CN106629459B - It is a kind of to shore and support integrated accessory - Google Patents
It is a kind of to shore and support integrated accessory Download PDFInfo
- Publication number
- CN106629459B CN106629459B CN201510725596.6A CN201510725596A CN106629459B CN 106629459 B CN106629459 B CN 106629459B CN 201510725596 A CN201510725596 A CN 201510725596A CN 106629459 B CN106629459 B CN 106629459B
- Authority
- CN
- China
- Prior art keywords
- arm
- joint
- finger
- joint arms
- hydraulic cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention belongs to mechanical automation engineering fields, it is specifically a kind of to shore and support integrated accessory, including box portion, left and right shore mechanical arm system and supporting jettison system, it is left and right that shore mechanical arm system structure identical, it is symmetrically mounted on the both sides of box portion, supporting jettison system is mounted on box portion, and is shored between mechanical arm system positioned at left and right；It is left and right shore mechanical arm system be mainly responsible for will shore hydraulic cylinder transport/be recovered to designated position, do the safeguard work of early period for supporting.Support system be mainly responsible for the security framework of supporting is transported/be recovered to designated position, provide safe channel for the rescue work of rescue personnel.The present invention is shored to roll into one with two kinds of functions of supporting, it is simple in structure, corollary equipment is few and easy to operate, can be quick installed on large engineering vehicle, remotely can quickly establish the rescue channel in ruins, the safety for ensureing rescue personnel, succours out wrecked personnel in time.
Description
Technical field
The invention belongs to mechanical automation engineering fields, specifically a kind of to shore and support integrated accessory.
Background technology
There are many accessory type on large-scale engineering machinery, and such as broken scraper bowl, quartering hammer, hydraulic breaker, timber are grabbed
Bucket, building stones grab bucket, inclination bucket, hydraulic rammer, ridge buster etc., are mainly used for the forcible entry of building.In earthquake rescue, due to existing
There are rescue functions of the equipments single, equipment own wt is big, service weight is light, and closely operation has greatly safety to rescue personnel
It is dangerous.The important operation that supporting is earthquake rescue is shored, the life peace of effective protection rescue personnel and the stranded masses are capable of
Entirely, secondary injury is prevented, and the accessory for shoring supporting operation being used in engineering machinery yet there are no report.By heavy construction
Machine applications shore supporting operation in earthquake rescue, it is necessary to be equipped with the accessory for shoring supporting operation accordingly.
Invention content
In order to solve, existing rescue aid has a single function and own wt is big, service weight is light, rescue personnel closely grasps
The problems such as making is shored and support integrated accessory the purpose of the present invention is to provide a kind of.Accessory tool can be realized and large size
Fast Installation and common transition between engineering machinery such as realize remote operation, are convenient for carrying at the multiple functions.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes box portion, mechanical arm system is shored on a left side, mechanical arm system is shored on the right side and supporting jettison system,
A middle left side shores mechanical arm system and shores that mechanical arm system structure is identical with the right side, is symmetrically mounted on the both sides of the box portion, institute
Supporting jettison system is stated on the box portion, and shores mechanical arm system positioned at a left side and the right side is shored between mechanical arm system；
Mechanical arm system is shored on the left side and mechanical arm system is shored including being equipped with clamping machine arm, the finger for shoring hydraulic cylinder in the right side
Driving hydraulic cylinder, finger mechanism and the single oil cylinder being sequentially connected are equipped with finger actuation liquid in the single oil cylinder in last joint arm
Cylinder pressure, the output end of the finger actuation hydraulic cylinder grip one end of the clamping machine arm, the clamping by finger mechanism
The other end of mechanical arm is clamping manipulator, which is stretched or swung by the driving of the single oil cylinder, and is passed through
The hydraulic cylinder of shoring is shored to form channel；The supporting jettison system includes push hydraulic cylinder, safe frame connecting plate and peace
Full frame, the push hydraulic cylinder are mounted on the box portion, and output end is connected with safe frame connecting plate, the safe frame connection
The hydraulic locking apparatus of locking safe frame is installed, the safe frame is inserted into the channel by pushing the driving of hydraulic cylinder on plate
In, complete supporting operation.
