CN100575006C - Manipulator of automatic positioning and rapid grasping pipe piece - Google Patents

Manipulator of automatic positioning and rapid grasping pipe piece Download PDF

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Publication number
CN100575006C
CN100575006C CN200710159134A CN200710159134A CN100575006C CN 100575006 C CN100575006 C CN 100575006C CN 200710159134 A CN200710159134 A CN 200710159134A CN 200710159134 A CN200710159134 A CN 200710159134A CN 100575006 C CN100575006 C CN 100575006C
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CN
China
Prior art keywords
axis
platform
drive
fixed
retainer ring
Prior art date
Application number
CN200710159134A
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Chinese (zh)
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CN101200063A (en
Inventor
肖羽曼
高伟贤
李志波
赵凯军
杨涛
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沈阳重型机械集团有限责任公司
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Priority to CN200710159134A priority Critical patent/CN100575006C/en
Publication of CN101200063A publication Critical patent/CN101200063A/en
Application granted granted Critical
Publication of CN100575006C publication Critical patent/CN100575006C/en

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Abstract

A kind of manipulator of automatic positioning and rapid grasping pipe piece that is applied in the tunnel construction machinery industry, by rotating ring, drive unit, cantilever beam, hoisting frame, four rollers, grasp platform, gripper cylinder, extracting is first-class forms, the axis direction in tunnel is made as X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring overlaps with X-axis with the axis of retainer ring, drive unit is fixed on the retainer ring, its hydraulic motor rotates around X-axis thereby the drive bull gear reaches the rotating ring that connects with bull gear through the reduction box driving pinion, rotates thereby drive with the joining hoisting frame of rotating ring; Cantilever beam is along the housing inboard that axially and abreast is fixed on shield machine of shield machine, be respectively equipped with the channel suspending rail that rolls for four rollers in the outside of cantilever beam, four rollers are individually fixed in the both sides inwall of retainer ring, the cylinder body of two translation oil cylinders is fixed on the cantilever beam, its piston rod and retainer ring hinged securement.This device has comprehensive section of jurisdiction installation function, realizes that the section of jurisdiction arrives arbitrarily predetermined installation site, and it is flexible to grasp first watch, realizes four kinds of motions, effectively improves pipe sheet assembling efficient.

Description

Manipulator of automatic positioning and rapid grasping pipe piece

Technical field:

The present invention relates to a kind of manipulator of automatic positioning and rapid grasping pipe piece of tunnel construction machinery, particularly the shield machine segment assembling machine.

Background technology:

Pipe sheet assembling equipment is one of important composition parts of constructing tunnel usefulness shield excavation machine, after shield machine is pushed ahead a segment distance, pipe sheet assembling equipment commences work without delay, the section of jurisdiction in time is assembled into tunnel-liner, and the performance of pipe sheet assembling equipment directly has influence on the progress of tunnel Forming Quality and engineering construction.Though prior art can realize the requirement of the section of jurisdiction anglec of rotation and position, but because its rotatable platform that is connected with the section of jurisdiction only can be realized two motions: around tunnel radial level direction and the radially rotation of vertical around the tunnel, remaining motion all is to realize by the oil cylinder and the drive unit of big stroke, obviously, the motion of its rotatable platform is also dumb, promptly after the section of jurisdiction rotates to predetermined angular for there being limitation aspect the attitude adjustment of section of jurisdiction, have certain influence for the Forming Quality in tunnel.Therefore developing a kind of manipulator of automatic positioning and rapid grasping pipe piece is the new problem of being badly in need of solution.

Summary of the invention:

The purpose of this invention is to provide a kind of improvement the deficiencies in the prior art, has comprehensive section of jurisdiction installation function, realize that the section of jurisdiction arrives arbitrarily predetermined installation site, it is flexible to grasp first watch, realize four kinds of motions, effectively improve pipe sheet assembling efficient, the attitude adjustment of section of jurisdiction is easier, make pipe sheet assembling efficient higher, the more guaranteed manipulator of automatic positioning and rapid grasping pipe piece of tunnel forming quality.

