CN115977700A - Mining arch frame trolley and using method - Google Patents
Mining arch frame trolley and using method Download PDFInfo
- Publication number
- CN115977700A CN115977700A CN202310164337.5A CN202310164337A CN115977700A CN 115977700 A CN115977700 A CN 115977700A CN 202310164337 A CN202310164337 A CN 202310164337A CN 115977700 A CN115977700 A CN 115977700A
- Authority
- CN
- China
- Prior art keywords
- arm
- arch
- manipulator
- swing
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Jib Cranes (AREA)
Abstract
The invention belongs to the technical field of mine roadway arch erection, and particularly relates to a mine arch frame trolley and a using method thereof. The arch frame trolley comprises a hanging basket assembly, a first manipulator and two second manipulators, wherein the first manipulator comprises a first telescopic arm and a clamping mechanism; the second manipulator comprises a second telescopic arm, a swing arm and a swing frame, a first winch is arranged on the swing arm, and the hanging basket assembly comprises two second winches. The method comprises the following steps of erecting a middle arch frame: the first mechanical arm clamps the middle arch frame and then vertically upwards, and the middle arch frame is sent to the contour line of the tunnel. Erecting a side arch frame: adjusting the side arch frame to be in a vertical state; the second mechanical arm rotates to the direction of the section of the tunnel; the arching is completed. From this, first manipulator and second manipulator are inside and outside extending structure, and still are provided with swing arm and rocker on the second manipulator, and the two all possesses to revolve the function around the hinge point and make the bow member platform truck possess the advantage that the size is little, extension is big, has realized that the operation of standing the arch does not rely on the manual work, has guaranteed the purpose of job schedule.
Description
Technical Field
The invention belongs to the technical field of mine roadway arch erection, and particularly relates to a mine arch frame trolley and a using method thereof.
Background
The tunnel of underground mine needs to adopt steel bow member or steel pipe beam concrete support to strengthen supporting, because most sections of underground mine tunnel are little, the equipment exhibition space is restricted, and the arch setting operation is all accomplished by the manual work at present. When the arch is erected, a rack needs to be erected every cycle of construction, the assembly and disassembly are complicated, although the arch center of the arch can be erected by the aid of the aerial work vehicle, the hanging basket of the aerial work vehicle cannot meet the connection operation of the arch centers on two sides, and the arch centers on two sides still need to be erected manually, so that a large number of operators are needed, the labor intensity of the operators is high, and workers engaged in the operation are gradually reduced due to the complex geological conditions of the underground mine, the large excavation depth, the severe working environment and the high risk.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems in the prior art, the invention provides a mining arch frame trolley and a using method thereof, so that the technical problems that working progress is influenced due to gaps of workers caused by severe and high dangerousness of an arch erecting operation environment are solved.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
on one hand, the invention provides a mining arch trolley which is used for erecting a middle arch and two side arches in a mine tunnel and connecting the middle arch between the two side arches, and comprises a hanging basket assembly, wherein the hanging basket assembly is carried on a mechanical arm of the arch trolley, comprises a hanging basket, and further comprises a first mechanical arm and two second mechanical arms which are arranged in bilateral symmetry with respect to the first mechanical arm; the first manipulator comprises a first telescopic arm and a clamping mechanism, one end of the first telescopic arm can be vertically and rotatably connected to the front side of the hanging basket, and the clamping mechanism is connected to the other end of the first telescopic arm and used for clamping the middle arch; the two second manipulators comprise second telescopic arms, swing arms and swing frames, one ends of the two second telescopic arms can be horizontally and rotatably connected to the left side and the right side of the bottom of the hanging basket respectively, the swing arms are rotatably connected with the other ends of the second telescopic arms on the same side and rotate axially by taking the other ends of the second telescopic arms as the shaft, and one ends of the swing frames are rotatably connected with one sides of the swing arms on the same side, which are far away from the center of the mining arch centering trolley, and rotate axially by taking the connection parts as the shaft; the swing arm is provided with a first winch for hoisting a side arch, the hanging basket assembly further comprises two second winches which are fixed on the hanging basket in bilateral symmetry about the first manipulator and used for hoisting a middle arch and matched with the first winch for hoisting the side arch.
Furthermore, the second manipulator also comprises an inclined support arm, and the lower part of the inclined support arm is fixedly connected above the swing arm; the oblique supporting arm is provided with a roller, when the side arch is lifted, a first steel wire rope discharged by the first winch winds the roller and is connected with the head of the side arch, and a second steel wire rope discharged by the second winch at the same side with the side arch is connected with the tail of the side arch.
