CN107461210B - Grabbing device and heading machine - Google Patents
Grabbing device and heading machine Download PDFInfo
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- CN107461210B CN107461210B CN201710935396.2A CN201710935396A CN107461210B CN 107461210 B CN107461210 B CN 107461210B CN 201710935396 A CN201710935396 A CN 201710935396A CN 107461210 B CN107461210 B CN 107461210B
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- bottom plate
- suction cup
- suction
- sucker
- detection
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- 238000001514 detection method Methods 0.000 claims abstract description 82
- 238000007789 sealing Methods 0.000 claims abstract description 32
- 230000002093 peripheral effect Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 12
- 101100327917 Caenorhabditis elegans chup-1 gene Proteins 0.000 description 15
- 239000003921 oil Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005641 tunneling Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005587 bubbling Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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- 239000002689 soil Substances 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing device and a heading machine with the grabbing device, wherein the grabbing device comprises: the first sucking disc comprises a bottom plate, at least one annular vertical plate is arranged on the bottom plate, one end, far away from the bottom plate, of the vertical plate is provided with a mounting groove, a sealing piece is arranged in the mounting groove, and a sub sucking disc is defined between each vertical plate and the bottom plate; the baffle links to each other with the inner peripheral wall of riser and prescribes a limit to the detection chamber with the bottom surface of bottom plate between. According to the grabbing device disclosed by the invention, the baffle plate is arranged on the vertical plate, so that the sealed detection cavity is defined between the baffle plate and the bottom plate, whether the first sucker leaks air or not can be judged by detecting whether the detection cavity leaks air or not, and the air leakage checking step of the grabbing device is simplified.
Description
Technical Field
The invention relates to the technical field of heading machines, in particular to a grabbing device and a heading machine.
Background
Along with the development of modern technology, the shield machine is gradually applied to various tunnel constructions. In the tunneling construction process of the shield tunneling machine, in order to prevent the subsidence of the earth surface or the leakage of underground water and soil caused by the tunnel which is excavated previously, reinforced concrete segments which are prefabricated and finished in an external mode are often required to be installed in the tunnel, and the installation of the segments is often required to be realized by a special segment assembler.
In the prior art, a pipe segment splicing machine usually adopts a mechanical grabbing mode to grab the pipe segment, but along with the increase of the diameter of a tunnel, the weight of the pipe segment is heavier and heavier. When the weight of the pipe piece is larger than the tensile force born by the pipe piece embedded part, mechanical grabbing of the pipe piece is not satisfied. Therefore, the large tunnel boring machine splicing machine is usually used for grabbing the pipe piece in a vacuum mode. However, because the structural design of the vacuum type pipe piece gripping device on the existing pipe piece assembling machine has limitations, the welding points on the bottom plate of the vacuum type pipe piece gripping device are easy to leak air, and the position of the leaking points is often changed and tested, so that once the gripping device has an air leakage fault, the detection and the investigation of the air leakage are very difficult.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a gripping device which can very conveniently detect an air leakage failure.
Another object of the present invention is to provide a heading machine having the above-mentioned gripping device.
The gripping device according to the first aspect of the present invention comprises: the first sucker comprises a bottom plate, at least one annular vertical plate is arranged on the bottom plate, a clamping groove is formed in one end, far away from the bottom plate, of each vertical plate, a sealing piece is arranged in the clamping groove, and a sub sucker is defined between each vertical plate and the bottom plate;
and the partition plate is connected with the inner peripheral wall of the vertical plate and defines a detection cavity with the bottom surface of the bottom plate.
According to the grabbing device provided by the invention, the baffle is arranged on the vertical plate, so that the sealed detection cavity is defined between the baffle and the bottom plate, whether the first sucker leaks air can be judged by detecting whether the detection cavity leaks air, and the air leakage checking step of the grabbing device is simplified. In addition, the device provided by the invention also greatly improves the maintenance efficiency of the grabbing device and improves the reliability of the grabbing device.
In addition, the gripping device according to the invention may have the following additional technical features:
according to some embodiments of the invention, the plurality of risers are spaced apart along the length of the floor.
According to some embodiments of the invention, the gripping device further comprises: the second sucking disc is arranged on the bottom plate and is movable in the directions close to the bottom plate and far away from the bottom plate.
Further, the grasping apparatus further includes: the limiting block is arranged on at least one of the sub-sucker and the second sucker, when the limiting block is arranged on the sub-sucker, the limiting block is arranged on one side surface of the sub-sucker far away from the bottom plate, and when the limiting block is arranged on the second sucker, the limiting block is arranged on one side surface of the second sucker far away from the bottom plate.
According to some embodiments of the invention, a vacuum pressure sensor is provided in each of the sub-chuck and the second chuck.
According to some embodiments of the invention, a vacuum pressure gauge is disposed in each of the sub-suction cup and the second suction cup, and the vacuum pressure gauge is electrically connected with the corresponding vacuum pressure sensor.
According to some embodiments of the invention, the gripping device further comprises: at least one suction detection device disposed within at least one of the sub-chuck and the second chuck or disposed on the base plate adjacent to at least one of the sub-chuck and the second chuck, each of the suction detection devices comprising: the detection seat is internally provided with an installation groove; the touch switch is arranged on the detection seat, and one end of the touch switch extends into the mounting groove; the detecting rod is movably arranged in the mounting groove, and when the vacuum grabbing device grabs the pipe piece, the pipe piece pushes the detecting rod to move so as to touch the touch switch.
According to some embodiments of the invention, the suction detection device further comprises a reset piece, wherein the reset piece is sleeved on the peripheral wall of the detection rod and is positioned in the mounting groove, and the reset piece is configured to always push the detection rod towards a direction away from the touch switch.
