CN114000893A - Mechanical arm and assembly trolley for grabbing large-tonnage prefabricated structural blocks on ground - Google Patents
Mechanical arm and assembly trolley for grabbing large-tonnage prefabricated structural blocks on ground Download PDFInfo
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- CN114000893A CN114000893A CN202111459265.4A CN202111459265A CN114000893A CN 114000893 A CN114000893 A CN 114000893A CN 202111459265 A CN202111459265 A CN 202111459265A CN 114000893 A CN114000893 A CN 114000893A
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- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 7
- 238000010276 construction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000002035 prolonged effect Effects 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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Abstract
The application discloses a mechanical arm and an assembly trolley for grabbing large-tonnage prefabricated structural blocks on the ground, wherein the assembly trolley comprises a mechanical arm and a trolley chassis, the mechanical arm comprises a gripper assembly, a slewing bearing arranged on the trolley chassis and an arm support assembly, two ends of the arm support assembly are hinged to the slewing bearing and the two ends of the arm support assembly respectively, the arm support assembly comprises a telescopic arm support and a slewing arm support, the gripper assembly comprises a slewing mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism which are sequentially connected, the moving directions of the two translation mechanisms are mutually perpendicular, the clamping mechanism comprises a gripper bar, a gripper jaw and a clamping oil cylinder, the gripper bar is arranged on the second translation mechanism and is used for being connected with a tool preassembled on the prefabricated structural blocks, and the gripper bar can be movably arranged on the gripper bar and is provided with a propping piece; the clamping cylinder drives the clamping jaw to be close to the prefabricated structure block, so that the abutting piece is tightly attached to the surface of the prefabricated structure block. The structure has the installation freedom degree of a plurality of angles, meets the positioning requirement of a large-tonnage prefabricated member, and is safer and more efficient in operation.
Description
Technical Field
The invention relates to the technical field of tunnel supporting construction, in particular to a mechanical arm and an assembling trolley for grabbing large-tonnage prefabricated structural blocks on the ground.
Background
In the tunnel construction process, need set up supporting construction at side and top, prevent the incident such as collapse, rock drop. The traditional supporting structure adopts a sprayed concrete manufacturing process, but in recent years, the process of assembling prefabricated structural blocks to replace concrete into a permanent support is rapidly developing and widely applied.
At present, no special supporting equipment is provided in China to implement the new process, and the prefabricated structural blocks are generally positioned and assembled by hoisting with a crane. But limited by the space in the tunnel, the flexibility of the suspension arm is poor when in use, a large amount of manpower is consumed for assistance in the installation process, and the single prefabricated structure block is large in weight and size and dangerous in hoisting operation, so that the installation speed is slow and the operation efficiency is influenced in order to reduce collision and shaking. In addition, the hoisting trolley generally needs to finish walking by means of a rail, the moving flexibility is poor, and the flatness of the ground in the tunnel can not be guaranteed based on actual construction conditions, so that the higher track laying requirement is difficult to meet, the condition that the crane is uneven is caused, and the hoisting operation on the prefabricated structural blocks is further influenced.
In conclusion, the existing process has the defects of high working strength, limited working range, poor flexibility, high assembling difficulty of the prefabricated structural blocks, dangerous operation and the like, and the prefabricated structural blocks positioned at the tunnel arch top cannot be installed. Therefore, a new device for assembling large-tonnage prefabricated structural blocks in the tunnel is urgently needed to be designed so as to meet the requirement of the existing tunnel supporting construction.
