Arch mounting mechanical arm and arch trolley

Abstract

The utility model relates to tunnel lining construction equipment technical field, concretely provides an arch frame installation manipulator and arch frame trolley, and arch frame installation manipulator includes leveling arm, first hinge support, rotation drive part, second hinge support, deflection drive part, pitch drive part and grab hand subassembly, leveling arm is hinged to the arm support of arch frame trolley, first hinge support is hinged to the one end of leveling arm away from arm support, one end of rotation drive part is hinged with leveling arm, and the other end is hinged with first hinge support, second hinge support is hinged to the one end of first hinge support away from leveling arm, grab hand subassembly is hinged to the one end of second hinge support away from first hinge support, one end of deflection drive part is hinged with second hinge support, and the other end is hinged with grab hand subassembly, one end of pitch drive part is hinged with first hinge support, and the other end is hinged with second hinge support. The utility model provides arch frame installation manipulator high flexibility, compact structure, high stability, and is applicable to the arch frame installation operation of tunnel narrow space.

Description

Technical Field

[0001] This utility model relates to the field of tunnel lining construction equipment technology, specifically to an arch frame installation robot and an arch frame trolley. Background Technology

[0002] With the development of my country's engineering construction field, arch frame trolleys have gradually replaced traditional trolley arch erection machines in the construction of railway and highway tunnels in soft surrounding rock, becoming an important initial support equipment. At present, although most arch frame trolleys can achieve the function of arch erection, there is still room for improvement in terms of convenience, controllability, and structural form. Especially when the operation method and space are greatly restricted, it is usually necessary to spend a lot of time and effort to adjust the operation to meet the needs of the equipment construction.

[0003] When using an arch frame trolley to assemble arch frames, to improve arch erection efficiency, it is necessary to ensure the stability of the arch frame gripping and reduce swaying. Simultaneously, to improve applicability to various working conditions, the flexibility and structural compactness of the arch frame manipulator need to be enhanced. Conventional arch frame installation manipulator gripper components cannot move independently, resulting in large ranges of motion when adjusting the gripper components. This leads to insufficient overall stability, affecting arch frame installation efficiency and construction safety; furthermore, it is inconvenient for operation in confined spaces and has low adaptability.

[0004] Based on the above, this utility model provides an arch frame installation robot and an arch frame trolley to solve the technical problems existing in the prior art. Utility Model Content

[0005] The purpose of this utility model is to provide an arch frame installation robot and an arch frame trolley, the specific technical solution of which is as follows:

[0006] An arch frame installation robot includes a leveling arm, a first hinge support, a rotary drive, a second hinge support, a yaw drive, a pitch drive, and a gripper assembly.

[0007] The leveling arm is hinged to the boom of the arch frame trolley;

[0008] The first hinge support is hinged to the end of the leveling arm away from the boom;

[0009] One end of the rotary drive is hinged to the leveling arm, and the other end is hinged to the first hinge support;

[0010] The second hinge support is hinged to the end of the first hinge support away from the leveling arm;

[0011] The gripper assembly is hinged to the end of the second hinge support away from the first hinge support;

[0012] One end of the yaw drive is hinged to the second hinge support, and the other end is hinged to the gripper assembly;

[0013] One end of the pitch drive is hinged to the first hinge support, and the other end is hinged to the second hinge support.

[0014] Furthermore, a leveling cylinder is hinged between the leveling arm and the boom.

[0015] Furthermore, the rotary drive component includes a yaw cylinder, the fixed end of which is hinged to the leveling arm, and the telescopic end of which is hinged to the first hinge support.

[0016] Furthermore, the hinge axis of the yaw drive is orthogonal to the hinge axis of the pitch drive.

[0017] Furthermore, the yaw drive and pitch drive are pneumatic cylinders, hydraulic cylinders, or electric cylinders.

[0018] Furthermore, the gripper assembly includes a bracket, a limiting seat, and a gripper;

[0019] The bracket is hinged to the end of the second hinge support away from the first hinge support;

[0020] The limiting seat is provided in multiple sets, and the multiple sets of limiting seats are arranged on the bracket along the length direction of the bracket;

[0021] At least one set of grippers is provided along the length of the support; each gripper includes symmetrically arranged gripper pieces, which are hinged to the support and connected by a clamping cylinder.