According to some embodiments of the invention, further comprising: the rotating assembly is connected with the bottom plate, and the second sucker penetrates through the bottom plate to be connected with the rotating assembly; the first driving assembly is respectively connected with the rotating assembly and the bottom plate, and is suitable for driving the bottom plate to rotate around a first direction and driving the second suction disc to rotate around the first direction through the rotating assembly; the second driving assembly is respectively connected with the rotating assembly and the bottom plate, and is suitable for driving the bottom plate to rotate around a second direction and driving the second suction disc to rotate around the second direction through the rotating assembly; the first direction is the length direction of the bottom plate, and the second direction is the direction perpendicular to the bottom plate.
Further, a third driving assembly is arranged on the rotating assembly and connected with the second sucker, and the third driving assembly is suitable for driving the second sucker to move in the direction close to the bottom plate and the direction far away from the bottom plate.
According to some embodiments of the invention, the gripping device further comprises: a first arm body; the first arm body is connected with the bottom plate, one end of the first arm body is connected with one end of the second arm body, at least one of the first arm body and the second arm body is of a telescopic structure, and the bottom plate is arranged at the joint of the first arm body and the second arm body.
A heading machine according to a second aspect of the invention includes a gripping device according to the first aspect of the invention described above.
According to the heading machine of the second aspect of the invention, the overall performance of the heading machine is improved by arranging the grabbing device according to the first aspect of the invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a front view of a gripping device disclosed in embodiment 1 of the present invention;
FIG. 2 is a top view of the gripping device shown in FIG. 1 as disclosed in example 1 of the present invention;
FIG. 3 is a bottom view of the gripping device shown in FIG. 1 as disclosed in embodiment 1 of the present invention;
FIG. 4 is a cross-sectional view of a first suction cup disclosed in example 1 of the present invention;
FIG. 5 is a bottom view of the first suction cup disclosed in embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of the structure of a detection chamber S disclosed in embodiment 1 of the present invention;
FIG. 7 is a cross-sectional view of a suction detection device according to embodiment 2 of the present invention;
FIG. 8 is a cross-sectional view of a rotating assembly disclosed in embodiment 3 of the present invention;
FIG. 9 is a cross-sectional view taken along line A-A in FIG. 8 as disclosed in example 3 of the present invention;
fig. 10 is a front view of a first arm disclosed in embodiment 4 of the present invention;
FIG. 11 is a cross-sectional view taken along line B-B in FIG. 10 as disclosed in example 4 of the present invention;
fig. 12 is a bottom view of a gripping device according to another embodiment of the present disclosure disclosed in embodiment 5.
Reference numerals:
the gripping means 100 are intended to be moved,
the first suction cup 1, the bottom plate 11, the vertical plate 12, the clamping groove 1201, the sealing member 13, the tube sheet 1202,
the separator plate 2 is provided with a plurality of grooves,
the second suction cup (3) is provided with a suction cup,
the limiting block 4 is arranged on the upper surface of the frame,
the suction detecting device 5, the detecting seat 51, the mounting groove 511, the end cover 5111, the touch switch 52, the detecting rod 53, the mounting plate 54, the resetting piece 55, the limiting piece 56, the first sealing ring 57, the locking nut 58, the second sealing ring 59,
the rotating assembly 6, the fixed flange 61, the closing cap 611, the rotating shaft 62, the rotating shaft seat 63, the rotating groove 631, the first shaft sleeve 632, the second shaft sleeve 633, the third shaft sleeve 634, the upper flange 64, the lower flange 65, the long flange 66, the sliding sleeve 67, the guide key 68, the first guide sleeve 69, the second guide sleeve 600, the third driving assembly 606, the cylinder block 607,
the first driving assembly 7 is provided with a first driving mechanism,
the second drive assembly 8 is configured to drive the first drive assembly,
a first arm 9, a telescopic outer cylinder 91, a telescopic inner cylinder 92, a guide block 93, a cover plate 94, an oil cup 95, a second arm 101,
a locating pin 102, an infrared locator 103, a hand hole pad 104,
the device comprises a vacuum pressure sensor 105, a vacuum pressure gauge 106, a vacuum filter 107, a vacuum electromagnetic valve 108, a vacuum one-way valve 109, a fine adjustment base plate 110, a fine adjustment bracket 111 and a grabbing cylinder 112.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1:
referring to fig. 1-6, fig. 1-6 provide an embodiment of a grasping device according to the invention.
As shown in fig. 1 to 6, the gripping device 100 provided in the embodiment of the present invention is suitable for a tunneling machine, for example, a tunnel tunneling machine, and the gripping device can be effectively used for vacuum gripping of a segment in tunnel tunneling. Of course, the invention can be used on other devices with similar requirements; or to grasp other similar workpieces.
As shown in fig. 1, a gripping device 100 according to an embodiment of the first aspect of the present invention includes: a first suction cup 1 and at least one baffle 2. Wherein the partition board 2 may be one or more. Here, it should be noted that, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" is two or more. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Specifically, referring to fig. 1 in combination with fig. 3 to 6, the first suction cup 1 includes a bottom plate 11, and the bottom surface of the bottom plate 11 may be formed as a convex surface protruding downward. The base plate 11 is provided with at least one annular riser 12, one end of the riser 12 remote from the base plate 11 (e.g. the lower end of the riser 12 in fig. 4) is provided with a clamping groove 1201, a sealing member 13 is provided in the clamping groove 1201, and a sub-suction cup a is defined between each riser 12 and the base plate 11. For example, referring to fig. 4 and 5, the base plate 11 is provided with two annular risers 12, that is, the first suction cup 1 is provided with two sub-suction cups a.
