CN219548882U - Tunnel trolley with arch erecting function - Google Patents

Abstract

The utility model provides a tunnel trolley with an arch erecting function, which relates to the technical field of tunnel operation equipment, and comprises: an operation platform; the arch frame installation mechanism comprises a lifting device, a horizontal sliding component and a manipulator, wherein the lifting device is connected with the lifting device to drive the lifting device to move up and down, and the manipulator is connected with the horizontal sliding component to drive the manipulator to move in the front-back direction and can move in a three-dimensional space; through set up linking arm, bracket and gyration subassembly on the manipulator, the bracket is connected with the linking arm, and the gyration subassembly is located on the linking arm, and constructor controls the mounted position of bow member through the manipulator to adaptation tunnel inner wall's unevenness and the different crooked radian in tunnel use is nimble, and degree of automation is high, and constructor's working strength is little.

Description

Tunnel trolley with arch erecting function

Technical Field

The utility model relates to the technical field of tunnel operation equipment, in particular to a tunnel trolley with an arch erecting function.

Background

In the tunnel operation, the inner wall of the excavated tunnel needs to be supported as necessary.

There are various kinds of working equipment on tunnel construction sites, including arch-supporting trolleys specially used for supporting tunnels, and common tunnel trolleys. The special arch-erecting trolley has single function and high arch erecting efficiency, but also has high cost; the tunnel trolley is various in function, can complete various operation types by cooperation with manpower, and is relatively low in cost.

As in chinese patent No. CN115263378A, an arch mounting trolley is disclosed, and an arch mounting mechanism is provided on the trolley, through which an arch is mounted. The arch centering installation mechanism comprises a lifting conveying device and a horizontal conveying device, wherein the lifting conveying device is arranged at one end of the trolley, and the horizontal conveying device is arranged at the top of the trolley. The lifting conveying device lifts the arch centering to a certain height from the ground, the horizontal conveying device conveys the arch centering to the installation position, and finally an operator carries out manual installation. However, the inner wall of tunnel is uneven to have certain radian, horizontal conveyor's direction of motion is single, and the bow member can not laminate in the inner wall of tunnel, often constructor need spend a large amount of time efforts to adjust the angle of installation bow member, uses rigid, and degree of automation is low, and constructor's working strength is big.

In view of this, a new solution is needed to solve the above technical problems.

Disclosure of Invention

The utility model aims to provide the tunnel trolley with the arch erecting function, which is flexible to use, high in automation degree and low in working intensity of constructors.

In order to achieve the above purpose, the utility model adopts the following technical means:

a tunnel trolley with arch erecting function, comprising:

an operation platform; a kind of electronic device with high-pressure air-conditioning system

The arch frame installation mechanism comprises a lifting device, a horizontal sliding component and a manipulator, wherein the lifting device is connected with the lifting device to drive the lifting device to move up and down, the manipulator is connected with the horizontal sliding component to drive the manipulator to move in the front-back direction, and the manipulator can flexibly move in a three-dimensional space; when the lifting device drives the arch frame to rise to a preset height, the horizontal sliding component drives the manipulator to move to the lower part of the arch frame so as to support the arch frame.

Optionally, the manipulator includes bracket, linking arm and gyration subassembly, the bracket is used for accepting the bow member, the linking arm with the bracket connection, the gyration subassembly is located on the linking arm, be used for adjusting the angle of bracket.

Optionally, the connecting arm comprises a first arm body, a second arm body and a third arm body, wherein the first arm body is connected with the second arm body, and the second arm body is connected with the third arm body; the rotary assembly comprises a first rotary member, wherein the first rotary member is arranged between the first arm body and the second arm body, and the second arm body can rotate in the horizontal direction relative to the first arm body.

