CN103866983A - Lengthened type concrete spraying vehicle manipulator - Google Patents
Lengthened type concrete spraying vehicle manipulator Download PDFInfo
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- CN103866983A CN103866983A CN201410121165.4A CN201410121165A CN103866983A CN 103866983 A CN103866983 A CN 103866983A CN 201410121165 A CN201410121165 A CN 201410121165A CN 103866983 A CN103866983 A CN 103866983A
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Abstract
The invention relates to the field of concrete spraying vehicle designing in engineering machinery, in particular to a lengthened type concrete spraying vehicle manipulator. The lengthened type concrete spraying vehicle manipulator is composed of a non-eccentric folding manipulator device, a sliding block mechanism, a scraper mechanism and an automatic lubrication device. The lengthened type concrete spraying vehicle manipulator solves the problem that in the prior art, a sliding plate, guide wheels and a telescopic arm are prone to abrasion, the problem that concrete attached to the telescopic arm needs to be cleared away in time, the problem that an oil cylinder push-pull type folding device and a manipulator are arranged eccentrically, so that the stability of a complete machine is poor, the problem that as a base of a rotary reducer type folding device is not provided with a leveling mechanism, the rotary reducer type folding device is prone to damage in the using process and the problem of designing the weight reduction design scheme of a concrete spraying vehicle manipulator. According to the concrete spraying vehicle manipulator, the length of the manipulator is increased, and therefore the operating range of the manipulator is expanded. The invention further provides a swing mechanism, so that the flexibility of operation is improved, and the load borne by the whole manipulator is relieved.
Description
Technical field
The present invention relates to engineering machinery concrete spraying vehicle design field, be specially a kind of extended type concrete spraying vehicle manipulator.
Background technology
In recent years, along with China's rapid development of economy, the development of machinery industry is swift and violent, the development of construction machinery industry is particularly outstanding, as construction machinery products such as concrete spraying vehicles, now be widely used in the construction of the construction works such as railway, highway, water conservancy, become the interim and desirable Construction Operating Machinery of permanent support that solves tunnel, road bank protection, underground construction.
The telescopic arm of prior art concrete spraying vehicle manipulator adopts slide plate or guide wheel guiding, and telescopic arm stretching frequency is high, large to the frictional force of slide plate, guide wheel and arm body, causes telescopic arm easily to wear and tear.In work progress, concrete easily adheres on telescopic arm, if cleaning not in time, it is easy to corrode arm body; In telescopic process, adhere to the easy clamping stagnation telescopic arm of concrete on telescopic arm, or wearing and tearing arm body, slide plate and guide wheel, arm body is reduced application life.Folding mechanical arm mostly adopts oil cylinder slide folding device or rotary reducer formula folding device at present.Oil cylinder slide folding device, manipulator is all eccentric folding, bad to complete machine stability; Rotary reducer formula folding device, though be not eccentric folding, rotary decelerating machine base does not have leveling mechanism, in use rotary reducer formula folding device easily damages, cause after rotary reducer revolution certain angle, the telescopic arm being connected with rotary reducer cannot stretch.Concrete spraying vehicle manipulator weight is a difficult problem always, and manipulator is laid particular stress on, and increases the burden of manipulator, affects the flexibility of manipulator, has reduced concrete spraying vehicle ejection efficiency.
In prior art, also exist because of the not enough limited technical problem of boundary of works area that causes concrete spraying vehicle of concrete spraying vehicle manipulator brachium.For the high gradient in WR and hydropower construction operation, high tunnel, existing concrete shotcrete vehicle cannot reach the required jetting height of operation; For the operation of benching tunnelling method excavation, concrete spraying vehicle top jet can be met difficulty, and some dead angle even cannot be sprayed.
Summary of the invention
(1) technical problem that will solve
(1) telescopic arm of prior art concrete spraying vehicle manipulator adopts slide plate or guide wheel guiding, and telescopic arm stretching frequency is high, large to the frictional force of slide plate, guide wheel and arm body, causes telescopic arm easily to wear and tear.
(2), in work progress, concrete easily adheres on telescopic arm, need clear up in time.
(3) solve in prior art: oil cylinder slide folding device, the eccentric arrangement of manipulator causes the bad problem of complete machine stability; And rotary reducer formula folding device, because not having leveling mechanism, rotary decelerating machine base causes in use, and rotary reducer formula folding device holds flimsy problem.
(4) problem of concrete spraying vehicle manipulator loss of weight design scheme.
