CN109322682B - Manipulator for arch frame trolley - Google Patents
Manipulator for arch frame trolley Download PDFInfo
- Publication number
- CN109322682B CN109322682B CN201811398744.8A CN201811398744A CN109322682B CN 109322682 B CN109322682 B CN 109322682B CN 201811398744 A CN201811398744 A CN 201811398744A CN 109322682 B CN109322682 B CN 109322682B
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- arm
- swing
- manipulator
- arch
- connecting rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 32
- 239000010959 steel Substances 0.000 claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims description 2
- 239000000725 suspension Substances 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 210000000245 forearm Anatomy 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 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
Abstract
The invention discloses a manipulator for an arch frame trolley, which comprises a rotary folding mechanism (1) with one end arranged on a trolley chassis, wherein the other end of the rotary folding mechanism is sequentially connected with a telescopic mechanism (3), an automatic leveling small arm (4) and a multifunctional platform (5), and a pitching oil cylinder (2) is arranged between the rotary folding mechanism and the telescopic mechanism. The rotary folding mechanism comprises a first rotary device (11) arranged at the bottommost end, a lower support (12) is arranged on the first rotary device, two sides of the lower support are respectively hinged with one ends of a first connecting rod (13) and a second connecting rod (15), the other ends of the first connecting rod and the second connecting rod are hinged with an upper support (14), the lower support, the first connecting rod, the upper support and the second connecting rod form a four-bar mechanism, and a first oil cylinder (16) capable of enabling the rotary folding mechanism to swing is arranged on adjacent rod pieces of the four-bar mechanism. The invention can realize flexible pick-up and quick positioning of the scattered steel arch, and has the functions of high-altitude operation and automobile suspension.
Description
Technical Field
The invention relates to an arch frame trolley, in particular to a manipulator for the arch frame trolley.
Background
In the construction of hydropower tunnels, subway engineering, railway tunnels, highway tunnels, underground workshops and military underground engineering, if surrounding rock is unstable, an arch frame (grid arch) needs to be erected in advance, anchor rods are applied, and reinforcing steel bar meshes are hung to prevent tunnel collapse.
Because the cross section of the tunnel is larger and the span of the arch frame is large, the existing construction process for facilitating construction is to divide a truss arch frame into a plurality of arch frame sections, and the arch frame sections are assembled into a complete supporting arch frame in the tunnel by manpower by means of a rack after being conveyed into the tunnel installation position. The whole construction process is tedious, labor intensity is high, and efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and providing the manipulator for the arch frame trolley, which can flexibly pick up scattered steel arches and rapidly position the scattered steel arches and has the functions of high-altitude operation and automobile hanging.
In order to solve the technical problems, the invention adopts the following technical scheme: the manipulator for the arch frame trolley comprises a rotary folding mechanism, wherein one end of the rotary folding mechanism is arranged on a trolley chassis, the other end of the rotary folding mechanism is sequentially connected with a telescopic mechanism, an automatic leveling small arm and a multifunctional platform, and a pitching oil cylinder is arranged between the rotary folding mechanism and the telescopic mechanism.
The rotary folding mechanism comprises a first rotary device which is arranged at the bottommost end and can enable the manipulator to rotate, a lower support is arranged on the first rotary device, two sides of the lower support are respectively hinged with one ends of a first connecting rod and a second connecting rod, the other ends of the first connecting rod and the second connecting rod are hinged on an upper support, the lower support, the first connecting rod, the upper support and the second connecting rod form a four-bar mechanism, and a first oil cylinder which can enable the rotary folding mechanism to swing is arranged on an adjacent rod piece of the four-bar mechanism.
The telescopic mechanism comprises a first arm and a second arm … … Nth arm which are sequentially sleeved with each other, N is a natural number, and N is not less than 3; the first arm and the second arm are respectively hinged to the head end and the tail end of the second oil cylinder; pulleys are fixedly arranged at two ends of the second arm to the N arm respectively, connecting pieces are wound on the pulleys respectively, and the connecting pieces positioned on the pulleys at two ends of the same arm are wound oppositely; two ends of a connecting piece wound on the K arm pulley are fixedly connected with the K-1 arm and the K+1 arm respectively, K is a natural number, and 2 < K < N.
