CN106193145B - A kind of building ground stone masonry automatic hydraulic gripper - Google Patents
A kind of building ground stone masonry automatic hydraulic gripper Download PDFInfo
- Publication number
- CN106193145B CN106193145B CN201610522213.XA CN201610522213A CN106193145B CN 106193145 B CN106193145 B CN 106193145B CN 201610522213 A CN201610522213 A CN 201610522213A CN 106193145 B CN106193145 B CN 106193145B
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- hydraulic
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- 239000004575 stone Substances 0.000 title claims abstract description 84
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000003466 welding Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 21
- 230000008569 process Effects 0.000 abstract description 21
- 238000013016 damping Methods 0.000 abstract description 13
- 238000010276 construction Methods 0.000 description 33
- 230000033001 locomotion Effects 0.000 description 15
- 230000009471 action Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 239000002689 soil Substances 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011440 grout Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/283—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a single arm pivoted directly on the chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B15/00—Wheels or wheel attachments designed for increasing traction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4135—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted directly on a boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/06—Floating substructures as supports
- E02F9/062—Advancing equipment, e.g. spuds for floating dredgers
Abstract
The present invention relates to a kind of building ground stone masonry automatic hydraulic grippers, including from steady travelling platform, there is good damping performance and stability from steady travelling platform, eliminate the shake up and down occurred in stone masonry handling process or double swerve phenomenon, described that hydraulic gripping device is equipped with from the right side of the upper surface of steady travelling platform, hydraulic gripping device may be implemented the present invention and take function to the hydraulic automatic grabbing of stone masonry, be placed without artificial crawl, grasp speed is fast, and crawl is efficient；Described from steady travelling platform includes mounting platform, and the lower face of the mounting platform is each side installed there are one transmission branch chain, and transmission branch chain is arranged symmetrically, and respectively there are one branches of walking for welding for the front and rear sides of transmission branch chain, and unbranched symmetric arrangement of walking.The automatic crawl function of stone masonry may be implemented in the present invention, eliminates the shake up and down occurred in handling process or double swerve phenomenon, and stability is good.
Description
Technical field
The present invention relates to Geotechnical Engineering field, specifically a kind of building ground stone masonry is captured with automatic hydraulic
Machine.
Background technology
It generally can all be equipped with retaining wall, the type of retaining wall in the highway section close to massif, municipal highway section both sides
It is divided into two kinds of stone masonry retaining wall and concrete retaining wall, the effect of retaining wall is mainly：1, Roadbed Soil or the hillside soil body are supportted；
2, it prevents from banketing or soil deformation unstability；3, stop landslide and massif landslide, therefore retaining wall plays the safety of highway
Vital effect；Since retaining wall is all provided in beside massif, stone masonry raw material sources are abundant, therefore use stone masonry
Based on retaining wall mode, existing stone masonry retaining wall mode of construction is predominantly mainly piled up using manual type, will first be processed
Stone masonry manually crawl be placed in floor truck, operator pushes floor truck to travel to conveying equipment, and will carry
The stone masonry of small car pours into conveying equipment and is automatically transported to retaining wall bottom end, then again by stone masonry from the bottom up manually
It is carried on retaining wall and puts, finally pour concrete, manually the mode of piling up has the following disadvantages this retaining wall：1, artificial complete
Journey operation, construction efficiency are low, and are frequently necessary to artificial carrying stone masonry up and down, careless slightly to pound people, exist serious
Security risk；2, since the ground for carrying construction site in stone masonry is often more complicated, it is possible to uneven or mud
Muddy to can't bear, operator can be shaken up and down anyway during operating floor truck or double swerve, and stability is poor, seriously
When can be there is a phenomenon where turning on one's side, transporting velocity is low, and working efficiency is low；3, operator is needed to capture stone masonry from laydown area
It is placed in floor truck, artificial grasp speed is slow, and labor intensity is big, captures inefficiency.
Invention content
It to solve the above-mentioned problems, can be with the present invention provides a kind of building ground stone masonry automatic hydraulic gripper
Solve the existing retaining wall artificial substantial length of operation of needs that manually mode of piling up is deposited, construction efficiency it is low, there are severe compromise,
In the presence of shake up and down or double swerve phenomenon, stability, poor, needs manually capture stone masonry, labour in stone masonry handling process
Intensity is big, grasp speed is slow and captures the problems such as inefficiency, and the automatic crawl function of stone masonry may be implemented, eliminate carrying
The shake up and down occurred in the process or double swerve phenomenon, stability is good, and construction efficiency is high, and any security risk is not present,
And has many advantages, such as to rotate pick-and-place stone masonry, grasp speed automatically soon and capture efficient.
To achieve the goals above, the present invention is realized using following technical scheme：A kind of building ground stone masonry use from
Hydrodynamic pressure gripper, including from steady travelling platform, there is good damping performance and stability from steady travelling platform, eliminate
The shake up and down occurred in stone masonry handling process or double swerve phenomenon so that the present invention is suitable for uneven or muddy
Construction site work unbearably, it is described that hydraulic gripping device, hydraulic pressure crawl dress are installed from the right side of the upper surface of steady travelling platform
It sets and the present invention may be implemented function is taken to the hydraulic automatic grabbing of stone masonry, placed without artificial crawl, grasp speed is fast, crawl effect
Rate is high.
