CN110500111B - A multifunctional tunnel operation trolley - Google Patents
A multifunctional tunnel operation trolley Download PDFInfo
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- CN110500111B CN110500111B CN201910661990.6A CN201910661990A CN110500111B CN 110500111 B CN110500111 B CN 110500111B CN 201910661990 A CN201910661990 A CN 201910661990A CN 110500111 B CN110500111 B CN 110500111B
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- 230000007246 mechanism Effects 0.000 claims description 30
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- 238000010586 diagram Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/122—Working or loading platforms
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Abstract
一种隧道多功能作业台车，包括：车身，作为配装载体部分；装于车身上且能实施单独和平行作业的主工作臂、第一侧工作臂和第二侧工作臂，两侧工作臂分居于主工作臂两侧；主工作臂的前端铰接主机械手，第一侧工作臂的前端铰接第一侧机械手，第二侧工作臂的前端铰接第二侧机械手；主机械手、第一侧机械手、第二侧机械手均铰接有第一驱动件，第一驱动件连接有改变第一驱动件位置的第二驱动件，第二驱动件设置在对应工作臂前端。隧道多功能作业台车能使各工作臂便捷、省时地实现配合操作，且能实现缓慢调节，使得工件较准易于操作，且校准精确。
A multifunctional tunnel operation trolley includes: a vehicle body as a mounting carrier; a main working arm, a first side working arm and a second side working arm mounted on the vehicle body and capable of performing separate and parallel operations, the two side working arms being separated on both sides of the main working arm; the front end of the main working arm is hinged to the main manipulator, the front end of the first side working arm is hinged to the first side manipulator, and the front end of the second side working arm is hinged to the second side manipulator; the main manipulator, the first side manipulator and the second side manipulator are all hinged to a first driving member, the first driving member is connected to a second driving member that changes the position of the first driving member, and the second driving member is arranged at the front end of the corresponding working arm. The multifunctional tunnel operation trolley enables each working arm to realize coordinated operation conveniently and time-savingly, and can realize slow adjustment, so that the workpiece is more accurate, easy to operate, and precisely calibrated.
Description
Technical Field
The invention relates to the technical field of tunnel construction equipment, in particular to a multifunctional tunnel operation trolley.
Background
In tunnel construction such as railway, highway, underground engineering, diversion engineering, etc., operations such as laying a plurality of steel arches at intervals along the length direction of the tunnel to prevent tunnel collapse, installation of auxiliary anchor rod and anchor net, auxiliary picking and ventilation pipe operation, etc. are often required. For implementation of multiple operations, multiple devices are often required to be matched, so that the cost is increased and the operation is inconvenient.
Therefore, the multifunctional operation trolley appears timely, but the trolley only has the combination of limited operation functions, and when the operation is matched, especially the matching operation among all working arms is difficult, the independent operation or the parallel operation is difficult, and when the operation is adjusted, the slow adjustment is difficult, so that the difficulty of workpiece calibration is increased.
Disclosure of Invention
The invention aims to solve the technical problem of providing a tunnel multifunctional operation trolley, which can realize the coordination operation of each working arm conveniently and quickly and in a time-saving manner, can realize slow adjustment, and ensures that workpieces are relatively easy to operate and are accurately calibrated.
The technical proposal of the invention is to provide a tunnel multifunctional operation trolley with the following structure, which comprises a trolley body and a loading body part, wherein the loading body part is used as a trolley component part;
the main working arm, the first side working arm and the second side working arm are assembled on the vehicle body and can implement independent operation and parallel operation, and the first side working arm and the second side working arm are respectively arranged on two sides of the main working arm;
The front end of the main working arm is hinged with a main manipulator, the front end of the first side working arm is hinged with a first side manipulator, the front end of the second side working arm is hinged with a second side manipulator,
The main mechanical arm, the first side mechanical arm and the second side mechanical arm are all hinged with a first driving piece for driving the main mechanical arm to rotate, the first driving piece is connected with a second driving piece for changing the position of the first driving piece, and the second driving piece is arranged at the front end of the corresponding working arm.
Preferably, the front end of each working arm is provided with a base through a small slewing mechanism, and the second driving part is arranged on the base, so that the corresponding manipulator realizes slewing operation under the slewing action of the small slewing mechanism, the operation radiation range is increased, the implementation operation of each operation is facilitated, and meanwhile, the base also provides a mounting carrier for the second driving part.
Preferably, each base is provided with a working operation platform, that is, each working arm is provided with a working operation platform, so that for each working arm, an operator can perform corresponding operation on the working operation platform, the variety of operation implemented by the tunnel multifunctional operation trolley is further increased, and the performance of multiple functions is further enhanced.