(5) because of the not enough narrow technological deficiency of job area of bringing of manipulator brachium.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of extended type concrete spraying vehicle manipulator, it is characterized in that, described extended type concrete spraying vehicle manipulator is by folding type mechanical arm device, slide block mechanism, scraping plate mechanism and automatic lubrication installation form without acceptance of persons;
The described arm device of folding type mechanical without acceptance of persons comprises: left-right swinging mechanism, forearm 22, forearm telescopic arm 20 and the shower nozzle assembly 14 at panoramic table 1, the first folding arm 2, pitching oil cylinder 3, the first push cylinder 6, the first frame linking 7, first connecting rod 8, the second folding arm 9, the second frame linking 10, second connecting rod 11, the second push cylinder 12, the 3rd folding arm 13, forearm place; The left-right swinging mechanism at described forearm place is made up of the 3rd push cylinder 21, third connecting rod 23 and the 3rd frame linking 24;
Described the first folding arm 2 is hinged on described panoramic table 1; On described panoramic table 1, be provided with ear seat, described pitching oil cylinder 3 one end are hinged on the ear seat of described panoramic table 1, and the other end is hinged on described the first folding arm 2; Described the first folding arm 2 front ends are provided with ear seat, and described first push cylinder 6 one end are hinged on the ear seat of described the first folding arm 2 front ends, and the other end is hinged on described the first frame linking 7; On described the first frame linking 7, have three hinge holes, two other hinge hole is hinged with described first connecting rod 8 and the first folding arm 2 respectively; Described the first folding arm 2 and the second folding arm 9 are hinged; Described first connecting rod 8 other ends and described the second folding arm 9 are hinged; Described the second folding arm 9 left end tops are provided with ear seat, and described second push cylinder 12 one end are hinged on the ear seat of described the second folding arm 9 left end tops, and the other end is hinged on described the second frame linking 10; On described the second frame linking 10, have three hinge holes, two other hinge hole is hinged on respectively on described the second folding arm 9 and described second connecting rod 11; Described the second folding arm 9 is hinged with described the 3rd folding arm 13; Described second connecting rod 11 other ends are hinged on described the 3rd folding arm 13; Described the 3rd folding arm 13 is laterally hinged with described forearm 22; The two ends of described the 3rd push cylinder 21 are hinged on respectively on described the 3rd folding arm 13 and described the 3rd frame linking 24; On described the 3rd frame linking 24, have three hinge holes, two other hinge hole is hinged respectively at described the 3rd folding arm 13 and described third connecting rod 23; Described third connecting rod 23 other ends are hinged on described forearm 22; Described the 3rd push cylinder 21, third connecting rod 23 and the 3rd frame linking 24 are all positioned at the side of described the 3rd folding arm 13 and described forearm 22; Described forearm telescopic arm 20 is positioned at described forearm 22 arm chambeies; Described forearm telescopic arm 20 right-hand members are equipped with described shower nozzle assembly 14;
Described slide block mechanism comprises: two forearm telescopic arm slide blocks 17, two forearm base slider 18, four forearm position limiting slide blocks 19; Described two forearm telescopic arm slide blocks 17 are positioned at described forearm 22 two right angle places, top, inner chamber left and right, described two forearm base slider 18 lay respectively on the inclined-plane of two inclinations that described forearm 22 intracavity bottoms are relative, are provided with two forearm position limiting slide block installing holes that run through sidewall on each sidewall of two sidewalls in left and right of described forearm 22; Described four forearm position limiting slide blocks 19 are placed in described forearm position limiting slide block installing hole; On described four forearm position limiting slide blocks 19, be provided with adjusting lock nut, each position limiting slide block all has 15mm with interior adjusting surplus;
Described scraping plate mechanism is made up of five stainless sheet steels 16 and five clamping plate 15, and described the first folding arm 2 front ends are provided with flanged plate, and described stainless sheet steel 16 is fixed on described flanged plate by fastener and clamping plate 15; Described stainless sheet steel 16 is 30 °～60 ° with the angular range of described forearm telescopic arm 20;
Described automatic lubrication installation comprises: telescopic oil cylinder 5, distributing valve 4 and flexible pipe; Described telescopic oil cylinder 5 is arranged on described forearm 22 left ends; Described distributing valve 4 one end are connected by 5 points of hydraulic fluid ports of flexible pipe and described telescopic oil cylinder; On described four each slide blocks of forearm position limiting slide block 19, all have through hole and be provided with hose connection; Described distributing valve 4 other ends are connected with described four forearm position limiting slide blocks 19 respectively by four interfaces.