Wherein：The single oil cylinder includes a joint arm, two joint arms, three joint arms and four joint arms, a joint hydraulic of a joint arm
Cylinder is mounted in the box portion, and two joint arm includes sliding block and two joint arm rotating driving devices, the sliding block one end and institute
The piston for stating a joint fluid cylinder pressure is connected, and the other end is connected by two joint arm rotating driving devices with one end of the three joint arms,
The other end of the three joint arms is equipped with the three joint arms rotating driving device being connected with four joint arm, and the finger mechanism and finger drive
Hydrodynamic cylinder pressure is separately mounted in four joint arms；The both sides of the box portion are respectively equipped with mechanical arm guide rail, described left and right to shore
Sliding block in mechanical arm system in two joint arms is slidably connected with the mechanical arm guide rail of both sides respectively；The two joint arms rotation driving dress
It sets and is driven including two joint arm motor fixing plates, two joint arm driving motors, two joint arm drive sprockets, two joint arm driven sprockets and two joint arms
Dynamic chain, the two joint arms driving motor are fixed in by two joint arm motor fixing plates on the sliding block, two joint arm driving motors
Output shaft is connected with two joint arm drive sprockets, and the two joint arms drive sprocket passes through two joint arm drive chains and two joint arm driven chains
Wheel is connected, and the driven sprocket axis of the two joint arms driven sprocket is rotatably installed in the other end of sliding block, and with the three joint arms
One end be connected；
The three joint arms rotating driving device includes three joint arms driving motor, three joint arms driving pulley A, three joint arms driving band
It takes turns B and three joint arms drives synchronous belt, the three joint arms driving motor to be mounted on the other end of three joint arms, three sections are connected on output shaft
Arm driving pulley A, the three joint arms driving pulley A drive synchronous belt to be connected with three joint arms driving pulley B by three joint arms, this three
The pulley shaft of joint arm driving pulley B is rotatably installed in the other end of the three joint arms, and is fixedly connected with four joint arm；
The finger mechanism includes two parallelogram mechanisms, and each parallelogram mechanism is solid including finger
Reservation, finger front swing arm, finger rear-swing arm and gripping finger, the finger fixed seat are fixed on the side inside four joint arms, the finger
The one end of the front and rear ends of fixed seat respectively with finger front swing arm and finger rear-swing arm is hinged, the finger front swing arm and hand
The other end for referring to rear-swing arm is hinged with gripping finger respectively, and then forms a parallelogram mechanism；Each parallelogram
Finger rear-swing arm in mechanism is connected by connecting rod with the piston of finger actuation hydraulic cylinder；It is equipped with and is convenient in each gripping finger
Grip the " V " shape slot of clamping machine arm；One end of the clamping machine arm is equipped with the back end interface that is gripped for finger mechanism, after this
End interface is rectangular；Multiple hydraulic cylinder mounting holes installed and shore hydraulic cylinder are provided on the clamping machine arm；
It is symmetrically opened on the safe frame connecting plate there are two guide groove, the corresponding hydraulic locking of each guide groove fills
It sets；The hydraulic locking apparatus includes locked hydraulic cylinder and locking sliding block, which is fixed in the safe frame connection
The back side of plate, one end of the locking sliding block are connected with the locked hydraulic cylinder, and the other end is passed through by a guide groove, is used for
Lock safe frame；The other end of the locking sliding block is in hook-shaped, is equipped between two locking sliding blocks and is mounted on safe frame company
The positive pin of fishplate bar, the pin and two locking sliding block collective effects, lock the safe frame；
The box portion includes babinet, hydraulic pressure rapid replacing interface, mechanical arm guide rail, safe frame guide groove and rapid replacing interface,
The babinet is separately installed with hydraulic pressure rapid replacing interface, in babinet towards a side opening of safe frame on the two side of the babinet
Bottom plate is respectively arranged on the left side and the right side mechanical arm guide rail, and the safe frame guide groove is mounted in box baseplate and positioned at described
The front of supporting jettison system；Rectangular aperture, the rapid replacing interface setting are machined on the two side of the box opening direction
At the rear portion of babinet.
Advantages of the present invention is with good effect：
It rolls into one with two kinds of functions of supporting 1. the present invention is shored, it is simple in structure, corollary equipment is few and easy to operate, it can
It is quick installed on large engineering vehicle.
2. the present invention remotely can quickly establish the rescue channel in ruins, ensure the safety of rescue personnel, succours in time
Go out wrecked personnel.