Preferably, the second driving part comprises a second cylinder body and a second telescopic rod which is connected in the second cylinder body in a sliding way, the second cylinder body is fixedly connected to the base, and the end part of the second telescopic rod is connected with the first driving part.
Preferably, the first driving part comprises a first cylinder body and a first telescopic rod which is connected in the first cylinder body in a sliding manner, and the first telescopic rod is hinged with the corresponding manipulator.
Preferably, the second telescopic rod is fixedly connected with the first cylinder body.
Preferably, the second telescopic rod is hinged with the first cylinder body.
Preferably, the end part of the first cylinder body far away from the first telescopic rod is hinged with the second telescopic rod.
Preferably, the base comprises a supporting frame, and the second cylinder body is fixedly connected with the supporting frame.
Preferably, the second driving member is disposed along a horizontal direction, and an included angle is formed between the first driving member and the second driving member.
Preferably, the main working arm is hinged to the vehicle body, and the main working arm is further provided with a third driving piece for driving the main working arm to pivot in a vertical plane, and the main working arm can conveniently work independently or in parallel relative to the vehicle body through the arrangement of the hinge and the driving piece. Thereby, the pivot motion of the main working arm in the vertical direction is realized
Preferably, the main working arm is further connected to the vehicle body through a pivot shaft, a fifth driving member is further assembled on the vehicle body, and the driving end of the fifth driving member is further connected to the main working arm through a connecting frame body so as to drive the main working arm to pivot in the horizontal direction. Thereby, the main working arm can be rotated in the horizontal direction.
Preferably, the first side working arm and the second side working arm are respectively hinged on a large slewing mechanism assembled on the vehicle body to realize rotation in a horizontal plane, and the first side working arm and the second side working arm are respectively provided with a fourth driving piece for driving the first side working arm and the second side working arm to pivot in a vertical plane, and the corresponding side working arms can independently or parallelly operate relative to the vehicle body and can realize corresponding rotation in the horizontal plane and the vertical plane through the large slewing mechanism, the hinging mode and the matching of the driving pieces.
Preferably, the main mechanical arm comprises a central mechanical arm with a first chuck arranged at the top, the central mechanical arm comprises an outer pipe and an inner pipe, the lower end of the outer pipe is in running fit with the base, the first driving piece is used for driving the outer pipe to rotate, the inner pipe is in sliding fit with the outer pipe, the upper end of the inner pipe, deviating from the base, is exposed out of the outer pipe, the first chuck is in running fit with the upper end of the inner pipe, and power arms for propping against a workpiece and pushing the workpiece to be lifted are respectively arranged on two sides of the outer pipe.
Preferably, the top of the power arm is provided with a top bracket, and after the top of the power arm is provided with the bracket, the workpiece can be effectively lifted and prevented from slipping off the power arm along the thickness direction of the workpiece.
After the structure is adopted, compared with the prior art, the main manipulator has the advantages that firstly, the workpiece is clamped by the central manipulator, the two power arms on two sides are utilized to lift the workpiece, so that the bearing capacity of the power arms driven by hydraulic pressure is far greater than that of a conventional joint manipulator, meanwhile, the two power arms can realize the adjustment of the angle and the position of an arch through the cooperation of the expansion quantity, the adjustment precision is good, and secondly, the reset inhaul cable is designed, so that the inner pipe on the central manipulator can be forced to reset by utilizing the movable section on the power arms under the condition that the inner pipe on the central manipulator cannot be reset under the action of gravity, and the integral reliability of equipment is improved.
Finally, compared with the conventional manipulator, the main manipulator has no high-performance requirement on materials, and meanwhile, the whole manipulator is simple in structure, and only the cooperative cooperation between the drivers on the two power arms is required to be controlled, so that the control system is simple, the adjustment precision is high, and finally, the whole equipment cost is lower. And combine the disposition of first driving piece and second driving piece, adjust the position of first driving piece through the second driving piece, when main manipulator rotated to the second position from the first position, anterior segment part second driving piece is along main manipulator rotation direction adjustment first driving piece's position, can accelerate the swing speed, realize quick swing, when main manipulator quick swing to the second position, the position of first driving piece is adjusted to the second driving piece, first driving piece is not operated by oneself, so as to realize the fine setting of first driving piece of low angle, realized the fine setting of first driving piece to main manipulator promptly, can realize the swing of main manipulator swing end 10-15 millimeter/second, greatly reduced swing speed, can realize the fine setting of angle, do benefit to the adjustment calibration of centre gripping work piece, main manipulator can very accurate arrival mounted position.
