CN112894679A - Tubular pile tailboard plug pulling-out device - Google Patents

Abstract

The invention discloses a tubular pile tail plate plug pulling and unloading device which comprises a rack and an overturning telescopic manipulator, wherein a bearing position for bearing a tubular pile is arranged at the left end of the rack, the overturning telescopic manipulator is installed at the right end of the rack through an installation assembly, a clamping assembly is arranged on the overturning telescopic manipulator, a collecting position is arranged below the overturning telescopic manipulator of the rack, and the overturning telescopic manipulator drives the clamping assembly to overturn and extend from bottom to top towards the direction of the bearing position so as to clamp the plug and then overturn and retract from top to bottom during operation, and is used for pulling out the plug and driving the plug to overturn and move to the upper part of the collecting position so as to drop and collect the plug. The invention has the advantages of simple and compact structure, easy manufacture and maintenance, convenient and flexible operation, greatly reduced labor intensity, greatly improved labor efficiency and convenient plug recycling.

Description

Tubular pile tailboard plug pulling-out device

Technical Field

The invention mainly relates to the field of tubular pile production equipment, in particular to a tubular pile tail plate plug pulling and unloading device.

Background

In the current building operation, a large amount of pipe piles need to be used. When the tubular pile is produced and manufactured, one process is that before centrifugal residual slurry of the tubular pile is poured, a plug inserted into the end part of the tubular pile needs to be pulled out. The current plug pulling operation has the following technical problems:

firstly, some adopt manual operation to extract among the prior art, because the end cap has certain quality and firmly inserts tightly in the tubular pile, this makes to extract not only that the cost of labor is high, intensity of labour is big moreover, work efficiency is low.

Secondly, cement paste is adhered to the plug during pulling out in the prior art, and the cement paste is easily splashed out of the tubular pile when the plug is suddenly pulled out, so that the mud is not collected and easily splashed onto the body and eyes of workers, the working condition environment is poor, and safety accidents are easily caused by manual operation.

Thirdly, in the prior art, no matter the plugs are pulled out through manual operation or simple tools, the concentrated collection cannot be realized, and the pulled plugs are scattered randomly, so that the cleaning and the recycling of the plugs are not facilitated.

Fourthly, some devices in the prior art directly pull out the plug towards the rear straight line, and cement paste is adhered to the plug, so that the cement paste adhered to the plug is not thrown off due to the straight line taking-out mode, the plug is often mixed with residual cement paste, the pollution and damage of the plug are caused, the operation difficulty of subsequent plug cleaning is increased, and the recycling of the plug is not facilitated.

Fifthly, the equipment for directly pulling out the plug towards the back straight line in the prior art is provided with a left clamping plate and a right clamping plate, and each clamping plate is respectively provided with an air cylinder for pushing the clamping plates to move left and right for clamping. The mode is characterized in that the manufacturing and maintenance cost is increased, the clamping force of the structure is not strong, and the plug has certain quality and is firmly inserted into the tubular pile, so that the clamping slip often occurs when the plug is pulled out linearly, the pulling out is unsuccessful, and the plug is damaged.

Sixthly, in the prior art, the tubular piles are hoisted and moved by hoisting equipment (such as a travelling crane), and some equipment does not adopt a positioning mechanism, so that the dropping positions of the hoisted tubular piles are not fixed, and the accurate and rapid pulling-out of the follow-up plugs is influenced. Meanwhile, some equipment does not reserve hoisting space for the tubular pile, so that the tubular pile is inconvenient to operate and low in working efficiency when the tubular pile is hoisted to be placed or the tubular pile needs to be hoisted away after the plug is taken away.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects of the prior art and provides the tubular pile tail plate plug pulling and disassembling device which has the advantages of simple and compact structure, easiness in manufacturing and maintenance, convenience and flexibility in operation, great reduction in labor intensity, great improvement in labor efficiency and convenience in plug recycling.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a tubular pile tailboard end cap pull out device, includes the flexible manipulator of frame and upset, the left end of frame is equipped with the position of bearing the weight of that is used for bearing the tubular pile, the flexible manipulator of upset passes through the installation component to be installed in the right-hand member of frame, be equipped with the centre gripping subassembly on the flexible manipulator of upset, the frame is equipped with in the below of the flexible manipulator of upset and collects the position, during the operation the flexible manipulator of upset drives the centre gripping subassembly towards bear the weight of the position orientation by down overturn stretch out with the centre gripping end cap after again from top to bottom overturn the withdrawal, be used for extracting the end cap and drive the end cap upset and remove to collect the position top.

