CN114293553A - Hole pile operation robot - Google Patents
Hole pile operation robot Download PDFInfo
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- CN114293553A CN114293553A CN202111529513.8A CN202111529513A CN114293553A CN 114293553 A CN114293553 A CN 114293553A CN 202111529513 A CN202111529513 A CN 202111529513A CN 114293553 A CN114293553 A CN 114293553A
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Abstract
The invention discloses a hole pile operation robot, which comprises: an operation vehicle; a pile feeding device mounted on the working vehicle; the second guide rail is arranged on the left front side of the operation vehicle in a mode that the position and the inclination angle can be adjusted through the moving mechanism, and the upper end of the second guide rail is provided with a working head; the guide mechanism is arranged at the lower end of the second guide rail and is opposite to the working head up and down; the front side of the pile clamping mechanism is arranged on the rear side of the middle part of the second guide rail through the pile taking mechanism, and the pile clamping mechanism is used for clamping a pile for being conveyed by the pile device and conveying the pile to a position between the working head and the guide hole through the pile taking mechanism; the pile clamping mechanism comprises a pile clamping support, two pile clamping sliding frames and at least four pile clamping rollers, wherein the at least two pile clamping rollers are V-shaped grooved wheels. The hole pile operation robot integrates the functions of pile storage and transportation, carrying and feeding, automatic guiding, fixed piling and the like, reduces the labor intensity of workers and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of hole piles, in particular to a hole pile operation robot.
Background
In recent years, with the rapid increase of mileage of roads such as expressways, first-level roads and the like in China, the demand for pile sinking on roads and some special zones is continuously expanded, so that guardrail mounting equipment has important theoretical research value and wide practical application background. At present, the road guardrail mounting equipment is researched to a certain degree in China, for example: the 360-degree pile driver produced by xuzhou Hengxing gold bridge mechanical science and technology limited can drive the hammering mechanism through the hydraulic cylinder to adjust the transverse displacement, the height and the inclination angle, but needs manpower to position and guide the pile body when in piling operation, is difficult to master the construction quality and is easy to cause safety problems; NJJ5070TQX6 guardrail breakdown van of Nanjing Jinchangjiang traffic facilities Limited has the functions of drilling, piling and pile pulling, adopts a general truck chassis, has higher transition speed, but is only suitable for breakdown work or discontinuous work on the built road section. In conclusion, the current domestic machine type has low intelligence degree, and the operation efficiency and the operation quality of the domestic machine type depend on the technical level and experience of operators to a great extent.
The automation degree of pile driver equipment in China is low, the technology level of the pile driver equipment is far away from that of developed countries, and drilling and piling of road guardrails are mainly completed through manual and semi-mechanical equipment. In the process of drilling and piling, the pile driver needs other transportation equipment to store and convey the pile, and a large amount of manpower is consumed to convey the pile and control the perpendicularity of the pile during piling. On one hand, in the prior art, large deviation is easily caused by human factors in the manual operation process, if the verticality of the installed guardrail column is easily not met with the construction requirement, the pile body needs to be completely pulled out and then drilling and piling operation is carried out again, so that the efficiency and the construction quality of road construction work are greatly reduced, and manpower resources are wasted. On the other hand, since the pile driving hammer needs to perform high-intensity vibration and a large amount of dust is easily generated at a construction site, it also has an adverse effect on the physical safety and health of site operators.
Disclosure of Invention
The invention aims to provide a hole pile operation robot, so that the defects that the existing pile driver needs manual matching for carrying a pile and adjusting the pile-entering posture and the like, the mechanization degree is low, and the pile driving precision cannot be guaranteed are overcome.
In order to achieve the above object, the present invention provides a hole pile working robot, including: an operation vehicle; the pile feeding device is arranged at the top of the working vehicle and used for storing the piles and transversely conveying the piles outwards one by one; the second guide rail is arranged on the left front side of the operation vehicle in a mode that the position and the inclination angle can be adjusted through a moving mechanism, and a working head is arranged on the left side of the upper end of the second guide rail; the guide mechanism is arranged on the left side of the lower end of the second guide rail, a guide hole for the pile to pass through is formed in the guide mechanism, and the guide hole and the working head are arranged in a vertically opposite mode; the front side of the pile clamping mechanism is arranged on the rear side of the middle part of the second guide rail in a left-right overturning and front-back overturning mode through the pile taking mechanism, and the pile clamping mechanism is arranged corresponding to the pile supplying device and used for clamping the pile conveyed by the pile supplying device and conveying the pile to a position between the working head and the guide hole through the pile taking mechanism; the pile clamping mechanism comprises a pile clamping support, two pile clamping sliding frames and at least four pile clamping rollers, the two pile clamping sliding frames are arranged in parallel from left to right, each pile clamping sliding frame is connected with the pile clamping support in a left-right sliding mode, and the two pile clamping sliding frames are driven by a sliding mechanism to slide from left to right; every the bottom at both ends is installed one respectively around the pile clamping balladeur train the pile clamping running roller, wherein, at least two the pile clamping running roller is the V-arrangement groove wheel, and two the V-arrangement groove wheel rotates through the drive arrangement drive.