Disclosure of Invention
An object of this application provides a arm and assembly platform truck that is used for ground to snatch large-tonnage precast structure piece, carries out in the tunnel that precast structure piece is assembled and is formed the work progress of strutting and have the removal in a flexible way, hoist and mount convenience firm, assemble the advantage that the precision is high. The technical scheme of the application is as follows:
a mechanical arm for grabbing large-tonnage prefabricated structural blocks on the ground comprises a slewing bearing, an arm support assembly and a hand grip assembly, wherein one end of the arm support assembly is hinged with the slewing bearing, and the other end of the arm support assembly is hinged with a connecting seat of the hand grip assembly;
the gripper assembly further comprises a rotating mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism, wherein the rotating mechanism is arranged on the connecting seat, the first translation mechanism is connected with a power output part of the rotating mechanism, the second translation mechanism is connected with the power output part of the first translation mechanism, and the moving directions of the two translation mechanisms are perpendicular to each other;
the clamping mechanism comprises a grabbing rod, a clamping jaw and a clamping oil cylinder, one end of the grabbing rod is in linkage arrangement with the second translation mechanism, the other end of the grabbing rod is used for being connected with a tool pre-installed on the prefabricated structure block, the clamping jaw is movably arranged on the grabbing rod and comprises abutting pieces symmetrically arranged on two sides of the grabbing rod, and the clamping oil cylinder is used for providing power for the clamping jaw; the clamping cylinder drives the clamping jaw to be close to the prefabricated structure block, so that the abutting piece is tightly attached to the surface of the prefabricated structure block.
In some specific embodiments, the rotating mechanism includes a gripper rotation reducer, the first translation mechanism includes a first translation cylinder, a first connecting frame and an intermediate connecting frame, the second translation mechanism includes a second translation cylinder, a second connecting frame and a supporting seat, the first connecting frame is fixedly disposed on the gripper rotation reducer, the second connecting frame is fixedly disposed on the supporting seat, the intermediate connecting frame is disposed between the first connecting frame and the second connecting frame and slidably connected with both of the first connecting frame and the second connecting frame, the first translation cylinder is fixedly disposed on the first connecting frame and the power output end is connected with the intermediate connecting frame, the second translation cylinder is fixedly disposed on the second connecting frame and the power output end is connected with the intermediate connecting frame, and the clamping mechanism is fixedly disposed on the supporting seat.
In some specific embodiments, the arm support assembly includes a first-stage arm support and a second-stage arm support, one end of the first-stage arm support is hinged to the slewing bearing, a first arm support pitching cylinder for controlling the pitching motion of the arm support assembly is arranged at the hinged position, the other end of the first-stage arm support is hinged to one end of the second-stage arm support, a second arm support pitching cylinder for controlling the pitching motion of the second-stage arm support is arranged at the hinged position, the other end of the second-stage arm support is hinged to a connecting seat of the gripper assembly, and a gripper pitching cylinder for controlling the pitching motion of the gripper assembly is arranged at the hinged position.
In some specific embodiments, the first-stage arm support is divided into at least two sections along the length direction, and the first-stage arm support is further provided with a telescopic cylinder for driving each section of arm support to extend or retract so as to form the telescopic arm support.
In some specific embodiments, an arm support rotation reducer is arranged at a joint of the second-stage arm support and the first-stage arm support to form a rotation arm support.
The utility model provides an assemble platform truck for ground snatchs large-tonnage precast structure piece, includes platform truck main part and above-mentioned arm, slewing bearing sets up in the platform truck main part, the platform truck main part includes platform truck chassis and sets up traveling system, automatically controlled cabinet, engine system and the motor pump package on the platform truck chassis, traveling system is wheeled structure, automatically controlled cabinet is used for satisfying the power consumption control demand of platform truck, the engine system is used for providing power for platform truck walking and emergency, the motor pump package is used for providing hydraulic drive power for the work of cantilever crane assembly.
In some specific embodiments, the trolley further comprises a plurality of pressure-bearing support legs for providing stable support for the trolley during working, the pressure-bearing support legs are symmetrically arranged on two sides of the trolley chassis, and hydraulic oil cylinders are arranged inside the pressure-bearing support legs and used for achieving the stretching of the pressure-bearing support legs in the vertical direction.
In some specific embodiments, the pressure-bearing support leg is movably connected with the trolley chassis and used for realizing the transverse and/or longitudinal extension and contraction of the pressure-bearing support leg in the horizontal direction.
