CN114800458B - Multi-dimensional adjusting manipulator for erecting arch - Google Patents
Multi-dimensional adjusting manipulator for erecting arch Download PDFInfo
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- CN114800458B CN114800458B CN202210762073.9A CN202210762073A CN114800458B CN 114800458 B CN114800458 B CN 114800458B CN 202210762073 A CN202210762073 A CN 202210762073A CN 114800458 B CN114800458 B CN 114800458B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The invention relates to the technical field of engineering construction, in particular to a multidimensional adjusting manipulator for erecting an arch center, which comprises a clamping mechanism, wherein the clamping mechanism comprises a lifting plate, a first clamping frame, a second clamping frame, a first double-rod oil cylinder, fork frames, a butting rod and a connecting rod piece, the first clamping frame and the second clamping frame are arranged at the top of the lifting plate in a sliding manner, the first double-rod oil cylinder is fixedly arranged on the lifting plate, a first execution rod and a second execution rod are arranged at two ends of the first double-rod oil cylinder, the first execution rod is connected with the first clamping frame, the second execution rod is connected with the second clamping frame, the two fork frames are arranged at the opposite sides of the first clamping frame and the second clamping frame, the connecting rod piece is arranged on the first clamping frame and the second clamping frame, the fork frames and the butting rod piece are in transmission connection, a web plate of the arch center can be coaxially clamped by the butting rod on the first clamping frame and the first clamping frame, simultaneously, the fork shearing frame can be unfolded and abutted against the inner side of the flange of the arch centering, so that the arch centering can be stably clamped, and the installation is facilitated.
Description
Technical Field
The invention relates to the technical field of engineering construction, in particular to a multi-dimensional adjusting manipulator for erecting an arch.
Background
In construction of water and electricity tunnels, underground powerhouses, subway projects, railway tunnels, military underground projects, highway tunnel projects and the like, areas with poor self-stability capability such as broken surrounding rocks and faults often need to be reinforced by means of erecting steel arches (grid arches), constructing anchor rods, hanging reinforcing mesh, spraying concrete and the like, and construction safety is guaranteed. Taking tunnel arch installation as an example, at present, most of domestic arch installations mainly depend on manual work. Firstly, the arch frame is placed under the rock stratum and fixed by an anchor rod, and the multiple sections of arch frames are sequentially connected into a ring shape by adopting bolts. In the construction process, the weight of a single arch center section is up to 200-400 kg, more than ten workers are required to operate simultaneously, the operation intensity of the workers is high, great potential safety hazards exist, the installation time of the single arch center is long, the efficiency is low, and the tunnel construction progress is seriously influenced.
Chinese patent CN201210232210.4 discloses a multidirectional adjusting manipulator, which comprises a mounting platform, and the mounting platform is provided with the multidirectional adjusting manipulator. The invention adopts a main clamping mechanism, simultaneously fixes an auxiliary gripper with a positioning function, can realize the installation of the grid arch centering by replacing the chuck, has convenient operation, quick and accurate installation and improved safety, greatly lightens the labor intensity and time, and is beneficial to realizing the mechanization and automation of tunnel construction.
The manipulator is only suitable for erecting a top arch, the arch turnover angles on two sides are large, the movable clamping plate and the clamping oil cylinder are only used for clamping, and the arch slipping accident is easy to occur.
Disclosure of Invention
In view of the above, it is necessary to provide a multi-dimensional adjusting manipulator for erecting an arch frame.
In order to solve the problems of the prior art, the invention adopts the technical scheme that:
a multi-dimensional adjusting manipulator for erecting an arch center comprises a clamping mechanism, wherein the clamping mechanism comprises a lifting plate, a first clamping frame, a second clamping frame, a first double-rod oil cylinder, a shearing fork frame, a butting rod and a connecting rod piece, the first clamping frame and the second clamping frame are arranged at the top of the lifting plate in a sliding mode in opposite directions or opposite directions, the first double-rod oil cylinder is fixedly arranged on the lifting plate, a first execution rod and a second execution rod are respectively arranged at two ends of the first double-rod oil cylinder, the first execution rod is connected with the first clamping frame, the second execution rod is connected with the second clamping frame, the two shearing fork frames are arranged between the opposite sides of the first clamping frame and the second clamping frame, a rotating shaft of the shearing fork frames extends along the horizontal direction, the butting rod coaxially penetrates through the rotating shaft of the shearing fork frames in the same axial direction and is in sliding fit with the rotating shaft, the first clamping frame and the second clamping frame are respectively provided with the connecting rod piece, the connecting rod piece is in transmission connection with the shearing fork frame and the butting rod, when the abutting rod abuts against the web of the arch frame and slides relative to the rotating shaft of the scissor bracket, the abutting rod guides the scissor bracket to unfold and abut against the inner side of the flange of the arch frame through the connecting rod piece.