Preferably, the ends of the first side mechanical arm and the second side mechanical arm are hinged with a second chuck, a first auxiliary driving mechanism is arranged between the second chuck and the corresponding side mechanical arm to realize the up-and-down swing of the second chuck, the first side mechanical arm and the second side mechanical arm comprise a plurality of arm sections, the arm sections are connected in series in sequence in a hinging manner to form an arm body, and a second auxiliary driving mechanism is arranged at the swing direction side of the arm sections to realize the left-and-right swing of the whole side mechanical arm.
Preferably, the second chuck comprises a main chuck and a side bracket, one end of the side bracket and the main chuck are hinged to the top of the arm body, the other end of the side bracket and the arm body are connected through a first auxiliary driving mechanism, and the main body of the side bracket is movably connected with the main body of the main chuck.
Compared with the prior art, the side manipulator has the advantages that the arm body is hinged and formed through the arm sections of the multiple sections, the angle adjustment of the left and right ranges of the arm body is realized through the auxiliary driving mechanisms, the side brackets on the second clamp head are used for adjusting the upper and lower position relation of the workpiece clamped on the main clamp head, and the side manipulator has the advantages of novel structure, multi-azimuth angle adjustment and flexible use.
Meanwhile, under the cooperation setting of the second driving piece and the first driving piece, the position of the first driving piece is adjusted through the second driving piece, when the side manipulator rotates from the first position to the second position, the front section part second driving piece adjusts the position of the first driving piece along the rotation direction of the side manipulator, the swinging speed can be accelerated, the quick swinging is realized, when the side manipulator swings to the second position quickly, the second driving piece adjusts the position of the first driving piece, the first driving piece does not operate, so that the position of the first driving piece is finely adjusted by a small angle, namely, the fine adjustment of the side manipulator by the first driving piece is realized, the swinging speed is greatly reduced, the fine adjustment of the angle can be realized, the adjustment and the calibration of the clamping workpiece are facilitated, and the side manipulator can quite accurately reach the installation position.
The tunnel multifunctional operation trolley provided by the invention is provided with three working arms, three working operation platforms and three manipulators. The three working arms can realize independent control, can independently or parallelly operate, and can be operated controllably and the degree of freedom is optimized. The three working operation platforms can be used for operators to stand on the platform to perform operations such as installation of auxiliary anchor rods and anchor nets, auxiliary picking and ventilation pipe operation, and the like, so that the multifunctional operation is more remarkable. And three manipulators can swing by 10-15 mm/s at the swinging ends of the manipulators under the arrangement of the first driving piece and the second driving piece, so that the swinging speed is greatly reduced, the fine adjustment of the swinging angle can be realized, the adjustment and the calibration of clamping workpieces are facilitated, and the manipulators can quite accurately reach the mounting positions, thereby realizing the accurate alignment operation of the workpieces. The first side working arm and the second side working arm are respectively arranged on two sides of the main working arm, and the layout is arranged, so that the multi-section clamping, butt joint and tunnel installation of the arch centering are realized, and the multi-functionalization of the operation trolley is more remarkable.
Drawings
Fig. 1 is a schematic diagram of a main manipulator according to the present invention.
Fig. 2 is a schematic diagram of a main manipulator according to the present invention.
FIG. 3 is a schematic cross-sectional view taken along line A-A in FIG. 2.
Fig. 4 is a schematic view of the side manipulator structure of the present invention.
Fig. 5 is a schematic side view of the tunnel multifunctional work carriage of the present invention.
Fig. 6 is a schematic diagram of a front view structure of the tunnel multifunctional operation trolley of the present invention when in operation.
Fig. 7 is a schematic view showing a partial structure of a main arm of the tunnel multifunctional work carriage assembled to a vehicle body.
Fig. 8 is an enlarged schematic view of the structure at a of fig. 7.
The device is characterized by comprising a vehicle body 1, a main working arm 2, a first side working arm 3, a second side working arm 4, a main manipulator 5, a first side manipulator 6, a second side manipulator 7, a first driving part 8, a first cylinder 81, a first telescopic rod 82, a second driving part 9, a second cylinder 91, a second telescopic rod 92, a large rotary mechanism 10, a base 11, a working operation platform 12, a third driving part 13, a fourth driving part 14, a first clamping head 15, a central manipulator 16, an outer pipe 17, an inner pipe 18, a power arm 19, a top bracket 20, a second clamping head 21, a first auxiliary driving mechanism 22, a second auxiliary driving mechanism 23, a main clamping head 24, a side bracket 25, a small rotary mechanism 26, a pivoting shaft 27, a fifth driving part 28, a connecting frame 29 and a frame 30.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
Example 1
Referring to fig. 1 to 8, the tunnel multifunctional work carriage of the present invention includes a vehicle body 1, a main work arm 2, a first side work arm 3, and a second side work arm 4.