Wherein the risers 12 may be welded to the base plate 11, the shape of the risers 12 may be polygonal as shown in fig. 5 or in fig. 12 of the following embodiments. The clamping groove 1201 can be dug at one end of the riser 12 far away from the bottom plate 11, the clamping groove 1201 extends along the circumferential direction of the riser 12, and meanwhile, the cross section shape of the clamping groove 1201 is matched with the cross section shape of the sealing element 13, so that the sealing performance and stability of the sealing element 13 when being clamped in the clamping groove 1201 are ensured, and a fastening connecting piece or an air leakage preventing paint and the like can be arranged between the clamping groove 1201 and the sealing element 13.
In this embodiment, the sealing member 13 contacts the tube sheet 1202, and a sealing cavity S is defined between the separator 2 and the bottom plate 11.
When gripping the tube sheet 1202, the gripping device 100 evacuates the sub-suction cup a by an external vacuum apparatus (not shown), and generates a pressure difference so that the external atmospheric pressure compresses the tube sheet 1202 on the first suction cup 1. The evacuation device may be provided on the roadheader mobile carriage or mounted directly on the first suction cup 1, in an embodiment of the invention the evacuation device is preferably provided on the roadheader mobile carriage. Alternatively, the sealing member 13 may be a weather strip or the like.
When detecting whether or not the gripping device leaks air, since the separator 2 is connected to the inner peripheral wall of the riser 12 and defines the detection chamber S with the bottom surface of the bottom plate 11 (specifically, the separator 2 may be welded to the inner peripheral wall of the riser 12), the separator 2 is disposed at a distance from the bottom plate 11, so that the detection chamber S is defined between the separator 2 and the bottom surface of the bottom plate 11.
In specific detection, a sealable process hole is generally drilled on the outer wall of the detection cavity S, and then high-pressure gas is filled into the detection cavity S through the process hole, at this time, foam water such as soapy water and the like can be smeared around the detection cavity S to detect whether the detection cavity S leaks gas and determine the position of a leakage point, so that a brand-new leakage point detection method is created, the leakage point can be quickly and accurately found, and the detection efficiency is improved. In this way, whether the first suction cup 1 is leaked or not can be rapidly judged by detecting whether the detecting cavity S is leaked or not, and the leakage checking step of the grasping apparatus 100 is simplified.
Meanwhile, a specific air leakage point is determined according to the bubbling point of the soapy water in the detection, and then repair welding or glue repair operation is carried out on the air leakage point in a targeted manner, so that the maintenance efficiency of the grabbing device 100 is greatly improved, the delivery qualification rate of the grabbing device can be further ensured, and the reliability of the grabbing device 100 is improved.
Further, a vacuum filter 107, a vacuum electromagnetic valve 108 and a vacuum one-way valve 109 are arranged on the vacuum pipeline of the grabbing device 100, the vacuum filter 107 plays a role in filtering air to protect the vacuum electromagnetic valve 108, the vacuum one-way valve 109 can prevent air backflow caused by unexpected situations and plays a role in safety protection, and the vacuum electromagnetic valve 108 can control the flow direction of air so as to control grabbing and releasing of a duct piece.
According to some embodiments of the present invention, the plurality of risers 12 are plural, and the plurality of risers 12 are disposed at intervals in the longitudinal direction of the base plate 11. The specific number of risers 12 can be tailored to the specific specification and model of the gripping device 100, as the invention is not particularly limited. For example, in the example of fig. 2, the number of risers 12 is two, the two risers 12 are disposed at intervals in the longitudinal direction of the base plate 11 (e.g., the left-right direction in fig. 4) and the two risers 12 are disposed adjacent to both ends (i.e., the left end and the right end in fig. 4) of the base plate 11 in the longitudinal direction.
According to some embodiments of the invention, the gripping device 100 further comprises: and a second suction cup 3, the second suction cup 3 being provided on the bottom plate 11, the second suction cup 3 being movable in a direction approaching the bottom plate 11 and away from the bottom plate 11. In particular, referring to fig. 3, the second suction cup 3 may be provided between two sub-suction cups. For example, when the gripping device 100 is used to grip a smaller segment, the position of the second suction cup 3 may be adjusted such that the second suction cup 3 is away from the bottom plate 11, so that the second suction cup 3 protrudes with respect to the bottom plate 11, so that the second suction cup 3 may be used to grip the segment and the influence of the first suction cup 1 on the segment splicing process is effectively avoided. When using grabbing device 100 to snatch great section of jurisdiction, can adjust the position of second sucking disc 3 so that second sucking disc 3 is close to bottom plate 11 to can use first sucking disc 1, perhaps first sucking disc 1 and second sucking disc 3 cooperation are grabbed the section of jurisdiction, prevent that the section of jurisdiction from dropping, improve grabbing device 100's reliability and convenience.
Further, the grasping apparatus 100 further includes: the limiting block 4 is arranged on at least one of the sub-sucker and the second sucker 3. That is, the limiting piece may be provided on one of the sub-suction cup and the second suction cup 3, or may be provided on both of the sub-suction cup and the second suction cup 3. Specifically, when the stopper 4 is provided on the sub-suction cup, the stopper 4 is provided on the surface of the side of the sub-suction cup away from the bottom plate 11 (e.g., the lower side in fig. 1), and when the stopper 4 is provided on the second suction cup 3, the stopper 4 is provided on the surface of the side of the second suction cup 3 away from the bottom plate 11 (e.g., the lower side in fig. 1). For example, the stopper 4 may be adhered or welded to at least one of the sub-suction cup and the second suction cup 3.
Specifically, the stopper 4 may be formed in a block-like structure. When the grabbing device 100 grabs the duct piece, one side surface, far away from the bottom plate 11, of the limiting block 4 is abutted against the duct piece. Therefore, the segment can be limited to move towards the bottom plate 11, so that the segment can be prevented from excessively compressing the sealing element 13, the sealing element 13 is prevented from being deformed, the sealing element 13 is effectively protected, and the service life of the sealing element 13 is prolonged.
