An arch frame transportation device and an arch frame installation trolley

Abstract

The utility model provides a kind of arch frame transport device and arch frame installation trolley, belong to the field of tunnel construction equipment.The arch frame transport device includes track and the mechanical arm capable of moving along track, mechanical arm at least includes root arm section and end arm section, root arm section is installed on track, end arm section's end portion is downward and is provided with the gripper for clamping arch frame, one of the arm section of mechanical arm is provided with winch, hoisting rope is wound and is provided on winch, hoisting rope is from the outside of end arm section, the end of hoisting rope is downward and is provided with the lifting appliance for connecting arch frame, arch frame can be hoisted by hoisting rope and be clamped and fixed by gripper when using.The arch frame transport trolley includes above-mentioned arch frame transport device.The arch frame transport device in the utility model is compact in structure, occupies less space, and the efficiency of transporting arch frame is higher.

Description

Technical Field

[0001] This utility model belongs to the field of tunnel construction equipment, and in particular relates to an arch frame transportation device and an arch frame installation trolley. Background Technology

[0002] In tunnel construction, initial support is a crucial step in ensuring the stability of the surrounding rock, and the core work of initial support lies in the installation of steel arch frames. An arch frame installation trolley can perform the installation of steel arch frames. The trolley is equipped with a specialized robotic arm for arch frame installation. However, due to the limited length of this robotic arm, it is difficult for it to directly grasp the arch frame from the rear of the trolley. Therefore, the trolley also needs to be equipped with an arch frame transport device to move the arch frame from the rear of the trolley to the front.

[0003] The existing Chinese invention patent application with publication number CN110284910A discloses a novel tunnel full-section arch frame installation trolley. The arch frame installation trolley includes a vehicle body, a crane is installed at the rear end of the vehicle body, and a mobile trolley that can move along the front-back direction is installed on the top of the vehicle body. During construction, the arch frame is sent to the rear of the arch frame installation trolley and lifted to the top of the vehicle body by the crane. Then the arch frame is placed on the mobile trolley and transported forward by the mobile trolley.

[0004] In the existing technology, the mobile trolley and crane occupy a large space on the arch frame installation trolley, which is not conducive to the movement of construction personnel and the transportation of other materials. Moreover, the lifting and placement of the crane requires a lot of space, which affects the construction efficiency. Utility Model Content

[0005] The purpose of this utility model is to provide an arch frame transportation device to solve the technical problems of complex structure, large space occupation, and low transportation efficiency of arch frame transportation on arch frame installation trolleys in the prior art.

[0006] Another objective of this utility model is to provide an arch frame installation trolley to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, the technical solution of the arch frame transport device provided by this utility model is as follows:

[0008] An arch frame transport device includes a track and a robotic arm capable of moving along the track. The robotic arm includes at least a root section and an end section. The root section is mounted on the track, and the end section has a downward-facing end with a gripper for holding the arch frame. A winch is mounted on one of the sections of the robotic arm, and a lifting rope is wound around the winch. The lifting rope passes around the outside of the end section, and the end of the lifting rope has a downward-facing end with a lifting device for connecting the arch frame. In use, the arch frame can be lifted by the lifting rope and held and fixed by the gripper.

[0009] As a further improvement, the root arm section includes a base that slides with the track, a root arm body connected to the adjacent arm section, and a slewing structure connecting the base and the root arm body. The slewing axis of the slewing mechanism extends vertically so that the root arm body can drive the remaining arm bodies to rotate horizontally.

[0010] As a further improvement, the end arm is rotatably connected to the adjacent arm, and a telescopic drive is provided between the end arm and the adjacent arm to control the swing of the lower end of the end arm.

[0011] As a further improvement, the robotic arm also includes an intermediate arm section connecting the end arm section and the root arm section. The intermediate arm section extends horizontally, and a telescopic drive is provided between the intermediate arm section and the root arm section for controlling the pitch swing of the intermediate arm section.

[0012] As a further improvement, the winch is installed on the root boom section, and pulleys for supporting and steering the lifting rope are installed on the upper sides of both ends of the intermediate boom section.

[0013] The beneficial effects are as follows: The arch frame transport device provided by this utility model is a pioneering invention. This device can lift the arch frame from the ground using lifting ropes. The lifted arch frame is then clamped and fixed by grippers and transported directly forward. Compared to existing technologies, this arch frame transport device has a more compact structure and occupies less space. Furthermore, after being lifted, the arch frame can be transported directly forward without being transferred to other equipment, resulting in high transport efficiency. Additionally, the arch frame remains clamped and fixed throughout the transport process, ensuring strong stability and preventing swaying.