As a further improvement of the invention, the turnover telescopic manipulator comprises a first telescopic driving piece, and upper arm connecting rods, lower arm connecting rods, driving connecting rods and driven connecting rods which are arranged pairwise symmetrically, wherein the right ends of the two upper arm connecting rods and the right ends of the two lower arm connecting rods are respectively hinged to the mounting assembly, the left ends of the two upper arm connecting rods are respectively hinged to the right ends of the two driving connecting rods, the left ends of the two lower arm connecting rods are respectively hinged to the right ends of the two driven connecting rods and are respectively hinged to the middle sections of the two driving connecting rods, and the left ends of the two driving connecting rods and the left ends of the two driven connecting rods are respectively hinged to the clamping assembly; the first telescopic driving piece is fixed on the mounting assembly, and the telescopic end is connected with the driving connecting rod through the first connecting piece.

As a further improvement of the present invention, an elastic limiting member for improving the operation stability of the turnover telescopic manipulator is further disposed between the two upper arm links, the left ends of the two upper arm links are fixedly connected through a first support rod, one end of the elastic limiting member is connected with the first support rod, and the other end of the elastic limiting member is mounted on the mounting assembly so as to enable the elastic limiting member to be stretched when the turnover telescopic manipulator is turned over and extended.

As a further improvement of the invention, the first connecting piece comprises a second supporting rod connected between the two driving connecting rods.

As a further improvement of the invention, a supporting rotating shaft is arranged at the hinged part of the two upper arm connecting rods and the two driving connecting rods, and a supporting rotating shaft is also arranged at the hinged part of the two lower arm connecting rods and the two driven connecting rods.

As a further improvement of the invention, a surplus material collecting hopper is also arranged between the bearing position and the collecting position on the frame and is used for collecting cement slurry sprayed out of the tubular pile when the plug is pulled out and cement slurry thrown off when the plug is turned over.

As a further improvement of the invention, more than one positioning limit plate is arranged at the bearing position on the rack, and the positioning limit plate is provided with a first arc-shaped groove with an opening at the upper part and used for clamping and limiting a dropped tubular pile so as to be convenient for turning over a telescopic manipulator to accurately pull out a plug.

As a further improvement of the invention, the clamping assembly comprises two symmetrically arranged mounting plates, the two mounting plates are fixedly connected through a plurality of fixing parts, the upper ends of the two mounting plates are provided with vertical second telescopic driving parts, two clamping plates and two push-pull rods are arranged between the two mounting plates, the two clamping plates are hinged and mounted on the two mounting plates in a scissor manner through a first rotating shaft part, the upper ends of the two clamping plates are respectively hinged with the lower end part of one push-pull rod, the upper ends of the two push-pull rods are hinged through a second rotating shaft part, the flexible end of the flexible driving piece of second passes through the second connecting piece and the second pivot spare is connected, two vertical spacing groove has all been seted up on the mounting panel and has been used for the second pivot spare to stretch into, be used for when the flexible driving piece drive of second the second pivot spare can only slide from top to bottom along the spacing groove.

As a further improvement of the invention, the mounting plate is provided with a plurality of hollow parts for reducing the weight of the mounting plate, and the clamping plates are respectively provided with a second arc-shaped groove for clamping and limiting the plug between the two clamping plates during clamping.

As a further improvement of the invention, the collection position is provided with a guide chute which is arranged obliquely and is used for buffering the discharged plugs and guiding the plugs into an external collection device.

Compared with the prior art, the invention has the advantages that:

firstly, the tubular pile tail plate plug pulling and unloading device provided by the invention adopts a manipulator mode to complete plug pulling and collecting, so that manual operation is avoided, the labor cost is greatly reduced, the labor intensity is greatly reduced, the working efficiency is greatly improved, and the occurrence of manual operation safety accidents is reduced.

According to the tubular pile tail plate plug pulling and unloading device, the rotary telescopic manipulator retracts by adopting the special design of overturning extension and overturning retraction, so that the rotary telescopic manipulator retracts without causing any blockage to the retraction of the bearing position, the lifting equipment is convenient to quickly and conveniently lift and place a heavy tubular pile at the retraction position of the bearing position for operation, and the operation efficiency is greatly improved.