According to some embodiments of the invention, the surface of the side, facing the duct piece, of the limiting block 4 is matched with the shape of the duct piece. For example, in the example of fig. 1, the above-mentioned one side surface of the stopper 4 may be protruded downward to form a convex surface to be adapted to the shape of the segment, so that the segment may be more effectively restricted from continuing to move toward the bottom plate 11.
According to some embodiments of the present invention, a plurality of limiting blocks 4, for example, three, four, etc., are disposed in each of the sub-suction cups and the second suction cup 3, and the plurality of limiting blocks 4 are disposed at intervals.
According to some embodiments of the invention, a vacuum pressure sensor 105 is provided in each sub-chuck and the second chuck 3. Specifically, the vacuum pressure sensor 105 may be mounted in the sub-suction cup and the second suction cup 3, respectively, by screws. Therefore, the vacuum degree signals in the sub-suction cup and the second suction cup 3 can be accurately detected, so that whether the grabbing device 100 grabs a segment can be judged through the vacuum degree signals, and the safety of the grabbing device 100 is improved.
For example, when the gripping device 100 works, the vacuum pressure sensor 105 can transmit the corresponding vacuum degree signals in the sub-suction cup and the second suction cup 3 to the PLC (Programmable Logic Controller is abbreviated as "chinese: programmable logic controller"), and when the vacuum pressure sensor 105 detects that the vacuum degree in the sub-suction cup or the second suction cup 3 is smaller than a predetermined value (for example, the vacuum degree is smaller than 80%), the alarm signal is triggered and the action of the assembler is not allowed, so as to provide safety guarantee for the gripping device 100.
According to some embodiments of the present invention, a vacuum pressure gauge 106 is disposed in each of the sub-suction cups and the second suction cup 3, and the vacuum pressure gauge 106 is electrically connected to a corresponding vacuum pressure sensor 105. Specifically, the vacuum pressure gauge 106 may be mounted in the sub-suction cup and the second suction cup 3, respectively, by screws. Here, the vacuum pressure sensor 105 corresponding to the vacuum pressure gauge 106 refers to the vacuum pressure sensor 105 provided in the same suction cup (i.e., the sub-suction cup or the second suction cup 3) as the vacuum pressure gauge 106. The vacuum pressure gauge 106 can check the vacuum degree signal of the vacuum pressure sensor 105 electrically connected thereto, and a user can conveniently read the vacuum degree data from the vacuum pressure gauge 106. Thereby, double protection can be achieved, further improving the safety and convenience of the gripping device 100.
According to some embodiments of the present invention, gripping device 100 further includes a locating assembly including locating pins 102, locating sleeves, compression sleeves, and infrared locator 103. Specifically, there may be two positioning pins 102, and two positioning pins 102 are both screwed on the second suction cup 3, and a positioning sleeve is mounted on the positioning pins 102 and is pressed by a screw or a pressing sleeve. The number of the infrared positioners 103 can be two, the two infrared positioners 103 can be arranged on the bottom plate 11 through the installation seats of the infrared positioners 103 respectively, and the two infrared positioners 103 are arranged at intervals along the length direction of the bottom plate 11. When the gripping device 100 works and two infrared rays emitted by the two infrared positioners 103 are aligned with two positioning holes on the duct piece, the two positioning pins 102 are respectively aligned with the positioning holes on the duct piece, and the gripping device 100 can be used for preparing for gripping the duct piece. The infrared locator is used for helping an operator to align the two locating pins 102 with the locating holes on the duct piece;
specifically, the first sucker 1 and the second sucker 3 are provided with a hand hole base plate 104, the hand hole base plate 104 can be adhered in the first sucker 1 and the second sucker 3, the hand hole base plate 104 can be a rubber piece, and the hand hole base plate 104 mainly plays a role in sealing hand holes in duct pieces.
For example, when the gripping device 100 grips a segment, an external vacuumizing device is connected through a vacuum electromagnetic valve 108, a sealed cavity defined between the first sucker 1 and the second sucker 3 and the segment is vacuumized, and when the vacuum degree detected by the vacuum pressure sensor 105 is greater than 80% and the segment is sucked by the suction detection device 5, a PLC (programmable logic controller) for controlling the movement of a splicing machine of the heading machine allows the movement of the splicing machine. When the duct piece is released, the vacuum solenoid valve 108 is used for opening the atmosphere, the sealing cavity is connected with the atmosphere, and when the vacuum degree detected by the vacuum pressure sensor 105 is less than 30% and the duct piece suction detection device 5 does not detect the duct piece suction, the duct piece is released, and the PLC for controlling the movement of the splicing machine allows the movement of the splicing machine.
The grabbing device 100 according to the embodiment of the invention has the characteristics of compact structure, simple operation, safety, reliability and convenient maintenance, solves the technical problems that the traditional segment vacuum grabbing device is not durable, the sealing element 13 is easy to deform and leak air, the failure rate is high, and the adaptability is poor, and simultaneously ensures the tunnel forming quality and the construction efficiency.
Example 2:
referring to fig. 7, fig. 7 provides a specific embodiment of a pull-up detection device.
As shown in fig. 7, in this embodiment, the gripping device 100 further includes at least one suction detection device 5. The suction detection device 5 may be one or more. The suction detection means 5 are provided in at least one of the sub-suction cup and the second suction cup 3 or on the base plate 11 adjacent to at least one of the sub-suction cup and the second suction cup 3.