In some embodiments, the slewing bearing is disposed at one end of the bogie chassis and the counterweight is disposed at the other end.
In some specific embodiments, an arm support seat is disposed on the counterweight block, and is used for placing an arm support assembly in a non-working state.
The technical scheme provided by the application has at least the following beneficial effects:
1. the cantilever crane assembly in this application can realize multistage gyration, multistage flexible and multistage every single move function, and the flexibility is stronger, possesses bigger installation scope and installation degree of freedom, and the tongs assembly can realize the ascending fine setting of axial and circumference, and the gesture of further adjustment prefab satisfies the high accuracy location requirement when the prefab is assembled, when guaranteeing installation quality and operating efficiency, greatly reduced manual work's intensity and danger.
2. The clamping mechanism of the gripper assembly adopts the operation modes that the gripping rod is fixedly connected with the prefabricated part structure block tool and the gripping jaw is tightly abutted against the surface of the prefabricated part structure block, so that the prefabricated part structure block is fastened and clamped, the stability of the prefabricated part structure block in the clamping process is improved by increasing the stress surface and the supporting point, the service life of equipment is prolonged, and potential safety hazards are reduced; the clamping jaw is movably arranged relative to the grabbing rod, and the operation is convenient and flexible.
3. The whole assembly trolley in the application adopts the engineering machinery chassis, can run in two directions, has better flexibility, all adopts hydraulic drive for the working part, has better stability and maneuverability, and is matched with the pressure-bearing supporting legs, the balancing weight and the arm support on the trolley chassis, thereby improving the overall stability of the trolley.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that other drawings may be derived from those drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a construction machine for assembling a large-tonnage precast structural block according to an embodiment of the present disclosure (an outer casing is not shown);
FIG. 2 is a perspective view of the robot arm of FIG. 1;
FIG. 3 is a perspective view of the gripper assembly of FIG. 2;
FIG. 4 is a perspective view of the gripper assembly of FIG. 3 from a front perspective (the connecting base is not shown);
FIG. 5 is a side view-based perspective view of the gripper assembly of FIG. 3 (the connecting base not shown);
in the figure: 1. the device comprises a connecting seat, 2, a gripper rotation reducer, 3, a first translation oil cylinder, 4, a first connecting frame, 5, a middle connecting frame, 6, a second translation oil cylinder, 7, a second connecting frame, 8, a supporting seat, 9, a gripping rod, 10, a gripping jaw, 10.1, a clamping piece, 11 a clamping oil cylinder, 12, a rotation support, 13, a primary arm support, 14, a secondary arm support, 15, an arm support pitching oil cylinder I, 16, an arm support pitching oil cylinder II, 17, a gripper pitching oil cylinder, 18 an arm support rotation reducer, 19, a trolley chassis, 20, a traveling system, 21, an electric control cabinet, 22, an engine system, 23, a pressure-bearing supporting leg, 24, a balancing weight, 25 and an arm support.
Detailed Description
In order to facilitate understanding of the present application, the technical solutions in the present application will be described more fully and in detail with reference to the drawings and the preferred embodiments, but the scope of protection of the present application is not limited to the following specific embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.
It will be understood that when an element is referred to as being "coupled" or "connected" to another element, it can be directly coupled, connected or communicated with the other element or indirectly coupled, connected or communicated with the other element via other intervening elements.
Unless otherwise defined, all terms of art used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application.
Examples
Referring to fig. 1 to 5, an assembly trolley for assembling large-tonnage prefabricated structural blocks includes a trolley main body and a robot arm.
The trolley main body comprises a trolley chassis 19, and a traveling system 20, an electric control cabinet 21, an engine system 22, a motor-pump set and pressure-bearing support legs 23 which are arranged on the trolley chassis 19. The trolley chassis 19 is an engineering machinery chassis; the traveling system 20 is of a wheel type structure, and can facilitate rapid bidirectional movement of the trolley; the electric control cabinet 21 is arranged on the middle lower part of the left side of the trolley chassis 19 and is used for meeting the power utilization control requirement of equipment; the engine system 22 is arranged in the middle of the trolley chassis 19 and used for providing power for equipment walking and emergency; the motor-pump set is arranged below the right side of the trolley chassis 19 and is used for providing hydraulic driving force for the work of the mechanical arm; the pressure-bearing support leg 23 is used for providing stable support for the trolley to work.
