Arch erecting mechanical arm for tunnel trolley

Abstract

The utility model provides a vertical arch mechanical arm for a tunnel trolley, and relates to the field of tunnel construction equipment. The vertical arch mechanical arm comprises a sliding rail, a sliding base, an overturning piece, a telescopic arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder and a mechanical claw. The sliding rail is arranged on the trolley, and the sliding seat can move along the sliding rail; one end of the overturning piece and the sliding seat form a first rotating mechanism which is driven by a first oil cylinder and is used for realizing rotation of the overturning piece, and the other end of the overturning piece, the telescopic arm, a first connecting rod and a second connecting rod form a second rotating mechanism which is driven by a second oil cylinder and is used for realizing rotation of the telescopic arm; the third oil cylinder and the mechanical claw are hinged to the telescopic end of the telescopic arm to form a third rotating mechanism used for achieving pitching rotation of the mechanical claw. According to the vertical arch mechanical arm, the telescopic arm can be turned over and turned round in a limited space, and it is guaranteed that an arch frame does not deflect. The vertical arch mechanical arm can extend outwards for operation, the trolley does not need to be moved into a working face for operation, and safety is high.

Description

Technical Field

[0001] This utility model is specifically a vertical arch mechanical arm for a tunnel trolley, relating to the field of tunnel construction equipment technology. Background Technology

[0002] During tunnel construction, arch frames are needed to support the excavated tunnel. The arch frames are large in size and heavy in weight, requiring a special arch erection trolley to lift them, transport them to the working face, and finally install them through lifting and anchoring.

[0003] In existing technologies, most vertical arch trolleys have the following defects:

[0004] 1. The trolley needs to be moved into the work area for operation, and there is a risk of injury to the workers and the trolley from falling rocks;

[0005] 2. After each arch is erected, the mechanical claw needs to turn around to grab the new arch frame. Due to the limited space in the tunnel, turning around is difficult to achieve.

[0006] 3. Poor adaptability and insufficient flexibility.

[0007] References:

[0008] Chinese Patent: CN 217813525 U

[0009] Chinese Patent: CN 211008682 U

[0010] Chinese Patent: CN 220267732 U

[0011] Chinese Patent: CN 217055205 U

[0012] Chinese Patent: CN 117703446 A Utility Model Content

[0013] To overcome the shortcomings of the prior art, this utility model discloses a vertical arch robotic arm for a tunnel trolley, adopting the following technical solution:

[0014] A tunnel trolley arch-mounting robotic arm includes a slide rail, a slide block, a tilting component, a telescopic arm, a first connecting rod, a second connecting rod, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, and a robotic claw. The slide rail is mounted on the trolley, and the slide block can move along the slide rail. One end of the tilting component and the slide block form a first rotation mechanism driven by the first hydraulic cylinder to rotate the tilting component. The other end of the tilting component, together with the telescopic arm, the first connecting rod, and the second connecting rod, forms a second rotation mechanism driven by the second hydraulic cylinder to rotate the telescopic arm. The third hydraulic cylinder and the robotic claw are hinged to the telescopic end of the telescopic arm, forming a third rotation mechanism for tilting the robotic claw.

[0015] During operation, the telescopic arm is turned around by the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm.

[0016] Further improvement of the technical solution: The slide rail is arranged along the longitudinal direction of the trolley, and a driving device is provided between the slide rail and the slide seat.

[0017] Further improvements to the technical solution: The third rotating mechanism also includes a third connecting rod, which is hinged between the third hydraulic cylinder and the mechanical claw.

[0018] Further improvements to the technical solution: The mechanical claw mainly consists of a base, a hydraulic rotary motor, a support, a rocker arm, a fourth oil cylinder, and a hydraulic gripper. The base is hinged to the telescopic end of the telescopic arm. The hydraulic rotary motor is installed between the base and the support to drive the support to rotate horizontally. The fourth oil cylinder is hinged between the support and the rocker arm to drive the rocker arm to swing laterally. The hydraulic gripper is set on the rocker arm to clamp the arch frame.