Preferably, the luffing angle that is hinged on described the first folding arm 2 on described panoramic table 1 is 70 °.
Preferably, described forearm telescopic arm 20 is bolted with described shower nozzle assembly 14.
Preferably, all sliding block materials in described slide block mechanism are MC nylon.
Preferably, described stainless sheet steel 16 is 45 ° with the angle of described forearm 22.
Preferably, described the first folding arm 2 and the rectangular enclosure of the second folding arm 9 for using high-strength steel sheet to surround, and stressed weakness on four sidewalls of cavity all has lightening hole.
(3) beneficial effect
Prior art relatively, the present invention has following technological merit:
(1) manipulator is not eccentric, and complete machine, not in unbalance loading state, is beneficial to the stability of complete machine.
(2) forearm telescopic arm is when flexible, manipulator is unbalance loading not; forearm telescopic arm is less to the lateral force of forearm, and the suffered lateral force in forearm both sides is even, and the position limiting slide block rate of wear of forearm both sides is identical; the forearm telescopic arm amplitude that swings is very little; telescopic oil cylinder piston rod is subject to radial load very little, and piston rod can not be worn, concerning complete machine; rock and diminish, and combination property is more stable.
(3) first three joint arm adopts collapsiblely, and manipulator can draw in freely and launch in narrow space, solves the problem that manipulator also can operation at small space, and job area is wide, is not subject to spatial limitation; First three joint arm changes into collapsiblely by telescopic, has alleviated the consumable accessory slide block in the critical component of manipulator and the work load of guide wheel; First three joint arm adopts collapsible having broken away from as reaching similar technology effect, because using slide block and the subsidiary bad technique influence of guide wheel; First three joint arm adopts collapsible large leap ahead in application life that makes manipulator.In all jib deployed conditions, the first folding arm pitching 70 is spent, and described manipulator full extension also reaches after maximum luffing angle, and the jetting height of concrete spraying vehicle can reach 24 meters, fully meets the job requirements of current water conservancy, water power and tunnel construction.The arm device of folding type mechanical without acceptance of persons provided by the invention is extended type robot device, meets the supporting of the high gradient and high tunnel.
Between (4) the 3rd folding arms and forearm, adopt the left-right swinging mechanism at forearm place to be connected, between the 3rd folding arm and forearm, adopt and be laterally hinged with, by the 3rd push cylinder traction frame linking and connecting rod, realize the swing of relative the 3rd folding arm of forearm within the scope of doing around each 45 °, significantly promoted the operating flexibility of manipulator; The left-right swinging mechanism at forearm of the present invention place is in the time that manipulator launches completely and carry out work high above the ground, only need the flexible of push cylinder of the left-right swinging mechanism that relies on forearm place can change spray angle, do not need to rotate panoramic table, just can reach the object that changes spray angle, alleviate the work load of manipulator in whole operation process.
(5) the present invention, with respect to prior art, has increased the length of manipulator, has further increased the job area of manipulator.
(6) the present invention has increased the hard tube quantity of pump line and fluid pressure line, has reduced the use amount of corresponding flexible pipe, and the transporting resistance having produced while having reduced concrete conveyance has improved the ejection efficiency of concrete spraying vehicle; The minimizing that flexible pipe hangs makes complete machine look more attractive in appearance.
(7) forearm telescopic arm slide block is arranged on two right angles of forearm arm intracoelomic cavity, analyzes from loading angle, the active force can well disperse manipulator deadweight and operation time, telescopic arm being produced.
(8) all slide blocks in slide block mechanism are to make of MC nylon, can remove problem of stress concentration, and improve the abrasion resistance of slide block.
(9) forearm base slider adopts and tilts to install, from loading angle analysis, and the pressure to forearm arm body while disperseing equally manipulator deadweight and operation.
(10) position limiting slide block that is positioned at the forearm left and right sides prevents that forearm telescopic arm from swinging, and makes forearm telescopic arm more stable in operation process, little to the impact force of complete machine.On each forearm position limiting slide block, be provided with locking nut, regulate for the size that position limiting slide block is entered to forearm inner chamber, in use, in the time there are wearing and tearing in position limiting slide block, tighten locking nut, make position limiting slide block prop up forearm telescopic arm arm body, then block the groove on locking nut with interior hexagonal holding screw.Each position limiting slide block has 15mm with interior adjusting surplus, has therefore extended the replacement cycle of position limiting slide block.On described each position limiting slide block, all have oil filler point, facilitate automatic lubrication installation to inject lubrication oil.