Description of the drawings
Fig. 1 is one of the dimensional structure diagram of the present invention；
Fig. 2 is that the present invention removes one of dimensional structure diagram of safe frame (both sides clamping machine arm) contraction；
Fig. 3 is that two (both sides clamping machine arms) of the dimensional structure diagram that the present invention removes safe frame stretch out；
Fig. 4 is the structural schematic diagram that the present invention left (right side) shores mechanical wall system；
Fig. 5 is the structural schematic diagram of a joint arm of the invention；
Fig. 6 is the structural schematic diagram of two joint arms of the invention；
Fig. 7 is the structural schematic diagram of three joint arms of the present invention；
Fig. 8 is the structural schematic diagram of four joint arms of the invention；
Fig. 9 is the two of the dimensional structure diagram of the present invention；
Figure 10 is that the present invention removes the dimensional structure diagram for shoring hydraulic cylinder；
Figure 11 is that supporting jettison system of the present invention removes the structural schematic diagram after safe frame；
Wherein：1 is box portion, and 2 shore mechanical arm system for a left side, and 3 shore mechanical arm system for the right side, and 4 launch for supporting
System, 5 be babinet, and 6 be hydraulic pressure rapid replacing interface, and 7 be mechanical arm guide rail, and 8 be safe frame guide groove, and 9 be rapid replacing interface, and 10 be one
Joint fluid cylinder pressure, 11 be two joint arms, and 12 be two joint arm rotating driving devices, and 13 be three joint arms, and 14 be three joint arms rotation driving dress
It sets, 15 be four joint arms, and 16 be finger mechanism, and 17 be finger actuation hydraulic cylinder, and 18 be clamping machine arm, and 19 be piston, and 20 be two
Joint arm driving motor, 21 be three joint arms driving motor, and 22 be gripping finger, and 23 be hydraulic cylinder mounting hole, and 24 be back end interface, and 25 be to push away
Liquor charging cylinder pressure, 26 for push hydraulic cylinder fixing piece, 27 be safe frame connecting plate, and 28 be hydraulic locking apparatus, and 29 be safe frame, 30
It is locking sliding block for locked hydraulic cylinder, 31,32 be two joint arm motor fixing plates, and 33 be two joint arm drive sprockets, and 34 be two joint arms
Driven sprocket, 35 be two joint arm drive chains, and 36 be three joint arms driving pulley A, and 37 be three joint arms driving pulley B, and 38 be three sections
Arm drives synchronous belt, and 39 be finger fixed seat, and 40 be finger front swing arm, and 41 be finger rear-swing arm, and 42 be sliding block, and 43 be driven chain
Wheel shaft, 44 be pulley shaft, and 45 is shore hydraulic cylinder, and 46 be pin, and 47 be guide groove, and 48 be connecting rod, and 49 be clamping manipulator, 50
For rectangular aperture.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1, Fig. 9 and Figure 10, the present invention includes box portion 1, mechanical arm system 2 is shored on a left side, machinery is shored on the right side
Arm system 3 and supporting jettison system 4, wherein box portion 1 include babinet 5, hydraulic pressure rapid replacing interface 6, mechanical arm guide rail 7, safety
Frame guide groove 8 and rapid replacing interface 9, which is inner hollow and the structure of a side opening, is in rectangular shape, in babinet 5
It is separately installed with hydraulic pressure rapid replacing interface 6 on two side, mechanical arm guide rail 7, both sides are respectively arranged on the left side and the right side in 5 bottom plate of babinet
One end of mechanical arm guide rail 7 be fixed in babinet 5, the other end is stretched out by babinet 5.Safe frame guide groove 8 is mounted on babinet 5
Front on bottom plate and positioned at supporting jettison system 4, and between both sides mechanical arm guide rail 7.5 opening direction both sides of babinet
Rectangular aperture 50 is provided on wall.The rear portion of babinet 5 has the rapid replacing interface 9 coordinated with engineering machinery, facilitates accessory and work
The connection of journey machinery.
A left side shores mechanical arm system 2 and shores that 3 structure of mechanical arm system is identical with the right side, is symmetrically mounted on the two of box portion 1
Side；A left side is shored mechanical arm system 2 and is located in babinet 5 with the right power section for shoring mechanical arm system 3, and execution part is located at babinet
Outside 5.Supporting jettison system 4 is located at a left side and shores mechanical arm system 2 and between the right side shores mechanical arm system 3, supporting jettison system 4
Power section is mounted in babinet 5, and execution part is located at outside babinet 5.
