A multi-functional drilling and blasting construction trolley

Abstract

This utility model belongs to the field of tunnel construction equipment, specifically providing a multi-functional drill-and-blast method construction trolley. The trolley includes a portal frame with a traveling mechanism. The top of the frame has a first-level platform and a second-level platform above it. The first-level platform is equipped with a drill arm and an anchor bolt arm, both of which are multi-degree-of-freedom robotic arms. The drill arm is used to drill blast holes and anchor bolt holes for the arch, while the anchor bolt arm is used to install the arch anchor bolts. The second-level platform is equipped with an arch erecting system, which is used to grab the arch frame and deliver it to the assembly position. At the rear of the first-level platform is a drill-and-anchor integrated arm, also a multi-degree-of-freedom robotic arm, used to drill anchor bolt holes for the sidewalls and install sidewall anchor bolts. This trolley can perform different procedures in drill-and-blast method construction, including drilling blast holes, installing anchor bolts, and assembling arch frames. It has multiple functions and can simultaneously achieve coordinated construction of different procedures, improving construction efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of tunnel construction equipment, and in particular relates to a multi-functional drilling and blasting construction trolley. Background Technology

[0002] When constructing small-section tunnels, such as single-track railway tunnels, using the drill-and-blast method, the relevant processes such as drilling, charging explosives, muck removal, arch erection, anchor bolt installation, and shotcreting are still carried out manually. Some projects are located in high-altitude, low-oxygen, and low-temperature areas, where construction presents challenges such as high labor intensity, high safety risks, and low construction efficiency.

[0003] In fact, the corresponding supporting equipment suitable for drill-and-blast construction, such as rock drilling rigs, charging rigs, arch frame rigs, and anchor bolt rigs, is already relatively mature. However, because different equipment is responsible for different processes, there are problems such as high difficulty in construction organization, long time for cross-operation scheduling, and low efficiency. This problem of low construction efficiency is particularly prominent for the construction of small-section tunnels.

[0004] To address these issues, multi-functional trolleys integrating multiple working arms onto a single construction machine have emerged, enabling different construction processes to be performed simultaneously on a single unit. However, current multi-functional trolleys often only consider the functional requirements of each individual process, neglecting the coordination between different processes, resulting in relatively low actual construction efficiency. Utility Model Content

[0005] The purpose of this utility model is to provide a multi-functional drilling and blasting construction trolley to solve the technical problem of low construction efficiency of existing multi-functional construction trolleys.

[0006] To achieve the above objectives, the technical solution of the multi-functional drilling and blasting construction trolley provided by this utility model is as follows: A multi-functional drilling and blasting construction trolley includes a portal frame with a traveling mechanism. The top of the frame has a first-level platform and a second-level platform above it. The first-level platform is equipped with a drill arm and an anchor bolt arm, both of which are multi-degree-of-freedom robotic arms. The drill arm is used to drill blast holes and anchor bolt holes for the arch, while the anchor bolt arm is used to install the arch anchor bolts. The second-level platform is equipped with an arch erecting system, which is used to grab the arch frame and deliver it to the assembly position. At the rear of the first-level platform is a drill-anchor integrated arm, also a multi-degree-of-freedom robotic arm, used to drill anchor bolt holes for the sidewalls and install the sidewall anchor bolts.

[0007] As a further improvement, the platform is equipped with two drill arms and one anchor arm, with the anchor arm positioned between the two drill arms in the left-right direction.

[0008] As a further improvement, each drill arm and anchor arm is mounted on the first-floor platform via a movable seat that can move back and forth on the first-floor platform. The second-floor platform is supported on the first-floor platform by a support column, and a channel for the anchor arm to move back and forth is provided directly below the second-floor platform.

[0009] As a further improvement, the arch erection system includes a gripping robotic arm and a delivery robotic arm. The gripping robotic arm and the delivery robotic arm are respectively mounted on the second-level platform via movable seats that can move back and forth on the second-level platform. Both the gripping robotic arm and the delivery robotic arm are equipped with arch frame grippers, with the arch frame grippers of the gripping robotic arm facing rearward and the arch frame grippers of the delivery robotic arm facing forward. The travel of the gripping robotic arm is such that when the gripping robotic arm is located at the rear end of the vehicle frame, the arch frame grippers can grip the arch frame located behind the vehicle frame. The back-and-forth travel of the movable seats of the gripping robotic arm and the delivery robotic arm is such that the arch frame gripped by the gripping robotic arm can be transferred to the delivery robotic arm, so that the arch frame can be delivered to the assembly position by the delivery robotic arm.

[0010] As a further improvement, the front end of the chassis is equipped with two auxiliary arch arms arranged at intervals from left to right. Each auxiliary arch arm includes a mounting base mounted on the chassis. The mounting base is equipped with a swing frame that can swing left and right relative to the mounting base. The swing frame is equipped with an auxiliary arm that can swing up and down relative to the swing frame. The auxiliary arm is equipped with an arch frame grabber. The two auxiliary arch arms are used to grab the arch frame and send the arch frame to the left and right sides of the tunnel wall respectively.

[0011] As a further improvement, a work basket is also installed on the auxiliary arch arm.

[0012] As a further improvement, guardrails are provided on the left and right sides of the first-floor platform. The guardrails can be flipped outward to support and guide the folding arches that are transported from back to front.

[0013] As a further improvement, the front end of the guardrail is provided with a telescopic section that can extend forward, extending beyond the front end of the vehicle frame after being extended.

[0014] As a further improvement, multiple telescopic drive devices for driving the guardrail to flip and retract are provided between the guardrail and the first-floor platform, arranged at intervals in the front-to-back direction.

[0015] As a further improvement, a support leg is provided at each of the four corners of the first-floor platform. A longitudinal beam located below the first-floor platform connects the front and rear support legs on the same side. The traveling mechanism includes at least one tracked support leg module on each of the left and right sides of the frame. The tracked support leg module includes a track body and a support leg mounted on the track body. The support leg includes a seat hinged to the track body, with the hinge axis extending in the left and right direction. The top of the seat is connected to a telescopic arm through a slewing mechanism so that the seat can rotate relative to the telescopic arm. The axis of the slewing mechanism extends vertically. The telescopic arm includes a basic arm connected to the slewing mechanism and a lifting arm guided and mounted on the basic arm. A lifting drive device is connected between the lifting arm and the basic arm. The top of the lifting arm is connected to the first-floor platform through a platform connection structure, and the front and rear ends are connected to the longitudinal beam through a longitudinal beam connection structure.