The body 1 is used as a carrier part for the components of the trolley, i.e. the body 1 can be understood as a carrier for the components, which can be installed and laid.
The main working arm 2, the first side working arm 3 and the second side working arm 4 are assembled on the vehicle body 1 and can perform independent operation and parallel operation, and the first side working arm 3 and the second side working arm 4 are separated on two sides of the main working arm 2. It can be understood that the main working arm 2, the first side working arm 3 and the second side working arm 4 can work independently, and can work in parallel at the same time, that is, work cooperatively, so that the working mode has strong selectivity and is suitable for working modes with multiple demands.
The front end of the main working arm 2 is hinged with a main manipulator 5, the front end of the first side working arm 3 is hinged with a first side manipulator 6, and the front end of the second side working arm 4 is hinged with a second side manipulator 7. The manipulators are respectively hinged on the respective working arms, so that the front end of each working arm is provided with the manipulator for grabbing corresponding workpieces such as arches, and alignment and installation of the workpieces are realized under the cooperation of the manipulators and the working arms.
The main manipulator 5, the first side manipulator 6 and the second side manipulator 7 are all hinged with a first driving piece 8 for driving the main manipulator to rotate relative to the corresponding working arm, the first driving piece 8 is connected with a second driving piece 9 for changing the position of the first driving piece 8, and the second driving piece 9 is arranged at the front end of the corresponding working arm.
The front ends of the main working arm 2, the first side working arm 3 and the second side working arm 4 are respectively provided with a small rotation mechanism 26, the output end of the small rotation mechanism 26 is provided with a base 11, the second driving piece 9 is arranged in the base 11, and the corresponding mechanical arm is connected with the corresponding base 11.
The small slewing mechanism 26 can be understood as a driver capable of realizing slewing output motion, and can be slewing driving equipment such as a slewing motor, or non-slewing motor driving, such as a mechanism adopting a link mechanism and driven by an oil cylinder. Along with the rotation of the output end of the small rotation mechanism 26, the base 11 is driven to rotate, and under the rotation of the base 11, the corresponding manipulator connected with the base is driven to rotate, so that the rotation angle can be limited according to the required design.
The position of the first driving piece 8 is adjusted through the second driving piece 9, when the corresponding manipulator rotates from the first position to the second position, the position of the first driving piece 8 is adjusted along the rotation direction of the manipulator by the second driving piece 9 at the front section part, so that the swinging speed can be accelerated, and the quick swinging is realized. When the manipulator swings fast to the second position, the second driving piece 9 adjusts the position of the first driving piece 8, and the first driving piece 8 does not operate, so that the position of the first driving piece 8 is finely adjusted at a small angle, namely, the fine adjustment of the first driving piece 8 to the manipulator is realized, the swinging of 10-15 mm/s of the swinging end of the manipulator can be realized, the swinging speed is greatly reduced, and the fine adjustment of the angle can be realized. In this embodiment, the first position and the second position are determined according to the workpiece pick-up position and the workpiece alignment position, and of course, other suitable positions may be used as required.
And can set up first driving piece 8 according to the articulated position between manipulator and the base 11, and second driving piece 9 can set up according to the position of first driving piece 8, as long as can follow the position of corresponding manipulator swing direction adjustment first driving piece 8 can realize the regulation to the swing speed promptly, not only can quick adjustment just can realize the fine setting of angle, do benefit to the adjustment calibration of centre gripping work piece, second driving piece 9 can horizontal setting, vertical setting also can the slope setting.
The first driving member 8 and the second driving member 9 may be driving members that vary in length, such as an oil cylinder, an air cylinder, a screw, or the like.
Example two
Referring to fig. 1 to 8, the tunnel multifunctional work carriage of the present invention includes a vehicle body 1, a main work arm 2, a first side work arm 3, and a second side work arm 4. Wherein the vehicle body 1 serves as a mating body portion of a trolley component.
The main working arm 2, the first side working arm 3 and the second side working arm 4 are assembled on the vehicle body 1 and can perform independent operation and parallel operation, and the first side working arm 3 and the second side working arm 4 are separated on two sides of the main working arm 2.
The front end of the main working arm 2 is hinged with a main manipulator 5, the front end of the first side working arm 3 is hinged with a first side manipulator 6, and the front end of the second side working arm 4 is hinged with a second side manipulator 7.
The main manipulator 5, the first side manipulator 6 and the second side manipulator 7 are all hinged with a first driving piece 8 for driving the main manipulator to rotate, the first driving piece 8 is connected with a second driving piece 9 for changing the position of the first driving piece 8, and the second driving piece 9 is arranged at the front end of a corresponding working arm.