Described from steady travelling platform includes mounting platform, there are one the lower face of the mounting platform is each side installed
Transmission branch chain, transmission branch chain are arranged symmetrically, and respectively there are one branches of walking for welding for the front and rear sides of transmission branch chain, and branch pair of walking
Claim arrangement, drive walking branch in retaining wall construction site automatically walk by transmission branch chain, whole process without human intervention,
Work efficiency is high；The transmission branch chain includes being symmetrically welded at two pieces of fixed boards of mounting platform lower face front and rear sides, and two
Driving shaft is equipped with by bearing between the upper end of block fixed board, the middle part of driving shaft is equipped with driving gear by key, main
The front end of moving axis is equipped with driving motor by shaft coupling, and driving motor is mounted on the lower face of mounting platform by motor cabinet,
Driven shaft is equipped with by bearing between the lower end of two pieces of fixed boards, the middle part of driven shaft is equipped with driven gear by key,
Driven gear is meshed with driving gear, and respectively there are one branches of walking for welding for the rear and front end of driven shaft, and unbranched symmetric of walking
Arrangement drives driving shaft rotation, driving shaft to drive driving gear rotation by driving motor, and driving gear is in the auxiliary of driven gear
Lower drive driven shaft, driven shaft is helped to drive two walking branch automatically walks on retaining wall construction site at both ends；The row
It includes the walking jacking block that side is welded on driven shaft to walk branch, and walking jacking block is square structure, each side for jacking block of walking
It is respectively mounted on face there are one shock-absorbing support mechanism, each shock-absorbing support mechanism upper end is respectively mounted there are one arc walking block, adjacent
It is all uniformly connected with No.1 limit spring between two arc walking blocks, and is uniformly arranged on the outer wall of each arc walking block
There are taper walking item, taper to walk item as pyramidal structure, the present invention is concentrated on boring to the walking pressure of retaining wall construction site
Shape is walked on item, improves stability when present invention work, No.1 limit spring plays the role of limit and damping, and subtracts
Shaking supporting mechanism has good damping performance and stability so that the present invention is in No.1 limit spring and shock-absorbing support mechanism
Taper walking item on booster action arc lower walking block can be stablized in uneven, the muddy retaining wall construction site that can't bear
Upper walking, it is applied widely；The transmission ratio of the driving gear and driven gear is 2:1, by low transmission ratio reduce from
The velocity of rotation of moving gear further increases to reduce the speed of travel of the walking branch on retaining wall construction site
Stability；The shock-absorbing support mechanism includes the fixed platform being mounted in walking jacking block corresponding side surface, fixed platform upper surface edge
Uniformly there are three branches in parallel, the top of three branches in parallel to be installed on the lower face of moving platform, move for installation for axis direction
There are three bar shaped bearing pieces for the upper surface uniform welding of platform, and the upper surface of bar shaped bearing piece is cambered surface corresponding with arc walking block
The upper surface of structure, three bar shaped bearing pieces is welded on the inner wall of corresponding arc walking block so that three bar shaped bearing pieces can give
The corresponding arc walking strong support force of block；The parallel connection branch includes the concave bearing for being welded on fixed platform upper surface, recessed
Lower limit axis is installed between the middle part of type bearing, an arc-shaped limit is each provided on the upper end both sides inner wall of concave bearing
Slot, and arc limit slot is arranged symmetrically；No.1 hydraulic cylinder is arranged on the lower limit axis, the bottom end both sides of No.1 hydraulic cylinder are each
There are one gag lever posts for setting, are connected by sliding matching mode between the end of each gag lever post and corresponding arc limit slot,
The slewing area for limiting No.1 hydraulic cylinder bottom end is played in movement between two gag lever posts and two arc limit slots, also prevents
The situation that No.1 hydraulic cylinder bottom end moves left and right, since the present invention is often in uneven, the muddy retaining wall construction field that can't bear
It walks in institute, and it is dynamic in lower limit shaft rotation to enhance No.1 hydraulic cylinder bottom end by two gag lever posts and two arc limit slots
When stability, improve working performance；The top of the No.1 hydraulic cylinder is equipped with spherical connector by screw thread, and spherical shape is even
The both ends of connector are each provided with a upper limit axis, and upper limit axial symmetry is arranged, every upper limit axis and corresponding No.1 ear mount
Between be connected by bearing, be welded with positioning column on the lower face inner wall of No.1 ear mount, the end of positioning column be and it is spherical even
Connector corresponding concave spherical structure is connected between the end and spherical connector of positioning column by sliding matching mode, and one
The upper surface of number ear mount is welded on moving platform, and the movement of spherical connector is limited and supported by positioning column, so that
Two upper limit axis on spherical connector can be stablized to be rotated in No.1 ear mount, when enhancing the rotation of No.1 hydraulic cylinder top
Stability, improve working performance, the R formed when concave bearing rotates by No.1 hydraulic cylinder is secondary, No.1 hydraulic cylinder work
As when the P that is formed is secondary, No.1 hydraulic cylinder is formed when No.1 ear mount rotates R pairs constitute the branches in parallel of RPR types, and this hair
Bright branch and moving platform in parallel by fixed platform, three RPR types forms 3-RPR parallel institutions, and 3-RPR parallel institutions have
The advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by the excellent of 3-RPR parallel institutions
Point is so that the present invention has good damping performance and stability, the scope of application big when walking on retaining wall construction site.
When work, driving shaft rotation, driving shaft is driven to drive driving gear rotation by the driving motor in transmission branch chain first, actively
Gear drives driven shaft, driven shaft that the taper walking item on two walking branches at both ends is driven to turn under the auxiliary of driven gear
It is dynamic, make by No.1 limit spring and the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block
Two walking branches on tapers walking item can it is uneven, muddy can't bear retaining wall construction site on stabilized walking,
Damping performance is good, and stability is good, eliminates the shake up and down occurred in stone masonry handling process or double swerve phenomenon, is applicable in
Range is wide.