[0016] As a further improvement, vertical bracing is provided between the longitudinal beams and the first-floor platform.

[0017] As a further improvement, the lifting arm is an inverted T-shaped structure that is integrally fitted outside the basic arm. It includes a vertical section and a horizontal section connected to the lower end of the vertical section. The platform connecting structure is located at the top of the vertical section, and the longitudinal beam connecting structures are located at the front and rear ends of the horizontal section, respectively.

[0018] As a further improvement, the drill-anchor integrated arm integrates a grouting system, thus forming a drill-grouting-anchor integrated arm.

[0019] This utility model is a pioneering invention, and its beneficial effects are as follows: The multi-functional drilling and blasting construction trolley provided by this utility model integrates different working devices responsible for different processes. Specifically, the drilling arm mounted on the first-floor platform can drill blast holes forward towards the tunnel face and drill anchor bolt holes upward towards the tunnel wall arch, achieving "one machine for multiple uses." The anchor bolt arm can install arch anchor bolts, and the integrated drilling and anchoring arm at the rear of the first-floor platform can be responsible for drilling anchor bolt holes and installing anchor bolts at the sidewall positions. The arch erecting system mounted on the second-floor platform can grab the arch frame coming from the rear during construction and send it to the assembly position. The frame has a portal frame structure, allowing other equipment (such as dump trucks) to pass underneath the frame during construction.

[0020] As described above, firstly, the multi-functional drill-and-blast construction trolley provided by this utility model can perform different procedures during drill-and-blast construction, including drilling blast holes, installing anchor bolts, and assembling arch frames, thus possessing multiple functions. Secondly, during construction, due to the poor stability of the tunnel arch, the drill arm and anchor bolt arm are positioned further forward, allowing for priority anchor bolt support of the arch. Simultaneously, the arch erection system, located at the top of the trolley, facilitates the easy delivery of the arch frame to the arch arch for support. Meanwhile, the tunnel sidewalls are relatively stable and can be positioned further back, with the integrated drill-and-anchor arm responsible for anchor bolt support. At this point, the next cycle of drilling anchor bolt holes and arch arch anchor bolt support can proceed, enabling coordinated construction of different procedures and improving construction efficiency. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the implementation method of the multifunctional drilling and blasting construction trolley in this utility model; Figure 2 This is a structural schematic diagram from another perspective of the implementation method of the multifunctional drilling and blasting construction trolley in this utility model; Figure 3 This is a structural schematic diagram of the multifunctional drilling and blasting construction trolley implementation method from another perspective; Figure 4 This is a schematic diagram of the frame structure of the multi-functional drilling and blasting construction trolley in this utility model. Figure 5 This is a schematic diagram of the tracked outrigger module of the multi-functional drilling and blasting construction trolley in this utility model. Figure 6 for Figure 5 Schematic diagram of the structure of the central support and the rotary mechanism; Figure 7 for Figure 5 Schematic diagram of the telescopic boom; Figure 8 for Figure 5 Cross-sectional view of the telescopic boom; Figure 9 This is a schematic diagram of the arch system of the multi-functional drilling and blasting construction trolley implementation method of this utility model. Figure 10 This is a schematic diagram of the working state of the grabbing and feeding mechanical arm and the loading mechanical arm of the arch erecting system in the embodiment of the multi-functional drilling and blasting construction trolley of this utility model. Figure 11 This is a schematic diagram showing the handover state of the grabbing and feeding mechanical arm and the loading mechanical arm of the arch-standing system in the embodiment of the multi-functional drilling and blasting construction trolley of this utility model. Figure 12 This is a schematic diagram showing the working state of the loading and unloading robotic arm and the auxiliary arch arm of the arch erecting system in the embodiment of the multi-functional drilling and blasting construction trolley of this utility model. Figure 13 for Figure 11 A schematic diagram of the auxiliary arch arm from one perspective; Figure 14 for Figure 11 A schematic diagram of the auxiliary arch arm from another perspective; Figure 15 for Figure 1 A structural diagram of the central guardrail; Figure 16 for Figure 1 A schematic diagram of the structure of the loading and unloading robotic arm.

[0022] Explanation of reference numerals in the attached figures: 1. Drill boom; 2. Anchor bolt boom; 3. First-level platform; 4. Second-level platform; 5. Loading and unloading robotic arm; 6. Grab and unload robotic arm; 7. Guardrail; 8. Support legs; 9. Tracked outrigger module; 10. Auxiliary arch boom; 11. Work basket; 12. Drilling, grouting and anchoring integrated boom; 13. Longitudinal beam; 14. Vertical brace; 15. Arch frame grab; 100. Arch frame; 501. Moving seat; 502. First swing cylinder; 503. Boom seat; 504. First-level pitch cylinder; 505. Second-level pitch cylinder; 506. Second-level pitch frame; 507. First rotary table; 508. Grab arm; 509. Third-level pitch cylinder; 510. Main boom; 511. Control valve assembly; 512. Control box; 701. Telescopic unit; 702. Tilting cylinder; 901. Track body; 902. Top plate; 903. Slewing bearing; 904. Lifting arm; 905. Pinion; 906. Power head; 907. Vertical plate; 908. Hinge shaft; 909. Encoder; 910. Stop; 911. Basic arm; 912. Limiting component; 913. Lifting cylinder; 914. Upper pin; 915. Lower pin; 1001. Mounting base; 1002. Swing frame; 1003. Second swing cylinder; 1004. Auxiliary arm; 1005. First pitch cylinder; 1006. Control panel; 1007. Bottom tray; 1008. Second pitch cylinder; 1009. Second rotary table; 1010. Third rotary table. Detailed Implementation

[0023] To address the low efficiency of existing multi-functional trolleys, the basic concept of this utility model is to provide a novel multi-functional construction trolley. This trolley adopts a portal frame, with internal space for other vehicles to pass through. Simultaneously, robotic arms responsible for different processes are installed on the frame. These robotic arms can work collaboratively and in parallel to complete tasks such as drilling blast holes, anchor bolt support, and arch frame assembly, ensuring high construction efficiency during construction.

