A segmental arch trolley

Abstract

This utility model belongs to the field of tunnel lining support, specifically providing an arch erecting trolley. The trolley includes a portal frame, with a grabbing robotic arm and a delivery robotic arm mounted on the top of the frame. Both the grabbing and delivery robotic arms include a movable seat and a main arm mounted on the movable seat. The main arm can swing in and out and is equipped with an arch frame gripper. The movable seat can move back and forth along the top of the frame. The arch frame gripper of the grabbing robotic arm faces rearward, and the arch frame gripper of the delivery robotic arm faces forward. The swing stroke of the main arm of the grabbing robotic arm is such that when the grabbing robotic arm is at the rear end of the frame, the arch frame gripper can grab the arch frame located behind the frame, and the arch frame grabbed by the grabbing robotic arm can be transferred to the delivery robotic arm. Using robotic arms to grab the arch frame ensures the stability of the arch frame grabbing process. The grabbing and delivery robotic arms each perform their respective functions, without needing to cause the arch frame to swing significantly within the tunnel, allowing the arch erecting trolley to meet the construction requirements of small-section tunnels.

Description

Technical Field

[0001] This utility model belongs to the field of tunnel lining support, and in particular relates to an arch erecting trolley. Background Technology

[0002] In tunnel construction, initial support is a crucial step in ensuring the stability of the surrounding rock, and the installation of steel arch frames is the core work of initial support. With the continuous development of tunnel construction equipment, arch erecting trolleys capable of assembling and erecting arches are also being effectively used in tunnel construction, which can greatly improve the efficiency and safety of arch frame installation and reduce the intensity of manual labor.

[0003] Currently, in order to meet the needs of parallel construction of different processes, some arch trolleys adopt a portal frame, in which the space under the frame can be used for other construction vehicles (such as muck trucks) to pass through.

[0004] For example, the invention patent application with publication number CN113530552A discloses a tunnel excavation trolley. The trolley includes a portal frame (i.e., a chassis). The top of the frame is equipped with a working arm, an arch frame transport vehicle, and a cantilever crane. The cantilever crane can lift the arch frame located behind the trolley. The arch frame transport vehicle can receive the arch frame lifted by the cantilever crane. The arch frame transport vehicle can move back and forth along the top of the trolley to transport the arch frame forward. The working arm can grab and deliver the arch frame to the assembly position.

[0005] For example, the utility model patent with authorization announcement number CN217652749U discloses an installation trolley for a tunnel arch frame. The trolley includes a portal frame with a movable slide at the top. A robotic arm is mounted on the movable slide. The robotic arm has multiple degrees of freedom and can move to the rear of the frame and swing downward to the rear of the frame to grab the arch frame. After grabbing the arch frame, the robotic arm swings forward and sends the arch frame to the assembly position.

[0006] Single-track railway tunnels typically have small cross-sectional dimensions, making both types of lifting trolleys unsuitable for such tunnels. For trolleys using cantilever cranes to lift the arch frame, the high position of the frame necessitates lifting the arch frame to a considerable height. This can cause the arch frame to sway during lifting, and given the limited space within the tunnel, significant swaying could easily cause it to collide with the tunnel walls. Furthermore, it is inconvenient for workers to assist in maintaining the stability of the arch frame during lifting. For trolleys equipped with robotic arms, the arm needs to swing forward 180 degrees after grasping the arch frame, a process with a large range of motion that also increases the risk of collision with the tunnel walls. Utility Model Content

[0007] The purpose of this utility model is to provide an arch-mounting trolley to solve the technical problem that existing arch-mounting trolleys with gantry frames are difficult to use for small-section tunnel construction.

[0008] To achieve the above objectives, the technical solution of the arch-shaped trolley provided by this utility model is as follows: An arch trolley includes a portal frame. A gripping robotic arm and a delivery robotic arm are mounted on the top of the frame. Both the gripping and delivery robotic arms include a movable seat and a main arm mounted on the movable seat. The main arm is swayable and equipped with an arch frame gripper. The movable seat can move back and forth along the top of the frame. The arch frame gripper of the gripping robotic arm faces rearward, and the arch frame gripper of the delivery robotic arm faces forward. The swing stroke of the main arm of the gripping robotic arm is such that when the gripping robotic arm is located at the rear end of the frame, the arch frame gripper can grip the arch frame located behind the frame. The forward and backward movement stroke of the movable seat of the gripping and delivery robotic arms 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.