The hydraulic gripping device includes the rotating bottom board for being welded on mounting platform upper surface, in the upper surface of rotating bottom board
Portion is equipped with electric rotating machine by motor cabinet, and turntable, the lower face of turntable are installed on the output shaft of electric rotating machine
It is evenly arranged with four T-type travellers in the axial direction；The upper surface of the rotating bottom board is equipped with rotary chute, rotary chute
It is connected respectively by two swivel bearings between both sides inner wall and the both ends of four T-type travellers, rotary chute and four T-type travellers
Play the role of good limited support, so that the four T-type travellers driven by electric rotating machine can be with by two swivel bearings
Make stable rotary motion on rotary chute；It is welded with support arm, the end of support arm in the middle part of the upper surface of the turntable
It is welded with crawl support plate, the lower face of upper crawl support plate is symmetrically installed that there are four No. two hydraulic cylinders, the lower ends of upper crawl support plate
Middle face is welded with T-type fixed frame, and is separately fixed on T-type fixed frame in the middle part of four No. two hydraulic cylinders, and T-type fixation is erected
To the effect of four No. two hydraulic cylinders of fixed support so that four No. two hydraulic cylinders can make stable stretching motion；Described four
The lower end of a No. two hydraulic cylinders is equipped with lower crawl support plate, and the lower face of lower crawl support plate is symmetrically installed that there are four hydraulic pressure crawl branch
Chain captures branch by four hydraulic pressure and captures placement stone masonry come automatic, and the hydraulic pressure crawl branch includes being welded on lower crawl
Crawl riser on support plate lower face captures and is welded with fixed notch board on the inner wall of riser, and fixed notch board upper and lower ends are respectively installed
There are one No. three hydraulic cylinders, and No. three hydraulic cylinders are arranged symmetrically, and fixed notch board plays the work of two No. three hydraulic cylinders of fixed support
With the bottom end of two No. three hydraulic cylinders is installed on the side wall of crawl riser, and the top of two No. three hydraulic cylinders passes through screw thread
Each connection is respectively mounted there are one jacking block is captured, No.1 flange plays on each No.1 flange by screw there are one No.1 flange
The effect of No. three hydraulic cylinders of connection and crawl jacking block, each respectively there are one cone centres for welding on the side wall of crawl jacking block, pass through
Two No. three hydraulic cylinders make synchronization telescope movement to control two cone centres on two crawl jacking blocks, when the slurry of required crawl
After stone-laying enters between four hydraulic pressure crawl branches, eight No. three hydraulic cylinders on branch are captured by four hydraulic pressure to control
Eight cone centres on eight crawl jacking blocks make synchronization telescope movement, until eight cone centres all lock to be resisted against and grout
No. three hydraulic cylinders are stopped when stone surface, and the lower end of the crawl riser is equipped with latch by hinge, latch with it is solid
Determine that locking driving branch is installed between notch board, branch is driven by locking come control opening of the latch on crawl riser with
It closes；The locking driving branch includes No. two ear mounts being welded on fixed notch board, is installed by axis pin between No. two ear mounts
There are No. four hydraulic cylinders, the top of No. four hydraulic cylinders to be mounted in No. three ear mounts by axis pin, the bottom end of No. three ear mounts is welded on lock
On tight plate, pass through the positive and negative rotation on crawl riser of No. four hydraulic cylinder-controlled latch processed.When work, four locking drivings are controlled first
Four No. four hydraulic cylinder-controlled latch processed on branch are in the open state, and then four No. two hydraulic cylinders start simultaneously at work,
Four No. two hydraulic cylinders drive four hydraulic pressure crawl branch below lower crawl support plate to move down, when the stone masonry of required crawl
No. two hydraulic cylinders are stopped when being captured between branch positioned at four hydraulic pressure, then eight No. three on four hydraulic pressure crawl branches
Hydraulic cylinder makees synchronous stretching motion inside to control eight cone centres on eight crawl jacking blocks, until eight cone centres
No. three hydraulic cylinders are stopped when all locking is resisted against stone masonry surface, between stone masonry is locked at four hydraulic pressure crawl branches
Locking driving branch is started to work afterwards, and four No. four hydraulic cylinder-controlled latch processed on locking driving branch are closed,
Prevent stone masonry in the process of grasping due to gravity excessive the phenomenon that falling, then four No. two hydraulic cylinders controls are lower captures support plate
It up moves, electric rotating machine is started to work after the stone masonry of crawl is up moved to proper height by the present invention, electric rotating machine
Turntable rotation, turntable is driven to send out this by support arm under the limited support of rotary chute and four T-type travellers auxiliary
The stone masonry rotation of bright crawl is placed on designated position, and work(is taken to the hydraulic automatic grabbing of stone masonry to realize the present invention
Can, it is placed without artificial crawl, grasp speed is fast, and crawl is efficient.
In use, first by the way that the present invention is moved on retaining wall construction site from steady travelling platform, two transmission branch
Two driving motors on chain start simultaneously at work, and driving motor drives driving shaft rotation, driving shaft to drive driving gear rotation,
Driving gear drives driven shaft, driven shaft to drive the taper walking on two walking branches at both ends under the auxiliary of driven gear
Item rotates, by No.1 limit spring and the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block
The taper walking item on two walking branches is allow to stablize row on uneven, the muddy retaining wall construction site that can't bear
It walks, damping performance is good, and stability is good, eliminates the shake up and down occurred in stone masonry handling process or double swerve phenomenon,
It is applied widely；Hydraulic gripping device is started to work when beside crawl stone masonry needed for the present invention moves to, and first controls four
Four No. four hydraulic cylinder-controlled latch processed on locking driving branch are in the open state, and then four No. two hydraulic cylinders are opened simultaneously
Beginning work, four No. two hydraulic cylinders drive four hydraulic pressure crawl branch below lower crawl support plate to move down, when required crawl
Stone masonry be located at No. two hydraulic cylinders when four hydraulic pressure capture between branches and be stopped, then on four hydraulic pressure crawl branches
Eight No. three hydraulic cylinders make synchronous stretching motion inside to control eight cone centres on eight crawl jacking blocks, until eight
Cone centre all locks No. three hydraulic cylinders when being resisted against stone masonry surface and is stopped, when stone masonry is locked at four hydraulic pressure crawls
Locking driving branch is started to work after between branch, and four No. four hydraulic cylinder-controlled latch processed on locking driving branch, which are in, to close
Closed state prevents stone masonry in the process of grasping due to gravity excessive the phenomenon that falling, then under four No. two hydraulic cylinders controls
Crawl support plate up moves, and electric rotating machine is started to work after the stone masonry of crawl is up moved to proper height by the present invention,
Electric rotating machine drives turntable rotation, turntable to pass through support under the limited support of rotary chute and four T-type travellers auxiliary
The stone masonry rotation that the present invention captures is placed on designated position by arm, and the stone masonry conveyed passes through existing lifting device liter
It is down on retaining wall, it is i.e. plastic that last operation worker pours concrete, is placed without artificial crawl, grasp speed is fast, grabs
Take efficient, to realize the present invention to the automatic crawl function of stone masonry, there is no severe compromise, construction efficiency
It is high.