Preferably, in the above technical solution, the pile feeding device includes: the material storage box is arranged on the operation vehicle and used for storing the pile; the bottom of the material storage box is provided with a discharge hole; and the conveying mechanism is arranged on the operation vehicle, and the right end of the conveying mechanism corresponds to the discharge port and is used for conveying the piles of the storage box to the pile clamping mechanism one by one.
Preferably, in the above technical scheme, the conveying mechanism is provided with a plurality of conveying grooves which are uniformly distributed, and each conveying groove can accommodate one pile; the operation car is provided with at least two storage plates which are parallel to each other in the front and back direction, the right end of each storage plate corresponds to the left end of the conveying mechanism, the top of each storage plate is inclined downwards from the right side to the left side, and the left end of each storage plate is provided with a pile positioning groove located below the pile clamping mechanism.
Preferably, in the above technical solution, the moving mechanism includes: a first guide rail mounted on a front side of the work vehicle, a length of the first guide rail being distributed in a left-right direction; the transverse sliding frame is connected with the first guide rail in a left-right sliding mode and driven by a sliding device to slide left and right; the rotary seat is rotationally connected with the transverse sliding frame and is driven to rotate by a rotary driving device; the right end of the pitching support is hinged with the left end of the rotary seat in a vertically swinging mode, and the right side of the middle part of the second guide rail is rotatably connected with the left end of the pitching support; the upper end of the telescopic pitching cylinder is connected with the upper end of the right side of the second guide rail through a spherical hinge, and the lower end of the telescopic pitching cylinder is connected with the right end of the rotary seat through a spherical hinge; and the upper end of the swing telescopic cylinder is hinged with the rear side of the second guide rail, a second swing connecting frame is arranged on the rear side of the pitching support, and the lower end of the swing telescopic cylinder is hinged with the second swing connecting frame.
Preferably, in the above technical solution, the guide mechanism includes: a guide bracket mounted to a lower end of the second guide rail; the guide support is provided with two guide claws which are symmetrically distributed front and back, the right end of each guide claw is rotatably connected with the guide support, and the two guide claws are driven by a guide driving mechanism to rotate relatively; the inner side surface of the left end of each guide claw is concavely provided with an arc-shaped groove, and the arc-shaped grooves of the two guide claws can be enclosed into the guide hole.
Preferably, in the above technical solution, the guide driving mechanism includes: the guide connecting rods correspond to the guide claws one by one, the inner side of the right end of each guide claw is hinged with the guide support, and the left end of each guide connecting rod is hinged with the outer side of the right end of the corresponding guide claw; the fourth guide rail is arranged on the guide bracket and positioned between the two guide connecting rods, and the length of the fourth guide rail is distributed along the left-right direction; the guide sliding block is connected with the fourth guide rail in a left-right sliding mode, and the front end and the rear end of the guide sliding block are hinged to the right end of one guide connecting rod respectively; and the left end of the guide telescopic cylinder is hinged with the guide support, and the right end of the guide telescopic cylinder is hinged with the middle part of the guide sliding block.
Preferably, in the above technical solution, the pile taking mechanism includes: the front end of the pile taking frame is fixedly connected with the rear side of the second guide rail; the right side of the mounting seat is hinged with the pile taking frame in a front-back overturning manner, and the mounting seat is driven by a first overturning mechanism to overturn front and back; the front end of the overturning bracket is hinged with the rear side of the mounting seat in a left-right overturning manner, and the overturning bracket is driven by a second overturning mechanism to overturn left and right; and the left end of the pile clamping support is fixedly connected with the rear end of the overturning support.
Preferably, in the above technical scheme, the first turnover mechanism is a turnover telescopic cylinder, the upper end of the turnover telescopic cylinder is hinged to the rear side of the mounting seat, and the lower end of the turnover telescopic cylinder is hinged to the rear side of the second guide rail; the mounting seat is L-shaped, the second turnover mechanism is a turnover motor, the turnover motor is mounted on the mounting seat, and an output shaft of the turnover motor is connected with the front end of the turnover support.
Preferably, in the above technical solution, the sliding mechanism includes: the pile clamping cranks are arranged between the two pile clamping sliding frames, the middle parts of the pile clamping cranks are rotationally connected with the pile clamping supports, and the pile clamping cranks are driven to rotate by a pile clamping motor; and two ends of the pile clamping crank are respectively hinged with one pile clamping sliding frame through the pile clamping connecting rods.