The object of the present invention is achieved like this: manipulator of automatic positioning and rapid grasping pipe piece, whole device is made up of rotating ring, retainer ring, drive unit, cantilever beam, channel suspending rail, two translation oil cylinders, two leads, four fairleads, two lift cylinders, hoisting frame, four rollers, extracting platform, gripper cylinder, deflection oil cylinder, three dump rams, backstay, oscillating bearing, extracting head, the axis direction in tunnel is made as X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring overlaps with X-axis with the axis of retainer ring, drive unit is fixed on the retainer ring, its hydraulic motor rotates around X-axis thereby the drive bull gear reaches the rotating ring that connects with bull gear through the reduction box driving pinion, rotates thereby drive with the joining hoisting frame of rotating ring; Cantilever beam is along the housing inboard that axially and abreast is fixed on shield machine of shield machine, be respectively equipped with the channel suspending rail that rolls for four rollers in the outside of cantilever beam, four rollers are individually fixed in the both sides inwall of retainer ring, the cylinder body of two translation oil cylinders is fixed on the cantilever beam, its piston rod and retainer ring hinged securement, four rollers that drive on the retainer ring when two translation oil cylinders are flexible roll in channel suspending rail, and promptly total moves along X-axis; Four fairlead secured in parallel are in the both sides of rotating ring, the upper end of the cylinder body of two lift cylinders and two leads is connected and fixed, the tailpiece of the piston rod of two lift cylinders and rotating ring hinged securement, two lift cylinders drive two leads when flexible and slide along four fairleads, two lead lower ends and hoisting frame are fixedly connected, and move along the Z axle thereby drive the extracting platform; Grasping platform is Y shape support, hoisting frame is hinged with three summits grasping platform respectively by three dump rams, flexible can the drive of three dump rams grasped platform around Y-axis and X-axis swing, deflection oil cylinder one end and hoisting frame are hinged, the other end is hinged with the extracting platform, the flexible extracting platform that can drive of deflection oil cylinder rotates around the Z axle, gripper cylinder is positioned at and grasps the platform center, play connection, promote and the promptly effect of section of jurisdiction, backstay is fixed on the hoisting frame, cooperate with the oscillating bearing on grasping platform, the displacement of platform in the XZ plane grasped in restriction.

Main points of the present invention are its structure and operation principle.Its operation principle is, the pinion of drive unit drives the bull gear that is fixed on the rotating ring, thereby the driven rotary ring rotates in retainer ring, grasping lifting, translation and some adjusting fine motions of head is finished by the hydraulic cylinder that some sizes and stroke do not wait respectively, all motions of assembling machine are hydraulic-driven, utilize Digiplex to realize the assembly unit of section of jurisdiction.

Manipulator of automatic positioning and rapid grasping pipe piece compared with prior art, has comprehensive section of jurisdiction installation function, realize that the section of jurisdiction arrives arbitrarily predetermined installation site, it is flexible to grasp first watch, realizes four kinds of motions, effectively improves pipe sheet assembling efficient, the attitude adjustment of section of jurisdiction is easier, make pipe sheet assembling efficient higher, advantage such as the tunnel forming quality is more guaranteed will be widely used in the tunnel construction machinery industry.

Description of drawings:

The present invention is described in detail below in conjunction with drawings and Examples.

Fig. 1 is a structural representation of the present invention.

Fig. 2 is the big left view of Fig. 1.

Fig. 3 is the structural representation of section of jurisdiction of the present invention bridge.

Fig. 4 is the structural representation at extracting platform of the present invention position.