Further, when the middle arch is lifted, the second steel wire ropes released by the two second winches are respectively connected with two ends of the middle arch.
The first manipulator further comprises a first driver, the first telescopic arm comprises a first inner arm and a first outer arm, one end of the first driver is hinged inside the first inner arm, the other end of the first driver is hinged inside the first outer arm, and the first driver is controlled to drive the first inner arm to stretch out and draw back from the first outer arm; the clamping mechanism is fixedly connected to the front end of the first inner arm to stretch out and draw back synchronously with the first inner arm.
Further, the hanging basket component also comprises a first manipulator limiting seat and four second manipulator limiting seats, the first manipulator limiting seat and the four second manipulator limiting seats are fixed on the hanging basket; the lower edge that the spacing seat of first manipulator is located the front end of hanging flower basket is used for restricting the rotation range of the vertical direction of first manipulator, and the rotation range that the bottom surface that four spacing seats of second manipulator all are located the hanging flower basket is used for restricting the horizontal direction of second manipulator.
Further, the second telescopic arm comprises a second inner arm and a second outer arm which are in telescopic connection, the swing arm is connected with the second inner arm through a hinge seat, one end of the hinge seat is fixedly connected with the second inner arm through a bolt, the other end of the hinge seat is hinged to the bottom end of the swing arm through a first pin shaft, and the swing arm can rotate around the first pin shaft; the swing frame is hinged to the swing arm through a second pin shaft and can rotate around the second pin shaft.
The second manipulator further comprises a second driver, a third driver and a fourth driver, the second outer arm is connected with the second inner arm through the second driver, the front end of the second driver is hinged inside the second inner arm, the rear end of the second driver is hinged inside the second outer arm, and the second driver is controlled to drive the second inner arm to stretch out and draw back from the first outer arm; one end of the third driver is hinged on the hinge seat, and the other end of the third driver is hinged on the swing arm so as to control the deflection angle of the swing arm; one end of the fourth driver is hinged on the swing arm, and the other end of the fourth driver is hinged on the swing frame to control the deflection angle of the swing frame.
The hanging basket assembly further comprises a first mounting seat and two second mounting seats which are arranged in bilateral symmetry with respect to the first mounting seat, the first mounting seat is fixedly connected to the front end of the hanging basket, and the second mounting seats are fixedly connected to two sides of the bottom of the hanging basket; the first manipulator further comprises a first speed reducer, the first speed reducer is fixedly connected to the rear end of the first outer arm so as to drive the first manipulator to vertically rotate around the center of the first speed reducer, and the first speed reducer is fixed with the first mounting seat; the second manipulator further comprises a second speed reducer, the second speed reducer is fixedly connected to the rear end of the second outer arm to drive the second manipulator to horizontally rotate around the center of the second speed reducer, and the second speed reducer is fixed with the second mounting seat.
Further, the first manipulator further comprises a first limiting block, the first limiting block is fixedly connected to the rear end of the first outer arm, and correspondingly, a second limiting block is arranged on the first mounting seat; the first limiting block is matched with the second limiting block to limit the rotation of the first manipulator.
On the other hand, the invention also provides a using method of the mining arch frame trolley,
a step of erecting a middle arch frame:
s11, two second winches lift the middle arch centering to a clamping mechanism;
s12, clamping the middle arch frame by the first manipulator;
s13, rotating the first manipulator to a position where the clamping mechanism is vertically upward;
s14, extending out the first manipulator, and sending the middle arch to the contour line of the tunnel to form the center line reference of the arch;
side arch erecting step:
s21, swinging the swing arm to the position of a side arch frame of the arch to be erected;
s22, a first winch on the same side with the side arch and a second winch on the side arch are matched to hoist the side arch so that the middle section of the side arch is close to the swing arm;
s23, driving the side arch centering to rotate by the swing arm;
s24, adjusting the side arch frame to be in a vertical state by the swing frame deflection;
s25, the second mechanical arm rotates to the direction of the section of the tunnel;
and S26, extending out the second mechanical arm, and conveying the side arch to the contour line of the tunnel to realize the connection of the side arch and the middle arch and finish the arch erection.