Preferably, in the above technical scheme, four pile clamping rollers are distributed in a rectangular shape, and two V-shaped grooves are mounted on the same pile clamping carriage.
Compared with the prior art, the invention has the following beneficial effects:
1. the hole pile operation robot can meet the technical requirements of integration and automation of processes of pile storage and transportation, carrying and feeding, automatic guiding, fixed piling and the like, and is high in degree of mechanization; the pile supplying device can store and convey piles outwards one by one transversely, automatic continuous feeding is carried out, manual carrying and feeding are not needed, manual labor intensity is reduced, and working efficiency is improved; then, the pile clamping mechanism and the pile taking mechanism are used for clamping and carrying the pile, and the pile is positioned on the second guide rail by means of the cooperation and cooperative work of the pile clamping mechanism and the guide mechanism; finally, the position and the inclination angle of the second guide rail are adjusted by the moving mechanism, so that the position and the inclination angle of the pile can be adjusted, the position and the posture of the pile entering the soil are adjusted, and the pile driving precision is ensured;
2. the hole pile operation robot can realize automatic pile driving operation, does not need constructors to cooperate with carrying and feeding work in real time on site, and avoids the constructors from being polluted by environment such as site dust raising and the like;
3. the pile clamping mechanism is arranged on the second guide rail through the pile taking mechanism, so that the feeding accuracy of the pile clamping mechanism can be ensured;
4. the pile clamping mechanism can clamp and position the pile in the groove of the V-shaped grooved wheel through the action of the pile clamping roller and the V-shaped grooved wheel, so that the pile is prevented from falling; after the pile taking mechanism is turned over left and right and turned over up and down, the horizontal pile can be vertically conveyed between the guide hole and the working head, and the pile is conveyed towards the direction of the guide hole through the rotation of the V-shaped grooved wheel, so that the guiding and positioning operation of the pile is facilitated.
Drawings
Fig. 1 is a schematic configuration diagram of a hole-pile working robot according to the present invention.
Fig. 2 is an exploded view of a robot for hole piling according to the present invention.
Fig. 3 is a schematic structural view of a pile gripping mechanism according to the invention.
Fig. 4 is a schematic structural view of a guide mechanism according to the present invention.
Fig. 5 is a schematic structural diagram of a pile gripping mechanism for gripping a pile according to the invention.
Fig. 6 is a schematic structural view of the pile clamping mechanism clamping the pile and turning 90 degrees to the upper left.
Fig. 7 is a schematic view of a post in place according to the present invention.
Fig. 8 is a schematic structural view of lateral tilt angle adjustment according to the present invention.
Fig. 9 is a schematic structural view of longitudinal inclination angle adjustment according to the present invention.
Description of the main reference numerals:
1-a working vehicle, 2-a material storage box, 3-a conveying mechanism, 4-a pile column, 5-a pile clamping mechanism, 6-a guiding mechanism, 7-a guiding support, 8-a turning support, 9-a turning telescopic cylinder, 10-a turning connecting frame, 11-a turning motor, 12-a mounting seat, 13-a pile taking frame, 14-a second swinging connecting frame, 15-a swinging telescopic cylinder, 16-a first swinging connecting frame, 17-a working head, 18-a first pitching connecting frame, 19-a second guide rail, 20-a pitching telescopic cylinder, 21-a pitching support, 22-a rotating seat, 23-a first guide rail, 24-a rotating driving device, 25-a transverse sliding frame, 26-a pile clamping support, 27-a connecting shaft and 28-a pile clamping motor, 29-rotating motor, 30-V-shaped groove wheel, 31-pile clamping roller, 32-guide claw, 33-third guide rail, 34-first pile clamping carriage, 35-first pile clamping slide block, 36-second pile clamping carriage, 37-second pile clamping slide block, 38-pile clamping crank, 39-first pile clamping connecting rod, 40-second pile clamping connecting rod, 41-first pin, 42-second pin, 43-guide connecting rod, 44-third pin, 45-fourth guide rail, 46-guide slide block and 47-guide telescopic cylinder.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 to 9 show schematic structural views of a hole pile working robot according to a preferred embodiment of the present invention, which includes a working vehicle 1, a pile feeding device, a second guide rail 19, a guide mechanism 6, and a pile gripping mechanism 5. Referring to fig. 1 to 9, the pile feeding device is installed on the top of the working vehicle 1, and is used for storing the piles 4 and conveying the piles 4 outwards one by one in a transverse manner, so that automatic continuous feeding is performed without manual carrying and feeding, and the manual labor intensity is reduced. The second guide rail 19 is arranged on the left front side of the practice vehicle in a mode that the position and the inclination angle can be adjusted through a moving mechanism, and the left side of the upper end of the second guide rail 19 is provided with a working head 17 so as to carry out knocking vibration pile sinking operation on the pile 4. The guide mechanism 6 is installed on the