[0009] 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.

[0010] As a further improvement, a work basket is also installed on the auxiliary arch arm.

[0011] As a further improvement, the top of the frame has a double-layer structure, including a first-layer platform and a second-layer platform mounted on the first-layer platform. The grabbing and loading robotic arms are mounted on the second-layer platform. Guardrails are provided on the left and right sides of the first-layer platform. The guardrails can be flipped outward to support and guide the folding arch frame that is transported from back to front.

[0012] 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.

[0013] 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.

[0014] As a further improvement, the main arms of both the gripping and loading robotic arms are mounted on corresponding mobile seats via arm mounts that can swing left and right.

[0015] As a further improvement, both the gripping and conveying robotic arms have telescopic arms as their main arms, and the arched grippers configured for each are installed at the telescopic output end of the main arm.

[0016] As a further improvement, control valve groups are respectively installed on the moving seats of the gripping and conveying robotic arms and the loading and unloading robotic arms to control their movements.

[0017] As a further improvement, the structures of the feeding robot arm and the gripping robot arm are identical, except that the installation direction is different so that their respective arch grippers face different directions.

[0018] This utility model is a pioneering invention, and its beneficial effects are as follows: The top of the arch erecting trolley is equipped with a grabbing mechanical arm and a delivery mechanical arm. The arch frame gripper of the grabbing mechanical arm faces backward, so it can grab the arch frame sent from behind and hand it over to the delivery mechanical arm. The arch frame gripper of the delivery mechanical arm faces forward, so it can drive the arch frame to the assembly position.

[0019] Unlike existing technologies, this invention uses a robotic arm to grasp the arch frame, ensuring stability during the grasping process and effectively preventing the arch frame from hitting the tunnel wall. Simultaneously, the grasping and loading robotic arms each perform their respective functions, with a "handshake" handover process during operation. This eliminates the need for the arch frame to swing significantly within the tunnel, allowing the arch erecting trolley to meet the construction requirements of small-section tunnels. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the arch trolley embodiment of this utility model; Figure 2 This is a schematic diagram showing the working state of the grabbing and loading robotic arms of the arch-shaped trolley embodiment of this utility model. Figure 3 This is a schematic diagram showing the handover state of the grabbing and loading robotic arms in an embodiment of the vertical arch trolley of this utility model. Figure 4 This is a schematic diagram showing the working state of the loading and unloading robotic arm and the auxiliary arch arm in an embodiment of the arch trolley of this utility model. Figure 5 for Figure 1 A schematic diagram of the auxiliary arch arm from one of the perspectives; Figure 6 for Figure 1 A schematic diagram of the auxiliary arch arm from another perspective; Figure 7 for Figure 1 Schematic diagram of the central guardrail; Figure 8 for Figure 1 A schematic diagram of the structure of the loading and unloading robotic arm.

[0021] Explanation of reference numerals in the attached figures: 1. Tracked walking mechanism; 2. Hydraulic outriggers; 3. Guardrail; 4. First-level platform; 5. Loading and unloading robotic arm; 6. Grabbing and conveying robotic arm; 7. Second-level platform; 8. Auxiliary arch arm; 9. Arch frame gripper; 100. Arch frame; 301. Telescopic part; 302. Tilting cylinder; 501. Moving seat; 502. First swing cylinder; 503. Boom base; 504. First-level pitch cylinder; 505. Second-level pitch cylinder; 506. Second-level pitch frame; 507. First rotary table; 508. Grabber arm; 509. Third-level pitch cylinder; 510. Main boom; 511. Control valve assembly; 512. Control box; 801. Mounting base; 802. Swing frame; 803. Second swing cylinder; 804. Auxiliary arm; 805. First pitch cylinder; 806. Control panel; 807. Work basket; 808. Chassis; 809. Second pitch cylinder; 810. Second rotary table; 811. Third rotary table. Detailed Implementation

[0022] Currently, for small-section tunnels, the assembly of arch frames is still often done manually, with low mechanization and high labor intensity. To address this problem, the basic technical concept of this invention is to configure two sets of robotic arms at the top of the arch support platform: one for gripping the arch frame and the other for assembling it. The arch frame grippers in the two sets of robotic arms face different directions. After one set of robotic arms grips the arch frame delivered from behind, it can be handed over to the other set of robotic arms, which then ultimately delivers the arch frame to the assembly position.