[0014] To achieve the above objectives, the technical solution of the arch frame installation trolley provided by this utility model is as follows:

[0015] An arch frame installation trolley includes a vehicle body with an arch frame transport device mounted on the vehicle body. The arch frame transport device includes a track installed on one side of the vehicle body and extending in a front-rear direction, and a robotic arm capable of moving along the track. The robotic arm includes at least a root section and an end section. The root section is mounted on the track, and the end section has its end facing downward and is provided with a gripper for holding the arch frame. A winch is provided on one of the sections of the robotic arm, and a lifting rope is wound on the winch. The lifting rope passes around the outside of the end section, and its end faces downward and is provided with a lifting device for connecting the arch frame. In use, the arch frame can be lifted by the lifting rope and held and fixed by the gripper.

[0016] As a further improvement, the root arm section includes a base that slides with the track, a root arm body connected to the adjacent arm section, and a slewing structure connecting the base and the root arm body. The slewing mechanism has a vertically extending slewing axis so that the root arm body can drive the remaining arm bodies to rotate horizontally between the rear side of the vehicle body and the left or right side of the vehicle body.

[0017] As a further improvement, the end arm is rotatably connected to the adjacent arm, and a telescopic drive is provided between the end arm and the adjacent arm to control the swing of the lower end of the end arm.

[0018] As a further improvement, the robotic arm also includes an intermediate arm section connecting the end arm section and the root arm section. The intermediate arm section extends horizontally, and a telescopic drive is provided between the intermediate arm section and the root arm section for controlling the pitch swing of the intermediate arm section.

[0019] As a further improvement, the winch is installed on the root boom section, and pulleys for supporting and steering the lifting rope are installed on the upper sides of both ends of the intermediate boom section.

[0020] The beneficial effects are as follows: The arch frame installation trolley provided by this utility model is an improvement on the existing technology. The arch frame transport trolley is equipped with an arch frame transport device, which can use lifting ropes to lift the arch frame from the ground. The lifted arch frame is then clamped and fixed by grippers and transported directly forward. Compared with the existing technology, this arch frame transport device has a more compact structure and occupies less space. Furthermore, after being lifted, the arch frame can be transported directly forward without being transferred to other equipment, resulting in higher transport efficiency. In addition, the arch frame is continuously clamped and fixed by the grippers during transport, providing strong stability and preventing swaying. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the arch frame installation trolley of this utility model;

[0022] Figure 2 This is a schematic diagram of the arch frame transport device in Embodiment 1 of the arch frame installation trolley of this utility model.

[0023] Figure 3 This is a schematic diagram of the mechanical arm in Embodiment 1 of the arch frame installation trolley of this utility model;

[0024] Figure 4 This is a diagram showing the lifting state of the arch frame in Embodiment 1 of the arch frame installation trolley of this utility model;

[0025] Figure 5 This is a diagram showing the transport status of the arch frame in Embodiment 1 of the arch frame installation trolley of this utility model.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Vehicle body; 2. Top arch installation robot; 3. Side arch installation robot; 4. Track; 5. Robotic arm; 51. Root arm section; 511. Base; 512. Rotary structure; 513. Root arm body; 52. End arm section; 53. Intermediate arm section; 54. Telescopic drive component; 55. Gripper; 56. Winch; 57. Lifting rope; 58. Lifting tool; 59. Pulley; 510. Buffer body; 6. Arch frame. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the embodiments.

[0029] Specific embodiment 1 of the arch frame installation trolley provided by this utility model:

[0030] An arch frame installation trolley, see attached. Figure 1 It includes a vehicle body 1 and an arched transport device mounted on the vehicle body 1.

[0031] The vehicle body 1 has a gantry structure and a tracked walking unit, enabling it to move autonomously within the tunnel. A platform is located on the top of the vehicle body 1, on which two sets of arch frame transport devices are installed. These two sets of arch frame transport devices are positioned on the left and right sides of the platform, respectively. A top arch installation robot 2 is installed between the two sets of arch frame transport devices, and side arch installation robots 3 are installed on the left and right sides of the vehicle body 1.