(III) advantageous effects
The invention has the beneficial effects that:
the invention provides a mining arch center trolley and a using method thereof. The first mechanical arm is used for finishing the arch erection of the middle arch frame, and the second mechanical arm is used for finishing the arch erection of the side arch frame. The first mechanical arm and the second mechanical arm are both of an inner-outer telescopic structure, a swing arm and a swing frame are further arranged on the second mechanical arm, and the first mechanical arm and the second mechanical arm both have a rotation function around a hinge point.
The structure of the invention has the advantages of small size and large extension range, and overcomes the difficulties that most of mine tunnels have small sections and the equipment deployment space is limited, thereby replacing manual operation, realizing the purposes that the arch erecting operation does not depend on manual work and ensuring the working progress.
Drawings
Fig. 1 is a schematic structural diagram of a first manipulator and a second manipulator of a mining arch trolley in a contracted state;
fig. 2 is a schematic structural diagram of a first robot;
FIG. 3 isbase:Sub>A schematic cross-sectional view A-A of FIG. 2;
FIG. 4 is a schematic structural view of a second robot;
FIG. 5 isbase:Sub>A schematic cross-sectional view taken along line A-A in FIG. 4;
FIG. 6 is a schematic structural view of the basket assembly;
fig. 7 is a schematic view of the first manipulator and the second winch cooperating to grab the middle arch and then retract;
fig. 8 is a schematic view showing a state of the first robot upright arch;
FIG. 9 is a schematic view of the first hoist and the second hoist cooperating with the grabbing side arch;
fig. 10 is a schematic view showing a state in which the second robot arm stands;
fig. 11 is a schematic diagram of a state that the mining arch bogie completes the arch erection.
[ instruction of reference ]
1: a first manipulator; 11: a first telescopic arm; 111: a first inner arm; 112: a first outer arm; 13: a first driver; 14: a clamping mechanism; 15: a first speed reducer; 16: a first stopper;
2: a second manipulator; 21: a second telescopic arm; 214: a second inner arm; 215: a second outer arm; 23: a second driver; 24: swinging arms; 25: placing a frame; 26: a diagonal bracing arm; 27: a limiting frame; 28: a hinged seat; 29: a third driver; 210: a fourth driver; 211: a first winch; 2111: a first wire rope; 212: a roller; 213: a second speed reducer;
3: a basket assembly; 31: a hanging basket; 32: a first mounting seat; 321: a second limiting block; 33: a second mounting seat; 34: a first manipulator limiting seat; 35: a second manipulator limiting seat; 36: a second hoist; 361: a second wire rope;
4: a middle arch frame; 5: and (4) side arch frames.
Detailed Description
In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1 to 11, the present invention provides an arch bogie for mining, which is used for erecting a middle arch 4 and two side arches 5 in a mine tunnel and connecting the middle arch 4 between the two side arches 5, so that the whole arch forms an inverted U shape fitting a tunnel cross section as shown in fig. 11. As shown in fig. 1 and 11, the mining arch trolley includes a basket assembly 3, a first manipulator 1, and two second manipulators 2 arranged bilaterally symmetrically with respect to the first manipulator 1, and the basket assembly 3 is mounted on a robot arm of the arch trolley.
As shown in fig. 2 and 3, the first manipulator 1 includes a first telescopic arm 11, a first actuator 13, a clamping mechanism 14, and a first reduction gear 15. One end of the first telescopic arm 11 is vertically and rotatably connected to the front side of the basket 31, and the clamping mechanism 14 is connected to the other end of the first telescopic arm 11 and is used for clamping the intermediate arch 4 to realize the arch erecting function.
Wherein, as shown in fig. 3, the first telescopic arm 11 includes a first inner arm 111 and a first outer arm 112, the first inner arm 111 is connected with the first outer arm 112 through a first driver 13, one end of the first driver 13 is hinged inside the first inner arm 111 through a pin shaft, the other end of the first driver 13 is hinged inside the first outer arm 112 through a pin shaft, and the first inner arm 111 is driven to stretch out and draw back from the first outer arm 112 by controlling the first driver 13. The clamping mechanism 14 is fixedly connected to the front end of the first inner arm 111 to synchronously extend and retract with the first inner arm 111. The first speed reducer 15 is fixedly connected to the rear end of the first outer arm 112 through a bolt so as to drive the first manipulator 1 to vertically rotate around the center of the first speed reducer 15.