Thirdly, according to the tubular pile tail plate plug pulling-out device, due to the fact that the rotary telescopic manipulator retracts to adopt the special design of turning and retracting, the rotary telescopic manipulator does not move linearly, the plug can be driven to turn and swing rapidly by retraction and retraction of the clamping assembly after being pulled out, a large amount of cement paste adhered to the plug can be thrown off in the process of turning and swinging, the subsequent plug is not prone to be disordered with the slurry during collection, pollution of an operation field and pollution and damage of the plug are reduced, subsequent plug cleaning operation is facilitated, and the plug is convenient to recycle rapidly.

And fourthly, according to the tubular pile tail plate plug pulling-out device, due to the special design of turning and retracting adopted by the rotary telescopic manipulator for retracting, the clamping component does not simply linearly pull out towards the rear directly after clamping the plug, but has the force of turning and pressing downwards while retracting towards the rear, so that clamping slip does not occur in the retracting and retracting of the clamping component, the plug can be quickly and stably pulled out, and the circumferential surface of the plug cannot be damaged.

According to the tubular pile tail plate plug pulling and unloading device, the collecting position retracting retraction is further arranged below the frame retracting retraction of the overturning telescopic manipulator, the pulled plugs can be unloaded and collected together, the pulled plugs are not scattered randomly any more, pollution of an operation field and pollution and damage of the plugs are reduced, subsequent plug cleaning operation is facilitated, and the plugs can be reused quickly.

Sixthly, the tubular pile tail plate plug pulling-out device is specially designed with an elastic limiting part retracting in order to balance the problems that pulling-out driving force after clamping is large and clamping front driving force cannot be too large. When the empty flexible manipulator of upset that overturns is retracted and overturns and is stretched out, elasticity locating part withdrawal can be stretched, this has effectively offset some drive power for the flexible manipulator of upset withdrawal operation is stable, can not be fast sudden overturn forward and stretch out, has effectively guaranteed that the flexible manipulator of upset withdrawal is stretched out the position location is accurate, has also guaranteed that the position of the centre gripping subassembly withdrawal of front end is accurate, centre gripping end cap that can be accurate, more can not hit end cap and tubular pile. And when the flexible manipulator of upset retracted centre gripping when the end cap returns, the elastic limiting part withdrawal is under the effect of elastic restoring force, and it can stimulate the quick upset withdrawal of the flexible manipulator withdrawal of heavy upset, has cooperated the withdrawal drive of first flexible driving piece withdrawal to a certain extent, and the withdrawal is more convenient, light.

Seventhly, the frame retraction is provided with more than one positioning limiting plate retraction at the retraction position of the bearing position, so that the position of the plug is quickly and accurately limited, the effect of quickly positioning is achieved, the plug is conveniently and accurately clamped and pulled out by turning over the telescopic manipulator, and the limiting effect is achieved, so that the tubular pile cannot roll and displace when the plug is pulled out, the subsequent hoisting is facilitated, and the safety is extremely high.

The device for pulling and unloading the tubular pile tail plate plug has the special design of retracting and retracting of the clamping assembly, so that clamping can be realized only by retracting and retracting the second telescopic driving piece, the structure is lighter, and the manufacturing and maintenance cost is lower. Secondly, because the plug has certain quality and is firmly inserted in the tubular pile, the clamping assembly needs to retract and retract to have good clamping force, so that the plug can be clamped and pulled out, and the plug cannot fall off when being overturned and thrown. And the two mounting plates are in a clamping design and a limiting design of a limiting groove in a retracting and retracting manner, so that the two clamping plates are not easy to deform in the retracting and retracting manner and the two push-pull rods are not easy to deform in the retracting and retracting manner during clamping, and good clamping force is ensured.

Drawings

Fig. 1 is a schematic diagram of a three-dimensional structure principle of the tubular pile tail plate plug removing device.

Fig. 2 is a schematic view 1 illustrating a three-dimensional structure of the turning telescopic manipulator of the present invention when it is extended.

Fig. 3 is a schematic view 2 illustrating a schematic perspective structure of the turning telescopic manipulator of the present invention when it is extended.

Fig. 4 is a schematic perspective view of the reverse telescopic manipulator of the present invention when retracted.

Fig. 5 is a schematic perspective view of the clamping assembly of the present invention.

Fig. 6 is a schematic view of the internal structure of the clamping assembly of the present invention.

Fig. 7 is a schematic view of the structural principle of the positioning limit plate, the buffer plate and the elastic buffer member of the present invention.