As shown in Figure 2-5, mechanical arm system 2 is shored on a left side and the right side shores mechanical arm system 3 and shores hydraulic pressure including being equipped with
Clamping machine arm 18, finger actuation hydraulic cylinder 17, finger mechanism 16 and the single oil cylinder being sequentially connected of cylinder 45, the present embodiment it is more
Joint arm includes a joint arm, two joint arms 11, three joint arms 13 and four joint arms 15, and a joint fluid cylinder pressure 10 of a joint arm is installed on case
In one side wall in body 5, two joint arms 11 include sliding block 42 and two joint arm rotating driving devices 12, left and right to shore mechanical arm system
2, the sliding block 42 in 3 in two joint arms 11 is slidably connected with the mechanical arm guide rail 7 of both sides respectively, makes left and right to shore mechanical arm system
2, it 3 can be slid back and forth on the mechanical arm guide rail 7 of both sides by the driving of respective joint fluid cylinder pressure 10；42 one end of sliding block
It is fixedly connected with the piston 19 of a joint fluid cylinder pressure 10, the other end passes through two joint arm rotating driving devices 12 and the one of three joint arms 13
End is connected, and the other end of the three joint arms 13 is equipped with the three joint arms rotating driving device 14 being connected with four joint arms 15, finger mechanism 16
It is separately mounted in four joint arms 15 with finger actuation hydraulic cylinder 17.Three joint arms 13 can pass through the drive of two joint arm rotating driving devices 12
Dynamic opposite two joint arms 11 are swung, four joint arms 15 can by the driving of three joint arms rotating driving device 14 with respect to three joint arms 13 into
Row is swung.When swinging, the rectangular aperture 50 that 5 both sides of babinet open up can avoid the three joint arms 13 swung, four joint arms 15 and babinet 5
Both sides collide interference.
As shown in fig. 6, two joint arm rotating driving devices 12 include two joint arm motor fixing plates 32, two joint arm driving motors
20, two joint arm drive sprockets 33, two joint arm driven sprockets 34 and two joint arm drive chains 35, sliding block 42 are inner hollow and another
The structure of end opening is in rectangular shape, and extends outward into semicircle shape respectively in the both sides up and down of open end.Two joint arms drive
Motor 20 is fixed in by two joint arm motor fixing plates 32 on sliding block 42, and the output shaft of two joint arm driving motors 20 and two joint arms are driven
Movable sprocket 33 is connected, and two joint arm drive sprockets 33 are connected by two joint arm drive chains 35 with two joint arm driven sprockets 34, and two
The driven chain wheel shaft 43 of joint arm driven sprocket 34 is rotatably installed in the other end of sliding block 42, and is connected with one end of three joint arms 13.
As shown in fig. 7, three joint arms rotating driving device 14 include three joint arms driving motor 21, three joint arms driving pulley A36,
Three joint arms driving pulley B37 and three joint arms drive synchronous belt 38, the three joint arms driving motor 21 to be mounted on the another of three joint arms 13
End, be connected on output shaft three joint arms driving pulley A36, three joint arms driving pulley A36 by three joint arms drive synchronous belt 38 with
Three joint arms driving pulley B37 is connected, and the pulley shaft 44 of three joint arms driving pulley B37 is rotatably installed in the another of three joint arms 13
End, and be fixedly connected with four joint arms 15.
As shown in figure 8, finger mechanism 16 includes two parallelogram mechanisms, each parallelogram mechanism includes hand
Refer to fixed seat 39, finger front swing arm 40, finger rear-swing arm 41 and gripping finger 22, finger fixed seat 39 to be fixed on inside four joint arms 15
Side, the one end of the front and rear ends of the finger fixed seat 39 respectively with finger front swing arm 40 and finger rear-swing arm 41 are hinged, hand
The other end for referring to front swing arm 40 and finger rear-swing arm 41 is hinged with gripping finger 22 respectively, and then forms a parallelogram mechanism.
Finger rear-swing arm 41 in each parallelogram mechanism is connected by connecting rod 48 with the piston of finger actuation hydraulic cylinder 17.Finger
Two gripping fingers 22 in the telescopic drive finger mechanism 16 that driving hydraulic cylinder 17 passes through piston open and close to grip clamping machine arm 18.
It is equipped in each gripping finger 22 convenient for the " V " shape slot of gripping clamping machine arm 18.
One end of clamping machine arm 18 is equipped with the back end interface 24 gripped for finger mechanism 16, which is side
Shape, it is corresponding with two " V " shape slots up and down in gripping finger 22；The other end of clamping machine arm 18 is clamping manipulator 49.Clamping
It is provided with multiple (the present embodiment is three) hydraulic cylinder mounting holes 23 on mechanical arm 18, is mounted on each hydraulic cylinder mounting hole 23
One is shored hydraulic cylinder 45.Clamping machine arm 18 is stretched or is swung by the driving of single oil cylinder, and by shoring hydraulic cylinder 45
It shores to form channel.