As shown in fig. 4 and 5, each of the two second manipulators 2 includes a second telescopic arm 21, a second actuator 23, a swing arm 24, a swing frame 25, a diagonal arm 26, a third actuator 29, a fourth actuator 210, and a second reducer 213. One ends of the two second telescopic arms 21 can be horizontally and rotatably connected to the left side and the right side of the bottom of the hanging basket 31 respectively. The swing arm 24 is rotatably connected with the other end of the second telescopic arm 21 on the same side and rotates with the connection position as the axial direction. One end of the swing frame 25 is rotatably connected with one side of the swing arm 24 on the same side, which is far away from the center of the mine arch bogie, and the connection position is axially rotated. The lower portion of the inclined supporting arm 26 is fixedly connected to the upper portion of the swing arm 24 through bolts, a roller 212 is arranged on the inclined supporting arm 26, and a first winch 211 is arranged on the swing arm 24 and used for hoisting the side arch frame 5.
As shown in fig. 5, the second telescopic arm 21 includes a second inner arm 214 and a second outer arm 215 which are connected in a telescopic manner, the second outer arm 215 is connected with the second inner arm 214 through a second driver 23, the front end of the second driver 23 is hinged inside the second inner arm 214 through a pin, the rear end of the second driver 23 is hinged inside the second outer arm 215 through a pin, and the second inner arm 214 is driven to extend and retract from the first outer arm 112 by controlling the second driver 23. The second speed reducer 213 is fixedly connected to the rear end of the second outer arm 215 by a bolt to drive the second manipulator 2 to horizontally rotate around the center of the second speed reducer 213.
The swing frame 25 is hinged on the swing arm 24 through a second pin shaft, the swing frame 25 can rotate around the second pin shaft, one end of the fourth driver 210 is hinged on the swing arm 24, and the other end of the fourth driver 210 is hinged on the swing frame 25 to control the deflection angle of the swing frame 25.
The second manipulator 2 further comprises a plurality of limiting frames 27 respectively fixed on the inclined supporting arms 26 and the swinging frame 25 for preventing the side arch 5 from deflecting.
As shown in fig. 6, the basket assembly 3 includes a basket 31, a first mounting seat 32 and two second mounting seats 33 arranged in bilateral symmetry with respect to the first mounting seat 32, the first mounting seat 32 is fixedly connected to the front end of the basket 31 by bolts, and the second mounting seats 33 are fixedly connected to two sides of the bottom of the basket 31 by welding. The first speed reducer 15 and the first mounting seat 32 are fixed by bolts to realize the connection between the first manipulator 1 and the basket 31, and the second speed reducer 213 and the second mounting seat 33 are fixed by bolts to realize the connection between the second manipulator 2 and the basket 31.
The basket assembly 3 further comprises two second winches 36, and the two second winches 36 are bilaterally and symmetrically fixed on the basket 31 through bolts relative to the first manipulator 1 and are used for hoisting the middle arch 4 and hoisting the side arches 5 by matching with the first winch 211.
Specifically, when hoisting the intermediate arch 4, as shown in fig. 7, the second wire ropes 361 released by the two second winches 36 are connected to both ends of the intermediate arch 4, respectively. When lifting the side arch 5, as shown in fig. 9, the first wire 2111 fed from the first hoist 211 is wound around the roller 212 and connected to the head of the side arch 5, and the second wire 361 fed from the second hoist 36 on the same side as the side arch 5 is connected to the tail of the side arch 5.
In order to limit the range of motion of the first and second robots 1 and 2, as shown in fig. 6, the basket assembly 3 further includes a first robot stopper seat 34 and four second robot stopper seats 35, and the first robot stopper seat 34 and the four second robot stopper seats 35 are welded to the basket 31. Specifically, the first robot restraint seat 34 is located at the center of the lower edge of the front end of the gondola 31 for restricting the vertical rotation range of the first robot 1 to 180 °. Two second manipulator limiting seats 35 are located at the center of the front side of the bottom surface of the gondola 31, and the other two second manipulator limiting seats 35 are located at two sides of the rear side of the bottom surface of the gondola 31 respectively for limiting the horizontal rotation range of the second manipulator 2 to 90 °.
Meanwhile, as shown in fig. 2, the first manipulator 1 further includes a first limiting block 16, the first limiting block 16 is fixedly connected to the rear end of the first outer arm 112 by welding, correspondingly, a second limiting block 321 is arranged on the first mounting seat 32, and the first limiting block 16 is matched with the second limiting block 321 to limit the rotation of the first manipulator 1.