Preferably, the fork shearing frame comprises a first rotating arm, a second rotating arm and a fixed cylinder, the two fixed cylinders are coaxially arranged on the opposite sides of the first double-rod oil cylinder and the fork shearing frame, the middle position of the first rotating arm and the middle position of the second rotating arm are rotatably connected with the fixed cylinder, and the abutting rod is coaxially and slidably arranged in the fixed cylinder; the connecting rod piece includes first guide rail, first slider, first connecting rod, second connecting rod and third connecting rod, two first guide rails set up respectively in first holding frame or second holding frame, first guide rail extends along vertical direction, first slider slides along vertical direction and sets up on first guide rail, the both ends of first connecting rod rotate with the outer end and the first slider of butt pole respectively and are connected, the both ends of second connecting rod rotate with second rocking arm and first slider respectively and are connected, the both ends of third connecting rod rotate with first rocking arm and first slider respectively and are connected, when first slider upwards slides, first rocking arm and second rocking arm expand.
Preferably, the clamping mechanism further comprises a butting disc and a spring, the butting disc is coaxially arranged at the inner end of the butting rod, the spring is sleeved on the butting rod, and two ends of the spring are respectively butted at the opposite ends of the butting disc and the fixed cylinder.
Preferably, the clamping mechanism further comprises abutment blocks disposed at both ends of the first and second swivel arms.
Preferably, the double-rod oil cylinder clamping device further comprises an overlapping mechanism and a deflection plate, the overlapping mechanism comprises a first overlapping part and a second overlapping part which are identical in structure, and a second double-rod oil cylinder, the clamping mechanism is fixedly arranged at the top of the deflection plate, the first overlapping part and the second overlapping part are arranged on the deflection plate in a sliding mode in opposite directions or in a back-to-back mode, the first overlapping part and the second overlapping part are located on two sides of the clamping mechanism, the first overlapping part comprises an overlapping roller and a servo motor, the overlapping roller extends in the horizontal direction, an output shaft of the servo motor is in transmission connection with the overlapping roller, the second double-rod oil cylinder is arranged on the deflection plate, and actuating rods at two ends of the second double-rod oil cylinder are fixedly connected with the first overlapping part and the second overlapping part respectively.
Preferably, the first bridging piece also comprises a placing frame, a first frame body, a second frame body and a first bevel gear, second bevel gear, the fourth connecting rod, fifth connecting rod and pressure sensor, the arrangement frame slides and sets up on the deflector, first framework and second framework slide along vertical direction and set up in the arrangement frame, the both ends of overlap joint roller rotate with first framework and second framework respectively and are connected, first bevel gear is coaxial to be set up the one end at the overlap joint roller, servo motor is fixed to be set up the bottom at first framework, servo motor's output shaft runs through first framework and with second bevel gear coaxial coupling, first bevel gear and second bevel gear meshing, pressure sensor is fixed to be set up in the arrangement frame, pressure sensor's sense terminal up, the one end of fourth connecting rod rotates with first framework to be connected, the one end of fifth connecting rod rotates with the second framework to be connected, the other end of fourth connecting rod and fifth connecting rod rotates to be connected and the overlap joint at pressure sensor's sense terminal.
Preferably, first overlap joint piece still includes hydraulic shock absorber and photoelectric encoder, and two hydraulic shock absorbers all rotate with the inside bottom of placing the frame and be connected, and the other end of two hydraulic shock absorbers rotates with fourth connecting rod and fifth connecting rod respectively and is connected, and photoelectric encoder sets up in the second frame, and photoelectric encoder's input and the one end transmission of overlap joint roller are connected.
Preferably, the first lapping part further comprises two conical cylinders coaxially arranged on the lapping roller, and conical surfaces of the two conical cylinders are opposite.
Preferably, the first lap joint piece further comprises a second guide rail, a second sliding block and a limiting pin, the second guide rail is arranged on two sides of the inside of the placement frame, the placement frame extends along the vertical direction, the second sliding block is arranged on the second guide rail in a sliding mode along the vertical direction, the first frame body and the second frame body are respectively arranged on the opposite sides of the two second sliding blocks, the limiting pin is fixedly arranged on the second guide rail, and the limiting pin is located at the top of the second sliding block.