The front ends of the main working arm 2, the first side working arm 3 and the second side working arm 4 are respectively provided with a base 11 through a small slewing mechanism 26, and the second driving piece 9 is arranged in the base 11. In the present embodiment, each manipulator is hinged to the end of the corresponding base 11, so as to be indirectly hinged to the front end of the corresponding working arm.
The first driving part 8 comprises a first cylinder 81 and a first telescopic rod 82 which is slidably connected in the first cylinder 81, and the first telescopic rod 82 is hinged with a corresponding manipulator and can be effectively adjusted by the manipulator. The second driving part 9 comprises a second cylinder body 91 and a second telescopic rod 92 which is slidably connected in the second cylinder body 91, the second cylinder body 91 is fixedly connected to the base 11, and the end part of the second telescopic rod 92 is connected with the first driving part 8. Through with second cylinder 91 fixed connection at base 11 can stably support corresponding manipulator, and can be quick adjust the position of first cylinder 81 through second telescopic link 92, the structure is more simple reliable to can significantly reduce the influence to first driving piece 8 position, whole small.
The base 11 include the braced frame, second cylinder body 91 fixed connection braced frame in, can further reduce whole volume, and with second driving piece 9 built-in, improve operating stability to can keep the level setting with second cylinder body 91, improve adjustment efficiency.
Each base 11 is provided with a working operation platform 12, and the working operation platform 12 can be used for operators to perform corresponding operation on the table top, such as installation of an arch frame, installation of an auxiliary anchor rod and anchor net, auxiliary picking and ventilation pipe operation and the like, so that the operation diversity of the tunnel multifunctional operation trolley is perfected, multiple operation operations can be completed by the same equipment, the production cost is effectively reduced, and convenience operation of various constructions is facilitated.
The main working arm 2 is hinged to the vehicle body 1, and the main working arm 2 is further provided with a third drive member 13 which drives it to pivot in a vertical plane. Wherein the vertical plane is relative to the horizontal plane, it is understood that it is a pivot in a fore-aft direction, with reference to the left-right direction shown in fig. 5, with respect to a driver sitting in the vehicle body cabin. By means of the hinge connection, the main working arm 2 can work alone under the drive of the third driving piece 13, and can also operate in cooperation and parallel with other working arms, so that the operation is free and the limitation is small.
Meanwhile, the main working arm 2 is further connected to the vehicle body 1 through a pivot shaft 27, a fifth driving piece 28 is further assembled on the vehicle body 1, and the driving end of the fifth driving piece 28 is further connected to the main working arm 2 through a connecting frame 29 to drive the main working arm 2 to pivot in the horizontal direction. Of course, in the present embodiment, in order to achieve the fitting of the main working arm 2, the fifth driving element 28, a frame body 30 is provided on the vehicle body 1 for the fitting of the fifth driving element 28, the pivot shaft 27.
So far, the pivot of vertical direction both can be realized to main work arm 2, can realize the rotation of horizontal direction again, and rotatable position is diversified more, and applicable operating mode is diversified more.
The first and second side working arms 3 and 4 are respectively hinged on a large swing mechanism 10 fitted to the vehicle body 1 to achieve rotation in a horizontal plane, and the first and second side working arms 3 and 4 are respectively provided with a fourth driving member 14 that drives them to pivot in a vertical plane. The large slewing mechanism 10 is horizontally assembled on the assembling table of the vehicle body 1, and the output end outputs horizontal rotation, so that after the corresponding side working arm is installed at the output end, the corresponding side working arm can realize horizontal rotation, and the determination of the rotation angle is determined according to the requirement. In addition, the articulated arm is pivoted in the vertical direction by the actuation of the fourth actuating element 14, likewise in the front-rear direction for the driver situated in the cabin of the vehicle body, which can be referred to in the left-right direction in fig. 5.
The main manipulator 5 comprises a central manipulator 16 with a first chuck 15 arranged at the top, and the central manipulator 16 comprises an outer tube 17 and an inner tube 18. The lower end of the outer tube 17 is in a rotating fit with the base 11, and the first driving member 8 is used for driving the outer tube 17 to rotate. The inner tube 18 is slidably fitted in the outer tube 17, and the upper end of the inner tube 18 facing away from the base 11 is exposed outside the outer tube 17. The first clamping head 15 is in running fit with the upper end of the inner tube 18, and power arms 19 for abutting against the workpiece and pushing the workpiece to be lifted are respectively arranged on two sides of the outer tube 17. A top bracket 20 is arranged at the top of the power arm 19.