Optionally, the rotary assembly further comprises a second rotary member, the second rotary member is arranged on the second arm body, the second rotary member comprises a first rotary seat, a second rotary seat, a first connecting rod and a second connecting rod, and two ends of the first connecting rod and two ends of the second connecting rod are respectively hinged with the first rotary seat and the second rotary seat; the first rotary seat is provided with a first oil cylinder, and an output shaft of the first oil cylinder is connected with the second connecting rod so as to drive the first rotary seat to do pitching motion relative to the second rotary seat.

Optionally, the rotation assembly includes a third rotation member, the third rotation member being disposed between the third arm and the bracket; the third arm body is provided with an oil cylinder, the included angle between the oil cylinder and the third arm body is an acute angle, and an output shaft of the oil cylinder is connected with the bracket so as to drive the bracket to deflect.

Optionally, the bracket includes a lifting portion and a clamping portion, the clamping portion being provided on the lifting portion.

Optionally, the horizontal sliding component comprises a horizontal sliding rail and a sliding piece, and the sliding piece is in sliding connection with the horizontal sliding rail.

Optionally, the lifting device comprises a support and a vertical slide rail, and the support is movably arranged on the vertical slide rail.

Optionally, the hoisting device comprises a first winch, a plurality of pulleys and a steel wire rope, wherein the first winch is arranged on the working platform, one end of the steel wire rope is connected with the first winch, the other end of the steel wire rope is connected with the supporting piece, and the steel wire rope is abutted with the pulleys; the hoisting device further comprises a second winch, the second winch is arranged on the second arm body, and the second winch is used for hoisting the arch frame from the ground to the lifting device through a steel wire rope.

Optionally, the support member includes a sliding portion and a frame, and the sliding portion is hinged to the frame.

Compared with the prior art, the utility model has the following technical effects:

according to the tunnel trolley with the arch erecting function, the arch frame installation mechanism is configured into the lifting device, the horizontal sliding component and the manipulator, the lifting device conveys the arch frame to the lifting device from the ground, and then the lifting device is driven to lift until the lifting device is lifted to a position higher than the operating platform and flush with the lifting device. And then, driving the manipulator to move forwards through the horizontal sliding assembly until the manipulator moves to the position right below the arch frame. At this point, the arch is transferred to the robot by the lifting device. The lifting device can then be driven downwards by the lifting device for the transport of the next arch. The manipulator moves backwards under the drive of the horizontal sliding component until the manipulator moves to the position of the tunnel to be arched. Finally, constructors adjust the angle of the manipulator to carry out arch erecting operation. Namely constructors control the installation position of the arch through the manipulator to adapt to the uneven inner wall of the tunnel and different radians of the tunnel bending, the use is flexible, the degree of automation is high, and the working strength of the constructors is small.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view showing a tunnel bogie with arch function according to an embodiment of the present utility model;

FIG. 2 is a schematic view of the structure of the lifting device;

FIG. 3 is a schematic view of the structure of the carrier in a folded state of the lifting device;

FIG. 4 is a schematic view of the carrier of the lifting device;

FIG. 5 is a schematic view of a horizontal slip assembly and a manipulator from one view;

FIG. 6 is a schematic view of a horizontal slip assembly and a further view of a manipulator;

fig. 7 is an enlarged schematic view of part a of fig. 5.

Description of main reference numerals:

10-a travelling mechanism; 20-an operation platform; 30-an arch frame mounting mechanism; 40-arches;

31-lifting device; 311-support; 3111-a sliding portion; 3112-a frame; 312-vertical slide rails;

32-a hoisting device; 321-a first winch; 322-pulley; 323-steel wire rope; 324-a second hoist;

33-a horizontal slip assembly; 331-horizontal slide rail; 332-a slider;

34-a manipulator; 341-a bracket; 3411-a lifting part; 3412—clamping part; 342-a connecting arm; 3421-a first arm; 3422-a second arm; 3423-a first rotary base; 3424-a second rotary base; 3425-a first link; 3426-a second link; 3427—a first ram; 3428-third arm; 3431-first rotating member; 3432-a second rotating member; 3433-a third rotating member; 344-second cylinder.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other. Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout.