[0032] See appendix Figure 2 and attached Figure 3 The arch frame transport device includes a track 4 and a robotic arm 5 that can move along the track 4. The track 4 extends in a front-to-back direction, and the rear end of the track 4 extends to the rear end of the platform. The robotic arm 5 includes three arm sections that are rotatably connected to each other. The three arm sections are a root arm section 51, an end arm section 52, and an intermediate arm section 53 connected between the root arm section 51 and the end arm section 52.

[0033] The root arm segment 51 includes a base 511 and a root arm body 513 located above the base 511. A rotary structure 512 with a vertically extending rotary axis is provided between the root arm body 513 and the base 511.

[0034] The base 511 is slidably mounted on the track 4. A drive structure for moving the base 511 is also provided between the base 511 and the track 4. The drive structure can be a gear and rack mechanism, which includes a rack fixed to the vehicle body 1 and arranged parallel to the track 4, a motor mounted on the base 511, and a gear mounted on the output shaft of the motor and meshing with the rack. In other embodiments, the drive structure can also be a traction structure, which includes a winch mounted on the vehicle body 1 and connected to the base 511 by a steel cable.

[0035] The root arm 513 extends vertically upward, and its upper end is connected to the intermediate arm section 53. The rotating structure 512 can drive the root arm 513 to rotate horizontally relative to the base 511. Since the other arm sections are all connected to the root arm 513, the other arm sections also rotate horizontally during the horizontal rotation of the root arm 513.

[0036] The intermediate boom section 53 extends horizontally, and a telescopic drive 54 is provided between the intermediate boom section 53 and the root boom body 513 to control the pitch swing of the end of the intermediate boom section 53 away from the root boom body 513. The telescopic drive 54 can be a cylinder, a hydraulic cylinder, or an electric push rod.

[0037] The end of the end arm 52, away from the intermediate arm 53, is positioned downwards. A telescopic drive 54 is also provided between the end arm 52 and the intermediate arm 53, which can drive the lower end of the end arm 52 to swing. The lower end of the end arm 52 is provided with a gripper 55 capable of clamping and fixing the arch frame, with the opening of the gripper 55 facing outwards from the entire robotic arm 5. In this embodiment, only one gripper 55 is provided. In other embodiments, for more stable clamping, two or three grippers can be arranged at intervals along the vertical direction on the end arm 52.

[0038] A winch 56 is installed on the root boom 513 of the root boom section 51. A lifting rope 57 is wound around the winch 56. The lifting rope 57 goes up and around the upper end of the root boom section 51, then around the upper part of the intermediate boom section 53, and finally around to the outside of the end boom section 52. The end of the lifting rope 57 is downward and connected to a lifting device 58. In use, the lifting device 58 can be connected to the arch frame to be transported, and then the lifting rope 57 lifts the arch frame under the drive of the winch 56. Pulleys 59 are provided on the upper sides of both ends of the intermediate boom section 53, and pulleys 59 are also provided on the upper outer side of the end boom section 52. The lifting rope 57 presses on the pulleys 59, and the pulleys 59 serve to support the lifting rope 57 and steer the lifting rope 57.

[0039] A buffer body 510 is provided on the outer side of the end arm section 52. The buffer body 510 is used to abut against the arch frame to prevent damage caused by hard contact between the arch frame and the end arm section 52. The buffer body 510 is provided at least at the upper and lower ends of the end arm section 52.

[0040] See appendix Figure 4 and attached Figure 5 The specific process of installing the arch frame using the arch frame installation trolley is as follows:

[0041] First, the arch frame 6 is transported to the rear of the vehicle body 1 by other vehicles. The robotic arm 5 moves to the rear end of the track 4. The slewing structure 512 of the robotic arm 5 rotates, causing the end arm to rotate to the rear side of the vehicle body 1. Then, the winch 56 releases the lifting rope 57. The lifting device 58 connected to the end of the lifting rope 57 descends to the position of the arch frame 6 and connects with the arch frame 6.

[0042] Then, the winch 56 retracts the hoisting rope 57, and the arch frame 6 is lifted upward by the hoisting rope 57. When the arch frame 6 is lifted to its highest position, it reaches the outside of the end boom. The lower end of the end boom swings outward, causing the jaws 55 on the end boom to clamp the arch frame 6. At this time, the upper end of the arch frame 6 is taut by the hoisting rope 57, and the middle part is clamped and fixed by the jaws 55, so the arch frame 6 is in a stable state that will not sway.

