Multi-angle adjustable vertical arch manipulator

Abstract

The utility model provides a multi-angle adjustable vertical arch manipulator, relates to the field of tunnel construction equipment, and is mainly used for solving the problem that an arch frame is difficult to install in place in the prior art. The mechanical arm is mounted on a vertical arch mechanical arm and mainly comprises a base, a rotary disc, a support, a rocker arm, a connecting rod, a first oil cylinder, a second oil cylinder and hydraulic calipers, the base, the connecting rod and the first oil cylinder are hinged to the tail end of the vertical arch mechanical arm to form a Y-axis adjusting mechanism for the base to swing around the Y axis. The rotary disc is mounted between the base and the support to form a Z-axis adjusting mechanism for the support to swing around a Z axis; the second oil cylinder is hinged between the support and the rocker arm to form an X-axis adjusting mechanism for the rocker arm to swing around an X axis; and the hydraulic calipers are arranged on the rocker arms and are used for clamping the lagging jack. The vertical arch mechanical arm has three rotational degrees of freedom, the posture of the arch frame can be accurately adjusted at the tail end of the vertical arch mechanical arm, and smooth installation of the arch frame is guaranteed.

Description

A multi-angle adjustable arch manipulator Technical Field

[0001] This utility model is specifically a multi-angle adjustable arch erecting manipulator, which relates 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, so a special arch erecting trolley is needed to lift them, and then an arch erecting robotic arm is used to transport the arch frames to the working face. Finally, the arch frames are installed by lifting and anchoring.

[0003] In existing technology, the arch erecting robotic arm has a long arm with multiple degrees of rotational freedom, and a chuck is provided at the end of the long arm for gripping the arch frame. The current problem is that during the installation of the arch frame, due to the length of the long arm, even a small angle adjustment will cause a large amount of deflection in the arch frame, making it difficult to install the arch frame in place. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this utility model discloses a multi-angle adjustable vertical arch manipulator, which adopts the following technical solution:

[0005] A multi-angle adjustable arch-erecting manipulator is mounted on an arch-erecting robotic arm. The manipulator mainly consists of a base, a rotary table, a support, a rocker arm, a connecting rod, a first hydraulic cylinder, a second hydraulic cylinder, and a hydraulic clamp. The base, connecting rod, and first hydraulic cylinder are hinged to the end of the arch-erecting robotic arm, forming a Y-axis adjustment mechanism for the base to swing around the Y-axis. The rotary table is installed between the base and the support, forming a Z-axis adjustment mechanism for the support to swing around the Z-axis. The second hydraulic cylinder is hinged between the support and the rocker arm, forming an X-axis adjustment mechanism for the rocker arm to swing around the X-axis. The hydraulic clamp is mounted on the rocker arm for clamping the arch frame.

[0006] Further improvement to the technical solution: The hydraulic caliper is provided in two parts, located at both ends of the rocker arm.

[0007] Further improvement of the technical solution: The hydraulic caliper is mainly composed of a third oil cylinder and a pair of jaws. The pair of jaws are symmetrically hinged to both sides of the rocker arm, and the third oil cylinder is hinged to the lower end of the pair of jaws.

[0008] Further improve the technical solution: The rotary table is a hydraulic motor rotary table.

[0009] Further improvement of the technical solution: The vertical arch robotic arm has a hollow telescopic arm, and the first hydraulic cylinder is hinged inside the telescopic arm.

[0010] Further improve the technical solution: Set a pair of limiting blocks on the rocker arm for positioning the arch frame.

[0011] After implementing the above technical solution, the beneficial effects of this utility model compared to the prior art are:

[0012] This arch-erecting robot has a Y-axis adjustment mechanism that swings around the Y-axis, an X-axis adjustment mechanism that swings around the X-axis, and a Z-axis adjustment mechanism that swings around the Z-axis. These three rotational degrees of freedom can make precise adjustments to the posture of the arch frame at the end of the arch-erecting robot arm, ensuring the smooth installation of the arch frame. Attached Figure Description

[0013] Figure 1 shows a schematic diagram of the overall structure of the robotic hand and robotic arm.

[0014] Figure 2 shows a schematic diagram of the installation structure of the robotic hand and robotic arm.

[0015] Figure 3 shows a three-dimensional structural diagram of the robotic arm from one perspective.

[0016] Figure 4 shows a three-dimensional structural diagram of the robotic arm from another perspective.

[0017] In the attached diagram: 1. Arch-standing robotic arm; 2. Robotic hand; 21. Connecting rod; 22. Base; 23. Rotary table; 24. Support; 25. Rocker arm; 26. Limiting block; 27. First hydraulic cylinder; 28. Second hydraulic cylinder; 29. ​​Hydraulic caliper; 291. Claw; 292. Third hydraulic cylinder. Detailed Implementation

[0018] 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.

