CN103866983B - A kind of extended type concrete spraying vehicle manipulator - Google Patents
A kind of extended type concrete spraying vehicle manipulator Download PDFInfo
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- CN103866983B CN103866983B CN201410121165.4A CN201410121165A CN103866983B CN 103866983 B CN103866983 B CN 103866983B CN 201410121165 A CN201410121165 A CN 201410121165A CN 103866983 B CN103866983 B CN 103866983B
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Abstract
The present invention relates to engineering machinery concrete spraying vehicle design field, be specially a kind of extended type concrete spraying vehicle manipulator.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 present invention solves prior art middle slide plate, guide wheel and telescopic arm problem easy to wear; The concrete problem that timely cleaning is adhered on telescopic arm; Solve in prior art: oil cylinder slide folding device, manipulator bias settles the problem causing complete machine stability bad; And rotary reducer formula folding device, cause because base does not have leveling mechanism in use, rotary reducer formula folding device holds the problem of flimsy problem and the design of concrete spraying vehicle manipulator loss of weight design scheme.Invention increases the length of manipulator mechanical arm, expand the scope of its operation.The invention provides a kind of swing mechanism, increase the flexibility of operation, alleviate the burden that whole manipulator bears.
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, be widely used in the construction of the construction works such as railway, highway, water conservancy now, become the desirable Construction Operating Machinery of interim and permanent support solving 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 clear up not in time, it is easy to corrosion 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.Current folding mechanical arm mostly adopts oil cylinder slide folding device or rotary reducer formula folding device.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, and in use rotary reducer formula folding device easily damages, after causing rotary reducer to turn round certain angle, the telescopic arm be 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, reduce concrete spraying vehicle ejection efficiency.
The technical problem causing the boundary of works area of concrete spraying vehicle limited because concrete spraying vehicle manipulator brachium is not enough is also there is in prior art.For the high gradient in WR and hydropower construction operation, high tunnel, existing concrete shotcrete vehicle cannot reach the jetting height needed for 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, manipulator bias settles the problem causing complete machine stability bad; And rotary reducer formula folding device, cause in use because rotary decelerating machine base does not have leveling mechanism, rotary reducer formula folding device holds flimsy problem.
(4) problem of concrete spraying vehicle manipulator loss of weight design scheme.
(5) technological deficiency that the job area brought because manipulator brachium is not enough is narrow.
(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: the left-right swinging mechanism at panoramic table 1, first folding arm 2, pitching oil cylinder 3, first push cylinder 6, first frame linking 7, first connecting rod 8, second folding arm 9, second frame linking 10, second connecting rod 11, second push cylinder 12, the 3rd folding arm 13, forearm place, forearm 22, forearm telescopic arm 20 and shower nozzle assembly 14; 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 first folding arm 2 is hinged on described panoramic table 1; Described panoramic table 1 is provided with ear seat, 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 first folding arm 2; Described first folding arm 2 front end is provided with ear seat, and described first push cylinder 6 one end is hinged on the ear seat of described first folding arm 2 front end, and the other end is hinged on described first frame linking 7; Described first frame linking 7 has three hinge holes, two other hinge hole respectively with described first connecting rod 8 and the first folding arm 2 hinged; Described first folding arm 2 and the second folding arm 9 hinged; Described first connecting rod 8 other end and described second folding arm 9 hinged; Be provided with ear seat above described second folding arm 9 left end, described second push cylinder 12 one end is hinged on the ear seat above described second folding arm 9 left end, and the other end is hinged on described second frame linking 10; Described second frame linking 10 has three hinge holes, and two other hinge hole is hinged on described second folding arm 9 respectively with on described second connecting rod 11; Described second folding arm 9 is hinged with described 3rd folding arm 13; Described second connecting rod 11 other end is hinged on described 3rd folding arm 13; Described 3rd folding arm 13 is laterally hinged with described forearm 22; The two ends of described 3rd push cylinder 21 are hinged on described 3rd folding arm 13 respectively with on described 3rd frame linking 24; Described 3rd frame linking 24 has three hinge holes, two other hinge hole respectively at described 3rd folding arm 13 and described third connecting rod 23 hinged; Described third connecting rod 23 other end is hinged on described forearm 22; Described 3rd push cylinder 21, third connecting rod 23 and the 3rd frame linking 24 are all positioned at the side of described 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 top two right angle about described forearm 22 inner chamber, described two forearm base slider 18 lay respectively on two relative inclined-planes tilted of described forearm 22 intracavity bottom, each sidewall of two sidewalls in left and right of described forearm 22 are provided with the forearm position limiting slide block installing hole that two run through sidewall; Described four forearm position limiting slide blocks 19 are placed in described forearm position limiting slide block installing hole; Described four forearm position limiting slide blocks 19 are provided with adjusting lock nut, and each position limiting slide block all has the adjustment surplus within 15mm;
Described scraping plate mechanism is made up of five pieces of stainless sheet steels 16 and five pieces of clamping plate 15, and described 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 by flexible pipe and described telescopic oil cylinder 5 points of hydraulic fluid ports; Described four each slide blocks of forearm position limiting slide block 19 all have through hole and is 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.