Fig. 8 is a schematic view of the structural principle of the turnover telescopic manipulator of the invention in different working states.

The reference numerals in the figures denote:

1. a frame; 11. a bearing position; 12. mounting the component; 13. collecting bits; 14. a residual material collecting hopper; 15. a support leg; 2. turning over the telescopic manipulator; 21. a clamping assembly; 211. mounting a plate; 2111. a hollow-out section; 212. a fixing member; 213. a second telescoping drive member; 214. a clamping plate; 215. a push-pull rod; 216. a second shaft member; 217. a limiting groove; 218. a second connecting member; 219. a first rotating shaft member; 22. an upper arm link; 23. a lower arm link; 24. a driving connecting rod; 25. a driven connecting rod; 26. a first telescoping drive member; 27. a first support bar; 28. a first connecting member; 29. a support shaft; 3. an elastic limiting part; 4. positioning a limit plate; 41. a buffer plate; 42. an elastic buffer member; 5. and (4) guiding the chute.

Detailed Description

The invention will be described in further detail below with reference to the drawings and specific examples.

As shown in fig. 1 to 8, the invention provides a tubular pile tail plate plug removing device, which comprises a rack 1 and an overturning telescopic manipulator 2, wherein a bearing position 11 for bearing a tubular pile is arranged at the left end of the rack 1, the overturning telescopic manipulator 2 is arranged at the right end of the rack 1 through an installation component 12, a clamping component 21 is arranged on the overturning telescopic manipulator 2, a collecting position 13 is arranged below the overturning telescopic manipulator 2 of the rack 1, and the overturning telescopic manipulator 2 drives the clamping component 21 to overturn and extend from bottom to top towards the bearing position 11 to clamp a plug and then overturn and retract from top to bottom during operation so as to pull out the plug and drive the plug to overturn and move to the upper part of the collecting position 13 to drop and collect the plug. In the present embodiment, the frame 1 is provided with a plurality of legs 15. It should be noted that, in the present embodiment, the description of the front, back, left and right directions is only shown according to the drawings to clearly understand the structure of the present apparatus, and the description of the front, back, left and right directions does not limit the structure of the present apparatus. That is, in the drawing, the bearing position 11 is arranged at the left end of the rack 1, and the turnover telescopic manipulator 2 is arranged at the right end of the rack 1; in practice, the directions of the bearing position 11 and the turning telescopic manipulator 2 can be exchanged, the bearing position 11 is arranged at the right end of the rack 1, and the turning telescopic manipulator 2 is arranged at the left end of the rack 1. The specific implementation principle is as follows:

since the turning telescopic manipulator 2 of the present invention adopts a special design of turning extension and turning retraction, it is not a pure linear movement. Before operation, as shown in fig. 4 and fig. 8 a, the gripping assembly 21 is folded inwards by the flipping telescopic robot 2. This makes the top of bearing position 11 not have any hindrance, and the handling equipment of being convenient for drops heavy tubular pile fast, convenient handling and puts in bearing position 11 department. Then, as shown in fig. 1, fig. 2, fig. 3, and fig. 8B, the reversible telescopic manipulator 2 drives the clamping assembly 21 to rapidly rotate and extend from bottom to top in the direction of the loading location 11, so that the clamping assembly 21 is close to the plug (for better understanding of the structure of the device from the drawings, the pipe pile and the plug are not shown in the drawings). As shown in fig. 8C, the clamping assembly 21 is in a clamping state to clamp the plug; then as shown in D in fig. 8, the telescopic manipulator 2 is turned and retracted rapidly from top to bottom, and at this time, the clamping assembly 21 also drives the plug to be turned and retracted rapidly from top to bottom together, and drives the plug to turn and move to the position above the collecting position 13, and then the clamping assembly 21 is opened, so that the plug is unloaded under the action of self weight and the collection is completed. At the moment, the turnover telescopic manipulator 2 is turned over and retracted, no block is arranged above the bearing position 11, and the lifting equipment is convenient to quickly lift away the heavy tubular pile with the plug removed again. Through above special structural design, have following technological effect:

firstly, the tubular pile tail plate plug pulling and unloading device provided by the invention adopts a manipulator mode to complete plug pulling and collecting, so that manual operation is avoided, the labor cost is greatly reduced, the labor intensity is greatly reduced, the working efficiency is greatly improved, and the occurrence of manual operation safety accidents is reduced.