Firstly, the workpiece is clamped by the main mechanical arm 5 and lifted by the two power arms 19 at two sides, so that the bearing capacity of the power arms 19 driven by hydraulic pressure is far greater than that of a conventional joint mechanical arm, and meanwhile, the two power arms 19 can realize the adjustment of the angle and the position of the arch through the cooperation of the telescopic quantity, so that the adjustment precision is good.
Secondly, the reset inhaul cable is designed, so that the inner pipe 18 on the main manipulator 5 can be forced to reset by utilizing the movable section on the power arm 19 under the condition that the inner pipe 18 on the main manipulator 5 cannot reset under the action of gravity, and the overall reliability of the equipment is improved.
Further, since the top bracket 20 is provided at the upper end of the power arm 19, the work piece can be efficiently lifted and prevented from slipping off the power arm 19 in the thickness direction thereof.
Finally, the main manipulator 5 does not have any high performance requirements in terms of materials compared with the conventional manipulator, and at the same time has a simple overall structure, and only the cooperative cooperation between the drivers on the two power arms 19 needs to be controlled. Therefore, the control system is simple, the adjustment precision is high, and finally the cost of the whole equipment is lower. The position of the first driving piece 8 is adjusted through the second driving piece 9, when the main mechanical arm 5 rotates from the first position to the second position, the position of the first driving piece 8 is adjusted along the rotation direction of the main mechanical arm 5 by the front section part second driving piece 9, so that the swinging speed can be accelerated, and the quick swinging is realized. When the main manipulator 5 swings fast to the second position, the second driving piece 9 adjusts the position of the first driving piece 8, the first driving piece 8 does not operate, so that the position of the first driving piece 8 is finely adjusted at a small angle, namely, the fine adjustment of the first driving piece 8 to the main manipulator 5 is realized, the swinging of 10-15 mm/s of the swinging end of the main manipulator 5 can be realized, the swinging speed is greatly reduced, the fine adjustment of angles can be realized, the adjustment and the calibration of clamping workpieces are facilitated, and the manipulator 2 can quite accurately reach the installation position.
The ends of the first side manipulator 6 and the second side manipulator 7 are hinged with a second chuck 21, and a first auxiliary driving mechanism 22 is arranged between the second chuck 21 and the corresponding side manipulator to realize the up-and-down swing of the second chuck 21. The first side manipulator 6 and the second side manipulator 7 each comprise a plurality of arm segments, the arm segments are connected in series in sequence in a hinging manner to form an arm body, and the second auxiliary driving mechanism 23 is arranged on the swing direction side of the arm segments to realize the left-right swing of the whole side manipulator.
The second chuck 21 comprises a main chuck 24 and a side bracket 25, wherein one end of the side bracket 25 is hinged with the main chuck 24 at the top of the arm body. The other end of the side bracket 25 is connected with the arm body through a first auxiliary driving mechanism 22, and the main body of the side bracket 25 is movably connected with the main body of the main chuck 24.
The arm body is hinged and formed through the arm sections of the multiple sections, the angle adjustment of the left and right ranges of the arm body is realized through each driving mechanism, and the side brackets 25 are used for adjusting the upper and lower position relationship of the arch centering clamped on the main clamping head 24, so that the novel angle adjusting device has the advantages of novel structure, multidirectional angle adjustment and flexible use.
The position of the first driving piece 8 is adjusted through the second driving piece 9, when the corresponding side manipulator rotates from the first position to the second position, the position of the first driving piece 8 is adjusted along the rotation direction of the side manipulator by the front section part second driving piece 9, so that the swinging speed can be increased, and the quick swinging is realized. When the side manipulator swings fast to the second position, the second driving piece 9 adjusts the position of the first driving piece 8, the first driving piece 8 does not operate, so that the position of the first driving piece 8 is finely adjusted at a small angle, namely, the fine adjustment of the side manipulator on the side of the first driving piece 8 is realized, the swinging of the swinging end of the side manipulator by 10-15 mm/s can be realized, the swinging speed is greatly reduced, the fine adjustment of the angle can be realized, the adjustment and the calibration of clamping workpieces are facilitated, and the side manipulator can quite accurately reach the installation position.