The automatic leveling small arm comprises a small arm connected with the telescopic mechanism and a third oil cylinder arranged between the small arm and the telescopic mechanism, an angle sensor for monitoring the pitching angle of the small arm is arranged on the small arm, and the control system receives signals of the angle sensor and feeds the signals back to the hydraulic system to adjust the third oil cylinder, so that the small arm is kept in a horizontal state. The automatic adjusting function can be closed according to the time condition, and the posture of the forearm is controlled manually.
The multifunctional platform comprises a platform with surrounding fences, a second turning device capable of turning the platform is arranged at the bottom of the platform, and a manipulator is arranged on the platform; the base of the manipulator is arranged on the platform, the base is hinged with a swing small arm positioned outside the platform, and a fourth oil cylinder for driving the swing small arm to pitch relative to the base is arranged between the base and the swing small arm; the base is also hinged with a swing auxiliary arm positioned above the swing arm, and a fifth oil cylinder for driving the swing auxiliary arm to pitch relative to the swing arm is arranged between the swing arm and the swing auxiliary arm; the base is provided with a winch, and a steel wire rope wound on the winch bypasses a pulley on the swing auxiliary arm and is connected with a clamp for clamping the steel arch.
And a lifting device is arranged on the telescopic mechanism.
The connecting piece is a chain or a steel wire rope.
The first arm is provided with a clamping hand for clamping the steel arch, and the clamping hand is provided with a sixth oil cylinder for driving the clamping hand to grasp and relax.
The centre line of centre gripping of tong is located in the every single move plane of swing auxiliary arm, when making the swing auxiliary arm drive steel arch and rise, the steel arch just falls into in the tong.
The swing small arm and the swing auxiliary arm are hinged on the same hinge shaft of the base.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, when the telescopic mechanism and the swinging small arm are downward and downward, the steel wire rope is released to realize flexible picking of scattered steel arches, after the steel arches are picked, the swinging auxiliary arm is upward turned to recover the steel wire rope, and the steel arches are lifted until the steel arches are pushed to the designated positions by controlling the corresponding degrees of freedom of the rotary folding mechanism, the pitching oil cylinder, the telescopic mechanism, the automatic leveling small arm and the multifunctional platform.
2. The invention is applied to the arch frame installation construction, and the safety and the construction efficiency of constructors can be greatly improved because the scattered steel arch is flexibly picked up and hoisted, and the arch frame is fixed by the clamping hand in the clamping process.
3. The multifunctional platform is arranged at the tail end of the manipulator, can realize high-altitude operation by controlling the corresponding degrees of freedom of the rotary folding mechanism, the pitching oil cylinder, the telescopic mechanism and the automatic leveling small arm, is provided with the winch, the swinging small arm and the swinging auxiliary arm, and has a larger operation space, so that the multifunctional platform can perform various operations and can serve as an automobile crane function.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic structural view of the swing folding mechanism of the present invention.
Fig. 3 is a schematic structural view of the telescopic mechanism of the present invention.
Fig. 4 is a schematic perspective view of a multifunctional platform according to the present invention.
Fig. 5 is a schematic view of a multi-functional platform pick-up and lifting steel arch of the present invention.
FIG. 6 is a schematic view of the multifunctional platform of the present invention for adjusting the position of the steel arch.
Detailed Description
The invention is further described below in connection with specific preferred embodiments, but it is not intended to limit the scope of the invention.
Example 1:
as shown in fig. 1, an embodiment of a manipulator for an arch centering trolley of the present invention includes a swivel folding mechanism 1, a pitching cylinder 2, a telescopic mechanism 3, an automatic leveling arm 4, and a multifunctional platform 5. Wherein:
as shown in fig. 1 and 2, the swing folding mechanism 1 includes a first swing device 11 disposed at the bottommost end of the manipulator and capable of swinging the manipulator, a lower support 12 is disposed on the first swing device 11, two sides of the lower support 12 are respectively hinged with one ends of a first link 13 and a second link 15, and the other ends of the first link 13 and the second link 15 are hinged with an upper support 14, so that the lower support 12, the first link 13, the upper support 14 and the second link 15 form a four-bar mechanism. The first oil cylinder 16 is hinged between the second connecting rod 15 of the four-bar mechanism and the lower support 12, and when the first oil cylinder 16 extends out, the second connecting rod 15 rotates anticlockwise around the hinge point with the lower support 12. According to the four-bar mechanism principle, the upper support 14 will also rotate counterclockwise about the hinge point with the second link 15, and correspondingly the first link 13 will rotate counterclockwise about the hinge point with the lower support 12. When the first cylinder 16 is retracted, the second link 15 will rotate clockwise about the hinge point with the lower support 12. According to the four-bar mechanism principle, the upper support 14 will also rotate clockwise about the hinge point with the second link 15 and, correspondingly, the first link 13 will rotate clockwise about the hinge point with the lower support 12.
In the present embodiment, the first cylinder 16 is installed between the second link 15 and the lower support 12, but not limited thereto, and the first cylinder 16 is provided on an adjacent unit of a closed-loop four-bar mechanism formed by sequentially connecting the lower support 12, the first link 13, the upper support 14, and the second link 15, and may drive the four-bar mechanism to rotate about its hinge point, for example, between the lower support 12 and the first link 13, between the first link 13 and the upper support 14, and between the upper support 14 and the second link 15.
As shown in fig. 1 and 3, the telescopic mechanism 3 includes a first arm 31, a second arm 32, a third arm 33, a fourth arm 34, a second cylinder 35, a first chain 36, a first pulley 37, a second chain 38, a second pulley 39, a second chain 310, a third pulley 311, a fourth chain 312, and a fourth pulley 313. The first arm 31, the second arm 32, the third arm 33, and the fourth arm 34 are sequentially sleeved with each other through a sliding block system. Both ends of the second cylinder 35 are hinged to the first arm 31 and the second arm 32, respectively. The first pulley 37 is fixed to the second arm 32, the second pulley 39 is fixed to the second arm 32, the third pulley 311 is fixed to the third arm 33, and the fourth pulley 313 is fixed to the third arm 33. The first chain 36 is fixed to the first arm 31 and the third arm 33 at both ends thereof after passing around the first pulley 37. The second chain 38 is fixed to the first arm 31 and the third arm 33 at both ends thereof after being wound around the second pulley 39. The third chain 310 is fixed to the second arm 32 and the fourth arm 34 at both ends thereof after passing around the third pulley 311. The fourth chain 312 is fixed to the second arm 32 and the fourth arm 34 at both ends thereof after being wound around the fourth pulley 313.
When the second cylinder 35 is extended, the second arm 32 is extended with respect to the first arm 31, and the second pulley 39 moves with the second arm 32. The end of the second chain 38 will extend at twice the speed relative to the first arm 31, the third arm 33 will extend with the second chain 38 at twice the speed relative to the first arm 31, and at the same time the third arm 33 will move the third and fourth pulleys 311, 313 together forward, the fourth arm 34 will extend with the fourth chain 312 at twice the speed relative to the second arm 32.
When the second cylinder 35 is retracted, the second arm 32 is retracted relative to the first arm 31, and the first pulley 37 moves with the second arm 32. The end of the first chain 36 will retract at twice the speed relative to the first arm 31 and the third arm 33 will retract with the first chain 36 at twice the speed relative to the first arm 31. At the same time, the third arm 33 carries the third and fourth pulleys 311, 313 to retract together, and the fourth arm 34 retracts with the third chain 310 at twice the speed relative to the second arm 32.
As shown in fig. 1, the first arm 31 is hinged at its distal end to the upper end of the upper support 14. One end of the pitching cylinder 2 is hinged with the middle hinge point of the upper support 14, and the other end is hinged with the middle hinge point of the first arm 31. When the pitch cylinder 2 is extended, the first arm 31 is tilted upward with respect to the swing-folding mechanism 1. When the pitch cylinder 2 is retracted, the first arm 31 is depressed downward with respect to the swing folding mechanism 1. The front end of the fourth arm 34 is provided with a lifting device 36.
The self-leveling arm 4 includes an arm 41 and a third cylinder 42. One end of the small arm 41 is hinged with the front end of the fourth arm 34. One end of the third oil cylinder 42 is hinged with the small arm 41, and the other end is hinged with the front end of the fourth arm 34. When the third cylinder 42 is extended, the arm 41 is tilted upward with respect to the fourth arm 34. When the third cylinder 42 is retracted, the forearm 41 is lowered relative to the fourth arm 34. The small arm 41 is provided with an angle sensor to monitor the angle state of the small arm in real time, and feeds back to the hydraulic system to adjust the third oil cylinder 42 in real time, so that the small arm 41 is kept in a horizontal state. The automatic adjusting function can be closed according to the time condition, and the posture of the forearm is controlled manually.
A multifunctional platform 5 is arranged above the front end of the automatic leveling forearm 4.