The invention further provides a using method of the mining arch frame trolley. Before use, as shown in fig. 1, the mining arch bogie is in a contracted state when not in use. At this time, the first robot 1 is in a vertically downward posture and is attached to the first robot stopper 34. The swing arms 24 of the two second manipulators 2 are positioned at the rear side of the hanging basket 31 and are in vertical upward postures, and are respectively attached to two second manipulator limit seats 35 positioned at the rear side of the bottom surface of the hanging basket 31. The first 13, second 23, third 29 and fourth 210 actuators are all in a contracted state.
As shown in fig. 7-8, the steps for erecting the intermediate arch are:
s11, as shown in the figure 7, two second winches 36 release second steel wire ropes 361 which are respectively connected with two ends of the middle arch frame 4, and as shown by arrows in the figure 7, the middle arch frame 4 is lifted to a clamping mechanism 14;
s12, clamping the middle arch centering 4 by the clamping mechanism 14, and removing second steel wire ropes 361 at two ends of the middle arch centering 4;
s13, as shown in the figure 8, the first speed reducer 15 drives the first manipulator 1 to rotate until the clamping mechanism 14 vertically faces upwards;
s14, extending the first inner arm 111, and sending the middle arch 4 to the contour line of the tunnel to form the center line reference of the arch;
as shown in fig. 9-11, the steps of the side arch are:
s21, the third driver 29 drives the swing arm 24 to swing to the position of the side arch frame 5 to be arched;
s22, as shown in fig. 9, a first winch 211 at the same side of the side arch 5 releases a first steel wire rope 2111 to be connected with the head of the side arch 5, a second winch 36 at the same side of the side arch 5 releases a second steel wire rope 361 to be connected with the tail of the side arch 5, the first winch 211 and the second winch are matched to hoist the side arch 5, as shown by an arrow in fig. 9, and then the first winch 211 retracts the first steel wire rope 2111 and the second winch 36 releases the second steel wire rope 361, so that the middle section of the swing arm 24 of the side arch 5 is close to the middle section;
s23, the third driver 29 contracts to drive the swing arm 24 to rotate the side arch frame 5;
s24, as shown in FIG. 10, the fourth driver 210 drives the swing frame 25 to swing to adjust the side arch frame 5 to be in a vertical state;
s25, as shown by an arrow in the figure 10, the second speed reducer 213 drives the second manipulator 2 to rotate to the direction of the section of the tunnel;
and S26, as shown in the figure 11, extending the second inner arm 214, sending the side arch 5 to the contour line of the tunnel, realizing the connection between the side arch 5 and the middle arch 4, and finishing the arch erection.
In the description of the present specification, the description of "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.
Claims (10)
1. A mining arch trolley for erecting a middle arch (4) and two side arches (5) in a mine tunnel and connecting the middle arch (4) between the two side arches (5), comprising a basket assembly (3), the basket assembly (3) being carried on a mechanical arm of the arch trolley, the basket assembly (3) comprising a basket (31), characterized by further comprising a first manipulator (1) and two second manipulators (2) arranged bilaterally symmetrically with respect to the first manipulator (1);
the first mechanical hand (1) comprises a first telescopic arm (11) and a clamping mechanism (14), one end of the first telescopic arm (11) is vertically and rotatably connected to the front side of the hanging basket (31), and the clamping mechanism (14) is connected to the other end of the first telescopic arm (11) and used for clamping the middle arch frame (4);
the two second manipulators (2) respectively comprise second telescopic arms (21), swing arms (24) and a swing frame (25), one ends of the two second telescopic arms (21) can be horizontally and rotatably connected to the left side and the right side of the bottom of the hanging basket (31), the swing arms (24) are rotatably connected with the other ends of the second telescopic arms (21) on the same side and can rotate axially by taking the other ends of the second telescopic arms (21) as the other ends, and one ends of the swing frames (25) are rotatably connected with one sides, far away from the center of the mining arch centering trolley, of the swing arms (24) on the same side and can rotate axially by taking the connection positions as the connection positions;
be provided with first hoist engine (211) on swing arm (24) and be used for lifting by crane side bow member (5), hanging flower basket subassembly (3) still includes two second hoist engines (36), two second hoist engines (36) about first manipulator (1) bilateral symmetry is fixed in be used for lifting by crane on hanging flower basket (31) middle bow member (4) and cooperation first hoist engine (211) lift by crane side bow member (5).