Referring to fig. 1, in an embodiment of the present utility model, a tunnel trolley with arch erecting function is provided, including: the traveling mechanism 10, the working platform 20 and the arch frame mounting mechanism 30, wherein the traveling mechanism 10 is arranged below the working platform 20. The travelling mechanism 10 is used for driving the tunnel trolley to move in the tunnel. After the tunnel trolley reaches the working surface, the constructor conveys the arch 40 to the installation position through the arch installation mechanism 30, so as to install the arch 40.

Specifically, the running gear 10 includes a self-driven running gear and a non-self-driven running gear. The self-driven walking device is internally provided with the driving piece, and the trolley is driven to move by the driving piece, so that the self-driven walking device is simple to operate and low in use cost. The non-self-driven walking device is not provided with a driving part, and only plays a role in transmitting power. The traction vehicle is required to provide driving force to drive the tunnel trolley to move.

Specifically, the running gear 10 is a crawler type, and in other embodiments, the running gear 10 may be a wheel type or a slide rail type, and is not limited to the specific limitation of the present embodiment.

Work platform 20 is used to carry construction personnel for transportation and construction operations and to provide mounting locations for the mounting platform of arch 40.

In one specific embodiment, the arch frame mounting mechanism 30 comprises a lifting device 32, a lifting device 31, a horizontal sliding component 33 and a manipulator 34, wherein the lifting device 32 is connected with the lifting device 31 to drive the lifting device 31 to move up and down, the manipulator 34 is connected with the horizontal sliding component 33 to drive the manipulator 34 to move in the front-back direction, and the manipulator 34 can flexibly move in a three-dimensional space; when the lifting device 31 drives the arch 40 to rise to a predetermined height, the horizontal sliding assembly 33 drives the manipulator 34 to move below the arch 40 to receive the arch 40.

The preset height is higher than the top of the working platform 20 and is flush with the manipulator 34, so that the lifting device 31 can smoothly reach below the arch 40. The lifting movement is the height direction of the tunnel trolley, and the front-back direction is the front-back direction of the tunnel trolley. All orientations of this embodiment are described in connection with the normal use of the tunnel trolley.

By configuring the arch mounting mechanism 30 as the lifting device 32, the lifting device 31, the horizontal sliding component 33 and the manipulator 34, the lifting device 32 conveys the arch 40 from the ground to the lifting device 31 and ascends under the driving of the lifting device 31 until the arch is lifted to a position higher than the working platform 20 and flush with the lifting device 31. The manipulator 34 is then driven forward by the horizontal slip assembly 33 until it moves directly under the arch 40. At this point, the arch 40 is transferred by the lifting device 31 to the robot 34. The lifting device 31 can then be driven downwards by the lifting device 32 for the transport of the next arch 40. The manipulator 34 is then driven by the horizontal slip assembly 33 to move backwards until it reaches the position of the tunnel to be framed. Finally, the constructor adjusts the angle of the manipulator 34 to perform the arch erecting operation. Namely, constructors only control the installation position of the arch 40 through the manipulator 34 to adapt to the rugged tunnel inner wall and the radian of tunnel bending, the use is flexible, the automation degree is high, and the working strength of constructors is small.

Referring to fig. 2, in one embodiment, the lifting device 31 includes a support 311 and a vertical sliding rail 312, and the support 311 is movably disposed on the vertical sliding rail 312.

Wherein the vertical slide rail 312 extends from the height direction of the trolley, and the support 311 is movable in the height direction of the tunnel trolley.

Specifically, two lifting devices 31 are provided in parallel to the front end of the work platform 20 (see fig. 1). The supporting member 311 is a rod body, and provides sufficient support for the arch 40 through two rod bodies, so that it is stable and reliable in the rising process.

The lifting device 31 is configured into the supporting piece 311 and the vertical sliding rail 312, the supporting piece 311 is movably arranged on the vertical sliding rail 312, and can drive the arch 40 to move up and down, so that the structure is simple and reliable.