[0019] Further improve the technical solution: The telescopic boom is a three-section hydraulic telescopic boom.

[0020] After implementing the above technical solution, the beneficial effects of this utility model compared to the prior art are:

[0021] 1. This arch-standing robotic arm can rotate and turn the telescopic arm within a limited space, ensuring that the arch frame does not tilt.

[0022] 2. The trolley does not need to be moved into the tunnel working face for operation, and the staff and the trolley will not be injured by falling rocks;

[0023] 3. This arch-erecting robotic arm has sufficient degrees of freedom to adapt to arch-erecting operations in different tunnels, and is highly flexible. Attached Figure Description

[0024] Appendix Figure 1 The diagram shown is a planar structural schematic of this vertical arch robotic arm.

[0025] Appendix Figure 2 The diagram shown is a three-dimensional structural schematic of this vertical arch robotic arm.

[0026] Appendix Figure 3 The diagram shown is a structural schematic of the mechanical gripper.

[0027] Appendix Figure 4-7 The diagram shown illustrates the process of the vertical arch robotic arm flipping and turning.

[0028] Appendix Figure 8 The diagram shows the structure of this arch-erecting robotic arm during arch-erecting operations.

[0029] In the attached diagram: 1. Slide rail; 2. Slide block; 3. Tilting component; 4. Telescopic arm; 5. First connecting rod; 6. Second connecting rod; 7. First hydraulic cylinder; 8. Second hydraulic cylinder; 9. Third hydraulic cylinder; 10. Mechanical gripper; 11. Third connecting rod; 12. Base; 13. Hydraulic rotary motor; 14. Support; 15. Rocker arm; 16. Fourth hydraulic cylinder; 17. Hydraulic gripper; 18. Arch frame. Detailed Implementation

[0030] The preferred embodiments of this utility model are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of this utility model and are not intended to limit the scope of protection of this utility model. It should be noted that in the description of this utility model, terms such as "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that the device or element must have a specific orientation and positional relationship, and therefore should not be construed as a limitation of this utility model. It should also be noted that in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to 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 utility model according to the specific circumstances.

[0031] A tunnel trolley arch-erecting robotic arm, relating to the field of tunnel construction equipment, is mainly used to solve the problem of the difficulty in turning around existing robotic arms. The composition and working principle of this arch-erecting robotic arm are described in detail below.

[0032] See attached document Figure 1 and attached Figure 2 This tunnel trolley has three arch-erecting robotic arms, each mainly consisting of a slide rail 1, a slide block 2, a tilting component 3, a telescopic arm 4, a first connecting rod 5, a second connecting rod 6, a first hydraulic cylinder 7, a second hydraulic cylinder 8, a third hydraulic cylinder 9, and a robotic claw 10. The slide rail 1 is mounted on the trolley and arranged longitudinally. The slide block 2 can move along the slide rail 1, and a drive device is installed between the slide rail 1 and the slide block 2.

[0033] The flipping component 3 is located below the telescopic arm 4. One end of the flipping component 3 is hinged to the slide block 2, thus forming a first rotating mechanism. The first rotating mechanism is driven by the first hydraulic cylinder 7 to realize the rotation of the flipping component 3. The other end of the flipping component 3 is hinged to the telescopic arm 4, the first connecting rod 5, and the second connecting rod 6, thus forming a second rotating mechanism. The second rotating mechanism is a four-bar linkage mechanism, driven by the second hydraulic cylinder 8, to realize the rotation of the telescopic arm 4.

[0034] In this embodiment, the telescopic arm 4 is a three-section hydraulic telescopic arm. The third cylinder 9, the third connecting rod 11, and the mechanical claw 10 are hinged to the telescopic end of the telescopic arm 4, thereby forming a third rotation mechanism for realizing the pitch rotation of the mechanical claw 10.