Preferably, the device also comprises a deflection adjusting mechanism, the deflection adjusting mechanism comprises a first single-rod oil cylinder, a first fixed steel, a third double-rod oil cylinder, a second fixed steel, a third fixed steel, a second single-rod oil cylinder, a fourth fixed steel, a fourth double-rod oil cylinder and a fifth fixed steel, output rods of the four first single-rod oil cylinders are respectively connected with four corners of the bottom end of the deflection plate in a rotating manner, one first fixed steel is fixedly connected with the bottom ends of the two first single-rod oil cylinders, the other first fixed steel is fixedly connected with the bottom ends of the other two first single-rod oil cylinders, one end of the fourth double-rod oil cylinder comprises a fifth actuating rod, the other end of the fourth double-rod oil cylinder comprises a sixth actuating rod, the third actuating rod and the fourth actuating rod are respectively connected with the first fixed steel in a rotating manner, the second fixed steel is fixedly connected with the third double-rod oil cylinder, the two third fixed steels are vertically and fixedly connected with the second fixed steel, and two ends of the third fixed steel are respectively connected with the output end of the second single-rod oil cylinder, two ends of a fourth fixing steel are respectively connected with the bottom end of a second horizontal bar oil cylinder, two fourth fixing steels are fixedly connected with the bottom ends of the four second horizontal bar oil cylinders, one end of the fourth double-rod oil cylinder comprises a fifth execution rod, the other end of the fourth double-rod oil cylinder comprises a sixth execution rod, the fifth execution rod and the sixth execution rod are respectively connected with the opposite sides of the two fourth fixing steels in a rotating mode, and the fifth fixing steel is fixedly connected with the fourth double-rod oil cylinder and the elevator.
Compared with the prior art, the beneficial effect of this application is:
1. according to the clamping device, the first clamping frame and the abutting rods on the first clamping frame can coaxially clamp the web of the arch center, and meanwhile, the fork shearing frame can be unfolded and abutted to the inner side of the flange of the arch center, so that the arch center can be stably clamped and the installation is facilitated;
2. according to the clamping arch frame, the first connecting rod, the second connecting rod and the third connecting rod can be used for driving and connecting the fork shearing frame and the abutting rod, so that when the abutting rod abuts against the web and slides relative to the fixed cylinder, the fork shearing frame can be unfolded and abutted against the inner side of the flange, and the clamping arch frame is stably clamped;
3. according to the application, the bearing pressure of the lap joint roller can be detected through the pressure sensor, and the second lap joint piece and the first lap joint piece are identical in structure, so that the bearing pressure of the second lap joint piece can be detected, and the center of gravity of the arch frame can be moved to the middle top of the first lap joint piece and the middle top of the second lap joint piece through rotating the lap joint roller;
4. this application can stably adjust the inclination of deflector through first horizontal bar hydro-cylinder and second horizontal bar hydro-cylinder to the bow member is erect in the slope of being convenient for.
Drawings
Fig. 1 is a perspective view of the manipulator of the present application in an operational state;
FIG. 2 is a perspective view of the manipulator of the present application from a first perspective;
FIG. 3 is a perspective view of the manipulator of the present application from a second perspective;
FIG. 4 is a front view of the robot of the present application;
FIG. 5 is a cross-sectional view at section B-B of FIG. 4;
FIG. 6 is a cross-sectional view at section C-C of FIG. 4;
FIG. 7 is a perspective view of a clamping mechanism of the present application;
FIG. 8 is a perspective view of the clutch mechanism and deflector plate of the present application;
fig. 9 is a front view of the robot of the present application in an operating state.
The reference numbers in the figures are:
1-a clamping mechanism; 1 a-a lifting plate; 1 b-a first holder; 1 c-a second holding frame; 1 d-a first double-rod oil cylinder; 1d1 — first actuator stem; 1d2 — second actuator stem; 1 e-a fork carriage; 1e 1-first arm; 1e 2-second swivel arm; 1e 3-fixed cylinder; 1 f-a butt-joint rod; 1 g-connecting rod piece; 1g1 — first guide rail; 1g2 — first slider; 1g 3-first link; 1g 4-second link; 1g 5-third link; 1 h-a butting disk; 1 i-a spring; 1 j-a butt block; 2-a lapping mechanism; 2 a-a first strap; 2a 1-lap rollers; 2a 2-servomotor; 2a 3-shelf; 2a4 — a first frame; 2a 5-second frame; 2a6 — first bevel gear; 2a7 — second bevel gear; 2a 8-fourth link; 2a 9-fifth link; 2a 10-pressure sensor; 2a 11-hydraulic shock absorber; 2a 12-photoelectric encoder; 2a 13-cone; 2a14 — second guide rail; 2a15 — second slider; 2a 16-limit pin; 2 b-a second strap; 2 c-a second double-rod oil cylinder; 3-a deflection plate; 4-a deflection adjustment mechanism; 4 a-a first single-rod oil cylinder; 4 b-first fixed steel; 4 c-a third double-rod oil cylinder; 4c1 — third actuator stem; 4c 2-fourth actuator stem; 4 d-second fixed steel; 4 e-third steel of fixation; 4 f-a second horizontal bar oil cylinder; 4 g-fourth steel for fixation; 4 h-a fourth double-rod oil cylinder; 4h 1-fifth actuator stem; 4h 2-sixth actuator stem; 4 i-fifth fixed steel; 9 a-web; 9 b-flanges.