Secondly, according to the tubular pile tail plate plug pulling and unloading device, the rotary telescopic manipulator 2 adopts the special design of turning extension and turning retraction, so that the rotary telescopic manipulator 2 cannot cause any blockage to the bearing position 11, the lifting equipment can conveniently and quickly lift and place a heavy tubular pile at the bearing position 11 for operation, and the operation efficiency is greatly improved.

Thirdly, according to the tubular pile tail plate plug pulling-out device, due to the fact that the rotary telescopic manipulator 2 is in the special design of turning and retracting, the rotary telescopic manipulator does not move linearly, the plug can be driven by the clamping assembly 21 to rapidly turn and swing after being pulled out, a large amount of cement paste adhered to the plug can be thrown off in the turning and swinging process, the subsequent plug is not prone to being disordered with the slurry during collection, pollution to an operation field and pollution and damage to the plug are reduced, subsequent plug cleaning operation is facilitated, and the plug is convenient to rapidly recycle.

Fourthly, according to the tubular pile tail plate plug pulling-out device, due to the fact that the rotary telescopic manipulator 2 is in the special design of turning and retracting, the rotary telescopic manipulator does not move linearly, the clamping assembly 21 is not pulled out linearly backward directly after clamping the plug, but force which enables the clamping assembly 21 to return backward and turn and press downward is generated, clamping slipping of the clamping assembly 21 cannot occur, the plug can be pulled out quickly and stably, and damage to the circumferential surface of the plug cannot be caused.

Fifthly, according to the tubular pile tail plate plug pulling and unloading device, the collecting position 13 is further arranged below the overturning telescopic manipulator 2 of the frame 1, pulled plugs can be unloaded and collected together, the pulled plugs are not scattered randomly any more, pollution of an operation site and pollution and damage of the plugs are reduced, subsequent plug cleaning operation is facilitated, and the plugs can be reused quickly.

As shown in fig. 1 to 4, further, in the preferred embodiment, the flipping telescopic manipulator 2 includes a first telescopic driving member 26, and two upper arm links 22, lower arm links 23, driving links 24, and driven links 25 symmetrically arranged in pairs, right ends of the two upper arm links 22 and the two lower arm links 23 are respectively hinged to the mounting assembly 12, left ends of the two upper arm links 22 are respectively hinged to right ends of the two driving links 24, left ends of the two lower arm links 23 are respectively hinged to right ends of the two driven links 25 and are respectively hinged to middle sections of the two driving links 24, and left ends of the two driving links 24 and left ends of the two driven links 25 are respectively hinged to the clamping assembly 21; a first telescoping drive member 26 is secured to the mounting assembly 12 and the telescoping ends are connected to the drive link 24 by a first link 28. In this embodiment, the mounting assembly 12 includes two mounting rods erected on the frame 1, a transverse connecting rod is further connected between the two mounting rods, and the right ends of the two upper arm connecting rods 22 and the two lower arm connecting rods 23 are rotatably and hingedly mounted on the vertical mounting rods through rotating shaft members respectively. Of course, in other embodiments, the mounting assembly 12 may have other designs as long as the tilt telescopic robot 2 can be mounted on the frame 1 according to the above-mentioned structural form and positional relationship. In this embodiment, the first telescopic drive member 26 comprises a cylinder. When the telescopic end of the cylinder extends, the cylinder pushes the driving connecting rod 24 to extend forward together, and at this time, the special limitation of the above structure is received, so that the turning telescopic manipulator 2 can complete a turning and extending action from bottom to top as shown in fig. 8. When the cylinder retracts, the driving link 24 is pulled to retract backwards, so that the flipping telescopic manipulator 2 can complete a flipping and retracting action from top to bottom. The structure is simple and portable, and is convenient to manufacture and maintain, and the realization of special design of turning extension and turning retraction is ensured.