left side of the lower end of the second guide rail 19, a guide hole for the pile 4 to pass through is formed in the guide mechanism 6, and the guide hole and the working head 17 are arranged vertically and oppositely, so that the axis of the guide hole, the axis of the pile 4 and the axis of the working head 17 can be collinear, and guiding, positioning and piling operations of the pile 4 are facilitated. The front side of the pile clamping mechanism 5 is arranged at the rear side of the middle part of the second guide rail 19 in a mode of being capable of being turned left and right and turned front and back through the pile taking mechanism, so that the feeding accuracy of the pile clamping mechanism 5 is ensured. The pile clamping mechanism 5 is arranged corresponding to the pile supplying device and used for clamping the pile 4 conveyed by the pile supplying device and conveying the pile 4 to a position between the working head 17 and the guide hole through the pile taking mechanism. Pile clamping mechanism 5 includes pile clamping bracket 26, two pile clamping carriages and at least four pile clamping rollers 31, and parallel arrangement about two pile clamping carriages, every pile clamping carriage and pile clamping bracket 26 horizontal sliding connection, and two pile clamping carriages slide left and right through the slide mechanism drive to the interval of two pile clamping carriages of adjustment presss from both sides and gets stake 4. The bottom of both ends is installed a pile clamping running roller 31 respectively around every pile clamping balladeur train, and pile clamping running roller 31 can rotate. The pile clamping rollers 31 are V-shaped groove wheels 30, the two V-shaped groove wheels 30 are driven by a driving device to rotate, the pile 4 can be clamped and positioned in the grooves of the V-shaped groove wheels 30 under the action of the pile clamping rollers 31 and the V-shaped groove wheels 30, and the pile 4 is prevented from falling; after the pile taking mechanism is turned left and right and up and down, the transverse pile 4 can be vertically conveyed between the guide hole and the working head 17, and the pile 4 is conveyed towards the direction of the guide hole through the rotation of the V-shaped groove wheel 30, so that the guide positioning operation of the pile 4 is facilitated. By adopting the hole pile operation robot, the technical requirements of integration and automation of processes of storing and transporting, carrying and feeding, automatic guiding, fixed piling and the like of the pile 4 can be met, and the degree of mechanization is high; then, clamping and carrying are carried out through the pile clamping mechanism 5 and the pile taking mechanism, and the pile 4 is positioned on the second guide rail 19 through the cooperation and the cooperation of the pile clamping mechanism 5 and the guide mechanism 6; finally, the position and the inclination angle of the second guide rail 19 are adjusted by the moving mechanism, so that the position and the inclination angle of the pile 4 can be adjusted, the position and the posture of the pile 4 entering the soil are adjusted, and the piling precision is ensured; the hole pile operation robot can realize automatic pile driving operation, does not need the on-site real-time cooperation of constructors for carrying and feeding, and avoids the constructors from being polluted by the environment such as on-site dust.
With reference to fig. 1, 2, 5 to 9, the pile feeding means may be a conveying mechanism 3, depositing the piles 4 on the conveying mechanism 3 and conveying them one by the conveying mechanism 3; the pile feeding device can also be a material storage box 2 and a conveying mechanism 3, so that the material storage amount is increased. Preferably, the pile feeding device comprises a storage box 2 and a conveying mechanism 3, wherein the storage box 2 is arranged on the operation vehicle 1 and is used for storing the pile 4; the bottom of the storage box 2 is provided with a discharge hole. The conveying mechanism 3 is arranged on the operation vehicle 1, the right end of the conveying mechanism 3 corresponds to the discharge port, and the conveying mechanism is used for conveying the piles 4 of the storage box 2 to the pile clamping mechanism 5 one by one, so that the automation degree of storage and feeding is improved. Wherein, a material raking mechanism can be arranged on the discharge hole to convey the piles 4 to the conveying mechanism 3 one by one; or the conveying mechanism 3 is provided with a conveying groove to output the piles at the discharge port one by one. Further preferably, the conveying mechanism 3 is provided with a plurality of uniformly distributed conveying grooves, and each conveying groove can accommodate one pile 4; the operation vehicle 1 is provided with at least two storage plates which are parallel front and back, the right ends of the storage plates correspond to the left end of the conveying mechanism 3, and the left ends of the storage plates are positioned below the pile clamping mechanism 5. The top of depositing the board is followed the right and is turned left downward sloping, and the left end of depositing the board is equipped with the stake constant head tank that is located 5 below of pile clamping mechanism to make conveying mechanism 3 carry stake 4 for after depositing the board, can roll along the depositing board and fall to the stake constant head tank in, the 5 clamps of pile clamping mechanism of being convenient for are got. Wherein the conveying mechanism 3 can be a belt conveying mechanism or a conveying chain mechanism.