[0043] Next, the rotating structure 512 of the robotic arm 5 rotates in the opposite direction, causing the end arm carrying the arch frame to rotate from the rear of the vehicle body 1 to the left or right side of the vehicle body 1. Then, the robotic arm 5 moves forward as a whole, transporting the arch frame 6 to the installation position. During this process, the arch frame 6 moves to the left or right side of the vehicle body 1, which makes high use of the space inside the tunnel and does not occupy the space of the top platform of the vehicle body 1, facilitating the movement of construction personnel or the transportation of other materials.

[0044] Once the arch frame is transported to its designated location, it can be picked up and installed by the corresponding robotic arm. If the arch frame needs to be installed on the side of the tunnel, it can be picked up and installed by the side arch installation robotic arm 3; if the arch frame needs to be installed on the top of the tunnel, it can be picked up and installed by the top arch installation robotic arm 2. The robotic arm 5 itself can also assist in the installation. Specifically, the middle arm 53 of the robotic arm 5 swings upward at the end furthest from the root arm 51, while the end arm 52 swings outward at the end furthest from the middle arm 53. This lifts the arch frame so that it can be attached to the tunnel wall.

[0045] After the arch frame is unloaded or installed, the robotic arm 5 can be prepared to transport the next section of the arch frame. The lower end of the end arm of the robotic arm 5 swings inward, retracts the gripper 55, and the entire robotic arm 5 moves backward to the rear end of the track 4.

[0046] The arch frame transport device on the arch frame installation trolley can lift the arch frame, eliminating the need for a separate dedicated crane, saving space on the arch frame installation trolley, facilitating construction, and reducing the overall cost of the arch frame installation trolley.

[0047] Once the arch frame is lifted, it can be transported forward directly without needing to be transferred to other equipment, which greatly saves transportation time and improves transportation efficiency.

[0048] During transportation, the arch frame is taut by the lifting rope 57 and clamped and fixed by the jaws 55. Therefore, the arch frame has better stability during transportation and is less prone to shaking, preventing the arch frame from colliding with the tunnel wall or other equipment during construction.

[0049] In addition, the arch frame transport device can also assist in the installation of the arch frame, making it highly functional. Therefore, in other embodiments, the two sides of the vehicle body 1 do not need to be equipped with special side arch installation manipulators 3, further making the entire arch frame installation trolley structure more compact.

[0050] Specific embodiment 2 of the arch frame installation trolley provided by this utility model:

[0051] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the winch in this embodiment is located on the upper side of the intermediate boom section, and the lifting rope is wound from the upper side of the intermediate boom section to the outer side of the end boom section.

[0052] Specific embodiment 3 of the arch frame installation trolley provided by this utility model:

[0053] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the robotic arm in this embodiment only includes two arms: a root arm segment and an end arm segment. The end arm segment is connected to the root arm segment.

[0054] The end effector in this embodiment includes a base and an end effector body rotatably mounted above the base via a rotary structure. The end effector body includes a vertical section and a horizontal section. The vertical section is connected to the rotary structure, and the horizontal section is integrally attached to the upper end of the vertical section. The end effector body is connected to the end of the horizontal section away from the vertical section. A telescopic drive is provided between the end effector body and the horizontal section to control the swing of the end effector body.

[0055] The root arm has an overall L-shaped structure, which allows the end arm to be positioned on the left, right, or rear side of the vehicle body, enabling the transport process of the arch frame as described in Embodiment 1. However, due to the lack of an intermediate arm, the robotic arm in this embodiment has low flexibility and cannot perform auxiliary installation work on the arch frame.

[0056] Specific embodiment 4 of the arch frame installation trolley provided by this utility model:

[0057] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the robotic arm in this embodiment only includes two arms: a root arm segment and an end arm segment. The end arm segment is connected to the root arm segment.

[0058] In this embodiment, the end arm of the end arm is inclined, which also allows the end arm to be located on the left or right side or the rear side of the vehicle body, realizing the transportation process of the arch frame as in embodiment 1.

[0059] Specific embodiment 5 of the arch frame installation trolley provided by this utility model:

[0060] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the end arm segment and the middle arm segment are fixedly connected in this embodiment, and no telescopic drive component is set between the end arm segment and the middle arm segment. Therefore, the end arm segment no longer swings.

[0061] To prevent the arch frame from colliding with the end arm section during hoisting, the lower end of the end arm section is tilted inward in this embodiment. Simultaneously, to ensure the grippers can hold the arch frame, the grippers in this embodiment are relatively long, allowing them to directly grip the arch frame when closed.