[0022] Furthermore, the gripper assembly also includes support tubes, which are symmetrically arranged at both ends of the bracket; the central axis of the support tubes is perpendicular to the central axis of the bracket.

[0023] Furthermore, the support tube includes a fixed tube and a telescopic tube, the telescopic tube being embedded inside the fixed tube and slidably connected to the fixed tube; a limiting element is also provided between the telescopic tube and the fixed tube.

[0024] Furthermore, it also includes a suspended basket that can be detachably mounted on the first hinge support;

[0025] The first hinge support is provided with a hook and a pin. The upper part of the basket is hung on the hook, and the lower part of the basket is locked by the pin.

[0026] An arch frame trolley includes a boom on which an arch frame installation robot arm, as described above, is hinged.

[0027] The application of the technical solution of this utility model has the following beneficial effects:

[0028] (1) This utility model provides an arch frame installation robot, including a leveling arm, a first hinge support, a rotary drive, a second hinge support, a yaw drive, a pitch drive, and a gripper assembly; the leveling arm is hinged to the boom of the arch frame trolley; the first hinge support is hinged to the end of the leveling arm away from the boom; one end of the rotary drive is hinged to the leveling arm and the other end is hinged to the first hinge support; the second hinge support is hinged to the end of the first hinge support away from the leveling arm; the gripper assembly is hinged to the end of the second hinge support away from the first hinge support; one end of the yaw drive is hinged to the second hinge support and the other end is hinged to the gripper assembly; one end of the pitch drive is hinged to the first hinge support and the other end is hinged to the second hinge support. The arch frame installation robot provided by this utility model independently drives the gripper assembly to achieve rotation, yaw, and pitch movements through rotation drive, yaw drive, and pitch drive respectively, which is highly flexible. While the rotation, yaw, and pitch of the gripper assembly are controlled independently, the yaw and pitch are performed on the basis of rotation. The structure is compact, which makes the overall position change small when the angle of the gripper assembly is adjusted, and the stability is high. It is suitable for arch frame installation operations in the narrow space of tunnels.

[0029] (2) In this utility model, the pitch angle of the gripper assembly is initially adjusted by the leveling cylinder, and the pitch angle of the gripper assembly is further adjusted by the pitch drive component, which facilitates the gripping of the arch frame and the fine adjustment during the installation of the arch frame, thereby improving the construction efficiency; by using the leveling cylinder and the pitch drive component together, the adjustment range of the pitch angle of the gripper assembly is expanded, thereby improving its applicability.

[0030] (3) In this utility model, the gripper assembly includes a bracket, a limiting seat and a gripper; the bracket is hinged to the end of the second hinge support away from the first hinge support; multiple sets of limiting seats are provided, and multiple sets of limiting seats are arranged on the bracket along the length direction of the bracket; the limiting seats play a guiding and limiting role when gripping the arch frame, so that the gripper can grip the arch frame.

[0031] (4) In this utility model, the gripper assembly further includes a support tube, which is symmetrically arranged at both ends of the support; the central axis of the support tube is perpendicular to the central axis of the support. The support tube is used to support the arch frame, and it works in conjunction with the gripper to increase the stability of the arch frame gripping, ensuring construction efficiency and construction safety.

[0032] (5) In this utility model, the support tube includes a fixed tube and a telescopic tube. The telescopic tube is embedded in the fixed tube and slidably connected to the fixed tube. A limiting component is also provided between the telescopic tube and the fixed tube. After the length of the telescopic tube extending out of the fixed tube is adjusted, the sliding between the telescopic tube and the fixed tube is restricted by the limiting component. The telescopic tube can be used to support multiple arch frames, thereby improving the applicability of the support tube.

[0033] (6) This utility model provides an arch frame trolley, including a boom, on which an arch frame installation robot arm as described above is hinged, which can flexibly realize the angle and position adjustment of the gripper assembly, with high stability and strong applicability.