Referring to fig. 1, 2, 5 to 9, the moving mechanism may be a robot arm structure, or may be a guide rail, a sliding frame, or the like. Preferably, the moving mechanism includes the first guide rail 23, the lateral sliding frame 25, the swivel base 22, the pitch bracket 21, the pitch telescopic cylinder 20, and the roll telescopic cylinder 15. The first guide rail 23 is mounted on the front side of the working vehicle 1, and the length of the first guide rail 23 is distributed along the left-right direction; the transverse sliding frame 25 is connected with the first guide rail 23 in a left-right sliding manner, the transverse sliding frame 25 is driven by a sliding device to slide left and right, the sliding device can be a telescopic cylinder or a screw nut and the like, and the position of the second guide rail 19 along the left and right direction is adjusted by the left and right sliding of the transverse sliding frame 25. The rotary base 22 is rotatably connected to the transverse sliding frame 25, and the rotary base 22 is driven to rotate by a rotary driving device 24, the rotary driving device 24 can be driven by a motor, so that the second guide rail 19 rotates around the rotary base 22 on a plane, and the position of the second guide rail 19 is adjusted. The right end of the pitching support 21 is hinged with the left end of the revolving base 22 in a vertically swinging mode, and the right side of the middle of the second guide rail 19 is rotatably connected with the left end of the pitching support 21 through a connecting shaft 27, so that the second guide rail 19 can rotate around the pitching support 21 back and forth and can swing around the revolving base 22 left and right to adjust the inclination angle of the second guide rail 19. The upper end of the telescopic pitching cylinder 20 is connected with the first pitching connecting frame 18 at the upper end of the right side of the second guide rail 19 through a spherical hinge, and the lower end of the telescopic pitching cylinder 20 is connected with the right end of the rotary seat 22 through a spherical hinge, so that the telescopic pitching cylinder 20 can drive the second guide rail 19 to swing left and right to adjust the transverse inclination angle of the second guide rail. The upper end of the swing telescopic cylinder 15 is hinged with the rear side of the second guide rail 19 through the first swing connecting frame 16, the rear side of the pitching support 21 is provided with the second swing connecting frame 14, and the lower end of the swing telescopic cylinder 15 is hinged with the second swing connecting frame 14, so that the swing telescopic cylinder 15 can drive the second guide rail 19 to rotate back and forth around the connecting shaft 27, and the longitudinal inclination angle is adjusted. Through the effect of moving mechanism, can make second guide rail 19 remove about and adjust its position with the gyration to and rotate around carrying out and adjust its horizontal and longitudinal gradient angle with the horizontal hunting, and then adjust the position and the gesture that pile 4 buries, can carry out all-round regulation to pile 4 accurate position and relative ground angle of burying, guarantee the pile quality. Finally, the pile 4 is knocked and vibrated by the working head 17, and the automatic piling work is completed.
Referring to fig. 1, 2, 4 to 9, the guide mechanism 6 may be a fixed guide hole structure, or may be a structure in which the guide hole can be opened and closed. Preferably, the guide mechanism 6 includes a guide bracket 7 and a guide claw 32, and the guide bracket 7 is mounted to the lower end of the second guide rail 19. Two guide claws 32 which are symmetrically distributed in the front and back are arranged on the guide support 7, the right end of each guide claw 32 is rotatably connected with the guide support 7, and the two guide claws 32 are driven by a guide driving mechanism to rotate relatively; the concave arc recess that is equipped with of medial surface of every guide claw 32 left end, the arc recess of two guide claws 32 can enclose into the guiding hole, through two guide claws 32 relative rotations of direction actuating mechanism drive, the switching guiding hole carries out the direction location operation to stake 4. Further preferably, the guiding driving mechanism comprises a guiding connecting rod 43, a fourth guiding rail 45, a guiding slider 46 and a guiding telescopic cylinder 47. The guide connecting rods 43 correspond to the guide claws 32 one by one, the inner side of the right end of each guide claw 32 is hinged with the guide bracket 7 through the first pin 41, the left end of each guide connecting rod 43 is hinged with the outer side of the right end of the corresponding guide claw 32 through the second pin 42, and the two guide claws 32 are driven to rotate relatively by the left-right movement of the guide connecting rods 43. The fourth guide rail 45 is installed on the guide bracket 7 and located between the two guide connecting rods 43, and the length of the fourth guide rail 45 is distributed in the left-right direction. The guide sliding block 46 is connected with the fourth guide rail 45 in a left-right sliding mode, and the front end and the rear end of the guide sliding block 46 are respectively hinged with the right end of one guide connecting rod 43 through a third pin 44. The left end of the guiding telescopic cylinder 47 is hinged with the guiding support 7, the right end of the guiding telescopic cylinder 47 is hinged with the middle of the guiding sliding block 46, the guiding sliding block 46 is driven to slide left and right through the guiding telescopic cylinder 47, so that the two guiding connecting rods 43 are driven to move left and right, the two guiding claws 32 are driven to rotate relatively, and the opening and closing mode is simple and convenient.