As shown in fig. 1 to 4, in a preferred embodiment, an elastic limiting member 3 for improving the operation stability of the flipping telescopic robot 2 is further disposed between the two upper arm links 22, the left ends of the two upper arm links 22 are fixedly connected by a first supporting rod 27, one end of the elastic limiting member 3 is connected to the first supporting rod 27, and the other end is mounted on the mounting assembly 12 for stretching the elastic limiting member 3 when the flipping telescopic robot 2 is flipped and extended. Since the plug has a certain mass and is firmly inserted into the tubular pile, the driving force of the first telescopic driving member 26 tends to be relatively large in order to pull out the plug. When the overturning telescopic manipulator 2 is overturned and pushed forwards in an unloaded state, the overturning telescopic manipulator 2 may cause the clamping assembly 21 at the front end to exceed the position of the plug due to large pushing force and high pushing speed, so that the clamping assembly 21 cannot accurately clamp the plug; or may impact the front plug and the tubular pile, causing equipment damage. In order to balance the problems that the pulling driving force after clamping is large and the clamping driving force before clamping cannot be too large, the elastic limiting piece 3 is specially designed. When the unloaded flexible manipulator 2 of upset is stretched out, elasticity locating part 3 can be stretched, and this has effectively offset some drive power for the flexible manipulator 2 operation of upset is stable, can not be fast sudden overturn forward and stretch out, has effectively guaranteed that the flexible manipulator 2 of upset stretches out the position location accurate, has also guaranteed that the position of the centre gripping subassembly 21 of front end is accurate, and the centre gripping end cap that can be accurate more can not hit end cap and tubular pile. And when the flexible manipulator 2 centre gripping of upset was returned, elasticity locating part 3 under the effect of elastic restoring force, its upset withdrawal that can stimulate heavy flexible manipulator 2 is quick, has cooperated the withdrawal drive of first flexible driving piece 26 to a certain extent, and the withdrawal is more convenient, light. In the present embodiment, the elastic limiting member 3 is a tension spring, one end of which is hung on the transverse connecting rod between the two mounting rods, and the other end of which is hung on the first supporting rod 27. Of course, in other embodiments, the elastic limiting member 3 may also be of other designs, such as an elastic rubber member, and the like, and all of them should fall within the protection scope of the present invention. The first support rod 27 is not only convenient for installing the elastic limiting part 3, but also can connect and support the two upper arm connecting rods 22 for limiting, so that the overturning telescopic manipulator 2 cannot deform when being overturned and telescopic, and is stable in overturning and telescopic.

Further, as shown in fig. 1-4, in the preferred embodiment, the first connecting member 28 comprises a second support rod connected between the two driving links 24. The telescopic end of the first telescopic driving member 26 is hinged with the middle part of the second supporting rod. The second support rod not only facilitates installation of the first telescopic driving part 26, but also can connect and support the two driving connecting rods 24 in a limiting manner, so that the overturning telescopic manipulator 2 cannot deform when being overturned and stretched, and the overturning telescopic manipulator is stable.

As shown in fig. 1 to 4, further, in the preferred embodiment, a supporting shaft 29 is provided at the joint between the two upper arm links 22 and the two driving links 24, and a supporting shaft 29 is provided at the joint between the two lower arm links 23 and the two driven links 25. The supporting rotating shaft 29 can ensure the realization of hinge rotation, and can respectively connect and support the two upper arm connecting rods 22 and the two driving connecting rods 24, the two lower arm connecting rods 23 and the two driven connecting rods 25 for limitation, so that the overturning telescopic manipulator 2 cannot deform during overturning and stretching, and the overturning telescopic manipulator is stable.

As shown in fig. 1, in a preferred embodiment, a surplus material collecting hopper 14 is further disposed on the frame 1 between the bearing position 11 and the collecting position 13 for collecting cement slurry ejected from the tubular pile when the plug is pulled out and cement slurry thrown off when the plug is turned over. This enables the cement slurry to be collected and reused, reducing pollution of the work site.

As shown in fig. 1 and 7, in a preferred embodiment, more than one positioning limiting plate 4 is disposed on the frame 1 at the bearing position 11, and the positioning limiting plate 4 is provided with a first arc-shaped groove with an upper opening for clamping and limiting a dropped pipe pile so as to accurately pull out the plug by turning the telescopic manipulator 2. When the quick handling of heavy tubular pile of handling equipment and drop and put in bearing 11 departments in position, the tubular pile can fall into first arc recess and blocked spacingly, this is quick, the accurate position of having injectd the end cap, plays the effect of quick location, the end cap is extracted to the flexible 2 accurate clipings of manipulator of being convenient for to overturn, has secondly played spacing effect for the tubular pile can not roll the displacement when extracting the end cap, the subsequent handling of being convenient for, the security is high.