[0023] During construction, the arch frame is reliably gripped by the robotic arm and will not sway inside the tunnel, thus preventing it from hitting the tunnel walls. At the same time, the arch frame does not need to swing extensively with the robotic arm, allowing for handover even in tunnels with small cross-sections.

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

[0025] The arch-shaped trolley provided in this embodiment is as follows: Figure 1 As shown, the system includes a chassis, which serves as the supporting foundation for all components. The chassis has a portal frame structure, allowing other vehicles (such as dump trucks) to pass underneath during construction, thus enabling parallel operation of different work processes. The chassis can also move back and forth along the tunnel floor, specifically by configuring a tracked walking mechanism 1. To improve construction stability, a hydraulic outrigger 2 is installed at each of the four corners of the chassis. After the trolley reaches its designated position, the hydraulic outrigger 2 extends downwards to support the ground.

[0026] A gripping robotic arm 6 and a delivery robotic arm 5 are mounted on the top of the chassis. 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 9 for gripping the arch frame 100 and can move back and forth along the top of the chassis. The delivery robotic arm 5 can be understood as a robotic arm that receives the arch frame 100 from 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 9 for gripping the arch frame 100 and can move back and forth along the top of the chassis.

[0027] Specifically, such as Figures 1-4 and Figure 8 As shown, the loading / 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 9 is mounted on the main arm 510. The structure of the arch frame gripper 9 can be consistent with existing technology, and its structure will not be described in detail here. The movable base 501 can move back and forth along the top of the frame, where "back and forth" refers to the front-to-back direction of the trolley, which is clear and undisputed to those skilled in the art. By moving the movable base 501 back and forth, the loading / unloading robotic arm 5 can transport the arch frame 100 from back to front to the working face position. By swinging the main arm 510 upward, it can deliver the arch frame 100 to the appropriate arch frame 100 assembly position.

[0028] Similarly, the gripping robotic arm 6 also includes a movable base 501, on which a main arm 510 is mounted, and an arch gripper 9 is mounted on the main arm 510. The movable base 501 can move back and forth along the top of the vehicle frame. The loading robotic arm 5 can grip the arch 100 delivered from the rear by swinging the main arm 510 downwards, as shown in the reference. Figure 2 The arch frame 100 is conveyed forward by the back-and-forth movement of the movable seat 501. In other words, the main arm 510 of the loading robot arm 5 swings to form a shape that allows the arch frame gripper 9 on the main arm 510 to grip the arch frame 100 located behind the vehicle frame when the gripping robot arm is located at the rear end of the vehicle frame.

[0029] Regarding the specific movement of the movable seat 501, existing technologies can be referenced for configuration. For example, wheels can be mounted on the movable seat 501, and correspondingly, guide rails can be provided at the top of the frame to guide the movement of the movable seat 501. The drive unit can be directly mounted on the movable seat 501, allowing the wheels to rotate actively, or the drive unit 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 arch trolleys, there are various ways to configure the movable seat 501 on the frame. No particular method is emphasized here; the principle is that the movable seat 501 can move back and forth along the frame.

[0030] Although both the loading / unloading robotic arm 5 and the gripping robotic arm 6 are equipped with arched grippers 9, the arched grippers 9 on the two robotic arms face different directions. For example... Figures 1-4 As shown, the arched gripper 9 of the loading robot arm 5 is forward, while the arched gripper 9 of the loading robot arm 6 is backward.

[0031] 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 3 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.

[0032] To ensure the proper handover of the arch frame 100 between the delivery robotic arm 5 and the gripping robotic arm 6, the forward and backward travel of the moving base 501 of both the gripping robotic arm 6 and the delivery robotic arm 5 should be sufficient to allow the arch frame 100 gripped by the gripping robotic arm to be transferred to the delivery robotic arm 5, so that the delivery robotic arm 5 can transport the arch frame 100 to the assembly position. In other words, the two robotic arms should be able to move to a position where their respective arch frame grippers 9 are in the same location to smoothly complete the handover of the arch frame 100.

[0033] Based on the above description of the arch trolley structure, during construction, the arch frame 100 delivered to the rear of the arch trolley 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, the arch frame 100 can be transported 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.

[0034] 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 100 installation in small-section tunnels, reducing manual labor intensity.

[0035] In some preferred embodiments, such as Figures 1-4 , Figure 8As shown, the main arm 510 of the loading and unloading robotic arm 5 can swing left and right, allowing the arch frame gripper 9 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 the first swing cylinder 502, with its two ends hinged to the support arm 503 and the movable seat 501, respectively.