[0024] Based on the above concept, the present invention will be further described in detail below with reference to the embodiments.

[0025] The multi-functional drilling and blasting construction trolley provided in this embodiment is as follows: Figures 1-3 As shown, the trolley naturally includes a frame. During construction, the trolley can move back and forth along the bottom of the tunnel. That is, the frame is equipped with a traveling mechanism, which can be either a tracked mechanism or a rubber-wheeled mechanism. For example... Figure 4 As shown, a double-layer platform is provided at the top of the frame, consisting of a first-layer platform 3 and a second-layer platform 4 on top of the first-layer platform 3.

[0026] A drill arm 1 and an anchor bolt arm 2 are mounted on a single-layer platform 3. Drill arm 1 refers to a robotic arm capable of drilling holes in the tunnel; specifically, drill arm 1 is a multi-degree-of-freedom robotic arm, and a rock drilling rig is configured at its output end. The range of motion, or angle, of drill arm 1 is sufficient for the rock drilling rig to drill forward blast holes and radially drill anchor bolt holes in the arch. Specifically, drill arm 1 has pitch, rotation, and telescopic joints, similar to the robotic arms of existing rock drilling rigs and anchor bolt rigs. Anchor bolt arm 2 refers to a robotic arm capable of installing anchor bolts into the anchor bolt holes; specifically, anchor bolt arm 2 is a multi-degree-of-freedom robotic arm, and its range of motion is sufficient for installing anchor bolts into the anchor bolt holes in the arch.

[0027] At the rear of the first-level platform 3, a drill-anchor integrated arm is installed. The most basic function of the drill-anchor integrated arm is to drill anchor holes into the left and right side walls of the tunnel and install anchors into the anchor holes in the side walls. Similarly, it is also a multi-degree-of-freedom robotic arm, with a drill-anchor integrated head installed at the output end of the robotic arm.

[0028] Preferably, the head installed at the output end of the drill-anchor integrated arm can also be a drill-injection-anchor integrated head. In this case, what is actually connected at the tail of the first-layer platform 3 is a drill-injection-anchor integrated arm 12. The drill-injection-anchor integrated head can refer to the double-propulsion beam drill-injection-anchor integrated head disclosed in the applicant's invention patent application with publication number CN113279799A.

[0029] An arch erection system is installed on the second-floor platform 4. The arch erection system is a system used to grab the arch frame 100 and send the arch frame 100 to the assembly position. During construction, the arch erection system is located on the second-floor platform 4. It can grab the arch frame 100 sent from behind and send the arch frame 100 to the assembly position to complete the assembly operation of the arch frame 100.

[0030] During construction, the drill arm 1 mounted on the first-floor platform 3 can drill blast holes forward towards the tunnel face and drill anchor bolt holes upward towards the tunnel wall arch, achieving "one machine for multiple uses." The anchor bolt arm 2 can install the arch anchor bolts, and the integrated drill-anchor arm at the rear of the first-floor platform 3 can be responsible for drilling anchor bolt holes and installing anchor bolts at the sidewall locations. The arch erection system mounted on the second-floor platform 4 can grab the arch frame 100 coming from the rear during construction and deliver it to the assembly position. The chassis has a portal frame structure, allowing other equipment (such as dump trucks) to pass underneath during construction.

[0031] As described above, firstly, the multi-functional drill-and-blast construction trolley provided by this utility model can perform different procedures during drill-and-blast construction, including drilling blast holes, installing anchor bolts, and assembling the arch frame 100, thus possessing multiple functions. Secondly, during construction, due to the poor stability of the tunnel arch, the drill arm 1 and anchor bolt arm 2 are positioned further forward, allowing for priority anchor bolt support of the arch. Simultaneously, the arch erection system, located at the top of the trolley, facilitates the easy delivery of the arch frame 100 to the arch arch for support. Meanwhile, the tunnel sidewalls are relatively stable and can be positioned further back, with the integrated drill-and-anchor arm responsible for anchor bolt support. At this point, the next cycle of drilling anchor bolt holes and arch arch anchor bolt support can proceed, enabling coordinated construction of different procedures and improving construction efficiency.

[0032] In a preferred embodiment, such as Figures 1-3 As shown, there are two drill arms 1 and one anchor arm 2 mounted on the first-floor platform 3, and the three arms are arranged alternately on the left and right, with the anchor arm 2 located between the two drill arms 1.

[0033] In this way, during construction, two drill arms 1 are responsible for drilling holes, and one anchor rod arm 2 is responsible for installing anchor rods. Since there are a large number of blast holes to be drilled, the two drill arms 1 can be responsible for blast holes at different positions on the left and right respectively. According to actual calculations, this can achieve a "seamless" connection between drilling and anchor rod installation, further improving construction efficiency.

[0034] More preferably, such as Figures 1-4As shown, two drill arms 1 and one anchor bolt arm 2 are respectively mounted on the first-level platform 3 via movable seats 501, which can move back and forth along the first-level platform 3. The second-level platform 4 is supported on the first-level platform 3 by pillars, and a channel for the anchor bolt arm 2 to move back and forth is provided directly below the second-level platform 4. Regarding the specific movement of the movable seat 501, existing technologies can be referenced for configuration. For example, wheels can be installed on the movable seat 501, and correspondingly, guide rails can be provided on the first-level platform 3 to guide the movement of the movable seat 501. The drive device can be directly mounted on the movable seat 501, allowing the wheels to rotate actively, or the drive device can be connected between the movable seat 501 and the frame to pull (push) the movable seat 501. It should be noted that in the field of multi-functional tunnel construction trolleys, there are various ways to configure the movable seat 501 on the frame. This does not emphasize which method must be used; the principle is that the movable seat 501 can move back and forth along the first-level platform 3.