The beneficial effects of the invention are as follows：
1, the present invention drives four walking branch automatic works of both sides, whole process to be not necessarily to people by two transmission branch chains
Work operates, and the present invention forms 3-RPR parallel institutions, 3- by the branch and moving platform in parallel of fixed platform, three RPR types
RPR parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, walking branch
Chain makes two by No.1 limit spring and the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block
Taper walking item on a walking branch can subtract in stabilized walking on uneven, muddy retaining wall construction site unbearably
Shock stability is good, and stability is good, eliminates the shake up and down occurred in stone masonry handling process or double swerve phenomenon, is applicable in model
It encloses wide；
2, the present invention captures stone masonry needed for the crawl of branch automatic hydraulic by four hydraulic pressure, and is driven by four lockings
Branch limits stone masonry lower end, prevent stone masonry from capturing in installation course because of gravity excessive the phenomenon that falling, and captures and finishes
Stone masonry is carried out capturing automatically under the driving of four No. two hydraulic cylinders and electric rotating machine and is placed on designated position, realizes this
Invention takes function to the hydraulic automatic grabbing of stone masonry, is placed without artificial crawl, and grasp speed is fast, and crawl is efficient；
3, the present invention solves the existing retaining wall artificial substantial length of operation of needs that manually mode of piling up is deposited, low construction efficiency
Under, there are in severe compromise, stone masonry handling process exist up and down shake or double swerve phenomenon, stability it is poor, need
It manually to capture that stone masonry, labor intensity are big, grasp speed is slow and the problems such as crawl inefficiency, realize the present invention to grouting
The automatic crawl function of stone, eliminates the shake up and down occurred in handling process or double swerve phenomenon, and stability is good, construction
Efficient, there is no any security risks, and soon and are captured efficient etc. excellent with automatic rotation pick-and-place stone masonry, grasp speed
Point.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is first structure schematic diagram of the present invention from steady travelling platform；
Fig. 3 is second structural schematic diagram of the present invention from steady travelling platform；
Fig. 4 is the structural schematic diagram of shock-absorbing support mechanism of the present invention；
Fig. 5 is the structural schematic diagram of branch in parallel of the invention；
Fig. 6 is the sectional view of branch in parallel of the invention；
Fig. 7 is the structural schematic diagram of hydraulic gripping device of the present invention；
Fig. 8 is the full sectional view of hydraulic gripping device of the present invention；
Fig. 9 is the I of Fig. 8 of the present invention to sectional view；
Figure 10 is the II of Fig. 8 of the present invention to sectional view.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 10, a kind of building ground stone masonry automatic hydraulic gripper, including from steady travelling platform 1,
There is good damping performance and stability from steady travelling platform 1, eliminate occur in stone masonry handling process upper and lower and tremble
Dynamic or double swerve phenomenon so that the present invention is suitable for the uneven or muddy construction site work that can't bear, described from steady
Hydraulic gripping device 2 is installed, the present invention may be implemented to stone masonry in hydraulic gripping device 2 on the right side of the upper surface of travelling platform 1
Hydraulic automatic grabbing take function, placed without artificial crawl, grasp speed is fast, and crawl is efficient.
Described to include mounting platform 11 from steady travelling platform 1, the lower face of the mounting platform 11 is each side installed
There are one transmission branch chain 12, transmission branch chain 12 is arranged symmetrically, and respectively there are one branches of walking for welding for the front and rear sides of transmission branch chain 12
13, and branch 13 of walking is arranged symmetrically, and drives walking branch 13 in retaining wall construction site automatically walk by transmission branch chain 12,
Without human intervention, work efficiency is high for whole process；The transmission branch chain 12 includes being symmetrically welded at 11 lower face of mounting platform
Two pieces of fixed boards 121 of front and rear sides are equipped with driving shaft 122 between the upper end of two pieces of fixed boards 121 by bearing, main
The middle part of moving axis 122 is equipped with driving gear 123 by key, and the front end of driving shaft 122 is equipped with driving motor by shaft coupling
124, driving motor 124 is mounted on the lower face of mounting platform 11 by motor cabinet, leads between the lower end of two pieces of fixed boards 121
It crosses bearing and driven shaft 125 is installed, the middle part of driven shaft 125 is equipped with driven gear 126, driven gear 126 and master by key
Moving gear 123 is meshed, and respectively there are one branches 13 of walking for welding for the rear and front end of driven shaft 125, and 13 symmetrical cloth of branch of walking
It sets, drives driving shaft 122 to rotate by driving motor 124, driving shaft 122 drives driving gear 123 to rotate, driving gear 123
Driven shaft 125, driven shaft 125 is driven to drive two walking branches 13 at both ends in retaining wall under the auxiliary of driven gear 126
Automatically walk on construction site；The walking branch 13 is welded on the walking jacking block 131 on driven shaft 125 including side, walking
Jacking block 131 is square structure, is respectively mounted that there are one shock-absorbing support mechanisms 132 on each side for jacking block 131 of walking, and each subtracts