The specific embodiment:

With reference to accompanying drawing, manipulator of automatic positioning and rapid grasping pipe piece, whole device by rotating ring 1, retainer ring 2, drive unit 3, cantilever beam 4, channel suspending rail 5, two translation oil cylinders 6, two leads 7, four fairleads 8, two lift cylinders 9, hoisting frame 10, four rollers 11, grasp platform 12, gripper cylinder 13, deflection oil cylinder 14, three dump rams 15, backstay 16, oscillating bearing 17, grasp 18 and form, the axis direction in tunnel is made as X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring 1 overlaps with X-axis with the axis of retainer ring 2, drive unit 3 is fixed on the retainer ring 2, its hydraulic motor is through reduction box driving pinion, thereby drives bull gear and the rotating ring that connects with bull gear 1 rotate around X-axis, thus drive and rotating ring 1 joining hoisting frame 10 rotations; Cantilever beam 4 is along the housing inboard that axially and abreast is fixed on shield machine of bits structure machine, be respectively equipped with the channel suspending rail 5 that rolls for four rollers 11 in the outside of cantilever beam 4, four rollers 11 are individually fixed in the both sides inwall of retainer ring 2, the cylinder body of two translation oil cylinders 6 is fixed on the cantilever beam 4, its piston rod and retainer ring 2 hinged securement, four rollers 11 that drive on the retainer ring 2 when two translation oil cylinders 6 stretch roll in channel suspending rail 5, and promptly total moves along X-axis; Four fairleads, 8 secured in parallel are in the both sides of rotating ring 1, the upper end of the cylinder body of two lift cylinders 9 and two leads 7 is connected and fixed, the tailpiece of the piston rod of two lift cylinders 9 and rotating ring 1 hinged securement, two lift cylinders 9 drive two leads 7 and slide along four fairleads 8 when stretching, two leads, 7 lower ends and hoisting frame 10 are fixedly connected, and move along the Z axle thereby drive extracting platform 12; Grasping platform 12 is Y shape support, hoisting frame 10 is hinged with three summits grasping platform 12 respectively by three dump rams 15, flexible can the drive of three dump rams 15 grasped platform 12 around Y-axis and X-axis swing, deflection oil cylinder 14 1 ends and hoisting frame 10 are hinged, the other end is hinged with extracting platform 12, the flexible extracting platform 12 that can drive of deflection oil cylinder 14 rotates around the Z axle, gripper cylinder 13 is positioned at and grasps platform 12 centers, play connection, promote and the promptly effect of section of jurisdiction, backstay 16 is fixed on the hoisting frame 10, cooperate with the oscillating bearing 17 on grasping platform 12, the displacement of platform 12 in the XZ plane grasped in restriction.

Hoisting frame 10 can realize around X-axis rotation, along the displacement of X-axis and Z axle, these three big displacements are used for locating fast the section of jurisdiction, grasp 18 and can realize four kinds of motions: around the rotation of X-axis, Y-axis, Z axle and along the translation of Z axle, after these four less displacements are used for section of jurisdiction arrival predetermined angular, attitude adjustment before in place, thus the installation that guarantees the section of jurisdiction is not only fast but also easy.

Claims (1)