[0035] In this preferred embodiment, the drill arm 1 and the anchor arm 2 can move back and forth, and the movement of the anchor arm 2 will not interfere with the second-level platform 4. When performing arch erection work, the drill arm 1 and the anchor arm 2 can be retracted and hidden to facilitate the arch erection work, and the second-level platform 4 can also play a protective role when the anchor arm 2 is retracted below it.

[0036] Considering that some single-track railway tunnels have small cross-sectional dimensions, in order to facilitate the construction of small-section tunnels, in the preferred embodiment, such as Figures 1-4 , Figures 9-16 As shown, the arch erection system includes a gripping robotic arm 6 and a delivery robotic arm 5. The gripping robotic arm 6 can be understood as a robotic arm that grips and transports the arch frame 100 forward. At its most basic level, it is equipped with an arch frame gripper 15 for gripping the arch frame 100 and can move back and forth along the top of the second-level platform 4. The delivery robotic arm 5 can be understood as a robotic arm that receives the arch frame 100 delivered by the gripping robotic arm 6 and delivers the arch frame 100 to the assembly position. At its most basic level, it is equipped with an arch frame gripper 15 for gripping the arch frame 100 and can move back and forth along the top of the second-level platform 4.

[0037] The loading and unloading robotic arm 5 includes a movable base 501, on which a main arm 510 is mounted. The main arm 510 is capable of pitching and swinging, and an arch frame gripper 15 is mounted on the main arm 510. The structure of the arch frame gripper 15 can be consistent with existing technology, and its structure will not be described in detail here. The loading and unloading robotic arm 5 can transport the arch frame 100 from back to front to the working face by moving the movable base 501 back and forth, and the main arm 510 can swing upward to deliver the arch frame 100 to the appropriate arch frame 100 assembly position.

[0038] Similarly, the gripping robotic arm 6 also includes a movable base 501, on which a main arm 510 is mounted, and an arch gripper 15 is mounted on the main arm 510. The movable base 501 can move back and forth along the top of the second-floor platform 4. The loading robotic arm 5 can grip the arch 100 delivered from behind by swinging the main arm 510 downwards, as shown in the reference. Figure 11 The arch frame 100 is conveyed forward by the back-and-forth movement of the movable seat 501. In other words, the swing stroke of the main arm 510 of the loading robot arm 5 is such that when the gripping robot arm is located at the rear end of the frame, the arch frame gripper 15 on the main arm 510 can grip the arch frame 100 located behind the frame.

[0039] Although both the loading / unloading robotic arm 5 and the gripping / conveying robotic arm 6 are equipped with arched grippers 15, the arched grippers 15 on the two robotic arms face different directions. Specifically, the arched grippers 15 of the loading / unloading robotic arm 5 faces forward, while the arched grippers 15 of the gripping / conveying robotic arm 6 faces backward.

[0040] During construction, the grabbing and conveying robotic arm 6 grabs the arch frame 100 and moves forward, while the loading and unloading robotic arm 5 moves backward to the appropriate position until... Figure 11 As shown, the gripping and conveying robotic arm 6 moves to the front of the loading and unloading robotic arm 5, and the gripping and conveying robotic arm 6 hands over the arch frame 100 to the loading and unloading robotic arm 5. After receiving the arch frame 100, the loading and unloading robotic arm 5 drives the arch frame 100 forward to deliver the arch frame 100 to the assembly position.

[0041] To ensure the proper handover of the arch frame 100 between the loading / unloading robotic arm 5 and the gripping robotic arm 6, the forward and backward travel of the moving base 501 of both arms must be sufficient to allow the arch frame 100 gripped by the gripping robotic arm to be transferred to the loading / unloading robotic arm 5, so that the arch frame 100 can be delivered to the assembly position via the loading / unloading robotic arm 5. In other words, the two robotic arms must be able to move until their respective arch frame grippers 15 are in the same position to smoothly complete the handover of the arch frame 100.

[0042] Based on the above description of the structure of the arch system, during construction, the arch frame 100 delivered to the rear by a loader or an arch frame 100 transport vehicle can be grabbed by the grabbing robotic arm 6. After a simple adjustment of the arch frame 100's posture, it can be driven forward and handed over to the loading robotic arm 5, which then delivers the arch frame 100 to the assembly position on the working face.

[0043] As the above analysis shows, in this embodiment, the arch frame 100 is stably gripped by the grabbing and conveying robotic arm 6. During the forward transport of the arch frame 100, its stability is ensured, preventing it from hitting the tunnel wall due to instability. Simultaneously, during the assembly of the arch frame 100, there is no robotic arm requiring large-scale back-and-forth swinging, thus preventing the arch frame 100 from swinging excessively and hitting the tunnel wall. In summary, this embodiment is suitable for mechanized arch frame installation in small-section tunnels, reducing the intensity of manual labor.

[0044] In some preferred embodiments, the main arm 510 of the loading and unloading robotic arm 5 can swing left and right, allowing the arch frame gripper 15 to cover a larger area to the left and right, facilitating the assembly of the arch frame 100 during construction. Specifically, a support arm 503 connects the main arm 510 and the movable seat 501; in other words, the main arm 510 is mounted on the movable seat 501 via the left-right swinging support arm 503. Naturally, the support arm 503 is also equipped with a drive device to drive the arm 503 to swing relative to the movable seat 501, such as a hydraulic cylinder. For ease of description, this hydraulic cylinder is defined as a first swing cylinder 502, with its two ends hinged to the support arm 503 and the movable seat 501, respectively.

[0045] Similarly, in a preferred embodiment, the main arm 510 of the gripping robotic arm 6 can also swing left and right, allowing the arch gripper 15 to cover a larger range to the left and right, facilitating the gripping of the arch 100 at different positions. For the gripping robotic arm 6, the main arm 510 can also be mounted on the movable seat 501 via a swingable arm base 503.

[0046] More preferably, both the feeding robot arm 5 and the gripping robot arm 6 can be configured as telescopic arms. As those skilled in the art can understand, a telescopic arm includes a non-extendable basic part and a telescopic output end that extends and retracts relative to the basic part. The arch gripper 15 is installed at the telescopic output end, which further enhances the degree of freedom of the robot arm and makes it more flexible to grip and assemble the arch 100.