[0019] A multi-angle adjustable arch erecting robot, relating to the field of tunnel construction equipment, is mainly used to solve the problem of difficulty in installing arch frames in the correct position in existing technologies. The composition and working principle of this robot are described in detail below.

[0020] Referring to Figure 1, the robotic arm 2 is mounted on the arch-standing robotic arm 1, which has a hollow telescopic arm. The robotic arm 2 mainly consists of a base 22, a rotary table 23, a support 24, a rocker arm 25, a connecting rod 21, a first hydraulic cylinder 27, a second hydraulic cylinder 28, and a hydraulic clamp 29.

[0021] Referring to Figure 2, the first hydraulic cylinder 27 is hinged inside the telescopic arm, and the base 22 and connecting rod 21 are hinged to the end of the vertical arch mechanical arm 1, forming a Y-axis adjustment mechanism for the base 22 to swing around the Y-axis.

[0022] Referring to Figure 3. The rotary table 23 is a hydraulic motor rotary table, which is installed between the base 22 and the support 24, forming a Z-axis adjustment mechanism for the support 24 to swing around the Z-axis.

[0023] The second hydraulic cylinder 28 is hinged between the support 24 and the rocker arm 25, forming an X-axis adjustment mechanism for the rocker arm 25 to swing around the X-axis.

[0024] Hydraulic calipers 29 are mounted on rocker arms 25 for clamping the arch frame. In this embodiment, two hydraulic calipers 29 are provided, located at both ends of the rocker arms 25 respectively. A pair of limiting blocks 26 are provided on the rocker arms 25 to position the arch frame and prevent it from falling.

[0025] Referring to Figure 4, the hydraulic caliper 29 mainly consists of a third hydraulic cylinder 292 and a pair of jaws 291. The pair of jaws 291 are symmetrically hinged to both sides of the rocker arm 25, and the third hydraulic cylinder 292 is hinged to the lower end of the pair of jaws 291.

[0026] During arch erection, hydraulic clamps 29 hold the arch frame. Because the arch erection robotic arm 1 has multiple degrees of rotational freedom, the arch frame can be turned around and transported to the work surface. During arch frame installation, due to the long telescopic arm of the arch erection robotic arm 1, even slight angle adjustments can cause significant deflection of the arch frame, making it difficult to install properly. At this point, the Y-axis adjustment mechanism can precisely adjust the arch frame's rotation angle in the Y-axis direction, the Z-axis adjustment mechanism can precisely adjust the arch frame's rotation angle in the Z-axis direction, and the X-axis adjustment mechanism can precisely adjust the arch frame's rotation angle in the X-axis direction, ensuring smooth arch frame installation.

[0027] In summary, this arch erecting robot 2 has three rotational degrees of freedom, which can make precise adjustments to the posture of the arch frame at the end of the arch erecting robot arm 1, ensuring the smooth installation of the arch frame.

[0028] 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 multi-angle adjustable arch-erecting robot, mounted on an arch-erecting robotic arm, characterized in that: The robotic arm mainly consists of a base, a rotary table, a support, a rocker arm, a connecting rod, a first hydraulic cylinder, a second hydraulic cylinder, and a hydraulic clamp. The base, connecting rod, and first hydraulic cylinder are hinged to the end of the arch-erecting robotic arm, forming a Y-axis adjustment mechanism for the base to swing around the Y-axis. The rotary table is installed between the base and the support, forming a Z-axis adjustment mechanism for the support to swing around the Z-axis. The second hydraulic cylinder is hinged between the support and the rocker arm, forming an X-axis adjustment mechanism for the rocker arm to swing around the X-axis. The hydraulic clamp is mounted on the rocker arm and is used to clamp the arch frame.

2. A multi-angle adjustable vertical arch manipulator as claimed in claim 1, characterized in that: Two hydraulic calipers are provided, located at both ends of the rocker arm.

3. A multi-angle adjustable vertical arch manipulator as claimed in claim 1 or 2, characterized in that: The hydraulic caliper mainly consists of a third hydraulic cylinder and a pair of jaws. The pair of jaws are symmetrically hinged to both sides of the rocker arm, and the third hydraulic cylinder is hinged to the lower end of the pair of jaws.

4. A multi-angle adjustable vertical arch manipulator as claimed in claim 1, wherein: The rotary table is a hydraulic motor rotary table.

5. A multi-angle adjustable vertical arch manipulator as claimed in claim 1, wherein: The vertical arch robotic arm has a hollow telescopic arm, and the first hydraulic cylinder is hinged inside the telescopic arm.

6. A multi-angle adjustable vertical arch manipulator as in claim 1, wherein: A pair of limit blocks are provided on the rocker arm for positioning the arch frame.

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