Shake supporting mechanism 132 upper end is respectively mounted walks block 133 there are one arc, all uniformly connects between two neighboring arc walking block 133
It is connected to No.1 limit spring 134, and is evenly arranged with taper walking item 135, taper on the outer wall of each arc walking block 133
Walking item 135 is pyramidal structure, and the present invention concentrates on taper walking item 135 the walking pressure of retaining wall construction site,
Stability when present invention work is improved, No.1 limit spring 134 plays the role of limit and damping, and shock-absorbing support machine
Structure 132 has good damping performance and stability so that the present invention is in No.1 limit spring 134 and shock-absorbing support mechanism 132
Booster action arc lower walking block 133 on taper walking item 135 can stablize it is uneven, muddy can't bear retaining wall
It walks on construction site, it is applied widely；The transmission ratio of the driving gear 123 and driven gear 126 is 2:1, by low
Transmission ratio reduces the velocity of rotation of driven gear 126, to reduce row of the walking branch 13 on retaining wall construction site
Speed is walked, stability is further increased；The shock-absorbing support mechanism 132 includes being mounted on walking 131 corresponding side surface of jacking block
On fixed platform 136, uniformly there are three branch 137 in parallel, three branches in parallel for installation in the axial direction for 136 upper surface of fixed platform
137 top is installed on the lower face of moving platform 138, and there are three bar shaped bearing pieces for the upper surface uniform welding of moving platform 138
139, the upper surface of bar shaped bearing piece 139 is to walk the corresponding globoidal structure of block 133 with arc, three bar shaped bearing pieces 139 it is upper
End face is welded on the inner wall of corresponding arc walking block 133 so that three bar shaped bearing pieces 139 can give corresponding arc walking block
133 strong support forces；The parallel connection branch 137 includes the concave bearing 1371 for being welded on 136 upper surface of fixed platform, concave
Lower limit axis 1372 is installed between the middle part of bearing 1371, one is each provided on the upper end both sides inner wall of concave bearing 1371
Arc limit slot 1371a, and arc limit slot 1371a is arranged symmetrically；It is arranged with No.1 hydraulic cylinder on the lower limit axis 1372
1373, the bottom end both sides of No.1 hydraulic cylinder 1373 are each provided with a gag lever post 1374, the end of each gag lever post 1374 with it is right
It answers and is connected by sliding matching mode between arc limit slot 1371a, two gag lever posts 1374 and two arc limit slots
The slewing area for limiting 1373 bottom end of No.1 hydraulic cylinder is played in movement between 1371a, also prevents 1373 bottom of No.1 hydraulic cylinder
The situation moved left and right is held, since the present invention often walks on uneven, the muddy retaining wall construction site that can't bear, and is led to
1373 bottom end of No.1 hydraulic cylinder can be enhanced in lower limit axis 1372 by crossing two gag lever posts 1374 and two arc limit slot 1371a
Stability when rotation, improves working performance；The top of the No.1 hydraulic cylinder 1373 is equipped with spherical connection by screw thread
First 1375, the both ends of spherical connector 1375 are each provided with a upper limit axis 1376, and upper limit axis 1376 is arranged symmetrically, often
It is connected by bearing between root upper limit axis 1376 and corresponding No.1 ear mount 1377, on the lower face inner wall of No.1 ear mount 1377
It is welded with positioning column 1378, the end of positioning column 1378 is concave spherical structure corresponding with spherical connector 1375, positioning
It is connected by sliding matching mode between the end of column 1378 and spherical connector 1375, the upper surface welding of No.1 ear mount 1377
On moving platform 138, the movement of spherical connector 1375 is limited and supported by positioning column 1378, so that spherical connection
Two upper limit axis 1376 on first 1375 can be stablized to be rotated in No.1 ear mount 1377, enhances the top of No.1 hydraulic cylinder 1373
The stability when rotation of end, improves working performance, the R formed by No.1 hydraulic cylinder 1373 when concave bearing 1371 rotates
The R pairs that P that secondary, No.1 hydraulic cylinder 1373 is formed when working is secondary, No.1 hydraulic cylinder 1373 is formed when No.1 ear mount 1377 rotates
The branch in parallel 137 of RPR types is constituted, and the present invention passes through the branch in parallel 137 and moving platform of 136, three RPR types of fixed platform
138 form 3-RPR parallel institutions, and 3-RPR parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability are good
The advantages that high with kinematic accuracy, makes the present invention when walking on retaining wall construction site by the advantages of 3-RPR parallel institutions
With good damping performance and stability, the scope of application is big.When work, pass through the driving motor in transmission branch chain 12 first
124 drive driving shaft 122 to rotate, and driving shaft 122 drives driving gear 123 to rotate, and driving gear 123 is in driven gear 126
Auxiliary is lower to drive driven shaft 125, driven shaft 125 to drive the taper walking item 135 on two walking branches 13 at both ends to rotate, borrow
The 3-RPR parallel institution booster actions for helping No.1 limit spring 134 and being evenly arranged on 131 4 sides of walking jacking block make
Taper walking item 135 on two walking branches 13 can be stablized on uneven, the muddy retaining wall construction site that can't bear
Walking, damping performance is good, and stability is good, eliminates the shake up and down occurred in stone masonry handling process or double swerve is existing
As applied widely.