[0034] 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

[0035] 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:

[0036] Figure 1 This is a schematic diagram of the arch frame installation robot in an embodiment of this utility model;

[0037] Figure 2 This is a schematic diagram of the structure of the arch frame installation robot (suspended basket not shown) in an embodiment of this utility model;

[0038] Figure 3 This is a schematic diagram of the gripper assembly in an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the arch frame installation robot gripping the arch frame using this embodiment. Figure 1 ;

[0040] Figure 5 This is a schematic diagram of the arch frame installation robot gripping the arch frame using this embodiment. Figure 2 ;

[0041] Among them, 1. Leveling arm, 2. First hinge support, 3. Rotation drive component, 4. Second hinge support, 5. Yaw drive component, 6. Pitch drive component, 7. Grab assembly, 7.1. Bracket, 7.2. Limit seat, 7.3. Grab, 7.4. Clamping cylinder, 7.5. Support tube, 8. Boom, 9. Leveling cylinder, 10. Suspended basket, 11. Hook, 12. Pin, 13. Arch frame. Detailed Implementation

[0042] 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.

[0043] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0044] Furthermore, the terms "first," "second," etc., are used 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 with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0045] Example

[0046] See Figures 1-5 This embodiment provides an arch frame installation robot, including a leveling arm 1, a first hinge support 2, a rotation drive 3, a second hinge support 4, a yaw drive 5, a pitch drive 6, and a gripper assembly 7.

[0047] The leveling arm 1 is hinged to the boom 8 of the arch frame trolley. Preferably, the leveling arm 1 is hinged to the end of the boom 8 via a hinge shaft; see also Figure 4 and Figure 5 A leveling cylinder 9 is hinged between the leveling arm 1 and the boom 8. The leveling cylinder 9 extends and retracts, driving the leveling arm 1 to perform pitching motion.

[0048] See Figure 1 and Figure 2 The first hinge support 2 is hinged to the end of the leveling arm 1 away from the boom 8 via the second hinge shaft, and the axis of the second hinge shaft is perpendicular to the axis of the first hinge shaft; one end of the rotary drive 3 is hinged to the leveling arm 1, and the other end is hinged to the first hinge support 2; the rotary drive 3 extends and retracts, driving the first hinge support 2 to rotate around the second hinge shaft.

[0049] In this embodiment, preferably, the rotary drive component 3 includes a sway cylinder. The fixed end of the sway cylinder is hinged to the leveling arm 1, and the telescopic end of the sway cylinder is hinged to the first hinge support 2. Using a sway cylinder to drive the first hinge support 2 to rotate is less expensive than using a motor-driven rotation structure. Furthermore, motors are more prone to failure and complex maintenance in the dusty and vibrating environment of tunnel construction. Using a sway cylinder is better suited to the harsh environment inside tunnels.

[0050] See Figure 1 and Figure 2 The second hinge support 4 is hinged to the end of the first hinge support 2 away from the leveling arm 1 via a hinge shaft three; the axis of the hinge shaft three is parallel to the axis of the hinge shaft one; one end of the pitch drive 6 is hinged to the first hinge support 2, and the other end is hinged to the second hinge support 4. The pitch drive 6 extends and retracts, driving the second hinge support 4 to perform pitching movements. In this embodiment, the pitch drive 6 is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

[0051] See Figure 1 and Figure 2 The gripper assembly 7 is hinged to the end of the second hinge support 4 away from the first hinge support 2 via hinge shaft four; the axis of hinge shaft four is perpendicular to the axes of hinge shaft one and hinge shaft two; one end of the yaw drive 5 is hinged to the second hinge support 4, and the other end is hinged to the gripper assembly 7. The yaw drive 5 extends and retracts, driving the gripper assembly 7 to perform a yaw action. In this embodiment, the yaw drive 5 is a cylinder, hydraulic cylinder, or electric cylinder.

[0052] In this embodiment, preferably, the hinge axis of the yaw drive 5 is orthogonally arranged to the hinge axis of the pitch drive 6, so that the pitch and yaw movements of the gripper assembly 7 do not interfere with each other.