Example III
The basic structure and the structure of each working arm are the same as those of the embodiment, except that the second telescopic rod 92 is fixedly connected with the first cylinder 81. The fixed connection means that a structure capable of fixedly connecting the second telescopic rod 92 with the first cylinder 81 is arranged, namely, the fixed connection is realized when the first driving piece 8 and the second driving piece 9 run for a part of time, namely, the angle between the first driving piece 8 and the second driving piece 9 is constant, when the corresponding manipulator is regulated to run, the first driving piece 8 and the second driving piece 9 can necessarily run simultaneously, the position of the first driving piece 8 can be regulated along the rotation direction of the manipulator through the second driving piece 9, namely, the swinging speed can be accelerated, the quick swinging is realized, or the position of the first driving piece 8 can be regulated along the reverse direction of the rotation of the corresponding manipulator through the second driving piece 9, namely, the displacement stroke is mutually offset, namely, the driving speed of the first driving piece 8 to the corresponding manipulator is greatly reduced, the swinging of 10-15 mm/s of the swinging end of the manipulator can be realized, the swinging speed is greatly reduced, and the fine adjustment of the angle can be realized.
Example IV
The basic structure and each working arm structure are the same as those of the embodiment, except that the second telescopic rod 92 is hinged with the first cylinder 81. Namely, the angle between the first driving member 8 and the second driving member 9 can be changed, when the mechanical arm is adjusted to operate, the first driving member 8 and the second driving member 9 can not operate simultaneously, namely, the first driving member 8 or the second driving member 9 can also move independently, or the first driving member 8 and the second driving member 9 can operate simultaneously, in other words, the first driving member 8 and the second driving member 9 can operate independently, and can operate cooperatively, so that the mechanical arm is more free to adjust and can adjust in various modes.
The position of the corresponding manipulator can be adjusted by moving the first driving piece 8 or the second driving piece 9 alone, and as the first driving piece 8 or the second driving piece 9 is not on the same horizontal line, the adjustment can be carried out at multiple angles, and the second driving piece 9 can adjust the position of the first driving piece 8 along the rotation direction of the corresponding manipulator, namely, the swinging speed can be accelerated, the quick swinging can be realized, or the second driving piece 9 adjusts the position of the first driving piece 8, the first driving piece 8 does not operate, so that the position of the first driving piece 8 can be finely adjusted at a small angle, namely, the fine adjustment of the first driving piece 8 to the corresponding manipulator is realized, or the second driving piece 9 adjusts the position of the first driving piece 8 along the reverse direction of the rotation of the manipulator, namely, the displacement stroke is mutually offset, namely, the driving speed of the first driving piece 8 to the manipulator is greatly reduced, the swinging speed of 10-15 mm/s of the swinging end of the manipulator can be realized, and the fine adjustment of the angle can be realized.
The end part of the first cylinder 81 far away from the first telescopic rod 82 is hinged with the second telescopic rod 92, so that the position of the first driving piece 8 can be adjusted more accurately and rapidly. The second driving piece 9 set up along the horizontal direction, second driving piece 9 drive first driving piece 8 remove along the horizontal direction, the operation is reliable, can more stably support corresponding manipulator, and can be when the position of reverse direction regulation first driving piece 8 can be more accurate the fine setting of realization angle. The hinge position between the manipulator and the base 11 is lower than the position of the second driving piece 9, so that the first driving piece 8 and the second driving piece 9 can be arranged in a yielding way.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (10)
1. A multifunctional tunnel operation trolley is characterized by comprising a trolley body and a loading body part, wherein the loading body part is used as a trolley component part;
the main working arm, the first side working arm and the second side working arm are assembled on the vehicle body and can implement independent operation and parallel operation, and the first side working arm and the second side working arm are respectively arranged on two sides of the main working arm;
The front end of the main working arm is hinged with a main manipulator, the front end of the first side working arm is hinged with a first side manipulator, and the front end of the second side working arm is hinged with a second side manipulator;
The main mechanical arm, the first side mechanical arm and the second side mechanical arm are all hinged with a first driving piece for driving the main mechanical arm to pivot, the first driving piece is connected with a second driving piece for changing the position of the first driving piece, and the second driving piece is arranged at the front end of the corresponding working arm;
The front ends of the main working arm, the first side working arm and the second side working arm are respectively provided with a base through a small rotation mechanism, and the second driving piece is arranged on the base;
the second driving piece comprises a second cylinder body and a second telescopic rod which is connected in the second cylinder body in a sliding way, the second cylinder body is fixedly connected to the base, and the end part of the second telescopic rod is connected with the first driving piece;
The first driving piece comprises a first cylinder body and a first telescopic rod which is connected in the first cylinder body in a sliding manner, and the first telescopic rod is hinged with the corresponding manipulator;
the second telescopic rod is fixedly connected or hinged with the first cylinder body;
The main mechanical arm comprises a central mechanical arm, wherein the top of the central mechanical arm is provided with a first chuck, the central mechanical arm comprises an outer pipe and an inner pipe, the lower end of the outer pipe is in running fit with the base, the first driving piece is used for driving the outer pipe to rotate, the inner pipe is in sliding fit in the outer pipe, the upper end of the inner pipe, which deviates from the base, is exposed out of the outer pipe, the first chuck is in running fit with the upper end of the inner pipe, and power arms which are used for propping against a workpiece and pushing the workpiece to be lifted are respectively arranged on two sides of the outer pipe;
The main working arm is hinged to the vehicle body, and the main working arm is further provided with a third driving member for driving the main working arm to pivot in a vertical plane.