(11) scraping plate mechanism can prevent that butter from flowing out from arm body cavity, plays butter consumption few, and lubricating efficiency is high; Can wipe again the concrete being stained with on forearm telescopic arm off, alleviate the wearing and tearing of the concrete being attached on forearm telescopic arm to slide block, and then alleviate swinging of forearm telescopic arm.
(12) automatic lubrication installation, for lubricated at any time to slide block and forearm telescopic arm, plays the effect of protection slide block, extends the application life of slide block.Telescopic oil cylinder is moving once, just lubricates once.Lubricated and telescopic oil cylinder synchronously carries out, and reduces the friction of forearm telescopic arm arm body and slide block, better protects forearm telescopic arm and slide block, slide block and forearm telescopic arm arm body longer service life.
(13) the invention provides a kind of light-weight design theory, given full play to the Rigidity and strength performance of material, alleviate the weight of manipulator, forearm and forearm telescopic arm cross section diminish, thickness of slab attenuation, and sheet material high-strength steel sheet, the overall performance of arm body improves.By finite element analysis, do not affecting under the prerequisite of overall performance, the first folding arm and the second folding arm four sides all have lightening hole at the position of stressed weakness, manipulator overall weight is alleviated, the suffered bearing capacity of manipulator diminishes, and operates more flexibly, and ejection efficiency is higher.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the extended type concrete spraying vehicle manipulator rounding state schematic diagram of an embodiment of a kind of extended type concrete spraying vehicle manipulator according to the present invention;
Fig. 2 is that the local D of an embodiment of a kind of extended type concrete spraying vehicle manipulator according to the present invention is to upward view;
Fig. 3 is the extended type concrete spraying vehicle manipulator schematic cross-section of an embodiment of a kind of extended type concrete spraying vehicle manipulator according to the present invention.
Fig. 4 is the extended type concrete spraying vehicle manipulator deployed condition schematic diagram according to an embodiment of a kind of extended type concrete spraying vehicle of the present invention in Fig. 1 manipulator.
In figure: 1, panoramic table; 2, the first folding arm; 3, pitching oil cylinder; 4, distributing valve; 5, telescopic oil cylinder; 6, the first push cylinder; 7, the first frame linking; 8, first connecting rod; 9, the second folding arm; 10, the second frame linking; 11, second connecting rod; 12, the second push cylinder; 13, the 3rd folding arm; 14, shower nozzle assembly; 15, clamping plate; 16, stainless sheet steel; 17, forearm telescopic arm slide block; 18, forearm base slider; 19, forearm position limiting slide block; 20, forearm telescopic arm; 21, the 3rd push cylinder; 22, forearm; 23, third connecting rod; 24, the 3rd frame linking.
Detailed description of the invention
Below in conjunction with Figure of description and embodiment, the specific embodiment of the present invention is described in further detail.Following examples are only for the present invention is described, but can not be used for limiting the scope of the invention.
A kind of extended type concrete spraying vehicle manipulator rounding state structural representation shown in Fig. 1, described manipulator is by folding type mechanical arm device, slide block mechanism, scraping plate mechanism and automatic lubrication installation form without acceptance of persons.Figure 2 shows that in Fig. 1, the 3rd folding arm 13 is laterally hinged with the local D in place to upward view with forearm 22.
Folding type mechanical arm device comprises without acceptance of persons: left-right swinging mechanism, forearm 22, forearm telescopic arm 20 and the shower nozzle assembly 14 at panoramic table 1, the first folding arm 2, pitching oil cylinder 3, the first push cylinder 6, the first frame linking 7, first connecting rod 8, the second folding arm 9, the second frame linking 10, second connecting rod 11, the second push cylinder 12, the 3rd folding arm 13, forearm place.The left-right swinging mechanism at forearm place is made up of the 3rd push cylinder 21, third connecting rod 23 and the 3rd frame linking 24.