In this embodiment, the number of the pressure-bearing support legs 23 is four and is divided into two groups, the two groups are symmetrically arranged at the front end and the rear end of the trolley chassis 19, hydraulic oil cylinders are arranged in the pressure-bearing support legs 23 and are used for achieving the stretching of the pressure-bearing support legs in the vertical direction, the pressure-bearing support legs 23 are movably connected with the trolley chassis 19, the pressure-bearing support legs can be close to or far away from the trolley chassis 19 in the horizontal direction along the transverse direction (longitudinal direction), and stable support with a large enough area is provided for the trolley to work.
The mechanical arm comprises a slewing bearing 12, an arm support assembly and a gripper assembly. The slewing bearing 12 is arranged at the front end of the trolley chassis 19, the slewing bearing 12 is driven by hydraulic pressure to control the horizontal rotation of the arm support assembly, and two ends of the arm support assembly are respectively connected with the slewing bearing 12 and the gripper assembly.
The arm support assembly comprises a first-stage arm support 13 and a second-stage arm support 14. One end of the first-stage arm support 13 is hinged to the slewing bearing 12, a first arm support pitching cylinder 15 used for controlling the pitching action of the arm support assembly is arranged at the hinged position, the other end of the first-stage arm support 13 is hinged to one end of the second-stage arm support 14, a second arm support pitching cylinder 16 used for controlling the pitching action of the second-stage arm support is arranged at the hinged position, the other end of the second-stage arm support 14 is hinged to the gripper assembly, and a gripper pitching cylinder 17 used for controlling the pitching action of the gripper assembly is arranged at the hinged position. The arm support assembly can realize three-level pitching.
The first-stage arm support 13 is divided into three sections along the length direction, and is sequentially provided with a first arm, a second arm and a third arm from bottom to top, and the first-stage arm support 13 is provided with a telescopic oil cylinder for driving each section of arm support to extend out or retract. The first arm support pitching oil cylinder 15 is connected with an arm and a rotary base of the rotary support 12, and the first arm support pitching oil cylinder 15 is driven by hydraulic pressure to realize large-amplitude pitching operation of the whole arm support assembly; the two arms are arranged in the first arm, a first telescopic oil cylinder for connecting the first arm and the second arm is arranged outside the first arm and the second arm, and the first telescopic oil cylinder is driven by hydraulic pressure to realize the telescopic action of the second arm relative to the first arm; the three arms are arranged in the two arms, a second telescopic oil cylinder for connecting the two arms is arranged in the two arms and the three arms, and the three arms are driven to stretch relative to the two arms through hydraulic pressure. The first-stage arm support 13 can realize two-stage extension and retraction so as to meet the installation requirements of different heights. Which is functionally equivalent to a telescopic boom.
An arm support slewing reducer 18 is arranged at the joint of the second-stage arm support 14 and the first-stage arm support 13, the second-stage arm support 14 is mounted on the arm support slewing reducer 18, the arm support slewing reducer 18 is mounted on a slewing reducer base, the slewing reducer base is hinged to a third arm, an arm support pitching cylinder II 16 is connected with the third arm and the slewing reducer base, pitching of the second-stage arm support 14 is achieved by hydraulically driving the arm support pitching cylinder II 16, and rotation of the second-stage arm support 14 is achieved by hydraulically driving the arm support slewing reducer 18. The boom assembly may realize a secondary rotation, and the secondary boom 14 is functionally equivalent to a swing boom.