As shown in Figure 1, Figure 2 and shown in Figure 11, supporting jettison system 4 include push hydraulic cylinder 25, push hydraulic cylinder fixing piece 26,
Safe frame connecting plate 27, hydraulic locking apparatus 28 and safe frame 29, push hydraulic cylinder 25 are solid by pushing hydraulic cylinder fixing piece 26
It is scheduled on the middle position of 5 bottom plate of babinet, the output end of push hydraulic cylinder 25 is connected under the centre at 27 back side of safe frame connecting plate
Portion.It is symmetrically opened on safe frame connecting plate 27 there are two guide groove 47, each guide groove 47 is used for installing a hydraulic locking apparatus
28.Hydraulic locking apparatus 28 includes a locked hydraulic cylinder 30 and a locking sliding block 31, which is fixed in peace
The back side of full frame connecting plate 27, one end of locking sliding block 31 are connected with the locked hydraulic cylinder 30, and the other end is in hook-shaped, is led by one
It passes through to slot 47, is matched with safe frame 29, for locking safe frame 29.It is equipped between two locking sliding blocks 31 and is mounted on safety
27 positive pin 46 of frame connecting plate, 31 collective effect of the pin 46 and two locking sliding blocks lock safe frame 29.Safe frame 29 is logical
The driving for crossing push hydraulic cylinder 25 is inserted into channel, and supporting operation is completed.
The hydraulic pressure rapid replacing interface 6 of the present invention is commercial products, purchases and is produced in Yancheng City Jin Dong hydraulic machineries Co., Ltd
Zebra formula quick-release connector.
The operation principle of the present invention is that：
It shores：
The left and right piston 19 for shoring the joint fluid cylinder pressure 10 in mechanical arm system 2,3 is connected with two joint arms 11, Dang Yiguan
It saves 10 pressurizing urges piston 19 of hydraulic cylinder to move forward, the left and right clamping machine arm shored mechanical arm system 2,3 and respectively connected
18 move forward along the mechanical arm guide rail 7 of both sides jointly.It is left and right to shore when shoring hydraulic cylinder 45 and will reach precalculated position
Two joint arm driving motors 20 work being fixed on two joint arm motor fixing plates 32 on mechanical arm system 2,3, drives defeated with it
It is driven to be output to two joint arms by connected two joint arm drive sprockets 33 rotation of shaft by two joint arm drive chains 35 for rotary motion
On sprocket wheel 34, the driven chain wheel shaft 43 of two joint arm driven sprockets 34 is connected with three joint arms 13, so driving three joint arms 13 to clamping
45 position of hydraulic cylinder of shoring on mechanical arm 18 is finely adjusted.Fine tuning can also be driven by the three joint arms in three joint arms 13
Dynamic motor 21 drives the three joint arms driving pulley A36 rotations being connected with output shaft to realize, synchronous belt 38 is driven by three joint arms
Three joint arms driving pulley B37, three joint arms driving pulley B37 is driven to be connected with four joint arms 15.The piston 19 of one joint fluid cylinder pressure 10
Continue to push ahead, clamping machine arm 18 is made to continue to be passed onwards to precalculated position.
On clamping machine arm 18 respectively shore hydraulic cylinder 45 reach precalculated position after, the hydraulic control of rear engineering mechanically
System (hydraulic control system of the invention is the prior art) sends out instruction, by being connected with 5 both sides hydraulic pressure rapid replacing interface 6 of babinet
Hydraulic tube to being shored 45 pressure oil output of hydraulic cylinder, the hydraulic cylinder 45 of shoring on clamping machine arm 18 starts to shore work at this time
Industry reaches maximum when shoring the elongation height of hydraulic cylinder 45, and the hydraulic pressure rapid replacing interface 6 of both sides disconnects the connection with hydraulic tube automatically.
After the completion of when shoring on clamping machine arm 18, hydraulic cylinder 45 shores operation, the piston of finger actuation hydraulic cylinder 17 is stretched
It is long, so that gripping finger 22 is loosened 18 back end interface 24 of clamping machine arm, makes left and right to shore mechanical arm system 2,3 and clamping machine arm 18
Connection disconnect.Later, it is left and right shore in mechanical arm system 2,3 respective 10 pressurizing urges piston 19 of joint fluid cylinder pressure to
After move, drive the left and right mechanical arm guide rail 7 for shoring mechanical arm system 2,3 along both sides to move backward to initial position, the present invention
Shore operation completion.
Supporting：
It is mounted with that the supporting jettison system 4 of safe frame 29 carries out supporting safety work, at this time the top on clamping machine arm 18
Support hydraulic cylinder 45, which is completed, shores operation.When engineering machinery drives the present invention to adjust the posture of safe frame 29, supporting, which is launched, is
The piston of push hydraulic cylinder 25 in system 4 moves forward, and drives safe frame connecting plate 27 and safe frame 29 along safe frame guide groove 8
It travels forward, and is inserted into and shores in operation process left and right and shore hydraulic cylinder 45 and shore in the channel to be formed for totally six.Work as safe frame
29 reach designated position, and the locked hydraulic cylinder 30 on hydraulic locking apparatus 28 acts, and locking sliding block 31 is driven to loosen to safe frame
The piston of 29 clamping, push hydraulic cylinder 25 moves backward, and extracts pin 46 and safe frame connecting plate 27 is driven to move backward, directly
To returning to initial position.It is completed at this point, safe frame 29 places operation.