[0053] The arch frame installation robot provided in this embodiment can achieve pitch, rotation, and yaw movements. Specifically, the leveling cylinder 9 extends and retracts to drive the leveling arm 1 to perform pitch movements, that is, the extension and retraction of the leveling cylinder 9 enables the leveling arm 1, the first hinge support 2, the second hinge support 4, and the gripper assembly 7 to perform pitch movements as a whole. The rotation drive 3 extends and retracts to drive the first hinge support 2 to rotate, that is, the extension and retraction of the rotation drive 3 enables the rotation of the first hinge support 2, the second hinge support 4, and the gripper assembly 7 as a whole. The pitch drive 6 extends and retracts to drive the second hinge support 4 to perform pitch movements, that is, the extension and retraction of the pitch drive 6 enables the rotation of the second hinge support 4 and the gripper assembly 7. The yaw drive 5 extends and retracts to drive the gripper assembly 7 to perform yaw movements, enabling the gripper assembly 7 to yaw. The arch frame installation robot provided in this embodiment can achieve rotation, pitch, and yaw movements by moving the gripper assembly 7 alone (i.e., without moving simultaneously with the leveling arm 1). The range of motion is relatively small, which can improve the overall stability and flexibility, and can be used for operations in confined spaces, thus improving adaptability.

[0054] See Figure 3 The gripper assembly 7 includes a bracket 7.1, a limiting seat 7.2, and a gripper 7.3; the bracket 7.1 is hinged to the end of the second hinge support 4 away from the first hinge support 2; multiple sets of limiting seats 7.2 are provided, and multiple sets of limiting seats 7.2 are arranged on the bracket 7.1 along the length direction of the bracket 7.1; the limiting seats 7.2 play a guiding and limiting role when gripping the arch frame 13, so as to facilitate the gripper 7.3 to grip the arch frame 13;

[0055] At least one set of grippers 7.3 is provided along the length of the bracket 7.1, and two sets are provided in this embodiment; the grippers 7.3 include symmetrically arranged gripper pieces, which are hinged to the bracket 7.1 and connected by clamping cylinders 7.4.

[0056] In this embodiment, the gripper assembly 7 further includes a support tube 7.5, which is symmetrically arranged at both ends of the bracket 7.1; the central axis of the support tube 7.5 is perpendicular to the central axis of the bracket 7.1. The support tube 7.5 is used to support the arch frame 13, and it cooperates with the gripper 7.3 to increase the stability of the arch frame 13 during gripping, ensuring construction efficiency and construction safety.

[0057] Preferably, the support tube 7.5 is a square tube, including a fixed tube and a telescopic tube. The telescopic tube is embedded in the fixed tube and slidably connected to it. A limiting component is also provided between the telescopic tube and the fixed tube. After the length of the telescopic tube extending beyond the fixed tube is adjusted, the limiting component restricts the sliding between the telescopic tube and the fixed tube. In this embodiment, the limiting component is a bolt, which is threadedly connected to the fixed tube and tightens against the telescopic tube to fix the telescopic tube to the fixed tube. By setting the telescopic tube, it can be used to support multiple arch frames, improving the applicability of the support tube 7.5.

[0058] In this embodiment, see Figure 1 It also includes a suspended basket 10 that is detachably mounted on the first hinge support 2; the first hinge support 2 is provided with a hook 11 and a pin 12, the upper part of the suspended basket 10 is hung on the hook 11, and the lower part of the suspended basket 10 is locked by the pin 12. The cooperation of the hook 11 and the pin 12 improves the efficiency of disassembly and assembly and the stability of installation, and ensures construction safety.

[0059] In this embodiment, a control system is also included. The control system is connected to the rotation drive 3, the yaw drive 5, the pitch drive 6 and the leveling cylinder 9, and controls each drive to perform corresponding actions. The control system adopts existing technology.