Referring to fig. 1, 2, 5 to 9, the pile taking mechanism may be a mechanical arm structure, or may be a mounting base 12 and an overturning bracket 8. Preferably, the pile taking mechanism comprises a pile taking frame 13, a mounting seat 12 and an overturning bracket 8. The front end of the pile taking frame 13 is fixedly connected with the rear side of the second guide rail 19, the right side of the mounting seat 12 is hinged with the pile taking frame 13 in a front-back overturning manner, and the mounting seat 12 is driven by the first overturning mechanism to overturn in the front-back manner. The front end of the turning support 8 is hinged with the rear side of the mounting seat 12 in a left-right turning manner, and the turning support 8 is driven by a second turning mechanism to turn left and right; the left end of the pile clamping bracket 26 is fixedly connected with the rear end of the overturning bracket 8. After the pile clamping mechanism 5 clamps the pile 4, the pile taking mechanism can drive the pile clamping support 26 to turn 90 degrees towards the left upper direction and then turn 90 degrees towards the front upper direction, and the pile taking mechanism can just reach the appointed position through two times of turning of 90 degrees in space due to the vertical relation between the initial position of the pile 4 and the appointed position, cannot interfere other components, and vertically places the transverse pile 4 between the guide hole and the working head 17. Wherein, the turnover mechanism can be a telescopic cylinder or a motor and the like. Preferably, the first turnover mechanism is a turnover telescopic cylinder 9, the upper end of the turnover telescopic cylinder 9 is hinged with the rear side of the mounting base 12, the lower end of the turnover telescopic cylinder 9 is hinged with the rear side of the second guide rail 19 through a turnover connecting frame 10, and the mounting base 12 is driven to turn back and forth through the turnover telescopic cylinder 9; the mounting seat 12 is L-shaped, which facilitates the installation of the turnover motor 11. The second tilting mechanism is upset motor 11, and upset motor 11 is installed on mount pad 12, and the output shaft of upset motor 11 is connected with the front end of upset support 8, overturns about overturning through upset motor 11 drive upset support 8.
Referring to fig. 3, the sliding mechanism may be a telescoping cylinder, lead screw nut, or pile clamping crank 38, among other configurations. Preferably, the two pile clamping carriages are distributed into a first pile clamping carriage 34 and a second pile clamping carriage 36, the two pile clamping carriages are slidably connected with the pile clamping bracket 26 through a third guide rail 33 and a pile clamping slide block, the third guide rail 33 is mounted on the pile clamping bracket 26, the length of the third guide rail is distributed along the left-right direction, the first pile clamping carriage 34 is slidably connected with the third guide rail 33 through a first pile clamping slide block 35, and the second pile clamping carriage 36 is slidably connected with the third guide rail 33 through a second pile clamping slide block 37. The sliding mechanism comprises a pile clamping crank 38 and two pile clamping connecting rods, the pile clamping crank 38 is arranged between the two pile clamping sliding frames, the middle part of the pile clamping crank 38 is rotatably connected with the pile clamping bracket 26, and the pile clamping crank 38 is driven to rotate by a pile clamping motor 28. The two ends of the pile clamping crank 38 are respectively hinged with a pile clamping sliding frame through pile clamping connecting rods. Namely, the two pile clamping connecting rods are respectively a first pile clamping connecting rod 39 and a second pile clamping connecting rod 40, one end of a pile clamping crank 38 is hinged with the first pile clamping sliding frame 34 through the first pile clamping connecting rod 39, the other end of the pile clamping crank 38 is hinged with the second pile clamping sliding frame 36 through the second pile clamping connecting rod 40, and the pile clamping crank 38 is driven to rotate through the pile clamping motor 28, so that the two pile clamping sliding frames are driven to slide relatively, and the action of clamping the pile 4 is completed.
Referring to fig. 1 to 3, the four pile gripping rollers 31 may be distributed in a quadrilateral shape, such as a parallelogram, a trapezoid, a rectangle, etc., preferably, the four pile gripping rollers 31 are distributed in a rectangular shape, and the two V-shaped groove wheels 30 are mounted on the same pile gripping carriage, so as to improve the stability of gripping the pile 4 and the convenience of driving the pile 4 to move. Wherein the drive means is a rotation motor 29.