The present invention, which has been directed to, stitches the stabilization supporting gap that support integrated multi-functional accessory is set up, using hydraulic pressure as mainly
Power source is equipped with motor as auxiliary power source, shores hydraulic cylinder in gap using multiple spot, jacks up building ruins, then
It has been put into the safe frame of support action, has established safe rescue channel.Left and right mechanical arm system 2,3 of shoring is mainly responsible for and will push up
Support hydraulic cylinder 45 transports/it is recovered to designated position, do the safeguard work of early period for supporting.Supporting jettison system 4 be mainly responsible for by
The safe frame 29 of supporting transports/it is recovered to designated position, provide safe channel for the rescue work of rescue personnel.The present invention from
The seam accessory that large-scale engineering machinery rescue work, rescue site are badly in need of sets out, and analysis disaster field typically rescues environment pair
The demand of shoring supporting, the requirement to shoring the abilities such as supporting accessory, and accessory is used and the condition of operation limits, run through
In the design process of accessory.The present invention will provide support for large-scale engineering machinery applied to earthquake rescue, and accident can be improved
The ability of emergency management and rescue promotes the level of accident scene emergency management and rescue equipment.
Claims (10)
1. a kind of shore and support integrated accessory, it is characterised in that：Mechanical arm system is shored including box portion (1), a left side
(2), mechanical arm system (3) and supporting jettison system (4) are shored in the right side, and a wherein left side shores mechanical arm system (2) and shores machinery with the right side
Arm system (3) structure is identical, is symmetrically mounted on the both sides of the box portion (1), and the supporting jettison system (4) is mounted on case
On body portion (1), and shore mechanical arm system (2) positioned at a left side and the right side is shored between mechanical arm system (3)；Shore machinery in the left side
It includes being equipped with clamping machine arm (18), the finger for shoring hydraulic cylinder (45) that mechanical arm system (3) is shored in arm system (2) and the right side
Driving hydraulic cylinder (17), single oil cylinder finger mechanism (16) and be sequentially connected, hand is installed in last joint arm in the single oil cylinder
Refer to driving hydraulic cylinder (17), the output end of the finger actuation hydraulic cylinder (17) grips the clamping machine by finger mechanism (16)
The other end of one end of tool arm (18), the clamping machine arm (18) is clamping manipulator (49), and the clamping machine arm (18) is logical
The driving for crossing the single oil cylinder is flexible or swing, and shores to form channel by the hydraulic cylinder (45) of shoring；The supporting
Jettison system (4) includes push hydraulic cylinder (25), safe frame connecting plate (27) and safe frame (29), the push hydraulic cylinder (25) peace
On the box portion (1), output end is connected with safe frame connecting plate (27), is installed on the safe frame connecting plate (27)
There are the hydraulic locking apparatus (28) of locking safe frame (29), the safe frame (29) to be inserted by pushing the driving of hydraulic cylinder (25)
In the channel, supporting operation is completed.
2. by being shored described in claim 1 and support integrated accessory, it is characterised in that：The single oil cylinder includes a joint arm, two
One joint fluid cylinder pressure (10) of joint arm (11), three joint arms (13) and four joint arms (15), a joint arm is mounted on the box portion
(1) in, two joint arm (11) includes sliding block (42) and two joint arm rotating driving devices (12), sliding block (42) one end with it is described
The piston (19) of one joint fluid cylinder pressure (10) is connected, and the other end passes through two joint arm rotating driving devices (12) and the three joint arms
(13) one end is connected, and the other end of the three joint arms (13) is equipped with the three joint arms rotation driving dress being connected with four joint arm (15)
It sets (14), the finger mechanism (16) and finger actuation hydraulic cylinder (17) are separately mounted in four joint arms (15).