In one specific embodiment, the hoisting device 32 includes a first hoist 321, a plurality of pulleys 322, and a wire rope 323, the first hoist 321 is provided on the work platform 20, one end of the wire rope 323 is connected to the first hoist 321, the other end is connected to the support 311, and the wire rope 323 is abutted against the pulleys 322. The lifting device 32 further comprises a second winch 324, the second winch 324 is arranged on the second arm 3422, and the second winch 3422 is used for lifting the arch 40 from the ground to the lifting device 31 through a wire rope 323.

The wire rope 323 is used for transmitting driving force generated by the first winch 321 and the second winch 324 to drive the supporting piece 311 to ascend or descend. The plurality of pulleys 322 are capable of changing the direction of the driving force.

The working processes of the first winch and the second winch are as follows: the arch 40 is located on the ground. The constructor starts the second winch 321, and the wire rope 323 drives the arch 40 to rise from the ground to the bracket 341 under the driving of the second winch 321. After the arch 40 reaches the bracket 341, the constructor restarts the first winding machine 321. The wire rope 323 drives the supporting member 311 to rise up to the height exceeding the working platform 20 under the driving of the first hoist 321.

Through first hoist engine 321 and second hoist engine 324, and supporting a plurality of pulleys 322 and wire rope 323 of setting up, can realize that bow member 40 is from ground to on lifting device 31, carry the top of platform truck by lifting device 31 again, degree of automation is high, labour saving and time saving.

Referring to fig. 3 and 4, fig. 3 is a schematic structural view of a folded state of the supporting member 311 of the lifting device 31, and fig. 4 is a schematic structural view of a carrying state of the supporting member 311 of the lifting device 31. Further, the support 311 includes a sliding portion 3111 and a frame body 3112, and the sliding portion 3111 is hinged to the frame body 3112.

Wherein, the frame 3112 can be switched between a folded state and a carrying state. In the folded state, the frame 3112 is parallel to the vertical rail 312 (see fig. 3). In the loading state, the frame body 3112 is perpendicular to the vertical sliding rail 312 to receive the arch 40 (see fig. 4).

When a constructor performs construction operation, the trolley needs to be stopped close to the working surface as much as possible so as to perform construction operations such as drilling and blasting, hole breaking, hole cleaning, charging and the like. The support piece 311 comprises a sliding part 3111 and a frame body 3112, the sliding part 3111 is hinged with the frame body 3112, the frame body 3112 is in a folded state and a carrying state, and when constructors perform construction operations such as drilling and blasting, hole breaking, hole cleaning, charging and the like, the frame body 3112 is controlled to be in the folded state so as to reduce the space between the tunnel trolley and the working surface. When arch erecting is required, the frame body 3112 is controlled to a loading state for transporting the arch 40, and the arch erecting device is flexible and reliable to use.

In one particular embodiment, the horizontal slip assembly 33 includes a horizontal slide rail 331 and a slider 332, the slider 332 being slidably coupled to the horizontal slide rail 331.

Wherein the horizontal slide rail 331 extends in the front-rear direction of the tunnel carriage, and the slider 332 moves in the front-rear direction of the carriage along the horizontal slide rail 331.

By setting the horizontal sliding assembly 33 as the horizontal slide rail 331 and the slider 332, the slider 332 has low sliding noise, high movement accuracy, and strong practicality.

Referring to fig. 5 and 6, in one specific embodiment, the manipulator 34 includes a bracket 341, a connecting arm 342, and a swivel assembly, where the bracket 341 is used to receive the arch 40, the connecting arm 342 is connected to the bracket 341, and the swivel assembly is disposed on the connecting arm 342, and is used to adjust an angle of the bracket 341.

Specifically, one end of the connection arm 342 is connected to the bracket 341, and the other end is connected to the slider 332.

Through set up linking arm 342, bracket 341 and gyration subassembly on manipulator 34, bracket 341 is connected with linking arm 342, and gyration subassembly is located on linking arm 342, and gyration subassembly can directly or indirectly drive bracket 341 rotation like this to adjust bracket 341 pivoted angle, the practicality is strong.