Specifically, when the suction detection device 5 is one, the suction detection device 5 may be disposed in one of the sub-suction cup and the second suction cup 3, or disposed on the bottom plate 11 and adjacent to one of the sub-suction cup and the second suction cup 3; when the number of the suction detection devices 5 is multiple, the multiple suction detection devices 5 can be respectively arranged in part of the suction cups in the sub-suction cup and the second suction cup 3 or respectively arranged in each sub-suction cup and the second suction cup 3; either all provided on the base plate 11 and adjacent to a part of the sub-suction cup and the second suction cup 3, respectively, or all provided on the base plate 11 and adjacent to each of the sub-suction cup and the second suction cup 3, respectively, or a part of the suction detection means 5 of the plurality of suction detection means 5 is provided in a part of the sub-suction cup and the second suction cup 3 and another part of the suction detection means 5 of the plurality of suction detection means 5 is provided on the base plate 11 and adjacent to another part of the sub-suction cup and the second suction cup 3. Thereby, it is possible to judge whether the gripping device 100 grips the segment by the suction detection device 5, thereby further improving the safety and reliability of the gripping device 100.
For example, in the example of fig. 1 of embodiment 1 described above, each of the two sub-suction cups and the second suction cup 3 corresponds to one suction detection device 5. The suction detection device 5 corresponding to the second suction cup 3 is disposed in the second suction cup 3, and the suction detection device 5 corresponding to each sub-suction cup is disposed on the bottom plate 11 and is disposed adjacent to the sub-suction cup, as shown in fig. 1. Thereby, the suction detecting means 5 can detect whether each of the sub-suction cup and the second suction cup 3 grips the segment separately, ensuring the safety of the gripping means 100.
Specifically, referring to fig. 7, each suction detection device 5 includes: a detection seat 51, a touch switch 52 and a detection rod 53. The detection seat 51 has a mounting groove 511 therein, and the mounting groove 511 may extend in an axial direction of the detection seat 51 (for example, up-down direction in fig. 7) and penetrate a bottom wall of the detection seat 51. Wherein, the detecting seat 51 may include a first portion and a second portion connected to each other, the second portion being located above the first portion and an area of the second portion being greater than a cross-sectional area of the first portion. The tact switch 52 is provided on the detection seat 51, and one end (e.g., the left end in fig. 7) of the tact switch 52 protrudes into the installation groove 511. For example, referring to fig. 7, the tact switch 52 may be horizontally provided on a side wall of the second portion of the sensing seat 51, and the left end of the tact switch 52 is protruded into the installation groove 511. The detecting rod 53 is movably provided in the installation groove 511, and when the gripping device 100 grips the tube sheet, the tube sheet pushes the detecting rod 53 to move to trigger the tact switch 52. Specifically, a portion of the detection rod 53 is positioned in the mounting groove 511, and another portion of the detection rod 53 extends out of the mounting groove 511 to be positioned outside the detection seat 51, and one end (e.g., an upper end in fig. 7) of the detection rod 53 is positioned below the tact switch 52.
For example, when the gripping device 100 grips the segment, the segment pushes the detecting rod 53 to move toward the direction approaching the trigger switch 52, and when the detecting rod 53 triggers the trigger switch 52, it indicates that the segment is gripped, and at this time, the splicing machine may be allowed to perform the splicing operation; when the detecting rod 53 does not touch the touch switch 52, the segment is indicated to be not gripped, and the splicing machine does not execute splicing action at the moment, so that the use safety of the grabbing device 100 is effectively ensured.
Specifically, the touch switch 52 can be installed on the detection seat 51 through the installation plate 54, and the installation plate 54 can be fixed on the detection seat 51 through screws, so that the structure is simple and the assembly is convenient.
According to some embodiments of the present invention, the pull-in detecting device 5 further includes a restoring member 55, wherein the restoring member 55 is sleeved on the outer peripheral wall of the detecting rod 53 and is located in the mounting groove 511, and the restoring member 55 is configured to normally push the detecting rod 53 in a direction away from the trigger switch 52. Alternatively, the return member 55 may be an elastic member such as a spring or the like. For example, when the gripping device 100 is completed, i.e., the segment is detached from the gripping device 100, the restoring member 55 may push the detecting rod 53 to move in a direction away from the tact switch 52, so that the detecting rod 53 is restored to the release position (e.g., the position of the detecting rod 53 in fig. 7).
Further, a limiting piece 56 is arranged at one end of the detecting rod 53 adjacent to the touch switch 52, and the limiting piece 56 has the following functions: the stopper 56 abuts against the detection seat 51 to define the detection rod 53 in the mounting groove 511. Specifically, the stopper 56 abuts against the detection seat 51 at the connection point between the first portion and the second portion of the mounting groove 511. Of course, it will be appreciated that a retaining ring may also be provided within the test seat 51 to prevent the test rod 53 from moving downwardly, whereby the test rod 53 may likewise be defined within the mounting slot 511.
According to some embodiments of the present invention, the suction detection device 5 further includes a first sealing ring 57, the first sealing ring 57 may be disposed between the detection rod 53 and the first portion of the mounting groove 511, and the first sealing ring 57 may be disposed under the reset element 55. Thus, when the suction detecting means 5 is provided in the first suction cup 1 or the second suction cup 3, the tightness of the suction cup is not affected.
According to some embodiments of the present invention, the pull-up detecting device 5 is provided with a lock nut 58. For example, when the suction detecting means 5 is mounted on the base plate 11 or in the suction cup such as the second suction cup 3, mounting holes may be provided on the base plate 11 and in the second suction cup 3. When the suction detection device is assembled, the lower end of the detection seat 51 of the suction detection device 5 stretches into the mounting hole from top to bottom, the bottom wall of the second part of the detection seat 51 is abutted against the surface of one side (for example, the upper side in fig. 7) of the bottom plate 11 or the second sucker 3, which is far away from the duct piece, the locking nut 58 is sleeved on the peripheral wall of the first part of the detection seat 51 from the other side (for example, the lower side in fig. 7) of the bottom plate 11 or the second sucker 3, and the suction detection device 5 can be fixed on the bottom plate 11 or the sucker by screwing the locking nut 58.