[0036] 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 9 to cover a larger range to the left and right, facilitating the gripping of the arch 100 at different positions. The gripping robotic arm 6 can also have its main arm 510 mounted on a movable base 501 via a swingable arm mount 503.

[0037] 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 9 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.

[0038] Of course, in addition to the basic ability to swing up and down, the loading / unloading 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 9's movements during construction. Specifically, such as... Figure 8 As shown, the loading / unloading robotic arm 5 can be configured as a telescopic, two-stage left-right swing, and three-stage pitch swing robotic arm. More specifically, the main arm 510 is hinged to the arm base 503, and a first-stage pitch cylinder 504 for driving the pitch swing of the main arm 510 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 for driving the pitch swing of the second-stage pitch frame 506 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 horizontal L-shaped or right-angled structure. A rotary table is mounted 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 that can output rotary motion, which can be a slewing bearing, a worm gear reducer, etc. A gripper arm 508 is connected to the rotary output end of the rotary table. An arched gripper 9 is hinged to the gripper arm 508. A three-stage pitch cylinder 509 is connected between the arched gripper 9 and the gripper arm 508 to drive the arched gripper 9 to pitch and swing.

[0039] 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.

[0040] 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.

[0041] 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 9 configured on the gripping robotic arm 6 and the loading robotic arm can be different.

[0042] In some preferred embodiments, such as Figure 1 , Figures 3-6 As shown, two auxiliary arch arms 8 are mounted at the front end of the frame. The two auxiliary arch arms 8 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 8 have the freedom to swing up and down and swing left and right, and are equipped with arch frame grippers 9 to help deliver the side arch frame 100 to the set assembly position.

[0043] Specifically, the auxiliary arch support 8 includes a mounting base 801, which is mounted on a vehicle frame. A swing frame 802 is mounted on the mounting base 801, and the swing frame 802 can swing left and right relative to the mounting base 801. Naturally, the swing frame 802 is equipped with a drive device to drive its swing, such as a hydraulic cylinder, which can be defined as a second swing cylinder 803. The two ends of the second swing cylinder 803 are respectively hinged to the swing frame 802 and the mounting base 801, with the hinge axis extending vertically. An auxiliary arm 804 capable of vertical swing is mounted on the swing frame 802. Naturally, the auxiliary arm 804 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 809. An arch frame gripper 9 is mounted on the auxiliary arm 804. During construction, the two auxiliary arch supports 8 can grip the arch frame 100 and deliver the arch frame 100 to the assembly positions on the left and right sides of the tunnel.

[0044] To enhance the flexibility of the auxiliary arch arm 8, preferably, the auxiliary arm 804 can be configured as a telescopic arm, with the arch frame gripper 9 positioned at the telescopic output end of the auxiliary arm 804. This allows the auxiliary arch arm 8 to cover a wider 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 810. The rotary table is equipped with a drive device to swing it, specifically a hydraulic cylinder, defined as a first pitch cylinder 805. The two ends of the first pitch cylinder 805 are connected to the rotary table and the telescopic output end of the auxiliary arm 804, respectively. A chassis 808 is connected to the output end of the second rotary table 810, serving as the mounting base for the arch frame gripper 9. Under the action of the second rotary table 810, the chassis 808 can swing, thereby causing the arch frame gripper 9 to swing to different positions. To make the arch gripper 9 more flexible, the arch gripper 9 can also be hinged to the chassis 808 so that the arch gripper 9 can swing relative to the chassis 808.

[0045] In addition, to facilitate the work of the workers, a work basket 807 is also installed on the auxiliary arch erecting arm 8. During construction, workers can stand in the work basket 807 to carry out auxiliary arch erecting work or other construction work (such as loading explosives).

[0046] The 807 working platform can be extended to expand the working area to meet the needs of workers.

[0047] Specifically, the work basket 807 can be installed on a rotary table frame. More specifically, a rotary table, which can be defined as a third rotary table 811, is installed on the rotary table frame. The work basket 807 is installed at the output end of the third rotary table 811. In this way, the work basket 807 can be rotated by adjusting the third rotary table 811 to further expand the coverage area of ​​the work basket 807.