Further, the bracket 341 includes a supporting portion 3411 and a clamping portion 3412, and the clamping portion 3412 is provided on the supporting portion 3411.

Through setting up portion 3411 and clamping part 3412, portion 3411 is used for supporting bow member 40, and clamping part 3412 plays a fixed role to bow member 40 to prevent manipulator 34 pivoted in-process, bow member 40 drops by bracket 341, has strengthened the security, has improved the work efficiency of installation.

Further, the connecting arm 342 includes a first arm 3421, a second arm 3422, and a third arm 3428, the first arm 3421 is connected to the second arm 3422, and the second arm 3422 is connected to the third arm 3428.

Further, the swivel assembly includes a first swivel member 3431, where the first swivel member 3431 is disposed between the first arm 3421 and the second arm 3422, and the second arm 3422 can swivel in a horizontal direction relative to the first arm 3421.

Wherein the horizontal direction is a direction parallel to the top of the work platform 20 of the tunnel trolley.

Through setting up first rotating member 3431 between first arm 3421 and second arm 3422, first rotating member 3431 can drive second arm 3422 and rotate in the horizontal direction relative first arm 3421 to drive bracket 341 and rotate in the horizontal direction, with the bow member 40 that drives and put on the bracket 341 and rotate in the horizontal direction, in order to adjust the installation angle of bow member 40, the practicality is strong.

Referring to fig. 7, further, the rotating assembly further includes a second rotating member 3432, where the second rotating member 3432 is disposed on the third arm 3428 of the second arm 3422.

Specifically, the second rotating member 3432 includes a first rotating seat 3423 and a second rotating seat 3424, a first connecting rod 3425 and a second connecting rod 3426, and two ends of the first connecting rod 3425 and the second connecting rod 3426 are respectively hinged to the first rotating seat 3423 and the second rotating seat 3424; the first rotary seat 3423 is provided with a first oil cylinder 3427, and an output shaft of the first oil cylinder 3427 is connected with the second connecting rod 3426 so as to drive the first rotary seat 3423 to do pitching motion relative to the second rotary seat 3424. Third arm 3428

The pitching motion is the rotation of the tunnel trolley in the front-back direction.

Specifically, when the output shaft of the first cylinder 3427 is extended, the second rotary base 3424 is rotated counterclockwise around the first rotary base 3423. When the output shaft of the first oil cylinder 3427 is shortened, the second rotary seat 3424 is rotated clockwise around the first rotary seat 3423.

Through setting up second rotating member 3432 on second arm 3422, second rotating member 3432 includes first rotary seat 3423 and second rotary seat 3424, first connecting rod 3425 and second connecting rod 3426, under the drive effect of first hydro-cylinder 3427, first rotary seat 3423 is the every single move motion relative to second rotary seat 3424 to realize that manipulator 34 drives the centering on lifting device 31 and pitch the motion, adjust the installation angle who places in centering 40, the practicality is strong.

Referring to fig. 6 again, further, the rotating assembly includes a third rotating member 3433, the third rotating member 3433 is disposed between the third arm 3423 and the bracket 341; the third arm 3423 is provided with a second oil cylinder 344, the included angle between the second oil cylinder 344 and the third arm 3423 is an acute angle, and an output shaft of the second oil cylinder 344 is connected with the bracket 341 to drive the bracket 341 to deflect.

The deflection movement is a rotary movement in the left-right direction of the tunnel trolley. The output shaft of the second cylinder 344 is connected to a non-central location of the bottom surface of the arch 40.

Specifically, when the output shaft of the second cylinder 344 is extended, the arch 40 is deflected clockwise. When the output shaft of the second cylinder 344 is extended, the arch 40 is deflected counterclockwise.