3. by being shored described in claim 2 and support integrated accessory, it is characterised in that：The both sides of the box portion (1) point
Not She You mechanical arm guide rail (7), the left and right sliding block (42) shored in mechanical arm system (2,3) in two joint arms (11) is respectively
It is slidably connected with the mechanical arm guide rail (7) of both sides；The two joint arms rotating driving device (12) includes two joint arm motor fixing plates
(32), two joint arm driving motors (20), two joint arm drive sprockets (33), two joint arm driven sprockets (34) and two joint arm drive chains
(35), which is fixed in by two joint arm motor fixing plates (32) on the sliding block (42), two joint arms
The output shaft of driving motor (20) is connected with two joint arm drive sprockets (33), and the two joint arms drive sprocket (33) passes through two joint arms
Drive chain (35) is connected with two joint arm driven sprockets (34), the driven chain wheel shaft (43) of the two joint arms driven sprocket (34)
It is rotatably installed in the other end of sliding block (42), and is connected with one end of the three joint arms (13).
4. by being shored described in claim 2 and support integrated accessory, it is characterised in that：The three joint arms rotating driving device
(14) include that three joint arms driving motor (21), three joint arms driving pulley A (36), three joint arms driving pulley B (37) and three joint arms are driven
Dynamic synchronous belt (38), the three joint arms driving motor (21) are mounted on the other end of three joint arms (13), three sections are connected on output shaft
Arm driving pulley A (36), the three joint arms driving pulley A (36) drive synchronous belt (38) to drive band with three joint arms by three joint arms
It takes turns B (37) to be connected, the pulley shaft (44) of three joint arms driving pulley B (37) is rotatably installed in the another of the three joint arms (13)
End, and be fixedly connected with four joint arm (15).
5. by being shored described in claims 1 or 2 and support integrated accessory, it is characterised in that：The finger mechanism (16) includes
Two parallelogram mechanisms, each parallelogram mechanism include finger fixed seat (39), finger front swing arm (40),
Finger rear-swing arm (41) and gripping finger (22), the finger fixed seat (39) are fixed on the internal side of four joint arms (15), the finger
The one end of the front and rear ends of fixed seat (39) respectively with finger front swing arm (40) and finger rear-swing arm (41) is hinged, the hand
The other end for referring to front swing arm (40) and finger rear-swing arm (41) is hinged with gripping finger (22) respectively, and then forms one described parallel four
Bian Xing mechanisms；Finger rear-swing arm (41) in each parallelogram mechanism passes through connecting rod (48) and finger actuation hydraulic cylinder (17)
Piston be connected.
6. by being shored described in claim 5 and support integrated accessory, it is characterised in that：It is equipped on each gripping finger (22)
Convenient for the " V " shape slot of gripping clamping machine arm (18).
7. by being shored described in claims 1 or 2 and support integrated accessory, it is characterised in that：The clamping machine arm (18)
One end is equipped with the back end interface (24) gripped for finger mechanism (16), which is rectangular；The clamping machine arm
(18) multiple hydraulic cylinder mounting holes (23) installed and shore hydraulic cylinder (45) are provided on.
8. by being shored described in claims 1 or 2 and support integrated accessory, it is characterised in that：The safe frame connecting plate (27)
On symmetrically open there are two guide groove (47), each guide groove (47) corresponds to a hydraulic locking apparatus (28)；The hydraulic lock
Tight device (28) includes locked hydraulic cylinder (30) and locking sliding block (31), which is fixed in the safe frame and connects
The back side of fishplate bar (27), one end of the locking sliding block (31) are connected with the locked hydraulic cylinder (30), and the other end is described in one
Guide groove (47) passes through, for locking safe frame (29).
9. by being shored described in claim 8 and support integrated accessory, it is characterised in that：The other end of the locking sliding block (31)
In hook-shaped, it is equipped between two locking sliding blocks (31) and is mounted on the positive pin of the safe frame connecting plate (27) (46), the column
(46) and two locking sliding blocks (31) collective effect are sold, the safe frame (29) is locked.