The first folding arm 2 is hinged on panoramic table 1; On panoramic table 1, be provided with ear seat, pitching oil cylinder 3 one end are hinged on the ear seat of panoramic table 1, and the other end is hinged on the first folding arm 2; The first folding arm 2 front ends are provided with ear seat, and first push cylinder 6 one end are hinged on the ear seat of the first folding arm 2 front ends, and the other end is hinged on the first frame linking 7; On the first frame linking 7, have three hinge holes, two other hinge hole is hinged with first connecting rod 8 and the first folding arm 2 respectively; The first folding arm 2 and the second folding arm 9 are hinged; First connecting rod 8 other ends and the second folding arm 9 are hinged; The second folding arm 9 left end tops are provided with ear seat, and second push cylinder 12 one end are hinged on the ear seat of the second folding arm 9 left end tops, and the other end is hinged on the second frame linking 10; On the second frame linking 10, have three hinge holes, two other hinge hole is hinged on respectively on the second folding arm 9 and second connecting rod 11; The second folding arm 9 and the 3rd folding arm 13 are hinged; Second connecting rod 11 other ends are hinged on the 3rd folding arm 13; The 3rd folding arm 13 is laterally hinged with forearm 22; The two ends of the 3rd push cylinder 21 are hinged on respectively on the 3rd folding arm 13 and the 3rd frame linking 24; On the 3rd frame linking 24, have three hinge holes, two other hinge hole is hinged respectively at the 3rd folding arm 13 and third connecting rod 23; Third connecting rod 23 other ends are hinged on forearm 22; The 3rd push cylinder 21, third connecting rod 23 and the 3rd frame linking 24 are all positioned at the side of the 3rd folding arm 13 and forearm 22; Forearm telescopic arm 20 is positioned at forearm 22 arm chambeies; Forearm telescopic arm 20 right-hand members are equipped with shower nozzle assembly 14.
The arm device of folding type mechanical without acceptance of persons of the present invention makes complete machine not in unbalance loading state, and the stability of complete machine is high.Forearm telescopic arm is when flexible, manipulator is unbalance loading not; forearm telescopic arm is less to the lateral force of forearm, and the suffered lateral force in forearm both sides is even, and the position limiting slide block rate of wear of forearm both sides is identical; the forearm telescopic arm amplitude that swings is very little; telescopic oil cylinder piston rod is subject to radial load very little, and piston rod can not be worn, concerning complete machine; rock and diminish, and combination property is more stable.First three joint arm adopts collapsible, and manipulator can draw in freely and launch in narrow space, and solving manipulator also can operation at small space; First three joint arm changes into collapsiblely by telescopic, has alleviated the consumable accessory slide block in the critical component of manipulator and the work load of guide wheel; First three joint arm adopts collapsible having broken away from as reaching similar technology effect, because using slide block and the subsidiary bad technique influence of guide wheel; First three joint arm adopts collapsible large leap ahead in application life that makes manipulator.The arm device of folding type mechanical without acceptance of persons of the present invention, job area is wide, is not subject to spatial limitation.The present invention has increased the hard tube of pump line and fluid pressure line, reduces flexible pipe, the resistance producing while reducing concrete conveyance like this, the ejection efficiency of raising concrete spraying vehicle; Reduce the suspension of flexible pipe, complete machine looks more attractive in appearance.
The left-right swinging mechanism at forearm of the present invention place is in the time that manipulator launches completely and carry out work high above the ground, only need the flexible of push cylinder of the left-right swinging mechanism that relies on forearm place can change spray angle, do not need to rotate panoramic table, just can reach the object that changes spray angle, alleviate the work load of manipulator in whole operation process.The arm device of folding type mechanical without acceptance of persons provided by the invention is extended type robot device, meets the supporting of the high gradient and high tunnel.
Figure 4 shows that the present invention's folding type mechanical arm device deployed condition schematic diagram without acceptance of persons, while Figure 3 shows that shown in Fig. 4 without acceptance of persons folding type mechanical arm device deployed condition, A-A, B-B and C-C are to sectional view.Fig. 3 has shown slide block mechanism and the scraping plate mechanism in the present invention.
Wherein slide block mechanism comprises: two forearm telescopic arm slide blocks 17, two forearm base slider 18, four forearm position limiting slide blocks 19; Described two forearm telescopic arm slide blocks 17 are positioned at described forearm 22 two right angle places, top, inner chamber left and right, described two forearm base slider 18 lay respectively on the inclined-plane of two inclinations that described forearm 22 intracavity bottoms are relative, are provided with two forearm position limiting slide block installing holes that run through sidewall on each sidewall of two sidewalls in left and right of described forearm 22; Described four forearm position limiting slide blocks 19 are placed in described forearm position limiting slide block installing hole; On described four forearm position limiting slide blocks 19, be provided with adjusting lock nut, each position limiting slide block all has 15mm with interior adjusting surplus; Wherein scraping plate mechanism is made up of five stainless sheet steels 16 and five clamping plate 15, and described the first folding arm 2 front ends are provided with flanged plate, and described stainless sheet steel 16 is fixed on described flanged plate by fastener and clamping plate 15; Described stainless sheet steel 16 and described forearm telescopic arm 20 angle be 45 °.