2. The tunnel multifunctional work trolley according to claim 1, wherein the base is provided with a work operation platform.
3. The tunnel multifunctional operation trolley according to claim 1, wherein the end part of the first cylinder body far away from the first telescopic rod is hinged with the second telescopic rod.
4. The tunnel multifunctional operation trolley of claim 1, wherein the base comprises a supporting frame, and the second cylinder is fixedly connected with the supporting frame.
5. The tunnel multifunctional work trolley according to claim 1, wherein the second driving member is disposed in a horizontal direction.
6. The tunnel multifunctional work carriage according to claim 1, wherein the first side work arm and the second side work arm are respectively hinged on a large swing mechanism fitted to a vehicle body to achieve rotation in a horizontal plane, and the first side work arm and the second side work arm are respectively provided with a fourth driving member for driving the first side work arm and the second side work arm to pivot in a vertical plane.
7. The tunnel multifunctional work trolley according to claim 1, wherein a top bracket is arranged at the top of the power arm.
8. The tunnel multifunctional operation trolley of claim 1, wherein the ends of the first side manipulator and the second side manipulator are hinged with a second chuck, a first auxiliary driving mechanism is arranged between the second chuck and the corresponding side manipulator to realize up-and-down swinging of the second chuck, the first side manipulator and the second side manipulator comprise a plurality of arm sections, the arm sections are sequentially connected in series in a hinging manner to form an arm body, and a second auxiliary driving mechanism is arranged on the swinging direction side of the arm sections to realize left-and-right swinging of the whole side manipulator.
9. The tunnel multifunctional operation trolley of claim 8, wherein the second chuck comprises a main chuck and a side bracket, one end of the side bracket and the main chuck are hinged to the top of the arm body together, the other end of the side bracket is connected with the arm body through a first auxiliary driving mechanism, and the main body of the side bracket is movably connected with the main body of the main chuck.
10. The tunnel multifunctional working platform truck according to claim 1, wherein the main working arm is further connected to the vehicle body through a pivot shaft, a fifth driving piece is further assembled on the vehicle body, and the driving end of the fifth driving piece is further connected to the main working arm through a connecting frame body to drive the main working arm to pivot in the horizontal direction.
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| CN201910661990.6A CN110500111B (en) | 2019-07-22 | 2019-07-22 | A multifunctional tunnel operation trolley |
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| CN201910661990.6A CN110500111B (en) | 2019-07-22 | 2019-07-22 | A multifunctional tunnel operation trolley |
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| CN110500111B true CN110500111B (en) | 2025-02-25 |
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| CN111894621B (en) * | 2020-07-21 | 2022-05-13 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Tunnel disease restores platform truck fast |
| CN112682076B (en) * | 2021-01-11 | 2025-04-04 | 江西鑫通机械制造有限公司 | A tunnel arch construction work vehicle |
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| CN205805583U (en) * | 2016-07-20 | 2016-12-14 | 北京新能正源环境科技有限公司 | Bow member chassis |
| CN107339073A (en) * | 2017-07-28 | 2017-11-10 | 西安石油大学 | A kind of ground drilling rod lifting jack |
| CN210264718U (en) * | 2019-07-22 | 2020-04-07 | 江西鑫通机械制造有限公司 | Multifunctional tunnel operation trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2921907A1 (en) * | 1979-05-30 | 1980-12-11 | Gewerk Eisenhuette Westfalia | METHOD AND DEVICE FOR LINING A TUNNEL, AN UNDERGROUND DISTANCE OR THE LIKE. WITH CONCRETE |
| CN107288636A (en) * | 2017-06-20 | 2017-10-24 | 常州骏铎机械制造有限公司 | A kind of sled hair based on driving drill jumbo, excavation, broken equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205805583U (en) * | 2016-07-20 | 2016-12-14 | 北京新能正源环境科技有限公司 | Bow member chassis |
| CN107339073A (en) * | 2017-07-28 | 2017-11-10 | 西安石油大学 | A kind of ground drilling rod lifting jack |
| CN210264718U (en) * | 2019-07-22 | 2020-04-07 | 江西鑫通机械制造有限公司 | Multifunctional tunnel operation trolley |
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