Preferably, the luffing angle being hinged on described 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 first folding arm 2 and the second folding arm 9 are the rectangular enclosure using high-strength steel sheet to surround, and the stressed weakness on four of cavity sidewalls all has lightening hole.
(3) beneficial effect
Hinge structure, the present invention has following technological merit:
(1) manipulator is not eccentric, and complete machine is 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; the lateral force of forearm telescopic arm to forearm is less, and lateral force suffered by 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 very little by radial load, 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 collapsible, and manipulator can draw in freely and launch in narrow space, and solving manipulator also can the problem of operation at small space, and job area is wide, not by space constraint; First three joint arm changes into collapsible by telescopic, alleviates the work load to the consumable accessory slide block in the critical component of manipulator and guide wheel; First three joint arm adopts collapsiblely have been broken away from as reaching similar technology effect, the subsidiary bad technique influence because using slide block and guide wheel; First three saves, and arm employing is collapsible makes greatly increase the application life of manipulator.In all jib deployed conditions, the first folding arm pitching 70 degree, described manipulator full extension after reaching maximum luffing angle, 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.
(4) the 3rd adopt the left-right swinging mechanism at forearm place to be connected between folding arm with forearm, 3rd employing between folding arm and forearm is laterally hinged with, by the 3rd push cylinder traction frame linking and connecting rod, realize forearm and do swing around within the scope of each 45 ° relative to the 3rd folding arm, significantly improve the operating flexibility of manipulator; The left-right swinging mechanism at forearm place of the present invention is when manipulator launches completely and carries out work high above the ground, the flexible of the push cylinder of the left-right swinging mechanism at forearm place only need be relied on to change spray angle, do not need to rotate panoramic table, just can reach the object changing spray angle, alleviate the work load of manipulator in whole operation process.
(5) the present invention is relative to prior art, increases the length of manipulator, further increases the job area of manipulator.
(6) invention increases the hard tube quantity of pump line and fluid pressure line, decrease the use amount of corresponding flexible pipe, the transporting resistance produced when decreasing concrete conveyance, improve 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, can well disperse the active force produced telescopic arm when manipulator deadweight and operation.
(8) all slide blocks in slide block mechanism 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 when the deadweight of same dispersion manipulator and operation.
(10) position limiting slide block being positioned at the forearm left and right sides prevents forearm telescopic arm from swinging, and makes forearm telescopic arm more stable in operation process, little to the impact force of complete machine.Each forearm position limiting slide block is provided with locking nut, size for entering forearm inner chamber to position limiting slide block regulates, in use, when there are wearing and tearing in position limiting slide block, tighten locking nut, make position limiting slide block prop up forearm Telescopic boom body, then block the groove on locking nut with interior hexagonal holding screw.Each position limiting slide block has the adjustment surplus within 15mm, therefore extends the replacement cycle of position limiting slide block.Described each position limiting slide block all has oil filler point, facilitates automatic lubrication installation to inject lubrication oil.