As shown in fig. 1 and 7, further, in a preferred embodiment, the two positioning limiting plates 4 are symmetrically arranged, the buffer plate 41 is sandwiched between the two positioning limiting plates 4, and more than two elastic buffer members 42 are disposed below the buffer plate 41 between the two positioning limiting plates 4 for supporting the buffer plate 41, and when the tubular pile falls into the first arc-shaped groove, the tubular pile will contact and press the buffer plate 41 to buffer the falling tubular pile by the buffer plate 41.

As shown in fig. 1, 5 and 6, further, in the preferred embodiment, the clamping assembly 21 comprises two symmetrically disposed mounting plates 211, the two mounting plates 211 are fixedly connected by a plurality of fixing members 212, the upper ends of the two mounting plates 211 are provided with vertical second telescopic driving members 213, two clamping plates 214 and two push-pull rods 215 are disposed between the two mounting plates 211, the two clamping plates 214 are hinged and mounted on the two mounting plates 211 in a scissor-type manner by a first rotating shaft member 219, the upper ends of the two clamping plates 214 are respectively hinged with the lower end of one push-pull rod 215, the upper ends of the two push-pull rods 215 are hinged by a second rotating shaft member 216, the telescopic ends of the second telescopic driving members 213 are connected with a second rotating shaft member 216 by a second connecting member 218, vertical limiting grooves 217 are formed in the two mounting plates 211, so that the second rotating shaft part 216 can extend into the two mounting plates and can only slide up and down along the limiting grooves 217 when the second telescopic driving part 213 drives the second rotating shaft part 216. In this embodiment, the second telescopic drive 213 comprises an air cylinder.

That is, as shown in fig. 1, 5 and 6, the two mounting plates 211 and the plurality of fixing members 212 form a flat box structure with an open lower portion, and the two clamping plates 214 and the two push-pull rods 215 are installed in the flat box structure in a limited manner. When the second telescopic driving member 213 is driven to extend downward, the two push-pull rods 215 push the upper ends of the two clamping plates 214 to open in the outward direction, so that the lower ends of the two clamping plates 214 are clamped together in the inward direction. When the second telescopic driving member 213 is driven to retract upward, the two push-pull rods 215 pull the upper ends of the two clamping plates 214 together in the inward direction, so that the lower ends of the two clamping plates 214 are opened in the inward and outward directions. This particular design, firstly, allows clamping to be achieved with only one second telescopic drive 213, and is lighter and less expensive to manufacture and maintain. Secondly, because the plug has certain quality and is firmly inserted in the tubular pile, the clamping component 21 is required to have good clamping force, so that the plug can be clamped and pulled out, and the plug cannot fall off when being overturned and thrown. The two mounting plates 211 are designed to be clamped and the limiting grooves 217 are designed to be limited, so that the two clamping plates 214 and the two push-pull rods 215 are not easy to deform during clamping, and good clamping force is guaranteed.

As shown in fig. 5 and 6, in a preferred embodiment, the mounting plate 211 is provided with a plurality of hollow portions 2111 for reducing the weight of the mounting plate 211, and the clamping plates 214 are provided with second arc-shaped grooves for clamping and limiting the plug between the two clamping plates 214. This makes the centre gripping of ability accurate end cap, and the end cap is difficult for dropping when the upset is whipped moreover.

Further, as shown in fig. 1, in the preferred embodiment, a guide chute 5 is provided at the collection site 13 in an inclined arrangement for cushioning and guiding the dropped plugs into the external collection device. The upper end of the guide chute 5 is used for receiving the falling plug to buffer the plug, so that the plug is not easy to damage; and the lower end is used for being matched with the plugging box or the plugging hopper, so that the plugs are guided into the plugging box or the plugging hopper to be collected uniformly.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims (10)

1. The utility model provides a device is pulled out and unloads to tubular pile tailboard end cap which characterized in that: including frame (1) and the flexible manipulator (2) of upset, the left end of frame (1) is equipped with the position (11) that bears that is used for bearing the tubular pile, the flexible manipulator (2) of upset is installed in the right-hand member of frame (1) through installation component (12), be equipped with centre gripping subassembly (21) on the flexible manipulator (2) of upset, frame (1) is equipped with in the below of the flexible manipulator (2) of upset and collects position (13), during the operation the flexible manipulator (2) of upset drive centre gripping subassembly (21) are stretched out by the upset from down and are followed the lower upset withdrawal that down again with the centre gripping end cap, be used for extracting the end cap and drive the end cap upset and move to collect position (13) top in order to unload the end cap and collect.