The hydraulic gripping device 2 includes the rotating bottom board 21 for being welded on 11 upper surface of mounting platform, rotating bottom board 21
Electric rotating machine 22 is equipped with by motor cabinet in the middle part of upper surface, turntable 23 is installed on the output shaft of electric rotating machine 22,
The lower face of turntable 23 is evenly arranged with four T-type traveller 23a in the axial direction；It installs the upper surface of the rotating bottom board 21
There is rotary chute 21a, is rotated respectively by two between the both sides inner wall of rotary chute 21a and the both ends of four T-type traveller 23a
Bearing 21b is connected, and rotary chute 21a and four T-type traveller 23a play the role of good limited support, pass through two rotary shafts
Holding 21b allows the rotation for making stabilization on rotary chute 21a by four T-type traveller 23a that electric rotating machine 22 drives to transport
It is dynamic；Support arm 24 is welded in the middle part of the upper surface of the turntable 23, the end of support arm 24 is welded with crawl support plate 25, on
The lower face of crawl support plate 25 is symmetrically installed there are four No. two hydraulic cylinders 26, and the lower face middle part of upper crawl support plate 25 is welded with T
Type fixed frame 27, and the middle part of four No. two hydraulic cylinders 26 is separately fixed on T-type fixed frame 27, T-type fixed frame 27 plays solid
Surely the effect of four No. two hydraulic cylinders 26 is supported so that four No. two hydraulic cylinders 26 can make stable stretching motion；Described four
The lower end of a No. two hydraulic cylinders 26 is equipped with lower crawl support plate 28, and the lower face of lower crawl support plate 28 is symmetrically installed that there are four hydraulic pressure
Branch 29 is captured, capture branch 29 by four hydraulic pressure captures placement stone masonry come automatic, and the hydraulic pressure crawl branch 29 includes
The crawl riser 291 being welded on 28 lower face of lower crawl support plate captures and is welded with fixed notch board 292 on the inner wall of riser 291,
Respectively there are one No. three hydraulic cylinders 293 for installation for 292 upper and lower ends of fixed notch board, and No. three hydraulic cylinders 293 are arranged symmetrically, fixed notch board
292 play the role of two No. three hydraulic cylinders 293 of fixed support, and the bottom end of two No. three hydraulic cylinders 293 is installed in crawl and stands
On the side wall of plate 291, the tops of two No. three hydraulic cylinders 293 respectively connects that there are one No.1 flange 294, each No.1s by screw thread
It is respectively mounted by screw there are one jacking block 295 is captured on flange 294, No.1 flange 294 plays No. three hydraulic cylinders 293 of connection and grabs
The effect of jacking block 295 is taken, respectively there are one cone centres 296 for welding on each side wall for capturing jacking block 295, pass through two No. three liquid
Cylinder pressure 293 makees synchronization telescope movement to control two cone centres 296 on two crawl jacking blocks 295, when the slurry of required crawl
After stone-laying enters between four hydraulic pressure crawl branches 29, eight No. three hydraulic cylinders on branch 29 are captured by four hydraulic pressure
293 make synchronization telescope movement to control eight cone centres 296 on eight crawl jacking blocks 295, until eight cone centres
296, which all lock No. three hydraulic cylinders 293 when being resisted against stone masonry surface, is stopped, and the lower end of the crawl riser 291 passes through hinge
Chain is equipped with latch 297, and locking driving branch 298 is equipped between latch 297 and fixed notch board 292, is driven by locking
Branch 298 is moved to control opening and closing of the latch 297 on crawl riser 291；The locking driving branch 298 includes weldering
No. two ear mounts 2981 being connected on fixed notch board 292 are equipped with No. four hydraulic cylinders 2982 between No. two ear mounts 2981 by axis pin,
The top of No. four hydraulic cylinders 2982 is mounted on by axis pin in No. three ear mounts 2983, and the bottom end of No. three ear mounts 2983 is welded on locking
On plate 297, the positive and negative rotation on crawl riser 291 of latch 297 is controlled by No. four hydraulic cylinders 2982.When work, control first
Four No. four hydraulic cylinders 2982 control latch 297 on four locking driving branches 298 is in the open state, then four two
Number hydraulic cylinder 26 starts simultaneously at work, and four No. two hydraulic cylinders 26 drive four hydraulic pressure of lower 28 lower section of crawl support plate to capture branch
29 move down, stop work when the stone masonry of required crawl is located at No. two hydraulic cylinders 26 when four hydraulic pressure capture between branch 29
Make, then eight No. three hydraulic cylinders 293 on four hydraulic pressure crawl branches 29 are bored to control eight on eight crawl jacking blocks 295
Shape top 296 makees synchronous stretching motion inside, No. three when eight cone centres 296, which are all locked, is resisted against stone masonry surface
Hydraulic cylinder 293 is stopped, and locking driving branch 298 starts work after stone masonry is locked between four hydraulic pressure crawl branches 29
Make, four No. four hydraulic cylinders 2982 control latch 297 on locking driving branch 298 is closed, and prevents stone masonry
In the process of grasping due to gravity excessive the phenomenon that falling, then four lower crawl support plates 28 of No. two hydraulic cylinders 26 control are up transported
Dynamic, electric rotating machine 22 is started to work after the stone masonry of crawl is up moved to proper height by the present invention, and electric rotating machine 22 exists
Lower 23 rotation of drive turntable of the limited support of rotary chute 21a and four T-type traveller 23a auxiliary, turntable 23 pass through support
The stone masonry rotation that the present invention captures is placed on designated position by arm 24, to realize the hydraulic pressure of the invention to stone masonry certainly
Dynamic crawl function, is placed without artificial crawl, and grasp speed is fast, and crawl is efficient.