The gripper assembly comprises a connecting seat 1, the connecting seat 1 is hinged to a second-stage arm support 14, a gripper pitching oil cylinder 17 is connected with the second-stage arm support 14 and the connecting seat 1, and small-amplitude pitching motion of the connecting seat 1 in the vertical direction is achieved by driving the gripper pitching oil cylinder 17 through hydraulic pressure.
The gripper assembly further comprises a rotating mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism. The first translation mechanism is connected with the power output part of the swing mechanism, the second translation mechanism is connected with the power output part of the first translation mechanism, and the moving directions of the two translation mechanisms are perpendicular to each other.
Specifically, rotation mechanism includes tongs gyration reduction gear 2, first translation mechanism includes first translation hydro-cylinder 3, first link 4 and middle link 5, second translation mechanism includes second translation hydro-cylinder 6, second link 7 and supporting seat 8, clamping mechanism includes grabbing pole 9, clamping jaw 10 and clamping cylinder 11.
The gripper rotation speed reducer 2 is arranged on the connecting seat 1, the first connecting frame 4 is fixedly arranged on the gripper rotation speed reducer 2, the second connecting frame 7 is fixedly arranged on the supporting seat 8, the middle connecting frame 5 is arranged between the first connecting frame 4 and the second connecting frame 7 and can be connected with the first connecting frame and the second connecting frame in a sliding way, the first translation oil cylinder 3 is fixedly arranged on the first connecting frame 4, the power output end is connected with the middle connecting frame 5, the second translation oil cylinder 6 is fixedly arranged on the second connecting frame 7, the power output end of the second translation oil cylinder is connected with the middle connecting frame 5, one end of the grabbing rod 9 is fixedly connected with the supporting seat 8, and the other end is used for connecting with a tool preassembled on the prefabricated structure block (such as threaded connection, buckle connection and the like), the clamping jaw 10 is movably sleeved on the grabbing rod 9 and comprises abutting pieces 10.1 which are symmetrically arranged at two sides of the grabbing rod, the clamping oil cylinder 11 is fixedly arranged on the supporting seat 8 and used for providing power for the clamping jaw 10. The gripper is driven to rotate in the circumferential direction through the hydraulic drive gripper rotation speed reducer 2, the gripper is driven to move in the axial direction (namely the orthogonal direction) through the hydraulic drive first translation oil cylinder 3 and the second translation oil cylinder 6, and the clamping cylinder drives the clamping jaw to approach the prefabricated structure block, so that the abutting piece is tightly attached to the surface of the prefabricated structure block.
The gripper assembly can grip and turn over the prefabricated structure blocks placed on the ground to the top for installation, the gripping rod 9 plays a role in fixed connection, the tightening pieces 10.1 play a role in supporting, pressure on the whole gripper is dispersed, the service life of equipment is prolonged, the gripping rod serves as a supporting point to keep the prefabricated structure blocks stable in posture, operation safety is enhanced, and the specific number and arrangement mode of the tightening pieces 10.1 can be determined according to actual conditions.
In order to ensure the stability of the trolley during working, the counterweight block 24 is further mounted at the tail part of the trolley chassis 19 in the embodiment, and is fixed by bolts, so that the working stability of the equipment is ensured. The arm support 25 is arranged on the balancing weight 24, after the operation of the mechanical arm is finished, the arm support assembly retracts, rotates and moves to the position above the arm support 25, and then descends until the arm support assembly is in contact with the arm support 25, so that the trolley can conveniently drive and the stability of the driving is ensured.
In this embodiment, the exterior of the assembly trolley is further provided with a cover for protecting various components mounted on the trolley chassis 19 and providing an aesthetic effect.
The assembly trolley provided by the embodiment can meet the assembly operation of 5 tons of prefabricated structural blocks and below.