[0035] See attached document Figure 3 The mechanical gripper 10 mainly consists of a base 12, a hydraulic rotary motor 13, a support 14, a rocker arm 15, a fourth hydraulic cylinder 16, and hydraulic jaws 17. The base 12 is hinged to the telescopic end of the telescopic arm 4. The hydraulic rotary motor 13 is installed between the base 12 and the support 14 to drive the support 14 to rotate horizontally. The fourth hydraulic cylinder 16 is hinged between the support 14 and the rocker arm 15 to drive the rocker arm 15 to swing laterally. There are two hydraulic jaws 17, respectively located at both ends of the rocker arm 15, for gripping the arch frame 18.

[0036] Work process:

[0037] See attached document Figure 4-7 First, the three arch-erecting robotic arms move to the left end of the trolley, and the robotic claw 10 grabs the arch frame 18 lifted by the lifting mechanism. Then, the three arch-erecting robotic arms move to the right. Through the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm 4, the telescopic arm 4 can be flipped and turned around within a limited space. Due to sufficient degrees of freedom, the arch frame 18 can be kept from tilting during the flipping and turning process.

[0038] See attached document Figure 8 After flipping and turning around, the arch frame 18 extends forward from the trolley and enters the tunnel working face through the cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, and the telescopic arm 4, and the position of the arch frame 18 is adjusted in the longitudinal and vertical directions. Since the mechanical claw 10 has a hydraulic rotary motor 13, the installation angle of the arch frame 18 can be adjusted in the horizontal direction. Furthermore, since the mechanical claw 10 has a fourth hydraulic cylinder 16, the installation position of the arch frame 18 can be adjusted in the lateral direction. Thus, the installation position of the arch frame 18 can be adjusted in multiple degrees of freedom.

[0039] In summary, this arch-erecting robotic arm can rotate and turn its telescopic boom within a limited space while ensuring the arch frame remains stable. Since the trolley does not need to move into the tunnel face for operation, workers and the trolley are protected from falling rocks. Furthermore, due to its sufficient degrees of freedom, this arch-erecting robotic arm can adapt to arch-erecting operations in various tunnels, offering excellent flexibility.

[0040] It is worth noting that the content not described in detail in the above embodiments is prior art. It is also worth noting that any additions, subtractions, substitutions, and improvements made by those skilled in the art based on the structure and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tunnel jumbo mechanical arm for tunnel trolley, characterized in that: The device comprises a slide rail, a slide base, a turnover part, an extension arm, a first connecting rod, a second connecting rod, a first oil cylinder, a second oil cylinder, a third oil cylinder and a mechanical claw; the slide rail is arranged on a trolley, and the slide base is movable along the slide rail; one end of the turnover part and the slide base constitute a first rotating mechanism driven by the first oil cylinder and used for realizing rotation of the turnover part; the other end of the turnover part, the extension arm, the first connecting rod and the second connecting rod constitute a second rotating mechanism driven by the second oil cylinder and used for realizing rotation of the extension arm; the third oil cylinder and the mechanical claw are hinged to an extension end of the extension arm, and constitute a third rotating mechanism used for realizing up-and-down rotation of the mechanical claw. During work, the extension arm realizes turnover and turning through cooperation of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism and the extension arm.

2. The standing-arch mechanical arm for a tunnel trolley as claimed in claim 1, characterized in that: The slide rail is arranged along the longitudinal direction of the trolley, and a driving device is arranged between the slide rail and the slide base.

3. The standing-arch mechanical arm for a tunnel jumbo as claimed in claim 1, characterized in that: The third rotating mechanism further comprises a third connecting rod hinged between the third oil cylinder and the mechanical claw.

4. The standing-arch mechanical arm for a tunnel jumbo as claimed in claim 1, characterized in that: The mechanical claw mainly comprises a base, a hydraulic rotary motor, a support, a rocker arm, a fourth oil cylinder and a hydraulic claw, the base is hinged to the extension end of the extension arm, the hydraulic rotary motor is installed between the base and the support and used for driving the support to horizontally rotate, the fourth oil cylinder is hinged between the support and the rocker arm and used for driving the rocker arm to swing laterally, and the hydraulic claw is arranged on the rocker arm and used for clamping an arch.

5. The standing-arch mechanical arm for a tunnel jumbo as claimed in claim 1, characterized in that: The extension arm is a three-section hydraulic extension arm.

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