Forearm telescopic arm slide block is arranged on two right angles of forearm arm intracoelomic cavity, analyze from loading angle, active force to forearm can well disperse manipulator deadweight and operation time, all slide blocks in slide block mechanism are to make of MC nylon, can remove problem of stress concentration.Forearm base slider adopts and tilts to install, from loading angle analysis, and the pressure to forearm arm body while disperseing equally manipulator deadweight and operation.Forearm left and right sides forearm position limiting slide block, prevents that forearm telescopic arm from swinging, and makes forearm telescopic arm more stable in operation process, little to the impact force of complete machine; The size that forearm position limiting slide block enters forearm inner chamber is adjustable, in use, when wearing and tearing occur forearm position limiting slide block, only need tighten locking nut, make forearm position limiting slide block prop up forearm telescopic arm arm body, then block the groove on locking nut with interior hexagonal holding screw.The design-adjustable of forearm position limiting slide block, has extended replacement cycle of forearm position limiting slide block.On forearm position limiting slide block, have oil filler point, facilitate automatic lubrication installation to inject lubrication oil.Scraping plate mechanism can prevent that butter from flowing out from arm body cavity, plays butter consumption few, and lubricating efficiency is high; Can wipe again the concrete being stained with on forearm telescopic arm off, alleviate the wearing and tearing of the concrete being attached on forearm telescopic arm to slide block, and then alleviate swinging of forearm telescopic arm.
Automatic lubrication installation in the present invention comprises: telescopic oil cylinder 5, distributing valve 4 and flexible pipe; Described telescopic oil cylinder 5 is arranged on described forearm 22 left ends; Described distributing valve 4 one end are connected by 5 points of hydraulic fluid ports of flexible pipe and described telescopic oil cylinder; On described four each slide blocks of forearm position limiting slide block 19, all have through hole and be provided with hose connection; Described distributing valve 4 other ends are connected with described four forearm position limiting slide blocks 19 respectively by four interfaces.
Automatic lubrication installation, for lubricated at any time to slide block and telescopic arm, plays the effect of protection slide block, extends the application life of slide block.Telescopic oil cylinder is moving once, just lubricates once.Lubricated and telescopic oil cylinder synchronously carries out, and reduces the friction of forearm telescopic arm arm body and slide block, better protects forearm telescopic arm and slide block, makes the longer service life of slide block and forearm telescopic arm arm body.
The invention provides a kind of light-weight design theory, given full play to the Rigidity and strength performance of material, alleviate the weight of manipulator, forearm and forearm telescopic arm cross section diminish, thickness of slab attenuation, and sheet material high-strength steel sheet, the overall performance of arm body improves.The first folding arm 2 and the rectangular enclosure of the second folding arm 9 for using high-strength steel sheet to surround, by finite element analysis, do not affecting under the prerequisite of overall performance, stressed weakness on four sidewalls of the first folding arm 2 and the second folding arm 9 cavitys all has lightening hole, manipulator overall weight is alleviated, the suffered bearing capacity of manipulator diminishes, and operates more flexibly, and ejection efficiency is higher.