The operation process of the assembly trolley is as follows:
the trolley is driven to a designated position in a tunnel by an engine system 22, a cable is externally connected with a power supply, an electric control cabinet 21 is operated to start a motor pump set, a pressure-bearing supporting leg 23 is put down, a slewing bearing 12 is controlled to rotate a mechanical arm to a proper position, firstly, a first arm frame pitching oil cylinder 15, a second arm frame pitching oil cylinder 16, a hand grip pitching oil cylinder 17, a first telescopic oil cylinder, a second telescopic oil cylinder and an arm frame slewing reducer 18 are matched, so that a hand grip assembly moves to be opposite to a prefabricated structural block on the ground, then the position of the gripper assembly is finely adjusted through the gripper rotation speed reducer 2, the first translation oil cylinder 3 and the second translation oil cylinder 6, and then, the grabbing rod 9 is fixedly connected with a tool preassembled on the prefabricated structure block, and finally the clamping jaw 10 is driven by the clamping oil cylinder 11 to approach the prefabricated structure block until the 10.1 abutting piece on the clamping jaw 10 is tightly attached to the surface of the prefabricated structure block, so that the grabbing hand assembly clamps the prefabricated structure block.
According to the position to be installed, the prefabricated structure block is moved to an approximate region through the matching of the first arm frame pitching oil cylinder 15, the second arm frame pitching oil cylinder 16, the gripper pitching oil cylinder 17, the first telescopic oil cylinder, the second telescopic oil cylinder and the arm frame rotation speed reducer 18, then the prefabricated structure block is finely adjusted to a proper pose through the gripper rotation speed reducer 2, the first translation oil cylinder 3 and the second translation oil cylinder 6, and finally the prefabricated structure block is connected and fixed through bolts by an installer.
The above description is only a few examples of the present application and does not limit the scope of the claims of the present application, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present application. Any improvement or equivalent replacement directly or indirectly applicable to other related technical fields within the spirit and principle of the present application by using the contents of the specification and the drawings of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The mechanical arm for grabbing large-tonnage prefabricated structural blocks on the ground is characterized by comprising a slewing bearing (12), an arm support assembly and a hand grab assembly, wherein one end of the arm support assembly is hinged with the slewing bearing (12), and the other end of the arm support assembly is hinged with a connecting seat (1) of the hand grab assembly;
the gripper assembly further comprises a rotating mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism, wherein the rotating mechanism is arranged on the connecting seat (1), the first translation mechanism is connected with a power output part of the rotating mechanism, the second translation mechanism is connected with the power output part of the first translation mechanism, and the moving directions of the two translation mechanisms are perpendicular to each other;
the clamping mechanism comprises a grabbing rod (9), a clamping jaw (10) and a clamping oil cylinder (11), one end of the grabbing rod (9) is in linkage arrangement with the second translation mechanism, the other end of the grabbing rod is used for being connected with a tool pre-installed on the prefabricated structure block, the clamping jaw (10) is movably arranged on the grabbing rod and comprises abutting pieces (10.1) symmetrically arranged on two sides of the grabbing rod, and the clamping oil cylinder (11) is used for providing power for the clamping jaw; the clamping cylinder drives the clamping jaw to be close to the prefabricated structure block, so that the abutting piece is tightly attached to the surface of the prefabricated structure block.
2. The mechanical arm for ground grabbing large-tonnage precast structure blocks according to claim 1, wherein the swing mechanism comprises a gripper swing reducer (2), the first translation mechanism comprises a first translation cylinder (3), a first connecting frame (4) and an intermediate connecting frame (5), the second translation mechanism comprises a second translation cylinder (6), a second connecting frame (7) and a supporting seat (8), the first connecting frame (4) is fixedly arranged on the gripper swing reducer (2), the second connecting frame (7) is fixedly arranged on the supporting seat (8), the intermediate connecting frame (5) is arranged between the first connecting frame (4) and the second connecting frame (7) and can be slidably connected with both, the first translation cylinder (3) is fixedly arranged on the first connecting frame (4) and the power output end is connected with the intermediate connecting frame (5), the second translation oil cylinder (6) is fixedly arranged on the second connecting frame (7), the power output end of the second translation oil cylinder is connected with the middle connecting frame (5), and the clamping mechanism is fixedly arranged on the supporting seat (8).