(11) scraping plate mechanism can prevent butter from flowing out from arm body cavity, and play butter consumption few, lubricating efficiency is high; The concrete that forearm telescopic arm is stained with can be wiped again off, alleviate and be attached to the wearing and tearing of the concrete on forearm telescopic arm to slide block, and then alleviate swinging of forearm telescopic arm.
(12) automatic lubrication installation, for lubricating at any time slide block and forearm telescopic arm, playing the effect of protection slide block, extending the application life of slide block.Telescopic oil cylinder is dynamic once, and just lubrication once.Lubrication and telescopic oil cylinder synchronously carry out, and reduce the friction of forearm Telescopic boom body and slide block, better protection forearm telescopic arm and slide block, slide block and forearm Telescopic boom 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, alleviated the weight of manipulator, forearm and forearm telescopic arm cross section diminish, and thickness of slab is thinning, sheet material high-strength steel sheet, and the overall performance of arm body improves.By finite element analysis, under the prerequisite not affecting overall performance, the first folding arm and the second folding arm four side all have lightening hole at the position of stressed weakness, manipulator overall weight is alleviated, suffered by manipulator, bearing capacity diminishes, and operate more flexible, ejection efficiency is higher.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the extended type concrete spraying vehicle manipulator rounding state schematic diagram according to a kind of extended type concrete spraying vehicle of the present invention manipulator embodiment;
Fig. 2 is to upward view according to the local D of a kind of extended type concrete spraying vehicle of the present invention manipulator embodiment;
Fig. 3 is the extended type concrete spraying vehicle manipulator schematic cross-section according to a kind of extended type concrete spraying vehicle of the present invention manipulator embodiment.
Fig. 4 is the extended type concrete spraying vehicle manipulator deployed condition schematic diagram according to a kind of extended type concrete spraying vehicle of the present invention in Fig. 1 manipulator embodiment.
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 only for illustration of the present invention, 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 and local, forearm 22 place of being laterally hinged with D are to upward view.
Folding type mechanical arm device comprises without acceptance of persons: the left-right swinging mechanism at panoramic table 1, first folding arm 2, pitching oil cylinder 3, first push cylinder 6, first frame linking 7, first connecting rod 8, second folding arm 9, second frame linking 10, second connecting rod 11, second push cylinder 12, the 3rd folding arm 13, forearm place, forearm 22, forearm telescopic arm 20 and shower nozzle assembly 14.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.
First folding arm 2 is hinged on panoramic table 1; Panoramic table 1 is provided with ear seat, pitching oil cylinder 3 one end is hinged on the ear seat of panoramic table 1, and the other end is hinged on the first folding arm 2; First folding arm 2 front end is provided with ear seat, and first push cylinder 6 one end is hinged on the ear seat of the first folding arm 2 front end, and the other end is hinged on the first frame linking 7; First frame linking 7 has three hinge holes, two other hinge hole respectively with first connecting rod 8 and the first folding arm 2 hinged; First folding arm 2 and the second folding arm 9 hinged; First connecting rod 8 other end and the second folding arm 9 hinged; Be provided with ear seat above second folding arm 9 left end, second push cylinder 12 one end is hinged on the ear seat above the second folding arm 9 left end, and the other end is hinged on the second frame linking 10; Second frame linking 10 has three hinge holes, two other hinge hole is hinged on the second folding arm 9 respectively with on second connecting rod 11; Second folding arm 9 and the 3rd folding arm 13 hinged; Second connecting rod 11 other end is hinged on the 3rd folding arm 13; 3rd folding arm 13 is laterally hinged with forearm 22; The two ends of the 3rd push cylinder 21 are hinged on the 3rd folding arm 13 and the 3rd frame linking 24 respectively; 3rd frame linking 24 has three hinge holes, two other hinge hole respectively at the 3rd folding arm 13 and third connecting rod 23 hinged; Third connecting rod 23 other end is hinged on forearm 22; 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 chamber; Forearm telescopic arm 20 right-hand member is 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 be in unbalance loading state, and the stability of complete machine is high.Forearm telescopic arm is when flexible, manipulator is unbalance loading not; the lateral force of forearm telescopic arm to forearm is less, and lateral force suffered by 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 very little by radial load, 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 collapsible by telescopic, alleviates the work load to the consumable accessory slide block in the critical component of manipulator and guide wheel; First three joint arm adopts collapsiblely have been broken away from as reaching similar technology effect, the subsidiary bad technique influence because using slide block and guide wheel; First three saves, and arm employing is collapsible makes greatly increase the application life of manipulator.The arm device of folding type mechanical without acceptance of persons of the present invention, job area is wide, not by space constraint.Invention increases the hard tube of pump line and fluid pressure line, reduce flexible pipe, the resistance produced when reducing concrete conveyance like this, improves the ejection efficiency of concrete spraying vehicle; Reduce the suspension of flexible pipe, complete machine looks more attractive in appearance.