[0060] See Figure 4 When the robotic arm grips the horizontal arch frame 13, the gripper assembly 7 is oriented toward the arch frame 13 by adjusting the leveling cylinder 9. Then, the angle of the gripper assembly 7 is adjusted by the rotation drive 3, the yaw drive 5 and the pitch drive 6 to guide the arch frame 13 into the limit seat 7.2 and make the gripper 7.3 firmly grasp the arch frame 13. At this time, the support tube 7.5 is pressed against both sides of the upper crossbeam of the arch frame 13 to improve the gripping stability of multiple arch frames.

[0061] See Figure 5The arch frame installation robot is also suitable for gripping the vertical arch frame 13. When the arch is erected, the gripper assembly 7 faces upward, which can be used to grip arch frames with a lower height, improve the applicability of the robot, and reduce the requirements for the placement of the arch frame and the unloading position.

[0062] This embodiment also provides an arch frame trolley, including a boom 8, on which an arch frame installation robot arm as described above is hinged, which can flexibly adjust the angle and position of the gripper assembly 7, and has high stability and strong applicability.

[0063] 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 robotic arm for installing arch frames, characterized in that, It includes a leveling arm (1), a first hinge support (2), a rotation drive (3), a second hinge support (4), a yaw drive (5), a pitch drive (6), and a gripper assembly (7). The leveling arm (1) is hinged to the arm (8) of the arch frame trolley; The first hinge support (2) is hinged to the end of the leveling arm (1) away from the boom (8); One end of the rotary drive (3) is hinged to the leveling arm (1), and the other end is hinged to the first hinge support (2); The second hinge support (4) is hinged to the end of the first hinge support (2) away from the leveling arm (1); The gripper assembly (7) is hinged to the end of the second hinge support (4) away from the first hinge support (2); One end of the yaw drive (5) is hinged to the second hinge support (4), and the other end is hinged to the gripper assembly (7); The pitch drive (6) is hinged at one end to the first hinge support (2) and at the other end to the second hinge support (4).

2. The arch frame installation robot according to claim 1, characterized in that, A leveling cylinder (9) is hinged between the leveling arm (1) and the boom (8).

3. The arch frame installation robot according to claim 1, characterized in that, The rotary drive (3) includes a sway cylinder, the fixed end of which is hinged to the leveling arm (1), and the telescopic end of which is hinged to the first hinge support (2).

4. The arch frame installation robot according to claim 1, characterized in that, The hinge axis of the yaw drive (5) is orthogonal to the hinge axis of the pitch drive (6).

5. The arch frame installation robot according to claim 1, characterized in that, The yaw drive (5) and pitch drive (6) are pneumatic cylinders, hydraulic cylinders or electric cylinders.

6. The arch frame installation robot according to claim 1, characterized in that, The gripper assembly (7) includes a bracket (7.1), a limiting seat (7.2), and a gripper (7.3). The bracket (7.1) is hinged to the end of the second hinge support (4) away from the first hinge support (2); The limiting seat (7.2) is provided in multiple sets, and the multiple sets of limiting seats (7.2) are arranged on the bracket (7.1) along the length direction of the bracket (7.1); At least one set of grippers (7.3) are provided along the length of the support (7.1); the grippers (7.3) include symmetrically arranged gripper pieces, which are hinged to the support (7.1) and connected by clamping cylinders (7.4).

7. The arch frame installation robot according to claim 6, characterized in that, The gripper assembly (7) also includes a support tube (7.5), which is symmetrically arranged at both ends of the bracket (7.1); the central axis of the support tube (7.5) is perpendicular to the central axis of the bracket (7.1).

8. The arch frame installation robot according to claim 7, characterized in that, The support tube (7.5) includes a fixed tube and a telescopic tube. The telescopic tube is embedded in the fixed tube and is slidably connected to the fixed tube. A limiting element is also provided between the telescopic tube and the fixed tube.

9. An arch frame installation robot according to any one of claims 1-8, characterized in that, It also includes a basket (10) that can be detachably mounted on the first hinge support (2); The first hinge support (2) is provided with a hook (11) and a pin (12). The upper part of the basket (10) is hung on the hook (11), and the lower part of the basket (10) is locked by the pin (12).

10. An arch frame trolley, comprising a boom (8), characterized in that, The boom (8) is hinged with an arch frame installation robot as described in any one of claims 1-9.

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