[0047] Of course, in addition to the basic ability to swing up and down, the delivery robotic arm 5 and the gripping robotic arm 6 can also be equipped with more flexible multi-degree-of-freedom joints to facilitate precise adjustment of the arch frame gripper 15's movement during construction. Specifically, the delivery robotic arm 5 can be configured as a telescopic robotic arm with two-stage left-right swing and three-stage pitch swing. More specifically, the main arm 510 is hinged to the arm base 503, and a first-stage pitch cylinder 504 that drives the main arm 510 to pitch swing is connected between the arm base 503 and the main arm 510. A second-stage pitch frame 506 is hinged to the telescopic output end of the main arm 510, and a second-stage pitch cylinder 505 that drives the second-stage pitch frame 506 to pitch swing is connected between the telescopic output end of the main arm 510 and the second-stage pitch frame 506. The second-stage pitch frame 506 has a flat L-shaped or right-angled structure. A rotary table is installed on the second-stage pitch frame 506, which can be defined as the first rotary table 507. A rotary table refers to a device with a rotary output end capable of outputting rotary motion, which may specifically employ a turntable bearing, a worm gear reducer, etc. A gripper arm 508 is connected to the rotary output end of the rotary table, and an arched gripper 15 is hinged to the gripper arm 508. A three-stage pitch cylinder 509 is connected between the arched gripper 15 and the gripper arm 508 to drive the arched gripper 15 to pitch and swing.

[0048] Similarly, the gripping robotic arm 6 can also adopt the same telescopic, two-stage left and right swing, and three-stage pitch swing design as described above.

[0049] More preferably, both the gripping robotic arm 6 and the loading robotic arm 5 can be equipped with a control valve assembly 511 on the movable base 501. The control valve assembly 511 is connected to the various actuators of the robotic arm to control the movements of the robotic arm (corresponding to the gripping robotic arm 6 and the loading robotic arm 5). In this case, the loading robotic arm 5 and the gripping robotic arm 6 are independent modules with integrated control devices, facilitating overall assembly on the trolley. Of course, a control box 512 can also be configured on the movable base 501, containing a controller.

[0050] To facilitate the assembly of the trolley by the staff and reduce manufacturing costs, the gripping robotic arm 6 and the loading robotic arm 5 can be configured with the same structure. During assembly, the orientation of the arched grippers 15 configured on the gripping robotic arm 6 and the loading robotic arm can be different.

[0051] In some preferred embodiments, such as Figures 9-14 As shown, two auxiliary arch arms 10 are mounted at the front end of the frame. The two auxiliary arch arms 10 are arranged at intervals on the left and right to assist in the assembly of the arch frame 100. At the most basic level, the auxiliary arch arms 10 have the freedom to swing up and down and swing left and right, and are equipped with arch frame grippers 15 to assist in sending the side arch frame 100 to the set assembly position.

[0052] Specifically, the auxiliary arch arm 10 includes a mounting base 1001, which is mounted on a vehicle frame. A swing frame 1002 is mounted on the mounting base 1001, and the swing frame 1002 can swing left and right relative to the mounting base 1001. Naturally, the swing frame 1002 is equipped with a drive device to drive its swing, such as a hydraulic cylinder, which can be defined as a second swing cylinder 1003. The two ends of the second swing cylinder 1003 are respectively hinged to the swing frame 1002 and the mounting base 1001, with the hinge axis 908 extending vertically. An auxiliary arm 1004 capable of vertically swinging is mounted on the swing frame 1002. Naturally, the auxiliary arm 1004 is equipped with a drive device to drive its vertical swing, such as a hydraulic cylinder, which can be defined as a second pitch cylinder 1008. An arch arm gripper 15 is mounted on the auxiliary arm 1004. During construction, the two auxiliary arch arms 10 can grab the arch frame 100 and send the arch frame 100 to the assembly positions on the left and right sides of the tunnel.

[0053] To enhance the flexibility of the auxiliary arch arm 10, preferably, the auxiliary arm 1004 can be configured as a telescopic arm, with the arch gripper 15 positioned at the telescopic output end of the auxiliary arm 1004. This allows the auxiliary arch arm 10 to cover a larger area. Furthermore, a swingable rotary table can be connected to the telescopic output end, with a rotary platform (specifically at the lower end) connected to the rotary table. This rotary platform can be defined as a second rotary table 1009. The rotary table is equipped with a drive device to swing it, specifically a hydraulic cylinder, which can be defined as a first pitch cylinder 1005. The two ends of the first pitch cylinder 1005 are connected to the rotary table and the telescopic output end of the auxiliary arm 1004, respectively. A bottom tray 1007 is connected to the output end of the second rotary table 1009, serving as the mounting base for the arch gripper 15. Under the action of the second rotary table 1009, the bottom tray 1007 can swing, thereby causing the arch gripper 15 to swing to different positions. In order to make the arch gripper 15 more flexible, the arch gripper 15 can also be hinged to the bottom tray 1007, so that the arch gripper 15 can swing relative to the bottom tray 1007.

[0054] In addition, to facilitate the work of the workers, a work basket 11 is also installed on the auxiliary arch erecting arm 10. During construction, workers can stand on the work basket 11 to carry out auxiliary arch erecting work or other construction work (such as loading explosives).

[0055] The work platform 11 can be an extendable platform to expand the construction work area according to the needs of the workers.

[0056] Specifically, the work basket 11 can be installed on a rotary table frame. More specifically, a rotary table is installed on the rotary table frame, which can be specifically defined as a third rotary table 1010. The work basket 11 is installed at the output end of the third rotary table 1010. In this way, the work basket 11 can be rotated by adjusting the third rotary table 1010 to further expand the coverage area of ​​the work basket 11.

[0057] However, it should be noted that the installation positions of the work basket 11 and the arch frame grab 15 for the auxiliary arch boom 10 are not limited to the above-described embodiments. In other embodiments, the work basket 11 can also be installed at other positions of the auxiliary boom 1004, and the arch frame grab 15 can also be configured on the work basket 11 based on the configuration of the work basket 11.