[0062] Specific embodiment 6 of the arch frame installation trolley provided by this utility model:

[0063] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that in this embodiment, two intermediate arms are connected in sequence between the root arm and the end arm, and pulleys are provided on the upper side of the ends of the two intermediate arms.

[0064] Compared to embodiment 1, the robotic arm in this embodiment has more arm segments, thus making it more flexible and more conducive to the auxiliary installation of the arch frame.

[0065] Specific embodiment 7 of the arch frame installation trolley provided by this utility model:

[0066] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the root arm section does not have a rotating structure, and the root arm body is directly fixed on the base.

[0067] Compared to implementation method 1, in this implementation method, the end arm of the robotic arm cannot rotate to the rear of the vehicle body. Therefore, during the construction process, the arch frame needs to be placed on the left and right sides of the tunnel to facilitate the robotic arm to lift the arch frame.

[0068] Specific implementation method of the arch frame transport device provided by this utility model:

[0069] The arch frame transport device is the arch frame transport device in the specific implementation of the arch frame installation trolley described above, and will not be described again.

[0070] Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. 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. An arch-frame transport device, characterized in that, The system includes a track and a robotic arm capable of moving along the track. The robotic arm includes at least a root section and an end section. The root section is mounted on the track, and the end section has a downward-facing end with grippers for holding the arch frame. A winch is mounted on one of the sections of the robotic arm, and a lifting rope is wound around the winch. The lifting rope passes around the outside of the end section, and the end of the lifting rope has a downward-facing end with a lifting device for connecting the arch frame. In use, the arch frame can be lifted by the lifting rope and held and fixed by the grippers.

2. The arch frame transport device according to claim 1, characterized in that, The root arm section includes a base that slides with the track, a root arm body connected to the adjacent arm section, and a rotary structure connecting the base and the root arm body. The rotary mechanism has a vertically extending rotary axis so that the root arm body can drive the remaining arm bodies to rotate horizontally.

3. The arch frame transport device according to claim 1 or 2, characterized in that, at the end... The boom section is rotatably connected to the adjacent boom section, and a telescopic drive is provided between the end boom section and the adjacent boom section to control the swing of the lower end of the end boom section.

4. The arch frame transport device according to claim 3, characterized in that, The robotic arm also includes an intermediate arm section connecting the end arm section and the root arm section. The intermediate arm section extends horizontally, and a telescopic drive is provided between the intermediate arm section and the root arm section to control the pitch swing of the intermediate arm section.

5. The arch frame transport device according to claim 4, characterized in that, The winch is mounted on the root boom section, and pulleys for supporting and steering the lifting rope are installed on the upper sides of both ends of the intermediate boom section.

6. An arch frame installation trolley, comprising a trolley body, on which an arch frame transport device is mounted, characterized in that, The arch frame transport device includes a track installed on one side of the vehicle body and extending in the front-rear direction, and a robotic arm capable of moving along the track. The robotic arm includes at least a root section and an end section. The root section is installed on the track, and the end section has a downward-facing end with a gripper for holding the arch frame. A winch is installed on one of the sections of the robotic arm, and a lifting rope is wound on the winch. The lifting rope passes around the outside of the end section, and the end of the lifting rope has a downward-facing end with a lifting device for connecting the arch frame. In use, the arch frame can be lifted by the lifting rope and held and fixed by the gripper.

7. The arch frame installation trolley according to claim 6, characterized in that, The root arm section includes a base that slides with the track, a root arm body connected to the adjacent arm section, and a slewing structure connecting the base and the root arm body. The slewing mechanism has a vertically extending slewing axis so that the root arm body can drive the remaining arm bodies to rotate horizontally between the rear side of the vehicle body and the left or right side of the vehicle body.

8. The arch frame installation trolley according to claim 6 or 7, characterized in that, at the end... The boom section is rotatably connected to the adjacent boom section, and a telescopic drive is provided between the end boom section and the adjacent boom section to control the swing of the lower end of the end boom section.

9. The arch frame installation trolley according to claim 8, characterized in that, The robotic arm also includes an intermediate arm section connecting the end arm section and the root arm section. The intermediate arm section extends horizontally, and a telescopic drive is provided between the intermediate arm section and the root arm section to control the pitch swing of the intermediate arm section.

10. The arch frame installation trolley according to claim 9, characterized in that, The winch is mounted on the root boom section, and pulleys for supporting and steering the lifting rope are installed on the upper sides of both ends of the intermediate boom section.

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