2. The device for pulling and unloading the end cap of the tubular pile tail plate out of the tubular pile according to claim 1, which is characterized in that: the overturning telescopic manipulator (2) comprises a first telescopic driving piece (26), upper arm connecting rods (22), lower arm connecting rods (23), driving connecting rods (24) and driven connecting rods (25), wherein the upper arm connecting rods (22), the lower arm connecting rods (23), the driving connecting rods (24) and the driven connecting rods (25) are symmetrically arranged in pairs, the right ends of the two upper arm connecting rods (22) and the right ends of the two lower arm connecting rods (23) are respectively hinged to the mounting assembly (12), the left ends of the two upper arm connecting rods (22) are respectively hinged to the right ends of the two driving connecting rods (24), the left ends of the two lower arm connecting rods (23) are respectively hinged to the right ends of the two driven connecting rods (25) and are respectively hinged to the middle sections of the two driving connecting rods (24), and the left ends of the two driving connecting; the first telescopic driving piece (26) is fixed on the mounting component (12), and the telescopic end is connected with the driving connecting rod (24) through a first connecting piece (28).

3. The device of claim 2, wherein: still be equipped with between two upper arm connecting rods (22) and be used for improving the flexible manipulator of upset (2) operating stability's elasticity locating part (3), two upper arm connecting rods (22) left end department is through first bracing piece (27) fixed connection, the one end and first bracing piece (27) of elasticity locating part (3) are connected, and the other end is installed on installation component (12) and makes when the flexible manipulator of upset (2) upset stretches out elasticity locating part (3) are stretched.

4. The device of claim 2, wherein: the first connecting member (28) includes a second support bar connected between the two drive links (24).

5. The device of claim 2, wherein: the articulated department of two upper arm connecting rods (22) and two initiative connecting rods (24) is equipped with a support pivot (29), the articulated department of two lower arm connecting rods (23) and two driven connecting rods (25) also is equipped with a support pivot (29).

6. The device for pulling and unloading the end cap of the tubular pile tail plate out of the tubular pile according to claim 1, which is characterized in that: still be equipped with clout collection fill (14) on frame (1) between bearing position (11) and collecting position (13) to be used for collecting the grout of spun in the tubular pile when the end cap is pulled out and the grout that gets rid of when the end cap is overturned.

7. The device for pulling and unloading the end cap of the tubular pile tail plate out of the tubular pile according to claim 1, which is characterized in that: the multifunctional pipe pile pulling machine is characterized in that more than one positioning limiting plate (4) is arranged at the bearing position (11) on the rack (1), and the positioning limiting plate (4) is provided with a first arc-shaped groove with an upper opening and used for clamping a falling pipe pile to limit the pipe pile so as to accurately pull out the plug of the turnover telescopic manipulator (2).

8. The device for pulling and unloading the end cap of the tubular pile tail plate out of the tubular pile according to claim 1, which is characterized in that: the clamping assembly (21) comprises two symmetrically-arranged mounting plates (211), the two mounting plates (211) are fixedly connected through a plurality of fixing pieces (212), the upper end portions of the two mounting plates (211) are provided with vertical second telescopic driving pieces (213), two clamping plates (214) and two push-pull rods (215) are arranged between the two mounting plates (211), the two clamping plates (214) are hinged and mounted on the two mounting plates (211) in a scissor-type manner through first rotating shaft pieces (219), the upper end portions of the two clamping plates (214) are hinged with the lower end portion of one push-pull rod (215) respectively, the upper end portions of the two push-pull rods (215) are hinged through second rotating shaft pieces (216), the telescopic ends of the second telescopic driving pieces (213) are connected with the second rotating shaft pieces (216) through second connecting pieces (218), and two vertical limiting grooves (217) are formed in the mounting plates (211) and used for the second rotating shaft pieces (216) to extend into, When the second telescopic driving piece (213) is driven, the second rotating shaft piece (216) can only slide up and down along the limiting groove (217).

9. The device of claim 8, wherein: the mounting plate (211) is provided with a plurality of hollow-out parts (2111) for reducing the weight of the mounting plate (211), and the clamping plates (214) are provided with second arc-shaped grooves and used for clamping and limiting the plugs between the two clamping plates (214).

10. The device for pulling and unloading the end cap of the tubular pile tail plate out of the tubular pile according to claim 1, which is characterized in that: the collecting position (13) is provided with a guide chute (5) which is obliquely arranged and used for buffering the discharged plugs and guiding the plugs to an external collecting device.

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