2. The mining arch trolley according to claim 1, characterized in that the second manipulator (2) further comprises a diagonal arm (26), the diagonal arm (26) being fixedly connected below above the swing arm (24);
the inclined supporting arm (26) is provided with a roller (212), when the side arch (5) is lifted, a first steel wire rope (2111) released by the first winch (211) is wound on the roller (212) and connected with the head of the side arch (5), and a second steel wire rope (361) released by the second winch (36) on the same side of the side arch (5) is connected with the tail of the side arch (5).
3. The mining arch trolley according to claim 1, characterized in that when hoisting the intermediate arch (4), second wire ropes (361) paid out by the two second winches (36) are connected to both ends of the intermediate arch (4), respectively.
4. The mining arch trolley according to claim 1, characterized in that the first manipulator (1) further comprises a first driver (13), the first telescopic arm (11) comprises a first inner arm (111) and a first outer arm (112), one end of the first driver (13) is hinged inside the first inner arm (111), the other end of the first driver (13) is hinged inside the first outer arm (112), and the first inner arm (111) is driven to be telescopic from the first outer arm (112) by controlling the first driver (13);
the clamping mechanism (14) is fixedly connected to the front end of the first inner arm (111) to synchronously extend and retract along with the first inner arm (111).
5. The mining arch trolley according to claim 1, characterized in that the basket assembly (3) further comprises a first manipulator restraint seat (34) and four second manipulator restraint seats (35), the first manipulator restraint seat (34) and the four second manipulator restraint seats (35) being fixed to the basket (31);
the lower edge of the front end of the hanging basket (31) is located on the first manipulator limiting seat (34) and used for limiting the rotating range of the first manipulator (1) in the vertical direction, and the four second manipulator limiting seats (35) are located on the bottom surface of the hanging basket (31) and used for limiting the rotating range of the second manipulator (2) in the horizontal direction.
6. The mining arch springing trolley according to claim 1, characterized in that the second telescopic arm (21) comprises a second inner arm (214) and a second outer arm (215) which are telescopically connected, the swing arm (24) is connected with the second inner arm (214) through a hinge base (28), one end of the hinge base (28) is fixedly connected with the second inner arm (214) through a bolt, the other end of the hinge base (28) is hinged at the bottom end of the swing arm (24) through a first pin shaft, and the swing arm (24) can rotate around the first pin shaft;
the swing frame (25) is hinged to the swing arm (24) through a second pin shaft, and the swing frame (25) can rotate around the second pin shaft.
7. The mining arch trolley according to claim 6, characterized in that the second manipulator (2) further comprises a second driver (23), a third driver (29) and a fourth driver (210), the second outer arm (215) is connected with the second inner arm (214) through the second driver (23), the front end of the second driver (23) is hinged inside the second inner arm (214), the rear end is hinged inside the second outer arm (215), and the second inner arm (214) is driven to telescope from the first outer arm (112) through controlling the second driver (23);
one end of the third driver (29) is hinged on the hinge seat (28), and the other end of the third driver (29) is hinged on the swing arm (24) to control the deflection angle of the swing arm (24);
one end of the fourth driver (210) is hinged on the swing arm (24), and the other end of the fourth driver (210) is hinged on the swing frame (25) to control the deflection angle of the swing frame (25).
8. The mining arch trolley according to claim 1, characterized in that the basket assembly (3) further comprises a first mounting seat (32) and two second mounting seats (33) which are arranged in bilateral symmetry with respect to the first mounting seat (32), the first mounting seat (32) is fixedly connected to the front end of the basket (31), and the second mounting seats (33) are fixedly connected to two sides of the bottom of the basket (31);
the first mechanical arm (1) further comprises a first speed reducer (15), the first speed reducer (15) is fixedly connected to the rear end of the first outer arm (112) to drive the first mechanical arm (1) to vertically rotate around the center of the first speed reducer (15), and the first speed reducer (15) is fixed to the first mounting seat (32);
the second manipulator (2) further comprises a second speed reducer (213), the second speed reducer (213) is fixedly connected to the rear end of the second outer arm (215) to drive the second manipulator (2) to horizontally rotate around the center of the second speed reducer (213), and the second speed reducer (213) is fixed with the second mounting seat (33).