Above embodiment is only for the present invention is described, but not limitation of the present invention.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is carried out to various combinations, revises or is equal to replacement, do not depart from the spirit and scope of technical solution of the present invention, all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. an extended type concrete spraying vehicle manipulator, is characterized in that, described extended type concrete spraying vehicle manipulator is by folding type mechanical arm device, slide block mechanism, scraping plate mechanism and automatic lubrication installation form without acceptance of persons;
The described arm device of folding type mechanical without acceptance of persons comprises: left-right swinging mechanism, forearm (22), forearm telescopic arm (20) and the shower nozzle assembly (14) at panoramic table (1), the first folding arm (2), pitching oil cylinder (3), the first push cylinder (6), the first frame linking (7), first connecting rod (8), the second folding arm (9), the second frame linking (10), second connecting rod (11), the second push cylinder (12), the 3rd folding arm (13), forearm place; The left-right swinging mechanism at described forearm place is made up of the 3rd push cylinder (21), third connecting rod (23) and the 3rd frame linking (24);
Described the first folding arm (2) is hinged on described panoramic table (1); Described panoramic table is provided with ear seat on (1), and described pitching oil cylinder (3) one end is hinged on the ear seat of described panoramic table (1), and the other end is hinged on described the first folding arm (2); Described the first folding arm (2) front end is provided with ear seat, and described the first push cylinder (6) one end is hinged on the ear seat of described the first folding arm (2) front end, and the other end is hinged on described the first frame linking (7); On described the first frame linking (7), have three hinge holes, two other hinge hole is hinged with described first connecting rod (8) and the first folding arm (2) respectively; Described the first folding arm (2) is hinged with the second folding arm (9); Described first connecting rod (8) other end and described the second folding arm (9) are hinged; Described the second folding arm (9) left end top is provided with ear seat, and described the second push cylinder (12) one end is hinged on the ear seat of described the second folding arm (9) left end top, and the other end is hinged on described the second frame linking (10); On described the second frame linking (10), have three hinge holes, two other hinge hole is hinged on respectively on described the second folding arm (9) and described second connecting rod (11); Described the second folding arm (9) is hinged with described the 3rd folding arm (13); Described second connecting rod (11) other end is hinged on described the 3rd folding arm (13); Described the 3rd folding arm (13) is laterally hinged with described forearm (22); The two ends of described the 3rd push cylinder (21) are hinged on respectively on described the 3rd folding arm (13) and described the 3rd frame linking (24); On described the 3rd frame linking (24), have three hinge holes, two other hinge hole is hinged respectively at described the 3rd folding arm (13) and described third connecting rod (23); Described third connecting rod (23) other end is hinged on described forearm (22); Described the 3rd push cylinder (21), third connecting rod (23) and the 3rd frame linking (24) are all positioned at the side of described the 3rd folding arm (13) and described forearm (22); Described forearm telescopic arm (20) is positioned at described forearm (22) arm chamber; Described forearm telescopic arm (20) right-hand member is equipped with described shower nozzle assembly (14);
Described slide block mechanism comprises: two forearm telescopic arm slide blocks (17), two forearm base slider (18), four forearm position limiting slide blocks (19); Described two forearm telescopic arm slide blocks (17) are positioned at two right angle places, top, described forearm (22) inner chamber left and right, described two forearm base slider (18) lay respectively on the inclined-plane of two inclinations that described forearm (22) intracavity bottom is relative, are provided with two forearm position limiting slide block installing holes that run through sidewall on each sidewall of two sidewalls in left and right of described forearm (22); Described four forearm position limiting slide blocks (19) are placed in described forearm position limiting slide block installing hole; On described four forearm position limiting slide blocks (19), be provided with adjusting lock nut, each position limiting slide block all has 15mm with interior adjusting surplus;
Described scraping plate mechanism is made up of five stainless sheet steels (16) and five clamping plate (15), and described the first folding arm (2) front end is provided with flanged plate, and described stainless sheet steel (16) is fixed on described flanged plate by fastener and clamping plate (15); Described stainless sheet steel (16) is 30 °～60 ° with the angular range of described forearm telescopic arm (20);
Described automatic lubrication installation comprises: telescopic oil cylinder (5), distributing valve (4) and flexible pipe; Described telescopic oil cylinder (5) is arranged on described forearm (22) left end; Described distributing valve (4) one end is connected with described telescopic oil cylinder (5) point hydraulic fluid port by flexible pipe; On the each slide block of described four forearm position limiting slide blocks (19), all have through hole and be provided with hose connection; Described distributing valve (4) other end is connected with described four forearm position limiting slide blocks (19) respectively by four interfaces.
2. a kind of extended type concrete spraying vehicle manipulator according to claim 1, is characterized in that, the luffing angle that is hinged on described the first folding arm (2) on described panoramic table (1) is 70 °.
3. a kind of extended type concrete spraying vehicle manipulator according to claim 2, is characterized in that, described forearm telescopic arm (20) is bolted with described shower nozzle assembly (14).
4. a kind of extended type concrete spraying vehicle manipulator according to claim 3, is characterized in that, all sliding block materials in described slide block mechanism are MC nylon.
5. a kind of extended type concrete spraying vehicle manipulator according to claim 4, is characterized in that, described stainless sheet steel (16) is 45 ° with the angle of described forearm (22).