Referring to fig. 5 to 9, in use, the pile feeding device feeds the pile clamping mechanism 5 with a pile, the pile clamping mechanism 5 clamps the pile 4, and the pile 4 is vertically placed on the designated position of the second guide rail 19 by turning over the pile taking mechanism twice; the driving guide claw 32 embraces the pile 4 and can guide in the piling process; the position and the inclination angle of the pile 4 are adjusted by using the structures such as the transverse sliding frame 25, the rotary seat 22, the pitching telescopic cylinder 20, the swinging telescopic cylinder 15 and the like, namely, the pile can be moved to a position for specified piling, the inclination angle is adjusted, and finally the pile 4 is knocked and vibrated by the working head 17, so that the automatic piling operation is completed, the labor intensity of workers can be reduced, and the working efficiency is improved.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. A hole stake work robot, comprising:
an operation vehicle;
the pile feeding device is arranged at the top of the working vehicle and used for storing the piles and transversely conveying the piles outwards one by one;
the second guide rail is arranged on the left front side of the operation vehicle in a mode that the position and the inclination angle can be adjusted through a moving mechanism, and a working head is arranged on the left side of the upper end of the second guide rail;
the guide mechanism is arranged on the left side of the lower end of the second guide rail, a guide hole for the pile to pass through is formed in the guide mechanism, and the guide hole and the working head are arranged in a vertically opposite mode; and
the front side of the pile clamping mechanism is arranged on the rear side of the middle part of the second guide rail in a left-right overturning and front-back overturning mode through a pile taking mechanism, and the pile clamping mechanism is arranged corresponding to the pile supplying device and used for clamping a pile conveyed by the pile supplying device and conveying the pile to a position between the working head and the guide hole through the pile taking mechanism; the pile clamping mechanism comprises a pile clamping support, two pile clamping sliding frames and at least four pile clamping rollers, the two pile clamping sliding frames are arranged in parallel from left to right, each pile clamping sliding frame is connected with the pile clamping support in a left-right sliding mode, and the two pile clamping sliding frames are driven by a sliding mechanism to slide from left to right; every the bottom at both ends is installed one respectively around the pile clamping balladeur train the pile clamping running roller, wherein, at least two the pile clamping running roller is the V-arrangement groove wheel, and two the V-arrangement groove wheel rotates through the drive arrangement drive.
2. Hole piling robot according to claim 1, wherein said pile feeding means comprises:
the material storage box is arranged on the operation vehicle and used for storing the pile; the bottom of the material storage box is provided with a discharge hole; and
and the conveying mechanism is arranged on the operation vehicle, and the right end of the conveying mechanism corresponds to the discharge port and is used for conveying the piles of the storage box to the pile clamping mechanism one by one.
3. A hole pile operating robot according to claim 2, characterized in that the conveying mechanism is provided with a plurality of uniformly distributed conveying troughs, and each conveying trough can accommodate a pile; the operation car is provided with at least two storage plates which are parallel to each other in the front and back direction, the right end of each storage plate corresponds to the left end of the conveying mechanism, the top of each storage plate is inclined downwards from the right side to the left side, and the left end of each storage plate is provided with a pile positioning groove located below the pile clamping mechanism.
4. A hole pile working robot according to claim 1, wherein the moving mechanism comprises:
a first guide rail mounted on a front side of the work vehicle, a length of the first guide rail being distributed in a left-right direction;
the transverse sliding frame is connected with the first guide rail in a left-right sliding mode and driven by a sliding device to slide left and right;
the rotary seat is rotationally connected with the transverse sliding frame and is driven to rotate by a rotary driving device;
the right end of the pitching support is hinged with the left end of the rotary seat in a vertically swinging mode, and the right side of the middle part of the second guide rail is rotatably connected with the left end of the pitching support;
the upper end of the telescopic pitching cylinder is connected with the upper end of the right side of the second guide rail through a spherical hinge, and the lower end of the telescopic pitching cylinder is connected with the right end of the rotary seat through a spherical hinge; and
and the upper end of the swing telescopic cylinder is hinged with the rear side of the second guide rail, a second swing connecting frame is arranged on the rear side of the pitching support, and the lower end of the swing telescopic cylinder is hinged with the second swing connecting frame.
5. A hole piling robot according to claim 1, wherein said guide mechanism includes:
a guide bracket mounted to a lower end of the second guide rail; and
the guide support is provided with two guide claws which are symmetrically distributed front and back, the right end of each guide claw is rotatably connected with the guide support, and the two guide claws are driven by a guide driving mechanism to rotate relatively; the inner side surface of the left end of each guide claw is concavely provided with an arc-shaped groove, and the arc-shaped grooves of the two guide claws can be enclosed into the guide hole.