[0058] To facilitate on-site operation by staff, an operating platform 1006 can be integrated and installed on the suspended platform 11. (See reference for details.) Figure 13 .

[0059] Considering that some projects use foldable arch frames 100, for example, an arch frame 100 consisting of three sections: a top arch frame 100 and side arch frames 100 hinged to both ends of the top arch frame 100, the arch frame gripper 15 directly grips the top arch frame 100 when grabbing and transporting the arch frame 100. To prevent the side arch frames 100 from swaying during this process and to keep the arch frame 100 in an open state, the arch erecting trolley is also equipped with components that can support and guide the transport of the arch frame 100.

[0060] Guardrails 7 are installed on the left and right sides of the first-floor platform 3. The guardrails 7 are outward-folding guardrails 7. In the normal state, the guardrails 7 are in a vertical position, which can protect the workers on the first-floor platform 3. When transporting the folding arch frame 100, the guardrails 7 can be flipped outward at a certain angle (for example, flipped from vertical to horizontal), which can be used to support and guide the folding arch frame 100 transported from back to front.

[0061] Preferably, a telescopic part 701 is provided at the front end of the guardrail 7, which can extend forward beyond the front end of the vehicle frame. This extends the structure of the guardrail 7 to support and guide the arch 100, so that the arch 100 can still be supported after moving forward beyond the front end of the vehicle frame, which can further improve the transport stability of the folding arch 100.

[0062] In other preferred embodiments, such as Figure 9 and Figure 15As shown, multiple telescopic drive devices are installed between the first-level platform 3 and the guardrail 7 to drive the guardrail 7 to flip outward and retract inward. The telescopic drive devices can be hydraulic cylinders, which can be defined as flipping cylinders 702. This forms a multi-point drive and support, ensuring that the guardrail 7 can reliably flip and retract.

[0063] It should be noted that in some embodiments, if the arch frame 100 is a folding arch frame 100, then for the arch erecting trolley, the two auxiliary arch erecting arms 10 at the front end of the frame may not be set. With the support of the guardrail 7, the folding arch frame 100 can remain in the open state, and manual assistance is sufficient when erecting the arch.

[0064] It should also be noted that in some embodiments, the arch erection system can also take other forms. For example, a cantilever crane can be used to grab the arch frame 100. The lifting rope of the cantilever crane can be lowered and lifted to grab the arch frame 100 sent from behind, and then the arch frame 100 can be transferred to the assembly robot arm. To prevent the arch frame 100 from swaying after being lifted by the cantilever crane, an arch frame gripper 15 can be integrated on the cantilever crane.

[0065] In a preferred embodiment, such as Figures 1-8 As shown, to improve the maneuverability of the trolley, the traveling mechanism configured on the trolley is a liftable and independently steerable tracked leg module 9. The tracked leg module 9 consists of two main parts: the legs and the track body 901. The legs are mounted on the track body 901. The track body 901 is specifically consistent with the tracked traveling mechanism in the prior art, including a frame, track chain, drive wheel, guide wheel, tensioning device, drag chain wheel, etc., which will not be described in detail here.

[0066] The outriggers are hinged to the track body 901, with the hinge axis 908 extending in the left-right direction, meaning the outriggers can pitch and swing relative to the track body 901. Specifically, the outriggers include a base, which is hinged to the track body 901. More specifically, the base includes two vertical plates 907 spaced apart on the left and right, and a top plate 902 connected to the top of the two vertical plates 907. The top plate 902 is supported by the vertical plates 907, and the base is hinged to the track body 901 through the two vertical plates 907. The two vertical plates 907 can be connected to the same hinge axis 908, in which case the hinge axis 908 extends through the track body 901 from left to right, ensuring the coaxiality of the two vertical plates 907. Of course, it is also possible that the two vertical plates 907 are hinged to the track body 901 through different pins, in which case the axes of the two pins still coincide.

[0067] A telescopic arm is connected to the top of the base. The telescopic arm is a support boom structure that can extend and retract vertically. Specifically, the telescopic arm and the top of the base are connected by a slewing mechanism. The axis of the slewing mechanism extends vertically, allowing the telescopic arm to rotate relative to the base. This, in turn, allows the support arm and the track body 901 to swing relative to each other (left and right). In other words, the track body 901 can achieve independent steering, improving the chassis's steering capability.

[0068] The telescopic boom consists of two main parts: the base boom 911 and the lifting boom 904. The base boom 911 is connected to the slewing mechanism, and the lifting boom 904 is guided and mounted on the base boom 911. In other words, the lifting boom 904 and the base boom 911 are guided and coordinated vertically. Of course, in order to meet the lifting and lowering of the lifting boom 904, a lifting drive device is also connected between the lifting boom 904 and the base boom 911. The operation of the lifting drive device can drive the lifting boom 904 to rise and fall.

[0069] The lifting boom 904 is connected to the chassis. The movement of the lifting boom 904 can then be converted into relative movement between the track body 901 and the chassis, effectively creating a floating chassis. For example, with the chassis stationary, the movement of the lifting boom 904 can raise and lower the track body 901, allowing for flexible adjustment of its position to accommodate different road surfaces and prevent one side of the track body 901 from being suspended in the air. Alternatively, with the track body 901 stationary, the movement of the lifting boom 904 can raise and lower the chassis, allowing for adjustment of the chassis height to accommodate tunnel construction machinery of varying heights, ensuring that taller equipment can pass normally through the gantry's interior space.

[0070] Each of the four corners of the first-floor platform 3 is equipped with a support leg 8. The support legs 8 can be hydraulic outriggers. During construction, after the tunnel construction trolley is moved into place, the support legs 8 can brace against the ground to withstand the reaction force during construction, thereby improving the stability of the trolley.

[0071] To ensure the strength and stability of the frame, a longitudinal beam 13 is connected between the front and rear support legs 8 on the left and right sides. The longitudinal beam 13 is located below the first-level platform 3.