9. The mining arch springing trolley according to claim 8, wherein the first manipulator (1) further comprises a first stopper (16), the first stopper (16) is fixedly connected to a rear end of the first outer arm (112), and correspondingly, a second stopper (321) is arranged on the first mounting seat (32);
the first limiting block (16) is matched with the second limiting block (321) to limit the rotation of the first manipulator (1).
10. A method of using the mining arch trolley according to any one of claims 1 to 9,
erecting a middle arch frame:
s11, two second winches (36) lift the middle arch frame (4) to the clamping mechanism (14);
s12, clamping the middle arch frame (4) by the first mechanical arm (1);
s13, the first manipulator (1) rotates to a position where the clamping mechanism (14) is vertically upward;
s14, extending the first manipulator (1), and sending the middle arch (4) to the tunnel contour line to form an arch center line reference;
erecting a side arch frame:
s21, swinging the swing arm (24) to the position of the side arch frame (5) to be arched;
s22, the first winch (211) on the same side of the side arch frame (5) and the second winch (36) on the side arch frame (5) are matched to hoist the side arch frame (5) to enable the middle section of the side arch frame (5) to be close to the swing arm (24);
s23, the swing arm (24) drives the side arch frame (5) to rotate;
s24, the swing frame (25) deflects to adjust the side arch frame (5) to be in a vertical state;
s25, the second manipulator (2) rotates to the direction of the section of the tunnel;
and S26, extending out the second manipulator (2), and conveying the side arch frame (5) to the tunnel contour line to realize the connection of the side arch frame (5) and the middle arch frame (4) so as to finish arch erection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310164337.5A CN115977700A (en) | 2023-02-24 | 2023-02-24 | Mining arch frame trolley and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310164337.5A CN115977700A (en) | 2023-02-24 | 2023-02-24 | Mining arch frame trolley and using method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115977700A true CN115977700A (en) | 2023-04-18 |
Family
ID=85963438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310164337.5A Pending CN115977700A (en) | 2023-02-24 | 2023-02-24 | Mining arch frame trolley and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115977700A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116557007A (en) * | 2023-07-06 | 2023-08-08 | 中建铁路投资建设集团有限公司 | Tunnel arch frame installation device |
-
2023
- 2023-02-24 CN CN202310164337.5A patent/CN115977700A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116557007A (en) * | 2023-07-06 | 2023-08-08 | 中建铁路投资建设集团有限公司 | Tunnel arch frame installation device |
| CN116557007B (en) * | 2023-07-06 | 2023-09-05 | 中建铁路投资建设集团有限公司 | Tunnel arch frame installation device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109882214B (en) | Multifunctional arch centering installation trolley | |
| CN109538252B (en) | Multifunctional arch frame trolley and erection method of multiple arch frames | |
| EP2256078B1 (en) | Folding jib strut | |
| RU2587746C2 (en) | Method for connection of sections of crane suspension assembly and gate unit used therein | |
| CN107916897B (en) | Working mechanism of multifunctional arch-erecting rock drilling trolley | |
| CN115977700A (en) | Mining arch frame trolley and using method | |
| CN109399470B (en) | Folding arm type hoisting equipment | |
| CN115744618B (en) | Hoisting method for tower type boiler girder | |
| CN114575898A (en) | Arch anchor integrated operation trolley and construction method thereof | |
| CN210178382U (en) | Multifunctional arch center mounting trolley | |
| CN109322682B (en) | Manipulator for arch frame trolley | |
| CN210084881U (en) | Tunnel overhead working truck | |
| JP2021119101A (en) | Jib system for vehicle crane equipped with bracing device, and rigging and de-rigging method for bracing device of vehicle crane | |
| CN209308713U (en) | A kind of arch trolley manipulator | |
| TWI701204B (en) | Load handling machinery | |
| CN116352674A (en) | Combined arm support system for arch-anchor integrated trolley and working method | |
| CN215666664U (en) | Prevent that side carries two roof beam hoisting equipment of suspension type | |
| CN214935492U (en) | Hoisting and transporting system for low space | |
| CN110641565B (en) | Box culvert handling tool car | |
| CN210176408U (en) | Multifunctional arch center mounting platform | |
| JP2017137171A (en) | Crane and method for mounting boom of crane | |
| CN219176354U (en) | Arch frame mounting trolley for mine | |
| CN111115449A (en) | Box hoist and mount balance adjustment mechanism | |
| CN218557137U (en) | Mechanical hand for underground detour | |
| CN219492310U (en) | Arch, anchor and spray integrated operation trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |