CN109366483A - A kind of TBM steel skeleton grabbing device - Google Patents
A kind of TBM steel skeleton grabbing device Download PDFInfo
- Publication number
- CN109366483A CN109366483A CN201811619555.9A CN201811619555A CN109366483A CN 109366483 A CN109366483 A CN 109366483A CN 201811619555 A CN201811619555 A CN 201811619555A CN 109366483 A CN109366483 A CN 109366483A
- Authority
- CN
- China
- Prior art keywords
- movable stand
- steel skeleton
- crane
- cylinder
- gauge
- 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.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 39
- 239000010959 steel Substances 0.000 title claims abstract description 39
- 238000012546 transfer Methods 0.000 abstract description 4
- 230000007257 malfunction Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
Abstract
The invention discloses a kind of TBM steel skeleton grabbing device, solve the problems, such as that steel skeleton transfer efficiency is low in the prior art, malfunction.The present invention includes fixed frame, and fixed frame is equipped with support frame and crane, and crane is equipped with movable stand, and movable stand is slided along crane, and movable stand is equipped with manipulator, and manipulator is connected by gripper cylinder with movable stand.Movable stand of the present invention is realized by guiding column assembly and jacking cylinder fixes moving up and down for frame relatively, movable stand realizes moving left and right for crane by cross cylinder, and then realize that manipulator accommodates steel skeleton and moves up and down, movement flexibly, improves working efficiency.
Description
Technical field
The present invention relates to TBM(tunneling boring rock tunnel development machines) technical field, particularly relate to a kind of TBM steel skeleton crawl
Device.
Background technique
During using TBM tunneling, in the case where rock crusher can using annular steel skeleton to hole wall into
Row supporting collapses, slag to prevent hole wall.Since steel skeleton weight is larger, carrying is carried out to steel skeleton without special transfer device,
Row loop wheel machine tool is larger, malfunction, and manual operation is time-consuming and laborious.Therefore need to design a kind of special transfer device, by steel
Skeleton is placed on steel skeleton assembling machine by storage area.
Summary of the invention
For the deficiency in above-mentioned background technique, the present invention proposes a kind of TBM steel skeleton grabbing device, solves existing skill
The problem of steel skeleton transfer efficiency is low in art, malfunction.
The technical scheme of the present invention is realized as follows: a kind of TBM steel skeleton grabbing device, including fixed frame, fixed frame
It is equipped with support frame and crane, crane is equipped with movable stand, and movable stand is slided along crane, and movable stand is equipped with machinery
Hand, manipulator are connected by gripper cylinder with movable stand.
The crane includes frame body, and the lower part of frame body is set there are four guide post, sets that there are four guide sleeves on fixed frame, is led
It is located in guide sleeve to column and is matched with guide sleeve, frame body is equipped with jacking cylinder, and one end of jacking cylinder is connected with frame body
It connects, the other end is connected with fixed frame.
The frame body is equipped with guide rail, and movable stand is matched with guide rail and moved along guide rail, and the lower part of movable stand is equipped with water
Flat oil cylinder, one end of cross cylinder is connected with movable stand, the other end is connected with frame body.
The manipulator includes undersetting and upper snap-gauge, and upper snap-gauge passes through first connecting rod, second connecting rod and undersetting respectively
Be connected, the middle part of one end of first connecting rod and upper snap-gauge is hinged, the other end and undersetting are hinged, one end of second connecting rod with it is upper
The tail end of snap-gauge is hinged, the other end and undersetting are hinged, one end of gripper cylinder and upper snap-gauge is hinged, the other end and movable stand are cut with scissors
It connects.
The front end of the upper snap-gauge is equipped with fixture block, and the front of upper snap-gauge and the front of undersetting, which are matched, is combined into clamp port.
The lower part of support frame as described above is equipped with hydraulic power unit, and hydraulic power unit is that gripper cylinder, cross cylinder and jacking cylinder mention
For power, support frame is located at the side of crane and corresponding with manipulator.
Movable stand of the present invention is realized by guiding column assembly and jacking cylinder fixes moving up and down for frame relatively, and movable stand is logical
It crosses cross cylinder and realizes moving left and right for crane, and then realize that manipulator accommodates steel skeleton and moves up and down.One
As in the case of, steel skeleton deposits in support frame top, when it is desired to be used, manipulator gripper cylinder effect under clamp reinforcing bar
Then steel skeleton is moved to designated position by movable stand by frame, whole process is without artificial, realization automation control, movement
Flexibly, working efficiency is improved.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in describing below to embodiment makees letter
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, skill common for this field
For art personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is original state structural schematic diagram of the present invention.
Fig. 2 is Fig. 1 left view.
Fig. 3 is that cross cylinder of the present invention stretches out status architecture schematic diagram.
Fig. 4 is robot manipulator structure schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
As illustrated in fig. 1 and 2, embodiment 1, a kind of TBM steel skeleton grabbing device, including fixed frame 1, fixed frame 1 are equipped with
Support frame 2 and crane 3, support frame 2 are located at the side of crane 3, and with storage steel skeleton, crane 3 can be moved up and down, and change
The height of steel skeleton 20.Crane 3 is equipped with movable stand 4, and movable stand 4 is slided along crane 3, realizes that the left and right of steel skeleton 20 is moved
It is dynamic, change its position.Movable stand 4 is equipped with two groups of manipulators 5, and manipulator 5 is connected by gripper cylinder 6 with movable stand 4, machine
Tool hand by gripper cylinder realize to the crawl of steel skeleton 20 with unclasp.
Further, the crane 3 includes frame body 3-1, and the lower part of frame body 3-1 is set there are four guide post 3-2, and four are oriented to
Column 3-2 is located at four angles of frame body, is set on fixed frame 1 there are four guide sleeve 3-3, and guide post 3-2 is located at guide sleeve 3-3
Interior and match with guide sleeve 3-3, guide post can slide up and down in guide sleeve.Frame body 3-1 is equipped with jacking cylinder 7, jacking
One end of oil cylinder 7 is connected with frame body 3-1, the other end is connected with fixed frame 1, and under the action of jacking cylinder, guide post exists
It is moved up and down in guide sleeve, and then realizes moving up and down for frame body.
Further, the frame body 3-1 is equipped with guide rail 3-4, and movable stand 4 is matched with guide rail 3-4 and moved along guide rail 3-4
Dynamic, the lower part of movable stand 4 is equipped with cross cylinder 8, and one end of cross cylinder 8 is connected with movable stand 4, the other end and frame body 3-1
It is connected.Under the action of cross cylinder, movable stand carries out moving left and right in horizontal plane along guide rail, realizes the shifting of steel skeleton
It is dynamic.
As shown in Figures 3 and 4, embodiment 2, a kind of TBM steel skeleton grabbing device, the manipulator 5 include undersetting 5-1 and
Upper snap-gauge 5-2, upper snap-gauge 5-2 passes through first connecting rod 5-3 respectively, second connecting rod 5-4 is connected with undersetting 5-1, first connecting rod
The middle part of one end of 5-3 and upper snap-gauge 5-2 is hinged, the other end and undersetting 5-1 are hinged, one end of second connecting rod 5-4 and upper card
The tail end of plate 5-2 is hinged, the other end and undersetting 5-1 are hinged, one end of gripper cylinder 6 and upper snap-gauge 5-2 is hinged, the other end with
Movable stand 4 is hinged.Under the action of gripper cylinder, upper snap-gauge is opened and is closed with respect to undersetting, realizes the aid to steel skeleton
With unclasp.
Further, the front end of the upper snap-gauge 5-2 is equipped with fixture block 5-5, and for blocking steel skeleton, it is existing to prevent sliding
As the front of upper snap-gauge 5-2 and the front of undersetting 5-1 are with clamp port is combined into, and aid mouth is for accommodating steel skeleton, by grabbing
Take oil cylinder realize to the aid of steel skeleton with unclasp.The lower part of support frame as described above 2 is equipped with hydraulic power unit 9, and hydraulic power unit 9 is crawl
Oil cylinder 6, cross cylinder 8 and jacking cylinder 7 provide power, and support frame 2 is located at the side of crane 3 and corresponding with manipulator 5.
Under normal circumstances, steel skeleton deposits in fixed frame top, and when it is desired to be used, gripper cylinder 6 is stretched out until mechanical
Hand 5 clamps steel skeleton.Jacking cylinder 7 stretches out, and crane promotes steel skeleton to requiring height relative to fixed frame vertical shift
Degree.Cross cylinder 8 stretches out, and movable stand is moved horizontally relative to crane, and steel skeleton is moved to designated position.Gripper cylinder 6
It retracts, manipulator 5 puts down steel skeleton.Cross cylinder 8 retracts, and movable stand sets back relative to crane.Jacking cylinder 7 contracts
It returns, initial position is fallen under crane, device restores.
Other structures are same as Example 1.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of TBM steel skeleton grabbing device, it is characterised in that: including fixed frame (1), fixed frame (1) is equipped with support frame (2)
With crane (3), crane (3) is equipped with movable stand (4), and movable stand (4) is slided along crane (3), and movable stand (4) is equipped with
Manipulator (5), manipulator (5) are connected by gripper cylinder (6) with movable stand (4).
2. TBM steel skeleton grabbing device according to claim 1, it is characterised in that: the crane (3) includes frame body
(3-1), the lower part of frame body (3-1) are set there are four guide post (3-2), set that there are four guide sleeve (3-3), guiding on fixed frame (1)
Column (3-2) is located in guide sleeve (3-3) and matches with guide sleeve (3-3), and frame body (3-1) is equipped with jacking cylinder (7), jacking
One end of oil cylinder (7) is connected with frame body (3-1), the other end is connected with fixed frame (1).
3. TBM steel skeleton grabbing device according to claim 2, it is characterised in that: the frame body (3-1) is equipped with guide rail
(3-4), movable stand (4) match with guide rail (3-4) and along guide rail (3-4) movements, and the lower part of movable stand (4) is equipped with cross cylinder
(8), one end of cross cylinder (8) is connected with movable stand (4), the other end is connected with frame body (3-1).
4. TBM steel skeleton grabbing device according to claim 1-3, it is characterised in that: manipulator (5) packet
Undersetting (5-1) and upper snap-gauge (5-2) are included, upper snap-gauge (5-2) is respectively through first connecting rod (5-3), second connecting rod (5-4) under
Support (5-1) is connected, and the middle part of one end of first connecting rod (5-3) and upper snap-gauge (5-2) is hinged, the other end and undersetting (5-
1) hingedly, the tail end of one end of second connecting rod (5-4) and upper snap-gauge (5-2) is hinged, the other end and undersetting (5-1) hingedly, grab
Take one end and upper snap-gauge (5-2) of oil cylinder (6) hinged, the other end and movable stand (4) hinged.
5. TBM steel skeleton grabbing device according to claim 4, it is characterised in that: the front end of the upper snap-gauge (5-2) is set
Have fixture block (5-5), the front of upper snap-gauge (5-2) is matched with the front of undersetting (5-1) is combined into clamp port.