The left-right swinging mechanism at forearm place of the present invention is when manipulator launches completely and carries out work high above the ground, the flexible of the push cylinder of the left-right swinging mechanism at forearm place only need be relied on to change spray angle, do not need to rotate panoramic table, just can reach the object changing 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, to Figure 3 shows that shown in Fig. 4 without acceptance of persons folding type mechanical arm device deployed condition time A-A, B-B and C-C to sectional view.Fig. 3 illustrates slide block mechanism in the present invention and scraping plate mechanism.
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 top two right angle about described forearm 22 inner chamber, described two forearm base slider 18 lay respectively on two relative inclined-planes tilted of described forearm 22 intracavity bottom, each sidewall of two sidewalls in left and right of described forearm 22 are provided with the forearm position limiting slide block installing hole that two run through sidewall; Described four forearm position limiting slide blocks 19 are placed in described forearm position limiting slide block installing hole; Described four forearm position limiting slide blocks 19 are provided with adjusting lock nut, and each position limiting slide block all has the adjustment surplus within 15mm; Wherein scraping plate mechanism is made up of five pieces of stainless sheet steels 16 and five pieces of clamping plate 15, and described 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 and described forearm telescopic arm 20 angle be 45 °.
Forearm telescopic arm slide block is arranged on forearm arm intracoelomic cavity two right angles, analyze from loading angle, manipulator can well be disperseed to conduct oneself with dignity and operation time active force to forearm, all slide blocks in slide block mechanism 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 when the deadweight of same dispersion manipulator and operation.Forearm left and right sides forearm position limiting slide block, prevents 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 locking nut need be tightened, make forearm position limiting slide block prop up forearm Telescopic boom body, then block the groove on locking nut with interior hexagonal holding screw.The design-adjustable of forearm position limiting slide block, extends the replacement cycle of forearm position limiting slide block.Forearm position limiting slide block has oil filler point, facilitates automatic lubrication installation to inject lubrication oil.Scraping plate mechanism can prevent butter from flowing out from arm body cavity, and play butter consumption few, lubricating efficiency is high; The concrete that forearm telescopic arm is stained with can be wiped again off, alleviate and be attached to the wearing and tearing of the concrete 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 end; Described distributing valve 4 one end is connected by flexible pipe and described telescopic oil cylinder 5 points of hydraulic fluid ports; Described four each slide blocks of forearm position limiting slide block 19 all have through hole and is 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.
Automatic lubrication installation, for lubricating at any time slide block and telescopic arm, playing the effect of protection slide block, extending the application life of slide block.Telescopic oil cylinder is dynamic once, and just lubrication once.Lubrication and telescopic oil cylinder synchronously carry out, and reduce the friction of forearm Telescopic boom body and slide block, and better protection forearm telescopic arm and slide block, make the longer service life of slide block and forearm Telescopic boom body.