Further, a second seal 59 is provided on the bottom wall of the second portion of the suction detection device 5. Thus, when the suction detecting means 5 is provided in the first suction cup 1 or the second suction cup 3, the sealability of the first suction cup 1 or the second suction cup 3 can be further improved.
According to some embodiments of the present invention, the top of the installation groove 511 is opened, and the top of the suction detection device 5 is provided with an end cap 5111, and the end cap 5111 may be screwed into the installation groove 511 for opening or closing the installation groove 511. Thereby facilitating the disassembly of the suction detection device 5.
For example, during assembly, the reset member 55 may be first installed in the mounting groove 511, then the first sealing ring 57 is sleeved on the detecting rod 53, the detecting rod 53 is installed in the detecting seat 51 and is provided with the retainer ring, the trigger switch 52 is installed on the mounting plate 54 and is adjusted by a distance, then the mounting plate 54 is fixed on the detecting seat 51 by using a screw, the end cover 5111 is screwed into the detecting seat 51, then the second sealing ring 59 is sleeved from the bottom of the first portion of the detecting seat 51, and finally the first portion of the detecting seat 51 is extended into the mounting hole, and the locking nut 58 is screwed.
Example 3:
referring to fig. 8 and 9, fig. 8 and 9 provide an embodiment of a rotating assembly.
As shown in fig. 8 and 9, in the present embodiment, the gripping device 100 further includes: a rotation assembly 6, a first drive assembly 7 and a second drive assembly. The rotating assembly 6 is connected with the bottom plate 11, the second sucker 3 penetrates through the bottom plate 11 to be connected with the rotating assembly 6, the first driving assembly 7 is connected with the rotating assembly 6 and the bottom plate 11 respectively, and the first driving assembly 7 is suitable for driving the bottom plate 11 to rotate around the first direction and driving the second sucker 3 to rotate around the first direction through the rotating assembly 6. The second driving assembly is respectively connected with the rotating assembly 6 and the bottom plate 11, and is suitable for driving the bottom plate 11 to rotate around the second direction and driving the second sucker 3 to rotate around the second direction through the rotating assembly 6. The first direction is a longitudinal direction of the bottom plate 11, and the second direction is a direction perpendicular to the bottom plate 11. Thereby, a fine rotational adjustment of the first suction cup 1 and the second suction cup 3 in the first direction and the second direction is achieved.
Specifically, referring to fig. 8 and 9, the rotating assembly 6 includes a fixed flange 61, two rotating shafts 62, a rotating shaft seat 63, an upper flange 64, a lower flange 65, a long flange 66, and a sliding sleeve 67. The fixing flange 61 is formed in a rectangular parallelepiped shape, and the slide bush 67 is formed in a hollow cylindrical structure. The fixing flange 61 is opened at both axial ends (e.g., upper and lower ends in fig. 8), and a closing cap 611 is provided at the top of the fixing flange 61. The rotating shaft seat 63 is disposed in the fixed flange 61, and the rotating shaft seat 63 is mounted on the fixed flange 61 through two rotating shafts. Specifically, two rotating grooves 631 are provided on the outer peripheral wall of the rotating shaft seat 63, and the two rotating grooves 631 are symmetrically provided with respect to the central axis of the rotating shaft seat 63. Two rotation shafts are provided in the rotation groove 631 and the rotation shafts are connected to the fixing flange 61 by screws.
The upper flange 64 is arranged at the upper end of the rotating shaft seat 63, the lower flange 65 is arranged at the lower end of the rotating shaft seat 63, the upper flange 64 and the lower flange 65 are assembled into a whole through screws, and the long flange 66 is connected above the upper flange 64 through screws. The sliding sleeve 67 is disposed in the rotating shaft seat 63 and sequentially passes through the lower flange 65, the upper flange 64 and the long flange 66 from bottom to top. Further, a guide key 68, such as a flat key or spline, is provided between the outer peripheral wall of the sliding sleeve 67 and the upper flange 64, the guide key 68 serving as a guide and providing a motive force for rotation of the sliding sleeve 67 about the second direction.
Specifically, the lower flange 65 is connected to the bottom plate 11 by screws, and the sliding sleeve 67 is connected to the second suction cup 3 by screws. One end of the first driving assembly 7 may be hinged with the base plate 11, the other end of the first driving assembly 7 may be hinged with the fixing flange 61, one end of the second driving assembly may be hinged with the base plate 11, and the other end of the second driving assembly may be hinged with the fixing flange 61. Compact structure, convenient assembly.
For example, when the gripping device 100 works, the first driving component 7 pushes the bottom plate 11 to rotate around the rotation axis, that is, rotate around the first direction, the rotation shaft seat 63 rotates around the rotation axis, and the bottom plate 11 drives the second suction cup 3 to rotate together through the lower flange 65, the upper flange 64, the long flange 66, the guide key 68 and the sliding sleeve 67, so as to realize the fine rotation adjustment of the first suction cup 1 and the second suction cup 3 around the first direction. The second driving component pushes the bottom plate 11 to rotate around the second direction, and the bottom plate 11 drives the second sucker 3 to rotate together through the lower flange 65, the upper flange 64, the long flange 66, the guide key 68 and the sliding sleeve 67, so that the fine adjustment of the rotation of the first sucker 1 and the second sucker 3 around the second direction is realized.
Further, a first shaft sleeve 632 is disposed in the rotation groove 631, a second shaft sleeve 633 is disposed at an upper end of the rotation shaft seat 63, a third shaft sleeve 634 is disposed at a lower end of the rotation shaft seat 63, a first guide sleeve 69 is disposed at an end of the upper flange 64 away from the rotation shaft seat 63, and a second guide sleeve 600 is disposed at an end of the lower flange 65 away from the rotation shaft seat 63. The first bushing 632 is mounted in the rotation groove 631 by a copper bar, and the second bushing 633 and the third bushing 634 are mounted on the rotation shaft seat 63 by a copper bar. Thereby, friction force at the time of relative movement of the respective members of the rotating assembly 6 can be reduced.