6. A hole piling robot according to claim 5, wherein said guide driving mechanism includes:
the guide connecting rods correspond to the guide claws one by one, the inner side of the right end of each guide claw is hinged with the guide support, and the left end of each guide connecting rod is hinged with the outer side of the right end of the corresponding guide claw;
the fourth guide rail is arranged on the guide bracket and positioned between the two guide connecting rods, and the length of the fourth guide rail is distributed along the left-right direction;
the guide sliding block is connected with the fourth guide rail in a left-right sliding mode, and the front end and the rear end of the guide sliding block are hinged to the right end of one guide connecting rod respectively; and
the left end of the guide telescopic cylinder is hinged with the guide support, and the right end of the guide telescopic cylinder is hinged with the middle part of the guide sliding block.
7. Hole-pile working robot according to claim 1, characterized in that the pile-taking mechanism comprises:
the front end of the pile taking frame is fixedly connected with the rear side of the second guide rail;
the right side of the mounting seat is hinged with the pile taking frame in a front-back overturning manner, and the mounting seat is driven by a first overturning mechanism to overturn front and back; and
the front end of the overturning bracket is hinged with the rear side of the mounting seat in a left-right overturning manner, and the overturning bracket is driven by a second overturning mechanism to overturn left and right; and the left end of the pile clamping support is fixedly connected with the rear end of the overturning support.
8. The hole pile working robot according to claim 7, wherein the first turnover mechanism is a turnover telescopic cylinder, an upper end of the turnover telescopic cylinder is hinged with a rear side of the mounting seat, and a lower end of the turnover telescopic cylinder is hinged with a rear side of the second guide rail; the mounting seat is L-shaped, the second turnover mechanism is a turnover motor, the turnover motor is mounted on the mounting seat, and an output shaft of the turnover motor is connected with the front end of the turnover support.
9. Hole piling robot according to claim 1, characterized in that said sliding mechanism comprises:
the pile clamping cranks are arranged between the two pile clamping sliding frames, the middle parts of the pile clamping cranks are rotationally connected with the pile clamping supports, and the pile clamping cranks are driven to rotate by a pile clamping motor; and
and two ends of the pile clamping crank are respectively hinged with one pile clamping sliding frame through the pile clamping connecting rods.
10. A hole pile working robot according to claim 1, characterized in that four pile gripping rollers are distributed in a rectangular shape, and two V-shaped grooved rollers are mounted on the same pile gripping carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111529513.8A CN114293553B (en) | 2021-12-14 | 2021-12-14 | Hole pile operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111529513.8A CN114293553B (en) | 2021-12-14 | 2021-12-14 | Hole pile operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114293553A true CN114293553A (en) | 2022-04-08 |
| CN114293553B CN114293553B (en) | 2022-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111529513.8A Active CN114293553B (en) | 2021-12-14 | 2021-12-14 | Hole pile operation robot |
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| Country | Link |
|---|---|
| CN (1) | CN114293553B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB897996A (en) * | 1960-01-26 | 1962-06-06 | Mueller Ludwig | Device for gripping piles in vibratory pile drivers |
| CN2171635Y (en) * | 1993-04-02 | 1994-07-13 | 西北工程机械联合公司 | Hydraulic pile driver |
| CN204736223U (en) * | 2015-07-22 | 2015-11-04 | 长春工业大学 | Manipulator grabbing device |
| CN105908741A (en) * | 2016-06-27 | 2016-08-31 | 重庆新动生物技术有限公司 | Positioning and pile sinking device of self-transportation buried piles |
| CN107178083A (en) * | 2017-06-26 | 2017-09-19 | 郑州大学 | A kind of civil engineering piling machine |
| US20190264412A1 (en) * | 2018-02-26 | 2019-08-29 | Liebherr-Werk Nenzing Gmbh | Unknown |
-
2021
- 2021-12-14 CN CN202111529513.8A patent/CN114293553B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB897996A (en) * | 1960-01-26 | 1962-06-06 | Mueller Ludwig | Device for gripping piles in vibratory pile drivers |
| CN2171635Y (en) * | 1993-04-02 | 1994-07-13 | 西北工程机械联合公司 | Hydraulic pile driver |
| CN204736223U (en) * | 2015-07-22 | 2015-11-04 | 长春工业大学 | Manipulator grabbing device |
| CN105908741A (en) * | 2016-06-27 | 2016-08-31 | 重庆新动生物技术有限公司 | Positioning and pile sinking device of self-transportation buried piles |
| CN107178083A (en) * | 2017-06-26 | 2017-09-19 | 郑州大学 | A kind of civil engineering piling machine |
| US20190264412A1 (en) * | 2018-02-26 | 2019-08-29 | Liebherr-Werk Nenzing Gmbh | Unknown |
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| Publication number | Publication date |
|---|---|
| CN114293553B (en) | 2022-11-11 |
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