6. a kind of extended type concrete spraying vehicle manipulator according to claim 5, it is characterized in that, described the first folding arm (2) and the second folding arm (9) be for using the rectangular enclosure that surrounds of high-strength steel sheet, and stressed weakness on four sidewalls of cavity all has lightening hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410121165.4A CN103866983B (en) | 2014-03-27 | 2014-03-27 | A kind of extended type concrete spraying vehicle manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410121165.4A CN103866983B (en) | 2014-03-27 | 2014-03-27 | A kind of extended type concrete spraying vehicle manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103866983A true CN103866983A (en) | 2014-06-18 |
| CN103866983B CN103866983B (en) | 2016-01-06 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802184A (en) * | 2015-04-10 | 2015-07-29 | 安徽大学 | Foldable mechanical arm |
| CN104847386A (en) * | 2015-04-14 | 2015-08-19 | 王发秀 | Automatic net paving device of anchor rod drill carriage for coal mine |
| CN105421784A (en) * | 2015-11-30 | 2016-03-23 | 河南省耿力工程设备有限公司 | Heptagon telescopic arm and concrete support guniting trolley |
| CN105464682A (en) * | 2015-12-23 | 2016-04-06 | 湖南五新隧道智能装备股份有限公司 | Concrete guniting vehicle and telescopic arm thereof |
| CN105981521A (en) * | 2015-02-07 | 2016-10-05 | 湖南海重工有限公司 | Vehicle-mounted bidirectional mower |
| CN106737649A (en) * | 2017-01-17 | 2017-05-31 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN107814320A (en) * | 2017-11-06 | 2018-03-20 | 北京新能正源环境科技有限公司 | Bow member installation chassis, telescopic arm and its protection device |
| CN108000510A (en) * | 2017-11-30 | 2018-05-08 | 宁波德深机械设备有限公司 | A kind of mechanical arm |
| CN108689355A (en) * | 2018-09-03 | 2018-10-23 | 湖南五新隧道智能装备股份有限公司 | A kind of device for revolving and driving |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
| CN108942912A (en) * | 2018-08-31 | 2018-12-07 | 哈工大机器人（合肥）国际创新研究院 | A kind of intelligent mechanical arm of wet shot manipulator |
| CN109098051A (en) * | 2018-08-27 | 2018-12-28 | 中国铁建高新装备股份有限公司 | Railway ballast tamping unit between a kind of pillow |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105981521A (en) * | 2015-02-07 | 2016-10-05 | 湖南海重工有限公司 | Vehicle-mounted bidirectional mower |
| CN104802184A (en) * | 2015-04-10 | 2015-07-29 | 安徽大学 | Foldable mechanical arm |
| CN104847386A (en) * | 2015-04-14 | 2015-08-19 | 王发秀 | Automatic net paving device of anchor rod drill carriage for coal mine |
| CN105421784A (en) * | 2015-11-30 | 2016-03-23 | 河南省耿力工程设备有限公司 | Heptagon telescopic arm and concrete support guniting trolley |
| CN105464682A (en) * | 2015-12-23 | 2016-04-06 | 湖南五新隧道智能装备股份有限公司 | Concrete guniting vehicle and telescopic arm thereof |
| CN106737649B (en) * | 2017-01-17 | 2019-08-20 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN106737649A (en) * | 2017-01-17 | 2017-05-31 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN107814320A (en) * | 2017-11-06 | 2018-03-20 | 北京新能正源环境科技有限公司 | Bow member installation chassis, telescopic arm and its protection device |
| CN107814320B (en) * | 2017-11-06 | 2024-03-26 | 北京新能正源智能装备有限公司 | Arch frame mounting trolley, telescopic arm and protection device thereof |
| CN108000510A (en) * | 2017-11-30 | 2018-05-08 | 宁波德深机械设备有限公司 | A kind of mechanical arm |
| CN108000510B (en) * | 2017-11-30 | 2019-11-08 | 宁波德深机械设备有限公司 | A kind of mechanical arm |
| CN109098051A (en) * | 2018-08-27 | 2018-12-28 | 中国铁建高新装备股份有限公司 | Railway ballast tamping unit between a kind of pillow |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
| CN108942912A (en) * | 2018-08-31 | 2018-12-07 | 哈工大机器人（合肥）国际创新研究院 | A kind of intelligent mechanical arm of wet shot manipulator |
| CN108689355A (en) * | 2018-09-03 | 2018-10-23 | 湖南五新隧道智能装备股份有限公司 | A kind of device for revolving and driving |
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