10. by being shored described in claims 1 or 2 and support integrated accessory, it is characterised in that：The box portion (1) includes
Babinet (5), hydraulic pressure rapid replacing interface (6), mechanical arm guide rail (7), safe frame guide groove (8) and rapid replacing interface (9), the babinet (5)
Towards a side opening of safe frame (29), hydraulic pressure rapid replacing interface (6) is separately installed on the two side of the babinet (5),
Babinet (5) bottom plate is respectively arranged on the left side and the right side mechanical arm guide rail (7), and the safe frame guide groove (8) is mounted on babinet (5) bottom
Front on plate and positioned at the supporting jettison system (4)；It is machined with rectangle on babinet (5) the opening direction two side
It is open (50), rear portion of rapid replacing interface (9) setting in babinet (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510725596.6A CN106629459B (en) | 2015-10-30 | 2015-10-30 | It is a kind of to shore and support integrated accessory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510725596.6A CN106629459B (en) | 2015-10-30 | 2015-10-30 | It is a kind of to shore and support integrated accessory |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106629459A CN106629459A (en) | 2017-05-10 |
| CN106629459B true CN106629459B (en) | 2018-08-14 |
Family
ID=58829925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510725596.6A Active CN106629459B (en) | 2015-10-30 | 2015-10-30 | It is a kind of to shore and support integrated accessory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106629459B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5065983A (en) * | 1990-04-03 | 1991-11-19 | Safe-T-Jack, Inc. | Hydraulic power unit for jack system |
| CN2460773Y (en) * | 2001-01-22 | 2001-11-21 | 宝山钢铁股份有限公司 | Stretching support device |
| CN201080418Y (en) * | 2007-04-20 | 2008-07-02 | 唐晓成 | Push-and-pull adjustable type hydraulic horizontal jack |
| CN202643269U (en) * | 2012-04-28 | 2013-01-02 | 广州广船国际股份有限公司 | Rail fixing device of heavy mobile device |
| CN203754340U (en) * | 2014-03-27 | 2014-08-06 | 儒拉玛特自动化技术(苏州)有限公司 | Jacking bearing mechanism |
| CN104627707A (en) * | 2015-01-28 | 2015-05-20 | 中国重型机械研究院股份公司 | Novel horizontal swinging shaft head supporting structure |
| CN205087854U (en) * | 2015-10-30 | 2016-03-16 | 中国科学院沈阳自动化研究所 | Shore and strut integrative accessory |
-
2015
- 2015-10-30 CN CN201510725596.6A patent/CN106629459B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5065983A (en) * | 1990-04-03 | 1991-11-19 | Safe-T-Jack, Inc. | Hydraulic power unit for jack system |
| CN2460773Y (en) * | 2001-01-22 | 2001-11-21 | 宝山钢铁股份有限公司 | Stretching support device |
| CN201080418Y (en) * | 2007-04-20 | 2008-07-02 | 唐晓成 | Push-and-pull adjustable type hydraulic horizontal jack |
| CN202643269U (en) * | 2012-04-28 | 2013-01-02 | 广州广船国际股份有限公司 | Rail fixing device of heavy mobile device |
| CN203754340U (en) * | 2014-03-27 | 2014-08-06 | 儒拉玛特自动化技术(苏州)有限公司 | Jacking bearing mechanism |
| CN104627707A (en) * | 2015-01-28 | 2015-05-20 | 中国重型机械研究院股份公司 | Novel horizontal swinging shaft head supporting structure |
| CN205087854U (en) * | 2015-10-30 | 2016-03-16 | 中国科学院沈阳自动化研究所 | Shore and strut integrative accessory |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106629459A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2011090320A2 (en) | Rod-mounting apparatus for a drilling apparatus | |
| WO2018034362A1 (en) | Fail-safe device for quick coupler | |
| CN103452502A (en) | Automatic transfer device for inclined-vertical shaft drilling machines and drilling tools | |
| CN106586817B (en) | For the stone tongs of arch, handgrip mechanism and arch trolley | |
| WO2008033831A3 (en) | Tong positioning and alignment device | |
| CN112372619B (en) | Robot for live replacement of strain single-chip insulator of extra-high voltage line and operation method | |
| US4069879A (en) | Pipe handler | |
| CN205087854U (en) | Shore and strut integrative accessory | |
| CN104499528B (en) | Sliding protective net of cab of hydraulic excavator | |
| WO2021041321A1 (en) | Diamond wire saw apparatus | |
| CN106629459B (en) | It is a kind of to shore and support integrated accessory | |
| CN210714455U (en) | Multifunctional rock roadway drilling, loading and anchoring all-in-one machine for coal mine | |
| CN105752894B (en) | Suspension bridge main cable self-climbing maintenance platform trolley | |
| CN114877696A (en) | Industrial silicon discharging equipment | |
| US3742563A (en) | Apparatus for handling cylindrical members | |
| CN203975179U (en) | A kind of shallow sea marine salvage equipment | |
| CN109763780B (en) | Multifunctional well repairing device | |
| CN106041880A (en) | Gripper device for disaster relief car | |
| CN107326903A (en) | Flood fighting hydraulic pressure Automatic piling device | |
| CN104047624A (en) | Hydraulic automatic cable feeding device of anchor cable | |
| CN209850300U (en) | Novel pipe bundle drawing and installing machine | |
| CN204152433U (en) | A kind of transhipment anchor shaft anchor cable ten arm drill carriage | |
| CN106869976A (en) | A kind of full-automatic tunnel roof bolting equipment | |
| KR101402448B1 (en) | Excavator of auxiliary equipment connection | |
| CN220487149U (en) | Automatic plate making machine for steel structure external wall plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |