom 200 includes a telescopic member 210 hinged to the rotary table 103 and extendably arranged at its movable end for driving the clamping assembly 300 to extend and retract axially; a first pitch drive 220 hinged to the fixed end of the telescopic member 210 and the rotary table 103 for driving the telescopic member 210 to pitch relative to the rotary table 103; an axial rotation drive 230 arranged on the movable end of the telescopic member 210 and hinged to the clamping assembly 300 for driving the clamping assembly 300 to rotate axially; and a second pitch drive (not shown) hinged to the movable end of the axial rotation drive 230 and the clamping assembly 300 for driving the clamping assembly 300 to pitch relative to the axial rotation drive 230.

[0038] Optionally, the telescopic arm 212 is provided with lugs that are hinged to the first pitch drive 220. Optionally, the first pitch drive 220 is one of a hydraulic cylinder, a pneumatic cylinder, or an electric actuator. Optionally, the second pitch drive is one of a hydraulic cylinder, a pneumatic cylinder, or an electric actuator.

[0039] like Figure 5 and Figure 6 As shown, specifically, the axial extension and retraction of the movable end of the telescopic member 210 drives the axial rotation drive member 230 to extend and retract axially, which in turn drives the clamping assembly 300 to extend and retract axially, thereby driving the axial extension and retraction of the working machinery; the first pitch drive member 220 drives the telescopic member 210 to pitch relative to the rotary table 103, thereby driving the clamping assembly 300 to pitch relative to the rotary table 103, thereby driving the working machinery away from the rotary table 103 to perform a large-range pitching motion relative to the rotary table 103; the axial rotation drive member 230 drives the clamping assembly... The component 300 rotates axially; the second pitch drive component drives the clamping assembly 300 to pitch relative to the axial rotation drive component 230, so that the working machine can perform a small range of pitching relative to the axial rotation drive component 230; that is, through the coordinated cooperation of the telescopic component 210, the first pitch drive component 220, the axial rotation drive component 230 and the second pitch drive component, the working machine can be driven to perform a large range of pitching, axial telescopic, axial rotation and small range of pitching, which further improves the range of freedom adjustment of the working machine and thus improves the working efficiency.

[0040] like Figure 5 and Figure 6 As shown, in this embodiment, the telescopic component 210 includes a telescopic drive component 211 and multiple telescopic arms 212. Adjacent telescopic arms 212 are telescopically connected, and the telescopic drive component 211 is used to drive the axial extension and retraction of adjacent telescopic arms 212. Specifically, multiple telescopic arms 212 are connected in sequence, and then the telescopic drive component 211 drives the axial extension and retraction of adjacent telescopic arms 212, so as to ultimately drive the axial extension and retraction of the working machinery.

[0041] Optionally, the telescopic drive component 211 is one of a hydraulic cylinder, a pneumatic cylinder, or an electric actuator. Optionally, the second pitch drive component is one of a hydraulic cylinder, a pneumatic cylinder, or an electric actuator.

[0042] like Figure 5 As shown, in this embodiment, the axial rotation drive 230 includes an axial swing motor 231 connected to the movable end of the telescopic member 210, and a rotating member connected to the output end of the axial swing motor 231 and hinged to the clamping assembly 300 and the second pitch drive member, respectively. Specifically, the axial swing motor 231 operates to drive the rotating member to rotate axially, thereby driving the clamping assembly 300 to rotate axially, and thus driving the working machinery to rotate axially.

[0043] like Figure 5 As shown, in this embodiment, the rotating component includes a connecting portion 232 and a cylinder seat 233. The connecting portion 232 is connected to the output end of the axial swing motor 231 and hinged to the clamping assembly 300. The cylinder seat 233 is located below the connecting seat 301 and has a receiving cavity for accommodating the second pitch drive component. Specifically, the axial swing motor 231 operates to drive the connecting portion 232 to rotate, thereby driving the clamping assembly 300 to rotate. The cylinder seat 233 accommodates the second pitch drive component through the receiving cavity, and the second pitch drive component drives the clamping assembly 300 to perform a pitching action relative to the connecting portion 232.

[0044] like Figure 7 As shown, in this embodiment, the clamping assembly 300 includes a connecting seat 301 hinged to the connecting part 232 and the second pitch drive member, a vertical rotation drive member 302 rotatably arranged on the connecting seat 301, and a clamping member 303 for clamping the working machinery arranged on the output end of the vertical rotation drive member 302. Specifically, the vertical rotation drive member 302 is reliably installed on the connecting seat 301, and then the vertical rotation drive member 302 works to drive the clamping member 303 to rotate, thereby driving the working machinery to rotate, thus achieving a small range of vertical rotation and ensuring the working accuracy of the working machinery.

[0045] like Figure 7 As shown, in this embodiment, the clamping component 303 includes a mounting bracket disposed on the output end of the vertical rotation drive component 302, a clamping drive component disposed within the mounting bracket and whose movable end is retractable, a first clamping block connected to the movable end of the clamping drive component, and a second clamping block disposed within the mounting bracket and opposite to the first clamping block. Specifically, the clamping drive component drives the first clamping block to move closer to or away from the second clamping block to clamp or release the working machinery, thereby completing the installation and disassembly of the working machinery. Optionally, the clamping drive component is one of a hydraulic cylinder, a pneumatic cylinder, or an electric push rod.

[0046] like Figure 7As shown, in this embodiment, the first clamping block and the second clamping block enclose each other to form a bag-shaped stop that is smaller at the top and larger at the bottom, used for clamping the working machinery. Specifically, the working machinery is clamped through the bag-shaped stop to ensure reliable installation and stable operation. Optionally, the working machinery is provided with an installation stop that mates with the bag-shaped stop to achieve a reliable tenon joint structure and prevent the working machinery from shifting under stress.

[0047] like Figures 1-3 As shown, in this embodiment, the working machinery is a drilling mechanism 400, an arch support mechanism 500, or a nozzle clamping mechanism 600. It should be understood that the specific structure of the drilling mechanism 400, the arch support mechanism 500, or the nozzle clamping mechanism 600 is well known to those skilled in the art, and will not be described in detail here.

[0048] It should be understood that when the working machine is the drilling mechanism 400, the clamping part 303 is connected to the propulsion beam of the drilling mechanism 400 by bolts.

[0049] like Figure 1 As shown, in this embodiment, during drilling operations, the drilling mechanism 400 is clamped and fixed by the clamping member 303 on the clamping assembly 300. The drilling mechanism 400 is connected to the power source of the whole machine through a hydraulic quick-connect coupling. The multi-functional integrated robotic arm allows for a wide range of freedom adjustment, enabling the clamping member 303 to precisely position the drilling mechanism 400. After positioning is complete, drilling and small guide pipe drilling operations can be performed. After drilling and small guide pipe drilling are completed, the multi-degree-of-freedom swinging drilling mechanism 400 is moved onto the placement bracket by the multi-functional integrated robotic arm, and then the drilling mechanism 400 is released.

[0050] like Figure 2 As shown in this embodiment, during the arch erection operation, the arch frame support mechanism 500 is manually installed onto the clamping member 303. The clamping member 303 clamps and fixes the arch frame support mechanism 500. Then, the arch frame can be precisely moved to the installation position by adjusting the degree of freedom of the multi-functional integrated robotic arm. After the arch erection is completed, the clamping member 303 is released, and the arch frame support mechanism 500 is manually removed.

[0051] like Figure 3 As shown in this embodiment, during the shotcrete operation, the nozzle clamping mechanism 600 and its concrete nozzle are manually installed and fixed onto the clamping member 303. The multi-functional integrated robotic arm's wide range of degrees of freedom allows for comprehensive auxiliary shotcrete operations at the tunnel arch, face, sidewalls, and ground. After the auxiliary shotcrete operation is completed, the clamping member 303 is released, and the nozzle clamping mechanism 600 and its concrete nozzle are removed and attached to the tunnel sidewall.

[0052] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-functional integrated robotic arm for power tunnels, characterized in that, The device includes a slewing assembly (100), a mounting boom (200) mounted on the movable end of the slewing assembly (100), a clamping assembly (300) mounted on the free end of the mounting boom (200), and a working machine mounted on the clamping assembly (300). The slewing assembly (100) is used to drive the mounting boom (200) to rotate vertically. The free end of the mounting boom (200) is used to drive the clamping assembly (300) to perform axial extension, axial rotation, and pitching movements. The clamping assembly (300) is used to clamp the working machine and drive the working machine to rotate vertically.

2. The multifunctional integrated robotic arm for power tunnels according to claim 1, characterized in that, The slewing assembly (100) includes a slewing reducer (101), a slewing drive (102) connected to the input end of the slewing reducer (101), and a slewing table (103) rotatably mounted on the output end of the slewing reducer (101) and connected to the mounting boom (200).

3. The multifunctional integrated robotic arm for power tunnels according to claim 2, characterized in that, The mounting boom (200) includes a telescopic member (210) hinged to the rotary table (103) and telescopically arranged at its movable end for driving the clamping assembly (300) to extend and retract axially; a first pitch drive (220) hinged to the fixed end of the telescopic member (210) and the rotary table (103) for driving the telescopic member (210) to pitch relative to the rotary table (103); an axial rotation drive (230) arranged on the movable end of the telescopic member (210) and hinged to the clamping assembly (300) for driving the clamping assembly (300) to rotate axially; and a second pitch drive (230) hinged to the movable end of the axial rotation drive (230) and the clamping assembly (300) for driving the clamping assembly (300) to pitch relative to the axial rotation drive (230).

4. The multifunctional integrated robotic arm for power tunnels according to claim 3, characterized in that, The telescopic component (210) includes a telescopic drive component (211) and multiple telescopic arms (212). Two adjacent telescopic arms (212) are telescopically connected. The telescopic drive component (211) is used to drive the two adjacent telescopic arms (212) to extend and retract axially.

5. The multifunctional integrated robotic arm for power tunnels according to claim 3, characterized in that, The axial rotation drive (230) includes an axial swing motor (231) connected to the movable end of the telescopic member (210), and a rotating member connected to the output end of the axial swing motor (231) and hinged to the clamping assembly (300) and the second pitch drive, respectively.

6. The multifunctional integrated robotic arm for power tunnels according to claim 5, characterized in that, The rotating component includes a connecting part (232) and a cylinder seat (233). The connecting part (232) is connected to the output end of the axial swing motor (231) and hinged to the clamping assembly (300). The cylinder seat (233) is located below the connecting seat (301) and has a receiving cavity for accommodating the second pitch drive component.

7. The multifunctional integrated robotic arm for power tunnels according to claim 6, characterized in that, The clamping assembly (300) includes a connecting seat (301) that is hinged to the connecting part (232) and the second pitch drive, a vertical rotation drive (302) that is rotatably arranged on the connecting seat (301) in the vertical direction, and a clamping part (303) for clamping the working machine that is arranged on the output end of the vertical rotation drive (302).

8. The multifunctional integrated robotic arm for power tunnels according to claim 7, characterized in that, The clamping component (303) includes a mounting bracket disposed on the output end of the vertical rotation drive component (302), a clamping drive component disposed within the mounting bracket and whose movable end is retractable, a first clamping block connected to the movable end of the clamping drive component, and a second clamping block disposed within the mounting bracket and disposed opposite to the first clamping block.

9. The multifunctional integrated robotic arm for power tunnels according to claim 8, characterized in that, The first and second clamping blocks together form a bag-shaped stop that is smaller at the top and larger at the bottom, used for clamping machinery.

10. The multifunctional integrated robotic arm for power tunnels according to any one of claims 1-9, characterized in that, The operating machinery is a drilling mechanism (400), an arch support mechanism (500), or a nozzle clamping mechanism (600).

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