3. The mechanical arm for grabbing the large-tonnage precast structural block on the ground as claimed in claim 2, wherein the arm support assembly comprises a first-stage arm support (13) and a second-stage arm support (14), one end of the first-stage arm support (13) is hinged to the slewing bearing (12), a first arm support pitching cylinder (15) for controlling the pitching action of the arm support assembly is arranged at the hinged position, the other end of the first-stage arm support (13) is hinged to one end of the second-stage arm support (14), a second arm support pitching cylinder (16) for controlling the pitching action of the second-stage arm support is arranged at the hinged position, the other end of the second-stage arm support (14) is hinged to the connecting seat (1) of the gripper assembly, and a gripper pitching cylinder (17) for controlling the pitching action of the gripper assembly is arranged at the hinged position.
4. The mechanical arm for grabbing the large-tonnage precast structural block on the ground as claimed in claim 3, wherein the primary arm support (13) is divided into at least two sections along the length direction, and the primary arm support (13) is further provided with a telescopic cylinder for driving each section of arm support to extend or retract so as to form a telescopic arm support.
5. The mechanical arm for grabbing the large-tonnage precast structural block on the ground as claimed in claim 3, wherein an arm support slewing reducer (18) is arranged at the joint of the secondary arm support (14) and the primary arm support (13) to form a slewing arm support.
6. An assembling trolley for grabbing large-tonnage prefabricated structural blocks on the ground is characterized by comprising a trolley main body and a mechanical arm according to any one of claims 1 to 5, wherein the slewing bearing (12) is arranged on the trolley main body, the trolley main body comprises a trolley chassis (19), and a walking system (20), an electric control cabinet (21), an engine system (22) and a motor pump set which are arranged on the trolley chassis (19), the walking system (20) is of a wheel type structure, the electric control cabinet (21) is used for meeting the power consumption control requirement of the trolley, the engine system (22) is used for providing power for the trolley to walk and meet emergency, and the motor pump set is used for providing hydraulic driving force for the operation of an arm support assembly.
7. The assembly trolley for grabbing the large-tonnage precast structural blocks on the ground according to claim 6, further comprising a plurality of pressure-bearing support legs (23) for stably supporting the trolley during working, wherein the pressure-bearing support legs (23) are symmetrically arranged on two sides of the trolley chassis (19), and hydraulic oil cylinders are arranged inside the pressure-bearing support legs (23) and used for achieving the vertical extension of the pressure-bearing support legs.
8. The assembly trolley for ground grabbing of large-tonnage precast structural blocks according to claim 7, wherein the pressure-bearing support leg (23) is movably connected with the trolley chassis (19) for realizing the horizontal and/or longitudinal extension and contraction of the pressure-bearing support leg in the horizontal direction.
9. Assembly trolley for ground gripping of large tonnage precast structural blocks according to claim 6, characterized in that the slewing bearing (12) is arranged at one end of the trolley chassis (19) and at the other end a counterweight (24).
10. The assembly trolley for grabbing large-tonnage precast structural blocks on the ground as claimed in claim 9, wherein an arm support seat (25) is provided on the counterweight block (24) for placing an arm support assembly in a non-working state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111459265.4A CN114000893A (en) | 2021-12-02 | 2021-12-02 | Mechanical arm and assembly trolley for grabbing large-tonnage prefabricated structural blocks on ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111459265.4A CN114000893A (en) | 2021-12-02 | 2021-12-02 | Mechanical arm and assembly trolley for grabbing large-tonnage prefabricated structural blocks on ground |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114000893A true CN114000893A (en) | 2022-02-01 |
Family
ID=79931128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111459265.4A Pending CN114000893A (en) | 2021-12-02 | 2021-12-02 | Mechanical arm and assembly trolley for grabbing large-tonnage prefabricated structural blocks on ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114000893A (en) |
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2021
- 2021-12-02 CN CN202111459265.4A patent/CN114000893A/en active Pending
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