As shown in fig. 4 to 6, the multifunctional platform 5 includes a platform 52 with surrounding rails, a second rotating device 51 is disposed at the bottom of the platform 52, and when the second rotating device 51 rotates clockwise, the platform 52 is driven to rotate clockwise together, and when the second rotating device 51 rotates counterclockwise, the platform 52 is driven to rotate counterclockwise. The platform 52 is provided with a robot 53. The base 531 of the robot 53 is provided on the platform 52, and the swing arm 535 is hinged to the base 531. A fourth oil cylinder 536 is arranged between the base 531 and the swing small arm 535, one end of the fourth oil cylinder 536 is hinged with the base 531, the other end is hinged with the swing small arm 535, when the fourth oil cylinder 536 stretches out, the swing small arm 535 leans upward relative to the base 531, and when the fourth oil cylinder 536 retracts, the swing small arm 535 is downward relative to the base 531. One end of the swing auxiliary arm 539 is hinged to the base 531, and one end of the fifth cylinder 538 is hinged to the swing auxiliary arm 539, and the other end of the fifth cylinder 538 is hinged to the swing arm 535. When the fifth cylinder 538 is extended, the swing sub-arm 539 is tilted upward with respect to the swing arm 535, and when the fifth cylinder 538 is retracted, the swing sub-arm 539 is tilted downward with respect to the swing arm 535. A hoist 532 is installed above the base 531, and a clamp 534 is connected after a wire rope 533 wound around the hoist 532 is turned by a pulley 5311 on a swing sub-arm 539. The two ends of the swing arm 535 are respectively provided with a clamping hand 537, and a sixth oil cylinder 5310 is arranged on the clamping hand 537 and is used for driving the clamping hand 537 to grasp and release.
As shown in fig. 5 and 6, in the working process, after the clamp 534 is fixed to the steel arch 5312, the hoist 532 drives the wire rope 533 to be lifted up until the clamp 534 is lifted up to the vicinity of the swing auxiliary arm 539 with the steel arch 5312. The fifth cylinder 538 is then actuated to extend, at which time the swing arm 539 is raised, which will simultaneously drive the steel arch 5312 into the grip 537. The sixth cylinder 5310 is then actuated to extend to actuate the grip 537 to grip the steel arch 5312. The steel arch 5312 is lifted and clamped. At this time, if it is necessary to adjust the steel arch position, the tilting of the swing arm 535 may be achieved by the action of the fourth cylinder 536, thereby achieving the adjustment of the steel arch position.
After the steel arch 5312 is clamped, the corresponding degrees of freedom of the rotary folding mechanism 1, the pitching oil cylinder 2, the telescopic mechanism 3, the automatic leveling small arm 4 and the multifunctional platform 5 are controlled until the steel arch is pushed to a designated position to finish the work.
Throughout the process, an operator may operate at close range on the platform 52.
The foregoing description is not intended to limit the invention in any way, but is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The manipulator for the arch center trolley is characterized by comprising a rotary folding mechanism (1) with one end arranged on a trolley chassis, wherein the other end of the rotary folding mechanism is sequentially connected with a telescopic mechanism (3), an automatic leveling small arm (4) and a multifunctional platform (5), and a pitching oil cylinder (2) is arranged between the rotary folding mechanism and the telescopic mechanism; a lifting device (36) is arranged on the telescopic mechanism; the multifunctional platform comprises a platform (52) with surrounding fences, a second revolving device (51) capable of revolving the platform is arranged at the bottom of the platform, and a manipulator (53) is arranged on the platform; a base (531) of the manipulator is arranged on the platform, a swing small arm (535) positioned outside the platform is hinged on the base, and a fourth oil cylinder (536) for driving the swing small arm to pitch relative to the base is arranged between the base and the swing small arm; the base is also hinged with a swing auxiliary arm (539) above the swing arm, and a fifth oil cylinder (538) for driving the swing auxiliary arm to pitch relative to the swing arm is arranged between the swing arm and the swing auxiliary arm; the base is provided with a winch (532), and a steel wire rope (533) wound on the winch bypasses a pulley (5311) on the swing auxiliary arm and is connected with a clamp (534) for clamping a steel arch.