[0072] The top of the lifting arm 904 is connected to the first-floor platform 3, and the front and rear ends are connected to the longitudinal beams 13. In other words, the top of the lifting arm 904 is provided with a platform connection structure for connecting to the first-floor platform 3, and the front and rear ends are respectively provided with longitudinal beam connection structures for connecting to the longitudinal beams 13.

[0073] In this embodiment, the track outrigger module 9 has three fixed connections with the frame at its middle and top positions, ensuring a stable and reliable connection between the track outrigger module 9 and the frame. The lifting arm 904 connects the first-layer platform 3 and the longitudinal beam 13, ensuring the overall strength of the frame. The track outrigger module 9 can be flexibly adjusted to adjust the track body 901 for different terrains or different tunnel construction equipment, thereby improving the passability of the construction trolley and enabling the passage of larger equipment.

[0074] For a tracked chassis that includes a frame and tracked leg modules 9, the tracked leg modules 9 are connected to the left and right sides of the frame. To ensure normal movement of the tracked chassis, at least one tracked leg module 9 should be connected to each of the left and right sides of the frame. For larger construction trolleys, two tracked leg modules 9 can be connected to the left and right sides of the frame.

[0075] In addition, such as Figure 9 As shown, in order to further improve the strength of the frame, vertical supports 14 can be connected between the first-layer platform 3 and the longitudinal beam 13. The number of vertical supports 14 is not specifically limited. Without affecting the normal operation of the supporting equipment during tunnel construction, the number of vertical supports 14 can be increased appropriately.

[0076] In a preferred embodiment, such as Figures 5-9 As shown, the lifting arm 904 is fitted over the basic arm 911, meaning the inner circumferential surface of the lifting arm 904 mates with the outer circumferential surface of the basic arm 911 for lifting guidance. The lifting arm 904 has an inverted T-shaped structure, specifically comprising a vertical section and a horizontal section connected to the lower end of the vertical section. The inverted T-shaped structure refers to its overall shape resembling an inverted letter T. In practice, to ensure the strength of the lifting arm 904, ribs can be connected between the vertical and horizontal sections.

[0077] The lifting arm 904 is connected to the first-floor platform 3 via a vertical section and to the longitudinal beam 13 via a horizontal section. In other words, the top of the vertical section has a platform connection structure, and the front and rear ends of the horizontal section have longitudinal beam connection structures.

[0078] In this preferred embodiment, the lifting arm 904 extends longitudinally (front and back) with a horizontal section, which, after being connected to the longitudinal beam 13, can be considered as part of the longitudinal beam 13. Compared with the embodiment where the horizontal section is not provided and the front and rear end faces of the vertical section are directly connected to the longitudinal beam 13, the preferred embodiment is obviously more convenient to connect to the longitudinal beam 13 via the horizontal section.

[0079] Specifically, the top of the vertical section can be connected to the first-floor platform 3 via a flange, and the front and rear ends of the horizontal section can also be connected to the longitudinal beam 13 via flanges.

[0080] When assembling the tracked outrigger module 9 on the chassis, the flange can be directly bolted in place, which is convenient, efficient, and does not require welding.

[0081] The lifting drive device connecting the lifting arm 904 and the base arm 911 can be a lifting cylinder 913. The base arm 911 can also be a hollow structure, and the lifting cylinder 913 can be located inside the base arm 911. In this case, both ends of the lifting cylinder 913 can be connected to the lifting arm 904 and the base arm 911 respectively through pins. For ease of description, the two pins can be defined as the upper pin 914 and the lower pin 915. The upper end of the lifting cylinder 913 is connected to the lifting arm 904 through the upper pin 914, and the lower end of the lifting cylinder 913 is connected to the base arm 911 through the lower pin 915.

[0082] It should be noted that in other embodiments, the lifting arm 904 can also be guided and matched with the basic arm 911 in other ways. For example, a dovetail groove can be provided on the lifting arm 904, and the basic arm 911 can be provided with a shape that matches the dovetail groove. The opening of the dovetail groove can face left or right without affecting the connection between the front and rear ends of the lifting arm 904 and the longitudinal beam 13, or the connection between the top end and the first-floor platform 3. At the same time, the lifting drive device can also be replaced with an electric cylinder.

[0083] In some embodiments, the rotary mechanism may employ a slewing bearing 903. As those skilled in the art will understand, a slewing bearing 903 generally includes a rotating body, a fixed body, and rolling elements between the rotating ring and the fixed ring. The rotating ring has a toothed structure; for example, when the inner ring is a rotating ring, the inner circumference of the inner ring has a toothed structure, and when the outer ring is a rotating ring, the outer circumference of the outer ring has a toothed structure (not shown in the figure). The toothed structure can mesh with a pinion 905, and rotate under the drive of the pinion 905.

[0084] Those skilled in the art will understand that the pinion 905 here refers to the gear that drives the rotation of the slewing ring. Because it is smaller than the size of the slewing ring, it is generally referred to as the pinion 905 in the art.

[0085] Specifically, such as Figures 5-9 As shown, the slewing mechanism includes a slewing bearing 903 mounted on a top plate 902 and a slewing drive device that drives the slewing bearing 903 to rotate a slewing ring. The slewing drive device includes a power head 906, which most basically includes a motor or a hydraulic motor; alternatively, a reducer can be connected to the motor or hydraulic motor. The output shaft of the power head 906 is connected to a pinion 905, which is connected to the slewing ring. Without a reducer, the output shaft of the power head 906 is the power shaft of the motor or hydraulic motor. With a reducer, the output shaft of the power head 906 is the output shaft of the reducer.

[0086] Accordingly, to facilitate the connection between the basic arm 911 and the slewing bearing 903, a circular flange is provided at the lower end of the basic arm 911.

[0087] Compared to other types of rotary mechanisms, such as those using splined shafts with rolling bearings, the slewing bearing 9033 offers advantages in terms of convenience and strength.

[0088] In a preferred embodiment, to avoid interference between the power head 906 and the longitudinal beam 13 or the horizontal section when the track body 901 and the lifting arm 904 move relative to each other, the power head 906 can be located below the top plate 902. Specifically, the output shaft of the power head 906 passes through the top plate 902 and is connected to the pinion 905. In this case, the power head 906 can be connected to the vertical plate 907 through a bracket.