[0048] However, it should be noted that the installation positions of the work basket 807 and the arch frame grab 9 for the auxiliary arch boom 8 are not limited to the implementation methods provided above. In other implementation methods, the work basket 807 can also be installed in other positions of the auxiliary boom 804, and the arch frame grab 9 can also be configured on the work basket 807 based on the configuration of the work basket 807.

[0049] To facilitate on-site operation by staff, an operating platform 806 can be integrated and installed on the work basket 807. (See reference.) Figure 5 .

[0050] 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 9 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 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.

[0051] Specifically, such as Figures 1-4 , Figure 7 As shown, the top of the vehicle frame has a double-layer structure, specifically including a first-layer platform 4 and a second-layer platform 7, with the second-layer platform 7 mounted on top of the first-layer platform 4. The grabbing robotic arm 6 and the loading robotic arm 5 are mounted on the second-layer platform 7. Guardrails 3 are provided on the left and right sides of the first-layer platform 4. The guardrails 3 are outward-folding guardrails. In normal operation, the guardrails 3 are upright, providing protection for workers on the first-layer platform 4. When transporting the folding arch frame 100, the guardrails 3 can be flipped outward at a certain angle (e.g., from vertical to horizontal), which can be used to support and guide the folding arch frame 100 transported from back to front.

[0052] Preferably, a telescopic part 301 is provided at the front end of the guardrail 3, which can extend forward beyond the front end of the vehicle frame. This extends the structure of the guardrail 3 to support and guide the arch frame 100, so that the arch frame 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 frame 100.

[0053] In other preferred embodiments, such as Figure 1 and Figure 7 As shown, multiple telescopic drive devices are installed between the first-floor platform 4 and the guardrail 3 to drive the guardrail 3 to flip outward and retract inward. The telescopic drive devices can be hydraulic cylinders, which can be defined as flipping cylinders 302. This forms a multi-point drive and support, ensuring that the guardrail 3 can reliably flip and retract.

[0054] 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 8 at the front end of the frame may not be set. With the support of the guardrail 3, the folding arch frame 100 can remain in the open state, and manual assistance is sufficient when erecting the arch.

[0055] 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 vertical arch trolley, characterized in that, The vehicle includes a portal frame, with a gripping robotic arm and a delivery robotic arm mounted on the top of the frame. Both the gripping and delivery robotic arms include a movable base and a main arm mounted on the movable base. The main arm can pitch and swing and is equipped with an arched gripper. The movable base can move back and forth along the top of the frame. The arched gripper of the gripping robotic arm faces rearward, and the arched gripper of the delivery robotic arm faces forward. The swing stroke of the main arm of the gripping robotic arm is such that when the gripping robotic arm is located at the rear end of the frame, the arched gripper can grip the arched frame located behind the frame. The back-and-forth movement stroke of the movable base of the gripping and delivery robotic arms is such that the arched frame gripped by the gripping robotic arm can be transferred to the delivery robotic arm, so that the arched frame can be delivered to the assembly position by the delivery robotic arm.

2. The arch-shaped trolley according to claim 1, 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.

3. The arch-shaped trolley according to claim 2, characterized in that, A work basket is also installed on the auxiliary arch arm.

4. The arch-mounted trolley according to any one of claims 1-3, characterized in that, The top of the frame has a double-layer structure, including a first-layer platform and a second-layer platform mounted on the first-layer platform. The grabbing and conveying robotic arms and the loading robotic arms are mounted on the second-layer platform. Guardrails are provided on the left and right sides of the first-layer platform. The guardrails can be flipped outward to support and guide the folding arch frame that is transported from back to front.

5. The arch-shaped trolley according to claim 4, 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.

6. The arch-shaped trolley according to claim 4, 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.

7. The arch-supported trolley according to claim 1, characterized in that, Both the gripping robotic arm and the loading robotic arm have their main arms mounted on corresponding mobile seats via arm mounts that can swing left and right.

8. The arch-shaped trolley according to claim 7, characterized in that, Both the gripping and conveying robotic arm and the loading robotic arm have telescopic arms as their main arms, and their respective arched grippers are installed at the telescopic output end of the main arm.

9. The arch-supported trolley according to claim 7, characterized in that, Control valve groups are respectively installed on the moving bases of the gripping and conveying robotic arms and the loading and unloading robotic arms to control their movements.

10. The arch-mounted trolley according to any one of claims 1-3 and 7-9, characterized in that, Apart from the different installation directions that cause their respective arch grippers to face different directions, the feeding robotic arm and the gripping robotic arm have the same structure.

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