6. TBM steel skeleton grabbing device according to claim 5, it is characterised in that: the lower part of support frame as described above (2) is equipped with
Hydraulic power unit (9), hydraulic power unit (9) is gripper cylinder (6), cross cylinder (8) and jacking cylinder (7) provide power, support frame
(2) positioned at the side of crane (3) and corresponding with manipulator (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619555.9A CN109366483A (en) | 2018-12-28 | 2018-12-28 | A kind of TBM steel skeleton grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619555.9A CN109366483A (en) | 2018-12-28 | 2018-12-28 | A kind of TBM steel skeleton grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109366483A true CN109366483A (en) | 2019-02-22 |
Family
ID=65372113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811619555.9A Pending CN109366483A (en) | 2018-12-28 | 2018-12-28 | A kind of TBM steel skeleton grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109366483A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533217A (en) * | 2022-11-30 | 2022-12-30 | 福建启森科技股份有限公司 | Cutting equipment is used in for military use helmet processing |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0742774U (en) * | 1993-12-29 | 1995-08-11 | 株式会社小松製作所 | Clamping device for gripping machine |
| JPH09278358A (en) * | 1996-04-17 | 1997-10-28 | Hitachi Constr Mach Co Ltd | Hydraulic circuit for grip device |
| US20030090115A1 (en) * | 2001-11-09 | 2003-05-15 | Korea Institute Of Science And Technology | Robot hand and robot hand finger |
| CN102022127A (en) * | 2010-11-08 | 2011-04-20 | 中铁隧道集团有限公司 | Arch center mounting device for construction of tunnel |
| CN202241282U (en) * | 2011-10-10 | 2012-05-30 | 余胜东 | Hydraulic mechanical hand |
| CN204369507U (en) * | 2015-01-04 | 2015-06-03 | 饰而杰汽车制品（苏州）有限公司 | Hanger handling equipment |
| CN107218070A (en) * | 2017-08-07 | 2017-09-29 | 徐工集团工程机械有限公司 | Construction of underground tunnel equipment |
| CN108496564A (en) * | 2018-05-02 | 2018-09-07 | 昆明理工大学 | A kind of fruit picking handgrip |
| CN108706333A (en) * | 2018-08-06 | 2018-10-26 | 中国铁建重工集团有限公司 | Tunnel steel arch frame installation manipulator and robot work platform |
| CN209319790U (en) * | 2018-12-28 | 2019-08-30 | 中铁工程装备集团有限公司 | A kind of TBM steel skeleton grabbing device |
-
2018
- 2018-12-28 CN CN201811619555.9A patent/CN109366483A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0742774U (en) * | 1993-12-29 | 1995-08-11 | 株式会社小松製作所 | Clamping device for gripping machine |
| JPH09278358A (en) * | 1996-04-17 | 1997-10-28 | Hitachi Constr Mach Co Ltd | Hydraulic circuit for grip device |
| US20030090115A1 (en) * | 2001-11-09 | 2003-05-15 | Korea Institute Of Science And Technology | Robot hand and robot hand finger |
| CN102022127A (en) * | 2010-11-08 | 2011-04-20 | 中铁隧道集团有限公司 | Arch center mounting device for construction of tunnel |
| CN202241282U (en) * | 2011-10-10 | 2012-05-30 | 余胜东 | Hydraulic mechanical hand |
| CN204369507U (en) * | 2015-01-04 | 2015-06-03 | 饰而杰汽车制品（苏州）有限公司 | Hanger handling equipment |
| CN107218070A (en) * | 2017-08-07 | 2017-09-29 | 徐工集团工程机械有限公司 | Construction of underground tunnel equipment |
| CN108496564A (en) * | 2018-05-02 | 2018-09-07 | 昆明理工大学 | A kind of fruit picking handgrip |
| CN108706333A (en) * | 2018-08-06 | 2018-10-26 | 中国铁建重工集团有限公司 | Tunnel steel arch frame installation manipulator and robot work platform |
| CN209319790U (en) * | 2018-12-28 | 2019-08-30 | 中铁工程装备集团有限公司 | A kind of TBM steel skeleton grabbing device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533217A (en) * | 2022-11-30 | 2022-12-30 | 福建启森科技股份有限公司 | Cutting equipment is used in for military use helmet processing |
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