In use, first by the way that the present invention is moved on retaining wall construction site from steady travelling platform 1, two transmission branch
Two driving motors 124 on chain 12 start simultaneously at work, and driving motor 124 drives driving shaft 122 to rotate, 122 band of driving shaft
Dynamic driving gear 123 rotates, and driving gear 123 drives driven shaft 125, driven shaft 125 to drive under the auxiliary of driven gear 126
Taper walking item 135 on two walking branches 13 at both ends rotates, and by No.1 limit spring 134 and is evenly arranged in walking
3-RPR parallel institution booster actions on 131 4 sides of jacking block so that the taper walking item 135 on two walking branches 13 can
With the stabilized walking on uneven, the muddy retaining wall construction site that can't bear, damping performance is good, and stability is good, eliminates
The shake up and down occurred in stone masonry handling process or double swerve phenomenon, it is applied widely；It is grabbed needed for being moved to as the present invention
It takes hydraulic gripping device 2 when beside stone masonry to start to work, first controls four No. four hydraulic pressure on four locking driving branches 298
The control latch 297 of cylinder 2982 is in the open state, and then four No. two hydraulic cylinders 26 start simultaneously at work, four No. two hydraulic pressure
Cylinder 26 drives four hydraulic pressure crawl branch 29 of lower 28 lower section of crawl support plate to move down, when the stone masonry of required crawl is located at four
No. two hydraulic cylinders 26 are stopped when between a hydraulic pressure crawl branch 29, then eight No. three on four hydraulic pressure crawl branches 29
Hydraulic cylinder 293 makees synchronous stretching motion inside to control eight cone centres 296 on eight crawl jacking blocks 295, until eight
A cone centre 296 all locks No. three hydraulic cylinders 293 when being resisted against stone masonry surface and is stopped, when stone masonry is locked at four
Rear locking driving branch 298 is started to work between hydraulic pressure captures branch 29, and locking drives four No. four hydraulic cylinders on branch 298
2982 control latch 297 are closed, and prevent stone masonry in the process of grasping due to gravity excessive the phenomenon that falling, so
The lower crawl support plate 28 of four No. two hydraulic cylinders 26 controls up moves afterwards, when the stone masonry of crawl is up moved to conjunction by the present invention
Electric rotating machine 22 is started to work after suitable height, limited support of the electric rotating machine 22 in rotary chute 21a and four T-type traveller 23a
The stone masonry rotation that the present invention captures is placed to specified by lower 23 rotation of drive turntable of auxiliary, turntable 23 by support arm 24
On position, the stone masonry conveyed is lifted by existing lifting device to retaining wall, and last operation worker pours coagulation
Soil is i.e. plastic, is placed without artificial crawl, and grasp speed is fast, and crawl is efficient, to realize the present invention to stone masonry
Automatic crawl function, is not present severe compromise, construction efficiency is high, solves the existing retaining wall need that manually mode of piling up is deposited
Want that artificial substantial length of operation, construction efficiency are low, there are there is shake up and down or left in severe compromise, stone masonry handling process
Right shaking phenomenon, stability are poor, need manually to capture stone masonry, labor intensity is big, grasp speed is slow and captures inefficiency
Etc. problems, reached purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (4)
1. a kind of building ground stone masonry automatic hydraulic gripper, it is characterised in that：It is described including from steady travelling platform (1)
Hydraulic gripping device (2) is installed from the right side of the upper surface of steady travelling platform (1)；It is described to include installation from steady travelling platform (1)
Platform (11), the lower face of the mounting platform (11) each side install that there are one transmission branch chain (12), transmission branch chains
(12) it is arranged symmetrically, respectively there are one walking branches (13) for welding for the front and rear sides of transmission branch chain (12), and branch (13) of walking is right
Claim arrangement；The transmission branch chain (12) includes two pieces of fixed boards for being symmetrically welded at mounting platform (11) lower face front and rear sides
(121), driving shaft (122), the middle part of driving shaft (122) are equipped with by bearing between the upper end of two pieces of fixed boards (121)
Driving gear (123) is installed by key, the front end of driving shaft (122) is equipped with driving motor (124) by shaft coupling, transmission
Motor (124) is mounted on the lower face of mounting platform (11) by motor cabinet, passes through between the lower end of two pieces of fixed boards (121)
Bearing is equipped with driven shaft (125), and the middle part of driven shaft (125) is equipped with driven gear (126), driven gear by key
(126) it is meshed with driving gear (123), respectively there are one walking branches (13) for welding for the rear and front end of driven shaft (125), and go
Branch (13) is walked to be arranged symmetrically；The walking branch (13) includes the walking jacking block that side is welded on driven shaft (125)
(131), walking jacking block (131) is square structure, is respectively mounted that there are one shock-absorbing supports on each side of walking jacking block (131)
Mechanism (132), each shock-absorbing support mechanism (132) upper end be respectively mounted there are one arc walking block (133), two neighboring arc row
It walks and is all uniformly connected with No.1 limit spring (134) between block (133), and on the outer wall of each arc walking block (133)
It is even to be provided with taper walking item (135)；The shock-absorbing support mechanism (132) includes being mounted on walking jacking block (131) corresponding side surface
On fixed platform (136), uniformly installation is there are three branch (137) in parallel in the axial direction for fixed platform (136) upper surface, and three are simultaneously
The top of connection branch (137) is installed on the lower face of moving platform (138), and the upper surface uniform welding of moving platform (138) has
Three bar shaped bearing pieces (139), the upper surface of bar shaped bearing piece (139) are to walk block (133) corresponding globoidal structure with arc, three
The upper surface of a bar shaped bearing piece (139) is welded on the inner wall of corresponding arc walking block (133)；
The hydraulic gripping device (2) includes the rotating bottom board (21) for being welded on mounting platform (11) upper surface, rotating bottom board
(21) electric rotating machine (22) is equipped with by motor cabinet in the middle part of upper surface, is installed on the output shaft of electric rotating machine (22)
The lower face of turntable (23), turntable (23) is evenly arranged with four T-type travellers (23a) in the axial direction；The rotation bottom
The upper surface of plate (21) is equipped with rotary chute (21a), the both sides inner wall of rotary chute (21a) and four T-type travellers (23a)
It is connected respectively by two swivel bearings (21b) between both ends；It is welded with support arm in the middle part of the upper surface of the turntable (23)
(24), the end of support arm (24) is welded with crawl support plate (25), and the lower face of upper crawl support plate (25) is symmetrically installed with four
The lower face middle part of a No. two hydraulic cylinders (26), upper crawl support plate (25) is welded with T-type fixed frame (27), and four No. two hydraulic pressure
It is separately fixed in the middle part of cylinder (26) on T-type fixed frame (27)；The lower end of four No. two hydraulic cylinders (26), which is equipped with down, grabs
Support plate (28), the lower face of lower crawl support plate (28) is taken to be symmetrically installed there are four hydraulic pressure crawl branch (29), the hydraulic pressure captures
Branch (29) includes being welded on the lower crawl riser (291) captured on support plate (28) lower face, on the inner wall of crawl riser (291)
It is welded with fixed notch board (292), fixes No. three hydraulic cylinders (293) there are one each installations of notch board (292) upper and lower ends, and No. three liquid
Cylinder pressure (293) is arranged symmetrically, and the bottom end of two No. three hydraulic cylinders (293) is installed on the side wall of crawl riser (291), two
The top of No. three hydraulic cylinders (293) is respectively connected by screw thread there are one No.1 flange (294), is led on each No.1 flange (294)
It crosses screw to be respectively mounted there are one jacking block (295) is captured, each captures cone centre there are one respectively being welded on the side wall of jacking block (295)
(296), the lower end of the crawl riser (291) is equipped with latch (297), latch (297) and fixed notch board by hinge
(292) locking driving branch (298) is installed between.