According to some embodiments of the present invention, a third sealing ring is arranged between the sliding sleeve 67 and the second sucker 3, and a fourth sealing ring and a dust-proof ring are arranged between the second guiding sleeve 600 and the sliding sleeve 67. Wherein, the fourth sealing ring can be arranged above the dust ring. Therefore, the sealing performance of the joint of the second sucker 3 and the sliding sleeve 67 can be improved, and the second sucker 3 is prevented from leaking gas.
Further, a third driving assembly 606 is arranged on the rotating assembly 6, the third driving assembly 606 is connected with the second sucking disc 3, and the third driving assembly 606 is suitable for driving the second sucking disc 3 to move in the direction approaching to the bottom plate 11 and away from the bottom plate 11. Specifically, the third driving assembly 606 may be disposed in the sliding sleeve 67, the third driving assembly 606 is provided with an oil cylinder seat 607, the oil cylinder seat 607 is connected above the third driving assembly 606 through an oil cylinder pin, and the oil cylinder seat 607 is connected with the long flange 66 through a screw. The third drive assembly 606 may provide telescoping power to the second suction cup 3 such that the second suction cup 3 moves in a direction toward the base plate 11 and away from the base plate 11. For example, when the third driving component 606 stretches and contracts, the second sucking disc 3 is driven to move up and down, the second sucking disc 3 drives the sliding sleeve 67 to move between the first guiding sleeve 69 and the second guiding sleeve 600, and the guiding key 68 can prevent the sliding sleeve 67 from rotating.
According to some embodiments of the invention, the first drive assembly 7 may be a pitch ram, an electric ram, or a cylinder, etc. The second driving component can be a rotary oil cylinder, an electric push rod or an air cylinder and the like. The third drive assembly 606 may be a lift cylinder, a power pushrod, a cylinder, or the like.
It will be appreciated that the turning assembly 6 may also be a ball bearing or the like, as long as the adaptation of the gripping device 100 to multiple degrees of freedom of the pipe sheet is possible, which is not particularly limited by the present invention.
Example 4:
referring to fig. 10 and 11, fig. 10 and 11 provide an embodiment of an arm body.
As shown in fig. 10 and 11, in the present embodiment, the gripping device 100 further includes: the first arm body and the second arm body 101, one end (for example, the left end in fig. 1) of the second arm body 101 is connected with one end (for example, the right end in fig. 1) of the first arm body, at least one of the second arm body 101 and the first arm body is of a telescopic structure, and the bottom plate 11 is arranged at the connection part of the first arm body and the second arm body 101. The gripping device 100 further comprises two fine tuning brackets 111 and two fine tuning mats 110. Wherein, two fine tuning pads 110 are fixed on the first arm body and the second arm body 101 respectively through screws, and two fine tuning brackets 111 are fixed on the bottom plate 11 respectively through screws. The trimming pad 110 is connected to a corresponding trimming bracket 111. The fine tuning support 111 may provide a support point for fine tuning of the first suction cup 1 and the second suction cup 3.
Specifically, the one end of the first arm body and the one end of the second arm body 101 may be connected through the rotating assembly 6, and the first arm body and the second arm body 101 are symmetrically disposed with respect to the central axis of the rotating shaft seat 63. The first arm 101 and the second arm 101 may be connected to the rotating assembly 6 by screws. The other end (e.g., upper end in fig. 1) of the first arm body may be hinged to the first grip cylinder 112 through a pin, and the other end (e.g., upper end in fig. 1) of the second arm body 101 may be hinged to the second grip cylinder 112 through a pin. One of the first arm body and the second arm body 101 may be a telescopic structure, or the first arm body and the second arm body 101 may be telescopic structures. For example, in the example of 1, the first arm 101 and the second arm 101 are both of a telescopic structure. Thereby, the rotation fine adjustment of the first suction cup 1 and the second suction cup 3 around the third direction can be achieved by rotating the base plate 11 around the third direction by the asynchronization of the first arm body and the second arm body 101. The third direction is the width direction of the bottom plate 11. Therefore, six degrees of freedom of the pipe piece can be assembled through the cooperation of the first arm body, the second arm body 101, the rotating assembly 6, the grabbing oil cylinder 112, the first driving assembly 7 and the second driving assembly, and the adaptability of the grabbing device 100 is improved.
According to some embodiments of the invention, the first arm 101 and the second arm are identical in structure. The telescopic structure will be described below taking the structure of the first arm as an example.
Referring to fig. 10 and 11, the first arm includes a telescopic outer cylinder 91, a telescopic inner cylinder 92, and a guide assembly. The telescopic inner cylinder 92 is provided in the telescopic outer cylinder 91 and the telescopic inner cylinder 92 is slidable in the telescopic outer cylinder 91 along the longitudinal direction of the telescopic outer cylinder 91. The guide members may be provided in plural numbers, and the plural guide members are provided at intervals along the longitudinal direction of the telescopic outer tube 91. Each guide assembly may include a plurality of guide blocks 93 mounted in the telescopic outer cylinder 91 and a plurality of cover plates 94 covering the telescopic outer cylinder 91 and opposite to the guide blocks 93. For example, in the example of fig. 10, each guide assembly includes four guide blocks 93, one guide block 93 is provided on each side wall of the telescopic outer cylinder 91, and the cover plate 94 is connected to the telescopic outer cylinder 91 by screws. Specifically, the screws sequentially pass through the cover plate 94 and the guide block 93 so that the cover plate 94 and the guide block 93 are connected to the telescopic outer cylinder 91.