Through setting up third rotating member 3433 between third arm 3423 and bracket 341 to set up second hydro-cylinder 344, under the drive effect of second hydro-cylinder 344, bracket 341 is through the relative third arm 3423 of third rotating member 3433 and is the yaw motion, in order to adjust bow member 40 and be the tilting motion, in order to adjust the installation angle of bow member 40, the practicality is strong.

Wherein the pitching and rolling movements described above are only described by way of example in connection with fig. 5 and 6. In practice, the manipulator 34 is a six-axis manipulator, and the combination of the first rotating member 3431, the second rotating member 3432, the third rotating member 3433 and the oil cylinder 344 can drive the bracket 341 to any angle to meet the requirement of installing the arch 40.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications of the utility model are intended to fall within the scope of the utility model.

Claims (10)

1. A tunnel trolley with arch erecting function, comprising:

an operation platform; a kind of electronic device with high-pressure air-conditioning system

The arch frame installation mechanism comprises a lifting device, a horizontal sliding component and a manipulator, wherein the lifting device is connected with the lifting device to drive the lifting device to move up and down, the manipulator is connected with the horizontal sliding component to drive the manipulator to move in the front-back direction, and the manipulator can move in a three-dimensional space; when the lifting device drives the arch frame to rise to a preset height, the horizontal sliding component drives the manipulator to move to the lower part of the arch frame so as to support the arch frame.

2. The tunnel trolley with arch supporting function according to claim 1, wherein the manipulator comprises a bracket for receiving an arch, a connecting arm connected to the bracket, and a swivel assembly provided on the connecting arm for adjusting an angle of the bracket.

3. The tunnel trolley with arch supporting function according to claim 2, wherein the connecting arm comprises a first arm body, a second arm body and a third arm body, the first arm body is connected with the second arm body, and the second arm body is connected with the third arm body; the rotary assembly comprises a first rotary member, wherein the first rotary member is arranged between the first arm body and the second arm body, and the second arm body can rotate in the horizontal direction relative to the first arm body.

4. The tunnel trolley with arch supporting function according to claim 3, wherein the revolving assembly further comprises a second revolving member, the second revolving member is arranged on the second arm body, the second revolving member comprises a first revolving seat and a second revolving seat, a first connecting rod and a second connecting rod, and two ends of the first connecting rod and the second connecting rod are respectively hinged with the first revolving seat and the second revolving seat; the first rotary seat is provided with a first oil cylinder, and an output shaft of the first oil cylinder is connected with the second connecting rod so as to drive the first rotary seat to do pitching motion relative to the second rotary seat.

5. The tunnel trolley with arch supporting function according to claim 4, wherein the swivel assembly comprises a third swivel member provided between the third arm body and the bracket; the third arm body is provided with an oil cylinder, the included angle between the oil cylinder and the third arm body is an acute angle, and an output shaft of the oil cylinder is connected with the bracket so as to drive the bracket to deflect.

6. The tunnel trolley with arching function according to any one of claims 2 to 5, characterized in that the bracket includes a supporting portion and a clamping portion provided on the supporting portion.

7. The tunnel trolley with arching function according to any one of claims 1 to 5, characterized in that the horizontal sliding assembly comprises a horizontal slide rail and a slider, which is slidingly connected with the horizontal slide rail.

8. The tunnel trolley with arching function according to any one of claims 3 to 5, characterized in that the lifting means comprise a support and a vertical slide rail, the support being movably provided on the vertical slide rail.

9. The tunnel trolley with arch supporting function according to claim 8, wherein the hoisting device comprises a first winch, a plurality of pulleys and a wire rope, the first winch is arranged on the working platform, one end of the wire rope is connected with the first winch, the other end of the wire rope is connected with the supporting piece, and the wire rope is abutted with the pulleys; the hoisting device further comprises a second winch, the second winch is arranged on the second arm body, and the second winch is used for hoisting the arch centering from the ground to the lifting device.

10. The arching-functional tunnel trolley of claim 8, wherein the support member includes a sliding portion and a frame body, the sliding portion being hinged to the frame body.