The invention provides a kind of light-weight design theory, given full play to the Rigidity and strength performance of material, alleviated the weight of manipulator, forearm and forearm telescopic arm cross section diminish, and thickness of slab is thinning, sheet material high-strength steel sheet, and the overall performance of arm body improves.First folding arm 2 and the second folding arm 9 are the rectangular enclosure using high-strength steel sheet to surround, pass through finite element analysis, under the prerequisite not affecting overall performance, stressed weakness on four sidewalls of the first folding arm 2 and the second folding arm 9 cavity all has lightening hole, manipulator overall weight is alleviated, bearing capacity suffered by manipulator diminishes, and operate more flexible, ejection efficiency is higher.
Above embodiment is only for illustration of the present invention, but not limitation of the present invention.Although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, various combination, amendment or equivalent replacement are carried out to technical scheme of the present invention, do not depart from the spirit and scope of technical solution of the present invention, all should be encompassed in the middle of right 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: the left-right swinging mechanism 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, forearm (22), forearm telescopic arm (20) and shower nozzle assembly (14); 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 first folding arm (2) is hinged on described panoramic table (1); (1) is provided with ear seat with described panoramic table, 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 first folding arm (2); Described first folding arm (2) front end is provided with ear seat, and described first push cylinder (6) one end is hinged on the ear seat of described first folding arm (2) front end, and the other end is hinged on described first frame linking (7); Described first frame linking (7) has three hinge holes, two other hinge hole respectively with described first connecting rod (8) and the first folding arm (2) hinged; Described first folding arm (2) is hinged with the second folding arm (9); Described first connecting rod (8) other end and described second folding arm (9) hinged; Be provided with ear seat above described second folding arm (9) left end, described second push cylinder (12) one end is hinged on the ear seat above described second folding arm (9) left end, and the other end is hinged on described second frame linking (10); Described second frame linking (10) has three hinge holes, and two other hinge hole is hinged on described second folding arm (9) respectively with on described second connecting rod (11); Described second folding arm (9) is hinged with described 3rd folding arm (13); Described second connecting rod (11) other end is hinged on described 3rd folding arm (13); Described 3rd folding arm (13) and described forearm (22) are laterally hinged with; The two ends of described 3rd push cylinder (21) are hinged on described 3rd folding arm (13) respectively with on described 3rd frame linking (24); Described 3rd frame linking (24) has three hinge holes, two other hinge hole respectively at described 3rd folding arm (13) and described third connecting rod (23) hinged; Described third connecting rod (23) other end is hinged on described forearm (22); Described 3rd push cylinder (21), third connecting rod (23) and the 3rd frame linking (24) are all positioned at the side of described 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 top two right angle about described forearm (22) inner chamber, described two forearm base slider (18) lay respectively on two relative inclined-planes tilted of described forearm (22) intracavity bottom, each sidewall of two sidewalls in left and right of described forearm (22) are provided with the forearm position limiting slide block installing hole that two run through sidewall; Described four forearm position limiting slide blocks (19) are placed in described forearm position limiting slide block installing hole; Described four forearm position limiting slide blocks (19) are provided with adjusting lock nut, and each position limiting slide block all has the adjustment surplus within 15mm;
Described scraping plate mechanism is made up of five pieces of stainless sheet steels (16) and five pieces of clamping plate (15), and described 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; Described four each slide blocks of forearm position limiting slide block (19) all have through hole and is 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 being hinged on described 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) and described shower nozzle assembly (14) are bolted.
4. a kind of extended type concrete spraying vehicle manipulator according to claim 3, it 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 first folding arm (2) and the second folding arm (9) are the rectangular enclosure using high-strength steel sheet to surround, and the stressed weakness on four of cavity sidewalls all has lightening hole.
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| CN201410121165.4A CN103866983B (en) | 2014-03-27 | 2014-03-27 | A kind of extended type concrete spraying vehicle manipulator |
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| CN201410121165.4A CN103866983B (en) | 2014-03-27 | 2014-03-27 | A kind of extended type concrete spraying vehicle manipulator |
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| 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 |
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