1, a kind of manipulator of automatic positioning and rapid grasping pipe piece that is applied in the tunnel construction machinery industry, whole device is made up of rotating ring, retainer ring, drive unit, cantilever beam, channel suspending rail, two translation oil cylinders, two leads, four fairleads, two lift cylinders, hoisting frame, four rolling, extracting platform, gripper cylinder, deflection oil cylinder, three dump rams, backstay, oscillating bearing, extracting heads, it is characterized in that: the axis direction in tunnel is made as X-axis, tunnel radial level direction is a Y-axis, and tunnel radially vertical direction is the Z axle; Rotating ring overlaps with X-axis with the axis of retainer ring, drive unit is fixed on the retainer ring, its hydraulic motor rotates around X-axis thereby the drive bull gear reaches the rotating ring that connects with bull gear through the reduction box driving pinion, rotates thereby drive with the joining hoisting frame of rotating ring; Cantilever beam is along the housing inboard that is fixed on shield machine of shield machine axial and in parallelly, be respectively equipped with the channel suspending rail that rolls for four rolling in the outside of cantilever beam, four rolling is individually fixed in the both sides inwall of retainer ring, the cylinder body of two translation oil cylinders is fixed on the cantilever beam, its piston rod and retainer ring hinged securement, the four rolling that drives on the retainer ring when two translation oil cylinders are flexible rolls in channel suspending rail, and promptly whole device moves along X-axis; Four fairlead secured in parallel are in the both sides of rotating ring, the upper end of the cylinder body of two lift cylinders and two leads is connected and fixed, the tailpiece of the piston rod of two lift cylinders and rotating ring hinged securement, two lift cylinders drive two leads when flexible and slide along four fairleads, two lead lower ends and hoisting frame are fixedly connected, and grasp platform and move along the Z axle thereby drive; Grasping platform is Y shape support, hoisting frame is hinged with three summits grasping platform respectively by three dump rams, flexible can the drive of three dump rams grasped platform around Y-axis and X-axis swing, deflection oil cylinder one end and hoisting frame are hinged, the other end is hinged with the extracting platform, the flexible extracting platform that can drive of deflection oil cylinder rotates around the Z axle, gripper cylinder is positioned at and grasps the platform center, play connection, promote and the promptly effect of section of jurisdiction, backstay is fixed on the hoisting frame, cooperate with the oscillating bearing on grasping platform, the displacement of platform in the XZ plane grasped in restriction.
CN200710159134A 2007-12-24 2007-12-24 Manipulator of automatic positioning and rapid grasping pipe piece CN100575006C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN200710159134A CN100575006C (en) 2007-12-24 2007-12-24 Manipulator of automatic positioning and rapid grasping pipe piece

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN200710159134A CN100575006C (en) 2007-12-24 2007-12-24 Manipulator of automatic positioning and rapid grasping pipe piece

Publications (2)

Publication Number Publication Date
CN101200063A CN101200063A (en) 2008-06-18
CN100575006C true CN100575006C (en) 2009-12-30

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Application Number Title Priority Date Filing Date
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Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101705828B (en) * 2009-10-21 2011-08-31 上海隧道工程股份有限公司 Shield pipe sheet assembling machine
CN101705830B (en) * 2009-10-21 2012-04-18 上海隧道工程股份有限公司 Vacuum cup six-degree-of-freedom shield tunnel segment erector
CN101696634B (en) * 2009-11-09 2012-06-13 上海交通大学 Six-degree-of-freedom shield segment assembling machine
CN101737062B (en) * 2009-11-27 2012-05-09 沈阳重型机械集团有限责任公司 Segment assembly robot for miniature shield machine
CN101967988A (en) * 2010-08-23 2011-02-09 重庆城建控股(集团)有限责任公司 Quickly-installed manipulator of attached type tunnel arch
CN103195445A (en) * 2013-04-15 2013-07-10 辽宁北方重工机器制造有限公司 Self-positioning quick segment erector
CN103527206B (en) * 2013-10-31 2015-10-28 北方重工集团有限公司 Tunnel machine steel arch-shelf and mesh sheet installation manipulator
CN103697021B (en) * 2013-12-13 2016-01-20 浙江三一装备有限公司 Steam generator location and installation control system
CN104533464A (en) * 2014-12-17 2015-04-22 中国神华能源股份有限公司 Device and method for positioning and installing portal steel ring
CN105443136A (en) * 2015-12-30 2016-03-30 中船重型装备有限公司 Segment erector device of shield tunneling machine
CN106194219B (en) * 2016-07-19 2017-10-10 中铁工程装备集团有限公司 One kind is applied to large section shape of a hoof shield pipe sheet assembling machine snatch device
CN106017541B (en) * 2016-07-29 2018-08-28 中铁第四勘察设计院集团有限公司 A kind of on-Line Monitor Device and method that subway contact net holder loosens
CN108832547B (en) * 2018-02-12 2019-11-22 国家电网公司 The auxiliary machine tool connected for pipeline in gas-insulated metal closed power transmission line
CN109227080B (en) * 2018-09-30 2020-02-14 成都南方电子仪表有限公司 Multifunctional manipulator and rotary platform

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