2. A manipulator for an arch-type trolley according to claim 1, characterized in that the swivel-folding mechanism comprises a first swivel device (11) arranged at the bottommost end and capable of swiveling the manipulator, a lower support (12) is arranged on the first swivel device, two sides of the lower support are respectively hinged with one ends of a first connecting rod (13) and a second connecting rod (15), the other ends of the first connecting rod and the second connecting rod are hinged with an upper support (14), the lower support, the first connecting rod, the upper support and the second connecting rod form a four-bar mechanism, and a first oil cylinder (16) capable of swinging the swivel-folding mechanism is arranged on an adjacent rod of the four-bar mechanism.
3. A manipulator for an arch-type trolley according to claim 1, characterized in that said telescopic mechanism comprises a first arm (31), a second arm (32), … …, an nth arm, N being a natural number and N being ∈ 3, which are mutually sleeved in sequence; the first arm and the second arm are respectively hinged to the head end and the tail end of the second oil cylinder (35); pulleys are fixedly arranged at the two ends of the second arm and the N arm respectively, connecting pieces are wound on the pulleys respectively, and the connecting pieces positioned on the pulleys at the two ends of the same arm are wound relatively; two ends of a connecting piece wound on the K arm pulley are fixedly connected with the K-1 arm and the K+1 arm respectively, K is a natural number, and 2 < K < N.
4. A manipulator for an arch-type trolley according to claim 1, characterized in that the self-leveling arm comprises an arm (41) connected with the telescopic mechanism and a third cylinder (42) arranged between the arm and the telescopic mechanism, the arm is provided with an angle sensor for monitoring the pitching angle of the arm, and the control system receives the signal of the angle sensor and feeds back to the hydraulic system to adjust the third cylinder, so that the arm is kept in a horizontal state.
5. A manipulator for an arch trolley according to claim 3, wherein the connecting element is a chain or a wire rope.
6. A manipulator for an arch trolley according to claim 3, characterised in that the first arm is provided with a grip (537) for gripping the steel arch, and that the grip is provided with a sixth cylinder (5310) for driving the grip to grip and relax.
7. A manipulator for an arch-type trolley as claimed in claim 6, wherein the centre line of the grip is located in the pitch plane of the swing arm, so that the steel arch falls into the grip when the swing arm moves the steel arch upward.
8. A manipulator for an arch trolley according to claim 1, wherein the swing arm and swing arm are co-articulated on the same articulation axis of the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811398744.8A CN109322682B (en) | 2018-11-22 | 2018-11-22 | Manipulator for arch frame trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811398744.8A CN109322682B (en) | 2018-11-22 | 2018-11-22 | Manipulator for arch frame trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109322682A CN109322682A (en) | 2019-02-12 |
| CN109322682B true CN109322682B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811398744.8A Active CN109322682B (en) | 2018-11-22 | 2018-11-22 | Manipulator for arch frame trolley |
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| Country | Link |
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| CN (1) | CN109322682B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270975A (en) * | 2019-07-02 | 2019-09-24 | 中铁西南科学研究院有限公司 | A kind of lining quality of channel manipulator |
| CN113464177A (en) * | 2021-08-05 | 2021-10-01 | 长沙科达智能装备股份有限公司 | Tunnel arch centering machine and arch centering construction method |
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| EP0381629A1 (en) * | 1989-01-31 | 1990-08-08 | Omar Cavattoni | An extensible movable bridge assembly for use in building tunnels |
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| CN207739946U (en) * | 2017-12-22 | 2018-08-17 | 长沙科达智能装备股份有限公司 | A kind of operating mechanism of multi-functional arching drill jumbo |
| CN108729930A (en) * | 2018-04-19 | 2018-11-02 | 陕西道智能科技有限公司 | A kind of vertical arch abutment vehicle in the tunnels CG-3 |
| CN209308713U (en) * | 2018-11-22 | 2019-08-27 | 长沙科达智能装备股份有限公司 | A kind of arch trolley manipulator |
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2018
- 2018-11-22 CN CN201811398744.8A patent/CN109322682B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0381629A1 (en) * | 1989-01-31 | 1990-08-08 | Omar Cavattoni | An extensible movable bridge assembly for use in building tunnels |
| CN103291330A (en) * | 2013-05-16 | 2013-09-11 | 湖南江麓实业发展有限公司 | All-round manipulator special for tunnels |
| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
| CN207739946U (en) * | 2017-12-22 | 2018-08-17 | 长沙科达智能装备股份有限公司 | A kind of operating mechanism of multi-functional arching drill jumbo |
| CN107986207A (en) * | 2017-12-29 | 2018-05-04 | 湖南五新隧道智能装备股份有限公司 | A kind of bow member job platform and bow member Operation Van |
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