2. a kind of building ground stone masonry automatic hydraulic gripper according to claim 1, it is characterised in that：The master
The transmission ratio of moving gear (123) and driven gear (126) is 2:1.
3. a kind of building ground stone masonry automatic hydraulic gripper according to claim 1, it is characterised in that：It is described simultaneously
Connection branch (137) includes being welded on the concave bearing (1371) of fixed platform (136) upper surface, the middle part of concave bearing (1371) it
Between lower limit axis (1372) is installed, be each provided with an arc limit slot on the upper end both sides inner wall of concave bearing (1371)
(1371a), and arc limit slot (1371a) is arranged symmetrically；It is arranged with No.1 hydraulic cylinder on the lower limit axis (1372)
(1373), the bottom end both sides of No.1 hydraulic cylinder (1373) are each provided with a gag lever post (1374), each gag lever post (1374)
It is connected by sliding matching mode between end and corresponding arc limit slot (1371a)；The No.1 hydraulic cylinder (1373)
Top is equipped with spherical connector (1375) by screw thread, and the both ends of spherical connector (1375) are each provided with a upper limit axis
(1376), and upper limit axis (1376) is arranged symmetrically, between every upper limit axis (1376) and corresponding No.1 ear mount (1377)
It is connected by bearing, positioning column (1378), the end of positioning column (1378) is welded on the lower face inner wall of No.1 ear mount (1377)
End is concave spherical structure corresponding with spherical connector (1375), the end of positioning column (1378) and spherical connector
(1375) it is connected by sliding matching mode between, the upper surface of No.1 ear mount (1377) is welded on moving platform (138).
4. a kind of building ground stone masonry automatic hydraulic gripper according to claim 1, it is characterised in that：The lock
Tight driving branch (298) includes No. two ear mounts (2981) being welded on fixed notch board (292), is led between No. two ear mounts (2981)
It crosses axis pin and No. four hydraulic cylinders (2982) is installed, the top of No. four hydraulic cylinders (2982) is mounted on No. three ear mounts by axis pin
(2983) on, the bottom end of No. three ear mounts (2983) is welded on latch (297).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610522213.XA CN106193145B (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic gripper |
| CN201810114612.1A CN108301449A (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic capture apparatus based on parallel connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610522213.XA CN106193145B (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic gripper |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810114612.1A Division CN108301449A (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic capture apparatus based on parallel connection |
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| CN106193145A CN106193145A (en) | 2016-12-07 |
| CN106193145B true CN106193145B (en) | 2018-08-28 |
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| CN201610522213.XA Active CN106193145B (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic gripper |
| CN201810114612.1A Pending CN108301449A (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic capture apparatus based on parallel connection |
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| CN201810114612.1A Pending CN108301449A (en) | 2016-07-06 | 2016-07-06 | A kind of building ground stone masonry automatic hydraulic capture apparatus based on parallel connection |
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| CN107083784B (en) * | 2017-06-22 | 2019-06-25 | 汪建文 | A kind of shovel indigenous equipment of two-way operation |
| CN107866805A (en) * | 2017-11-20 | 2018-04-03 | 李万奎 | Light wallboard mounting machine device people |
| CN108222034A (en) * | 2018-01-10 | 2018-06-29 | 金华顺为投资管理有限公司 | A kind of drying displaying special construction apparatus |
| CN110886336A (en) * | 2019-12-02 | 2020-03-17 | 中铁十一局集团第二工程有限公司 | Earthing-up device and road maintenance system |
| CN114232721A (en) * | 2022-01-04 | 2022-03-25 | 上海三一重机股份有限公司 | Vehicle perception early warning system and working vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2574516Y2 (en) * | 1992-11-05 | 1998-06-18 | 有限会社尾崎製作所 | Gripping fork device for excavator |
| CN200948729Y (en) * | 2006-09-01 | 2007-09-19 | 周中理 | Explosion-proof vehicle wheel |
| GB0710157D0 (en) * | 2007-05-26 | 2007-07-04 | Bamford Excavators Ltd | Method of operating a working machine |
| KR20090027364A (en) * | 2007-09-12 | 2009-03-17 | 황규관 | A nipper equipment for excavator |
| CN101537770B (en) * | 2009-04-20 | 2011-01-05 | 哈尔滨工业大学 | Probe vehicle wheel with variable diameter elastically capable of automatic extension |
| CN203345936U (en) * | 2013-05-22 | 2013-12-18 | 天津市世亮液压机械有限公司 | Multipurpose closed type hydraulic gripper |
| CN104015647B (en) * | 2014-05-29 | 2016-05-11 | 安徽新荣钢构有限公司 | A kind of building iron structure automatic card-loading carrier |
| CN204036464U (en) * | 2014-08-02 | 2014-12-24 | 泉州市永茂电子科技有限公司 | A kind of damping type palletizing mechanical pawl |
| CN104552325B (en) * | 2015-01-14 | 2016-06-08 | 上海古岛自动化设备有限公司 | Mechanical hand polyembryony tyre catching apparatus |
| CN105619577B (en) * | 2015-12-31 | 2017-11-28 | 唐山市开平区雅风陶瓷厂 | The special texturing device of fully-automatic ceramic Surface Machining |
| CN105645314B (en) * | 2016-03-14 | 2018-04-20 | 广东爱富兰建设有限公司 | One kind decoration ceramic tile Palletised carry trolley |
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| CN108301449A (en) | 2018-07-20 |
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Effective date of registration: 20180720 Address after: 150000 Lake Jingpo Road, Dalian Road North, Heilongjiang, Harbin Applicant after: Hakda robotics group (Guangzhou) intellectual property Klc Holdings Ltd, Harbin branch Address before: 246001 No. 12, septate group, nine Tang Village, bridge office, Anqing, Anhui Applicant before: Xu Zitong |
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