When the telescopic sucking disc is used, the space between the guide block 93 and the telescopic inner cylinder 92 can be adjusted through the tightness of the adjusting screw, so that the space between the guide block 93 and the telescopic inner cylinder 92 is moderate, the friction force between the telescopic inner cylinder 92 and the telescopic outer cylinder 91 can be reduced, the telescopic inner cylinder 92 can be prevented from shaking in the sliding process, and the accuracy of the fine adjustment of the rotation of the first sucking disc 1 and the second sucking disc 3 around the third direction is improved.
Further, the guide block 93 may be provided with an oil cup 95, and the oil cup 95 may be used for placing lubricating oil or the like. Thereby, the friction force between the telescopic inner tube 92 and the telescopic outer tube 91 can be further reduced.
Example 5:
referring to fig. 12, fig. 12 provides another embodiment of a grasping device.
As shown in fig. 12, the gripping device provided in this embodiment is provided with two kinds of suction cups with different widths, so that the two kinds of suction cups can simultaneously suck the segments with different widths.
Other constructions and principles of the heading machine of embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
The heading machine provided by the invention improves the overall performance of the heading machine by arranging the grabbing device 100 according to the above embodiments of the invention.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A grasping device, comprising:
the first sucker comprises a bottom plate, at least one annular vertical plate is arranged on the bottom plate, a clamping groove is formed in one end, far away from the bottom plate, of each vertical plate, a sealing piece is arranged in the clamping groove, and a sub sucker is defined between each vertical plate and the bottom plate;
the baffle is connected with the inner peripheral wall of the vertical plate and a detection cavity is defined between the baffle and the bottom surface of the bottom plate;
the second sucker is arranged on the bottom plate and can move in the directions of approaching to the bottom plate and separating from the bottom plate;
the limiting block is arranged on at least one of the sub-sucker and the second sucker, when the limiting block is arranged on the sub-sucker, the limiting block is arranged on one side surface of the sub-sucker, which is far away from the bottom plate, and when the limiting block is arranged on the second sucker, the limiting block is arranged on one side surface of the second sucker, which is far away from the bottom plate;
at least one suction detection device provided in at least one of the sub-suction cup and the second suction cup, each of the suction detection devices including:
the detection seat is internally provided with an installation groove;
the touch switch is arranged on the detection seat, and one end of the touch switch extends into the mounting groove;
the detecting rod is movably arranged in the mounting groove, and when the grabbing device grabs the pipe piece, the pipe piece pushes the detecting rod to move so as to trigger the touch switch;
the suction detection device further comprises a reset piece, wherein the reset piece is sleeved on the peripheral wall of the detection rod and is positioned in the mounting groove, and the reset piece is configured to normally push the detection rod towards a direction away from the touch switch;
a limiting piece is arranged at one end of the detection rod adjacent to the touch switch, and a check ring is arranged in the detection seat;
the suction detection device further comprises a first sealing ring, and the first sealing ring is arranged between the detection rod and the first part of the mounting groove.
2. The gripping device of claim 1, wherein the plurality of risers are spaced apart along the length of the base plate.
3. The grasping device according to claim 2, wherein one vacuum pressure sensor is provided in each of the sub-suction cup and the second suction cup.
4. A gripping apparatus according to claim 3, wherein a vacuum pressure gauge is provided in each of the sub-suction cups and the second suction cup, the vacuum pressure gauge being electrically connected to the corresponding vacuum pressure sensor.
5. The grasping device according to claim 2, further comprising:
the rotating assembly is connected with the bottom plate, and the second sucker penetrates through the bottom plate to be connected with the rotating assembly;
the first driving assembly is respectively connected with the rotating assembly and the bottom plate, and is suitable for driving the bottom plate to rotate around a first direction and driving the second suction disc to rotate around the first direction through the rotating assembly;
the second driving assembly is respectively connected with the rotating assembly and the bottom plate, and is suitable for driving the bottom plate to rotate around a second direction and driving the second suction disc to rotate around the second direction through the rotating assembly;
the first direction is the length direction of the bottom plate, and the second direction is the direction perpendicular to the bottom plate.
6. The gripping apparatus according to claim 5, wherein a third driving assembly is provided on the rotating assembly, the third driving assembly being connected to the second suction cup, the third driving assembly being adapted to drive the second suction cup to move in a direction approaching and moving away from the base plate.
7. The grasping device according to any one of claims 1-6, further comprising:
a first arm body;
the first arm body is connected with the bottom plate, one end of the first arm body is connected with one end of the second arm body, at least one of the first arm body and the second arm body is of a telescopic structure, and the bottom plate is arranged at the joint of the first arm body and the second arm body.
8. A heading machine on which a gripping device according to any one of claims 1-7 is mounted.
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| CN201710935396.2A CN107461210B (en) | 2017-10-10 | 2017-10-10 | Grabbing device and heading machine |
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| CN201710935396.2A CN107461210B (en) | 2017-10-10 | 2017-10-10 | Grabbing device and heading machine |
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| CN107461210B true CN107461210B (en) | 2024-03-29 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108278117B (en) * | 2018-03-15 | 2024-04-09 | 中铁工程装备集团有限公司 | Grabbing and lifting detection device for duct piece vacuum chuck |
| CN108756959B (en) * | 2018-07-11 | 2024-02-02 | 中国铁建重工集团股份有限公司 | Segment vacuum grabbing device and heading machine |
| CN109931081B (en) * | 2019-04-10 | 2023-08-22 | 中铁十九局集团轨道交通工程有限公司 | Flexible grabbing and lifting mechanism and flexible grabbing and lifting method for pipe sheet of shield assembly machine |
| CN111119955B (en) * | 2019-12-26 | 2021-11-19 | 中铁工程装备集团有限公司 | Sucking disc hoisting structure |
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| CN107461210A (en) | 2017-12-12 |
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