[0089] It's easy to understand that, in most cases except during turning, there's no need to swing the track body 901; it only needs to be in the centered position. Therefore, the lifting boom 904 has a limiter 912 fixed in the horizontal section, and a stop 910 fixed on the top plate 902. When the track body 901 is in the centered position, the limiter 912 and the stop 910 engage, thus mechanically limiting the slewing mechanism and ensuring that the track body 901 can reliably remain in the centered position. Both the limiter 912 and the stop 910 can be plate-like structures.

[0090] To precisely control the rotation angle of the slewing mechanism, in some embodiments, an encoder 909 can be installed on the pinion 905. The result of the encoder 909 can be fed back to the power head 906 to achieve precise control of the rotation angle.

[0091] 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. A multi-functional drilling and blasting construction trolley, characterized in that, The vehicle includes a portal frame with a traveling mechanism. At the top of the frame is a first-level platform and a second-level platform above it. The first-level platform is equipped with a drill arm and an anchor bolt arm, both of which are multi-degree-of-freedom robotic arms. The drill arm is used to drill blast holes and anchor bolt holes for the arch, while the anchor bolt arm is used to install the arch anchor bolts. The second-level platform is equipped with an arch erecting system, which is used to grab the arch frame and deliver it to the assembly position. At the rear of the first-level platform is a drill-anchor integrated arm, also a multi-degree-of-freedom robotic arm, used to drill anchor bolt holes for the sidewalls and install the sidewall anchor bolts.

2. The multi-functional drill-and-blast construction trolley according to claim 1, characterized in that, There are two drill arms and one anchor arm mounted on the first-floor platform. In the left-right direction, the anchor arm is located between the two drill arms.

3. The multi-functional drill-and-blast construction trolley according to claim 2, characterized in that, Each drill arm and anchor arm is mounted on the first-floor platform via a movable seat that can move back and forth on the first-floor platform. The second-floor platform is supported on the first-floor platform by a support column. A channel for the anchor arm to move back and forth is provided directly below the second-floor platform.

4. The multi-functional drill-and-blast construction trolley according to any one of claims 1-3, characterized in that, The arch erection system includes a gripping robotic arm and a delivery robotic arm. The gripping robotic arm and the delivery robotic arm are respectively mounted on the second-level platform via movable seats that can move back and forth on the second-level platform. Both the gripping robotic arm and the delivery robotic arm are equipped with arch frame grippers. The arch frame grippers of the gripping robotic arm face backward, and the arch frame grippers of the delivery robotic arm face forward. The travel of the gripping robotic arm is such that when the gripping robotic arm is located at the rear end of the vehicle frame, the arch frame grippers can grip the arch frame located behind the vehicle frame. The back-and-forth travel of the movable seats of the gripping robotic arm and the delivery robotic arm is such that the arch frame gripped by the gripping robotic arm can be transferred to the delivery robotic arm, so that the delivery robotic arm can deliver the arch frame to the assembly position.

5. The multi-functional drill-and-blast construction trolley according to claim 4, characterized in that, The front end of the vehicle frame is equipped with two auxiliary arch arms arranged at intervals on the left and right. Each auxiliary arch arm includes a mounting base mounted on the vehicle frame. The mounting base is equipped with a swing frame that can swing left and right relative to the mounting base. The swing frame is equipped with an auxiliary arm that can swing up and down relative to the swing frame. The auxiliary arm is equipped with an arch frame grabber. The two auxiliary arch arms are used to grab the arch frame and send the arch frame to the left and right sides of the tunnel wall respectively.

6. The multi-functional drill-and-blast construction trolley according to claim 5, characterized in that, A work basket is also installed on the auxiliary arch arm.

7. The multi-functional drill-and-blast construction trolley according to claim 4, characterized in that, Guardrails are installed on the left and right sides of the first-floor platform. The guardrails can be flipped outward to support and guide the folding arch frame that is transported from back to front.

8. The multi-functional drill-and-blast construction trolley according to claim 7, characterized in that, The front end of the guardrail is equipped with a telescopic section that can extend forward, and the telescopic section extends beyond the front end of the vehicle frame after it is extended.

9. The multi-functional drill-and-blast construction trolley according to claim 7, characterized in that, Between the guardrail and the first-floor platform, there are multiple telescopic drive devices that drive the guardrail to flip and retract, arranged at intervals in the front-to-back direction.

10. The multi-functional drill-and-blast construction trolley according to any one of claims 1-3, characterized in that, Each of the four corners of the first-floor platform is provided with a support leg. A longitudinal beam located below the first-floor platform connects the front and rear support legs on the same side. The traveling mechanism includes at least one tracked support leg module on each of the left and right sides of the frame. The tracked support leg module includes a track body and a support leg mounted on the track body. The support leg includes a seat hinged to the track body, with the hinge axis extending in the left and right direction. The top of the seat is connected to a telescopic arm through a slewing mechanism so that the seat can rotate relative to the telescopic arm. The axis of the slewing mechanism extends vertically. The telescopic arm includes a basic arm connected to the slewing mechanism and a lifting arm guided and mounted on the basic arm. A lifting drive device is connected between the lifting arm and the basic arm. The top of the lifting arm is connected to the first-floor platform through a platform connection structure, and the front and rear ends are connected to the longitudinal beam through a longitudinal beam connection structure.

11. The multi-functional drill-and-blast construction trolley according to claim 10, characterized in that, Vertical bracing connects the longitudinal beams and the first-floor platform.

12. The multi-functional drill-and-blast construction trolley according to claim 10, characterized in that, The lifting arm is an inverted T-shaped structure that is integrally fitted outside the basic arm. It includes a vertical section and a horizontal section connected to the lower end of the vertical section. The platform connecting structure is located at the top of the vertical section, and the longitudinal beam connecting structures are located at the front and rear ends of the horizontal section respectively.

13. The multi-functional drill-and-blast construction trolley according to any one of claims 1-3, characterized in that, The drilling-anchor integrated arm incorporates a grouting system, forming a drilling-grouting-anchor integrated arm.

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