Detailed Description
For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1-9, the present application provides:
a multi-dimensional adjusting manipulator for erecting an arch comprises a clamping mechanism, wherein the clamping mechanism comprises a lifting plate 1a, a first clamping frame 1b, a second clamping frame 1c, a first double-rod oil cylinder 1d, fork shearing frames 1e, a butting rod 1f and a connecting rod piece 1g, the first clamping frame 1b and the second clamping frame 1c are arranged on the top of the lifting plate 1a in a sliding mode in the opposite directions or in the opposite directions, the first double-rod oil cylinder 1d is fixedly arranged on the lifting plate 1a, two ends of the first double-rod oil cylinder 1d are respectively provided with a first actuating rod 1d1 and a second actuating rod 1d2, the first actuating rod 1d1 is connected with the first clamping frame 1b, the second actuating rod 1d2 is connected with the second clamping frame 1c, the two fork shearing frames 1e are arranged between the opposite sides of the first clamping frame 1b and the second clamping frame 1c, a rotating shaft of the fork shearing frame 1e extends along the horizontal direction, and the butting rod 1f coaxially penetrates through the fork shearing frame 1e in the axial direction and is matched with the fork shearing frame in a sliding mode, the first clamping frame 1b and the second clamping frame 1c are respectively provided with a connecting rod piece 1g, the connecting rod piece 1g is in transmission connection with the fork frame 1e and the butt rod 1f, and when the butt rod 1f butts against a web plate of the arch and slides relative to a rotating shaft of the fork frame 1e, the butt rod 1f guides the fork frame 1e to be unfolded and butts against the inner side of a flange of the arch through the connecting rod piece 1 g.
Based on the above embodiments, the technical problem that the present application intends to solve is how to stably clamp a sloped arch. Therefore, the web of the arch center can be coaxially clamped through the first clamping frame 1b and the abutting rods 1f on the first clamping frame 1b, and meanwhile, the fork frame 1e can be unfolded and abutted to the inner side of the flange of the arch center, so that the arch center can be stably clamped, and the installation is facilitated;
specifically, the arch frame is placed on top of the lifting plate 1a, in order that the arch frame is located between the first clamping frame 1b and the second clamping frame 1c, the arch frame comprises a web 9a and flanges 9b at both sides of the web 9a, the first double rod cylinder 1d is actuated, so that the first actuating rod 1d1 drives the first clamping frame 1b to move, and the second actuating rod 1d2 drives the second clamping frame 1c to move, so that the first clamping frame 1b and the second clamping frame 1c move towards each other on the lifting plate 1a, and the abutting rod 1f coaxially penetrating the rotation axis of the fork frame 1e abuts against both sides of the web 9a, while the fork frame 1e continues to move and approaches the web 9a, while the abutting rod 1f slides relative to the fork frame 1e, and the link member 1g drivingly connects the fork frame 1e and the abutting rod 1f, so that the fork frame 1e approaches the web 9a and unfolds, so that the abutting rod 1f which is unfolded can abut against the inner side of the flange 9b, thereby stably clamping the arch centering and facilitating the erection of the inclined arch centering.
As shown in fig. 5 and 7, further:
the fork cutting frame 1e comprises a first rotating arm 1e1, a second rotating arm 1e2 and a fixed cylinder 1e3, wherein two fixed cylinders 1e3 are coaxially arranged on the opposite sides of a first double-rod oil cylinder 1d and the fork cutting frame 1e, the middle position of the first rotating arm 1e1 and the middle position of the second rotating arm 1e2 are rotatably connected with the fixed cylinder 1e3, and an abutting rod 1f is coaxially and slidably arranged in the fixed cylinder 1e 3; the link member 1g includes a first guide rail 1g1, a first slider 1g2, a first link 1g3, a second link 1g4 and a third link 1g5, two first guide rails 1g1 are respectively disposed in the first clamping frame 1b or the second clamping frame 1c, the first guide rail 1g1 extends along the vertical direction, the first slider 1g2 is slidably disposed on the first guide rail 1g1 along the vertical direction, two ends of the first link 1g3 are respectively rotatably connected with the outer end of the abutting rod 1f and the first slider 1g2, two ends of the second link 1g4 are respectively rotatably connected with the second rotating arm 1e2 and the first slider 1g2, two ends of the third link 1g5 are respectively rotatably connected with the first rotating arm 1e1 and the first slider 1g2, and when the first slider 1g2 slides upward, the first rotating arm 1e1 and the second rotating arm 1e2 unfold.
Based on the above-mentioned embodiments, the technical problem that the present application intends to solve is how the link member 1g drivingly connects the fork carriage 1e and the abutment lever 1 f. For this reason, the present application can drive and connect the fork frame 1e and the abutting rod 1f through the first link 1g3, the second link 1g4 and the third link 1g5, so that when the abutting rod 1f abuts against the web 9a and slides relative to the fixed cylinder 1e3, the fork frame 1e can be unfolded and abutted against the inner side of the flange 9b, thereby stably clamping the arch;
specifically, when the first holder 1b and the second holder 1c are moved toward each other, the fork 1e in a collapsed state moves into the groove formed by the web 9a and the flange 9b, after the abutting rod 1f abuts against two sides of the web plate 9a, the fixed cylinder 1e3 continues to approach the web plate 9a, the abutting rod 1f slides relative to the fixed cylinder 1e3, the outer end of the abutting rod 1f drives the first sliding block 1g2 to slide upwards on the first guide rail 1g1 through the first connecting rod 1g3, and the first slider 1g2 is in turn pivotally connected to the upper half of the first pivot arm 1e1 and the second pivot arm 1e2 via a second link 1g4 and a third link 1g5, i.e. the first swivel arm 1e1 and the second swivel arm 1e2 in the folded state are unfolded at both sides of the web 9a, so that the unfolded first rotation arm 1e1 and second rotation arm 1e2 can abut against the inner side of the flange 9b, thereby stably fixing the arch.
As another embodiment of the present application, a groove extending along the axial direction is formed on the circumferential surface of the abutting rod 1f, and a protrusion extending along the axial direction is formed in the fixed cylinder 1e3, and the groove and the protrusion are slidably engaged to prevent the abutting rod 1f from rotating in the fixed cylinder 1e 3.
As shown in fig. 5, further:
the clamping mechanism further comprises a butting disc 1h and a spring 1i, the butting disc 1h is coaxially arranged at the inner end of the butting rod 1f, the spring 1i is sleeved on the butting rod 1f, and two ends of the spring 1i butt against opposite ends of the butting disc 1h and the fixed barrel 1e3 respectively.
Based on the above embodiments, the technical problem that the present application intends to solve is how to avoid the sliding of the arch with respect to the link member 1g after the abutting rod 1f abuts the web 9 a. For this reason, this application is through setting up butt joint dish 1h at the opposite ends of two butt joint poles 1f to increase the area of contact of connecting rod spare 1g and web 9a, and then increase frictional force can make two butt joint dishes 1h stabilize centre gripping web 9 a.
As shown in fig. 7, further:
the clamping mechanism further includes a contact block 1j, and the contact block 1j is disposed at both ends of the first and second rotation arms 1e1 and 1e 2.
Based on the above-described embodiment, the technical problem that the present application intends to solve is how to make both ends of the first swivel arm 1e1 and the second swivel arm 1e2 stably abut against the inner side of the flange 9 b. For this reason, the present application increases the contact area between the first and second rotation arms 1e1 and 1e2 and the inner side of the flange 9b by providing the abutment blocks 1j at both ends of the first and second rotation arms 1e1 and 1e2, thereby increasing the friction force, so that the fork 1e and the abutment bar 1f can stably abut against the inner side of the flange 9 b.
As shown in fig. 6, further:
the double-rod type steering mechanism further comprises an overlapping mechanism and a deflection plate 3, the overlapping mechanism comprises a first overlapping piece 2a and a second overlapping piece 2b which are identical in structure, and a second double-rod oil cylinder 2c, the clamping mechanism is fixedly arranged at the top of the deflection plate 3, the first overlapping piece 2a and the second overlapping piece 2b are arranged on the deflection plate 3 in a sliding mode in the opposite direction or the back direction, the first overlapping piece 2a and the second overlapping piece 2b are located on two sides of the clamping mechanism, the first overlapping piece 2a comprises an overlapping roller 2a1 and a servo motor 2a2, the overlapping roller 2a1 extends in the horizontal direction, an output shaft of the servo motor 2a2 is in transmission connection with the overlapping roller 2a1, the second double-rod oil cylinder 2c is arranged on the deflection plate 3, and actuating levers at two ends of the second double-rod oil cylinder 2c are fixedly connected with the first overlapping piece 2a and the second overlapping piece 2b respectively.
Based on the above embodiments, the technical problem that the present application intends to solve is how to stabilize the lift arch and adjust the clamping position of the clamping mechanism 1. For this purpose, the present application can adjust the clamping position of the clamping mechanism 1 by providing the bridging mechanism 2 on the deflector 3 such that the relative positions on the first bridge 2a and the second bridge 2b can be synchronously adjusted by the second two-rod cylinder 2c, and when the servo motor 2a2 is activated, the bridging roller 2a1 rotates to enable the arch bridged on the first bridge 2a and the second bridge 2b to slide, while the relative distance between the arch and the deflector 3 can be adjusted by adjusting the relative positions of the first bridge 2a and the second bridge 2b to ensure that the fork carriage 1e can just abut against the inside of the flange 9 b.
As shown in fig. 6, further:
the first bridging member 2a further includes a placement frame 2a3, a first frame 2a4, a second frame 2a5, a first bevel gear 2a6, a second bevel gear 2a7, a fourth link 2a8, a fifth link 2a9 and a pressure sensor 2a10, the placement frame 2a3 is slidably disposed on the deflector 3, the first frame 2a4 and the second frame 2a5 are slidably disposed in the placement frame 2a3 in a vertical direction, both ends of the lap roller 2a1 are rotatably connected with the first frame 2a4 and the second frame 2a5 respectively, the first bevel gear 2a6 is coaxially disposed at one end of the lap roller 2a1, the servo motor 2a2 is fixedly disposed at the bottom end of the first frame 2a4, an output shaft of the servo motor 2a4 penetrates through the first frame 2a4 and is connected with the gear 2a4, the first bevel gear 2a4 is coaxially engaged with the gear 72, the pressure sensor 4 is fixedly disposed in the upward direction of the placement frame 2a4, the pressure sensor 2a4 is disposed in the first bevel gear 2a4, one end of the fourth link 2a8 is rotatably connected to the first frame 2a4, one end of the fifth link 2a9 is rotatably connected to the second frame 2a5, and the other ends of the fourth link 2a8 and the fifth link 2a9 are rotatably connected to overlap the detection end of the pressure sensor 2a 10.
Based on the above described embodiments, the technical problem that the present application intends to solve is how to ensure that the centre of gravity of the arch is located exactly at the middle top between the first 2a and second 2b straps. For this reason, the present application can detect the bearing pressure of the lap roller 2a1 by the pressure sensor 2a10, and the second lap 2b is the same structure as the first lap 2a, so that the second lap 2b can detect its bearing pressure, so that the center of gravity of the arch is moved to the middle top of the first lap 2a and the second lap 2b by rotating the lap roller 2a 1;
specifically, the lapping roller 2a1 slides on the placement frame 2a3 in the vertical direction through the first frame body 2a4 and the second frame body 2a5, while the first frame body 2a4 and the second frame body 2a5 act on the top of the pressure sensor 2a10 through the fourth connecting rod 2a8 and the fifth connecting rod 2a9, respectively, so that the pressure borne by the lapping roller 2a1 can directly act on the pressure sensor 2a10, and simultaneously, the servo motor 2a2 is started, and the output shaft thereof can transmit the torque to the lapping roller 2a1 through the second bevel gear 2a7 and the first bevel gear 2a6, so that the lapping roller 2a1 can drive the arch frame to slide.
As shown in fig. 6, further:
Based on the above embodiments, the technical problem that the present application intends to solve is how to monitor whether the arch slides after the clamping mechanism 1 clamps the arch to ensure safety. For this reason, this application is through set up the photoelectric encoder 2a12 that input shaft and overlap joint roller 2a1 transmission are connected in second framework 2a5, when the bow member slides on fixture 1, overlap joint roller 2a1 slides in step, and photoelectric encoder 2a12 can real-time supervision overlap joint roller 2a1 whether take place to rotate, thereby when the relative fixture 1 of bow member takes place to slide, can accurate early warning and in time stop erectting, can make fourth connecting rod 2a8 and fifth connecting rod 2a9 can elasticity lift overlap joint roller 2a1 through hydraulic shock absorber 2a11 simultaneously, make overlap joint roller 2a1 elasticity butt at the intrados of bow member all the time, thereby accurate monitoring.
As shown in fig. 6, further:
the first overlapping element 2a further comprises a conical cylinder 2a13, two conical cylinders 2a13 are coaxially arranged on the overlapping roller 2a1, and the conical surfaces of the two conical cylinders 2a13 are opposite.
Based on the above-described embodiments, the technical problem that the present application intends to solve is how to prevent the arch from slipping out of the lapping roller 2a1 in the axial direction. Therefore, the two conical cylinders 2a13 are arranged on the lapping roller 2a1, so that the arch can be abutted on the lapping roller 2a1 under the guiding of the conical surface of the conical cylinder 2a13, and the arch can be prevented from being separated from the lapping roller 2a1 under the limitation of the conical cylinders 2a13 on two sides, and meanwhile, the positions of the two conical cylinders 2a13 on the lapping roller 2a1 can be adjusted, so that the arch with different widths can be positioned adaptively.
As shown in fig. 6, further:
the first strap 2a further includes a second guide rail 2a14, a second slider 2a15 and a limit pin 2a16, the second guide rail 2a14 is disposed at two sides of the interior of the placement frame 2a3, the placement frame 2a3 extends in the vertical direction, the second slider 2a15 is slidably disposed on the second guide rail 2a14 in the vertical direction, the first frame body 2a4 and the second frame body 2a5 are respectively disposed at opposite sides of the two second sliders 2a15, the limit pin 2a16 is fixedly disposed on the second guide rail 2a14, and the limit pin 2a16 is located at the top of the second slider 2a 15.
Based on the above-described embodiments, the technical problem that the present application intends to solve is how to make the first frame body 2a4 and the second frame body 2a5 stably slide within the placement frame 2a 3. For this reason, the present application can guide the first frame body 2a4 and the second frame body 2a5 to stably slide in the placing shelf 2a3 by the second guide rail 2a14 and the second slider 2a15, and the stopper pin 2a16 can prevent the second slider 2a15 from being separated upward from the second guide rail 2a 14.
As shown in fig. 2, 3 and 4, further:
the deflection adjusting mechanism 4 comprises a first single-rod oil cylinder 4a, a first fixed steel 4b, a third double-rod oil cylinder 4c, a second fixed steel 4d, a third fixed steel 4e, a second single-rod oil cylinder 4f, a fourth fixed steel 4g, a fourth double-rod oil cylinder 4h and a fifth fixed steel 4i, output rods of the four first single-rod oil cylinders 4a are respectively connected with four corners of the bottom end of the deflection plate 3 in a rotating mode, one first fixed steel 4b is fixedly connected with the bottom ends of the two first single-rod oil cylinders 4a, the other first fixed steel 4b is fixedly connected with the bottom ends of the other two first single-rod oil cylinders 4a, one end of the fourth double-rod oil cylinder 4h comprises a fifth execution rod 4h1, the other end of the fourth double-rod oil cylinder comprises a sixth execution rod 4h2, a third execution rod 4c1 and a fourth execution rod 4c2 are respectively connected with the first fixed steel 4b in a rotating mode, and the second fixed steel cylinder 4d is fixedly connected with the third double-rod oil cylinder 4c, two third fixed steels 4e are vertically and fixedly connected with the second fixed steel 4d, two ends of one third fixed steel 4e are respectively connected with the output end of one second horizontal bar oil cylinder 4f, two ends of one fourth fixed steel 4g are respectively connected with the bottom end of one second horizontal bar oil cylinder 4f, two fourth fixed steels 4g are fixedly connected with the bottom ends of four second horizontal bar oil cylinders 4f, one end of a fourth double-bar oil cylinder 4h comprises a fifth execution rod 4h1, the other end of the fourth double-bar oil cylinder comprises a sixth execution rod 4h2, the fifth execution rod 4h1 and the sixth execution rod 4h2 are respectively connected with the opposite sides of the two fourth fixed steels 4g in a rotating mode, and the fifth fixed steel 4i is fixedly connected with the fourth double-bar oil cylinder 4h and the lifter.
Based on the above embodiments, the technical problem that the present application intends to solve is how to adjust the tilt angle of the deflector 3 to tilt the erection arch. Therefore, the inclination angle of the deflection plate 3 can be stably adjusted through the first horizontal rod oil cylinder 4a and the second horizontal rod oil cylinder 4f, so that the arch center can be erected in an inclined mode conveniently;
specifically, one first fixing steel 4b is stably connected with two first single-rod cylinders 4a, when the first single-rod cylinder 4a on one first fixing steel 4b outputs, the deflection plate 3 deflects relative to the first fixing steel 4b, and the third actuating rod 4c1 and the fourth actuating rod 4c2 at two ends of the third double-rod cylinder 4c can stably adjust the distance between the two first fixing steels 4b, so that the first fixing steel 4b can be stably output; the second fixing steels 4d and the third fixing steels 4e are used for stably connecting the third double-rod cylinder 4c and the second horizontal-rod cylinder 4f, one fourth fixing steel 4g is used for stably connecting the two second horizontal-rod cylinders 4f, when the second horizontal-rod cylinder 4f on the fourth fixing steel 4g outputs, the third fixing steel 4e deflects relative to the fifth fixing steel 4i, and the fifth actuating rod 4h1 and the sixth actuating rod 4h2 at the two ends of the fourth double-rod cylinder 4h can stably adjust the distance between the two fourth fixing steels 4g, so that the second horizontal-rod cylinder 4f can stably output.
The above examples, which are intended to represent only one or more embodiments of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (4)
1. The multi-dimensional adjusting manipulator for erecting the arch center is characterized by comprising a clamping mechanism, wherein the clamping mechanism comprises a lifting plate (1 a), a first clamping frame (1 b), a second clamping frame (1 c), a first double-rod oil cylinder (1 d), a fork shearing frame (1 e), a butting rod (1 f) and a connecting rod piece (1 g), the first clamping frame (1 b) and the second clamping frame (1 c) are arranged on the top of the lifting plate (1 a) in a sliding mode in the opposite direction or in the opposite direction, the first double-rod oil cylinder (1 d) is fixedly arranged on the lifting plate (1 a), a first execution rod (1 d 1) and a second execution rod (1 d 2) are respectively arranged at two ends of the first double-rod oil cylinder (1 d), the first execution rod (1 d 1) is connected with the first clamping frame (1 b), the second execution rod (1 d 2) is connected with the second clamping frame (1 c), and the two fork shearing frames (1 e) are arranged between the first clamping frame (1 b) and the second clamping frame (1 c), the rotating shaft of the fork shearing frame (1 e) extends along the horizontal direction, the abutting rod (1 f) coaxially penetrates through the rotating shaft of the fork shearing frame (1 e) and is in sliding fit with the rotating shaft, the first clamping frame (1 b) and the second clamping frame (1 c) are respectively provided with a connecting rod piece (1 g), the connecting rod pieces (1 g) are in transmission connection with the fork shearing frame (1 e) and the abutting rod (1 f), and when the abutting rod (1 f) abuts against a web of the arch and slides relative to the rotating shaft of the fork shearing frame (1 e), the abutting rod (1 f) guides the fork shearing frame (1 e) to be unfolded and abuts against the inner side of the flange of the arch through the connecting rod pieces (1 g);
the fork shearing frame (1 e) comprises a first rotating arm (1 e 1), a second rotating arm (1 e 2) and a fixed cylinder (1 e 3), wherein the two fixed cylinders (1 e 3) are coaxially arranged on the opposite sides of a first double-rod oil cylinder (1 d) and the fork shearing frame (1 e), the middle position of the first rotating arm (1 e 1) and the middle position of the second rotating arm (1 e 2) are rotatably connected with the fixed cylinder (1 e 3), and a butting rod (1 f) is coaxially and slidably arranged in the fixed cylinder (1 e 3); the connecting rod piece (1 g) comprises a first guide rail (1 g 1), a first sliding block (1 g 2), a first connecting rod (1 g 3), a second connecting rod (1 g 4) and a third connecting rod (1 g 5), the first guide rail (1 g 1) is respectively arranged in a first clamping frame (1 b) or a second clamping frame (1 c), the first guide rail (1 g 1) extends along the vertical direction, the first sliding block (1 g 2) is arranged on the first guide rail (1 g 1) in a sliding mode along the vertical direction, two ends of the first connecting rod (1 g 3) are respectively and rotatably connected with an outer end of the abutting rod (1 f) and the first sliding block (1 g 2), two ends of the second connecting rod (1 g 4) are respectively and rotatably connected with a second rotating arm (1 e 2) and a first sliding block (1 g 2), two ends of the third connecting rod (1 g 5) are respectively and rotatably connected with a first rotating arm (1 e 1) and a first sliding block (1 g 2), and the first sliding block (2) slides upwards when sliding, the first rotating arm (1 e 1) and the second rotating arm (1 e 2) are unfolded;
the clamping mechanism further comprises a butting disc (1 h) and a spring (1 i), the butting disc (1 h) is coaxially arranged at the inner end of the butting rod (1 f), the spring (1 i) is sleeved on the butting rod (1 f), and two ends of the spring (1 i) are respectively butted against the opposite ends of the butting disc (1 h) and the fixed barrel (1 e 3);
the clamping mechanism further comprises a butt joint block (1 j), and the butt joint block (1 j) is arranged at two ends of the first rotating arm (1 e 1) and the second rotating arm (1 e 2);
the manipulator also comprises a lapping mechanism and a deflecting plate (3), the lapping mechanism comprises a first lapping piece (2 a) and a second lapping piece (2 b) which have the same structure, and a second double-rod cylinder (2 c), the clamping mechanism is fixedly arranged at the top of the deflection plate (3), the first overlapping part (2 a) and the second overlapping part (2 b) are arranged on the deflection plate (3) in a sliding way in the opposite direction or in the back direction, the first overlapping part (2 a) and the second overlapping part (2 b) are positioned at two sides of the clamping mechanism, the first overlapping part (2 a) comprises an overlapping roller (2 a 1) and a servo motor (2 a 2), the overlapping roller (2 a 1) extends along the horizontal direction, an output shaft of the servo motor (2 a 2) is in transmission connection with the lapping roller (2 a 1), a second double-rod oil cylinder (2 c) is arranged on the deflection plate (3), and executing rods at two ends of the second double-rod oil cylinder (2 c) are respectively and fixedly connected with the first lapping piece (2 a) and the second lapping piece (2 b);
the first bridging piece (2 a) further comprises a placement frame (2 a 3), a first frame body (2 a 4), a second frame body (2 a 5), a first bevel gear (2 a 6), a second bevel gear (2 a 7), a fourth connecting rod (2 a 8), a fifth connecting rod (2 a 9) and a pressure sensor (2 a 10), wherein the placement frame (2 a 3) is arranged on the deflection plate (3) in a sliding mode, the first frame body (2 a 4) and the second frame body (2 a 5) are arranged in the placement frame (2 a 3) in a sliding mode along the vertical direction, two ends of the bridging roller (2 a 1) are respectively connected with the first frame body (2 a 4) and the second frame body (2 a 2) in a rotating mode, the first bevel gear (2 a 6) is coaxially arranged at one end of the bridging roller (2 a 1), the servo motor (2 a 2) is fixedly arranged at the bottom end of the first frame body (2 a 4), and the servo motor (2 a 375) penetrates through the first bevel gear (4) and is connected with the second frame body (24 a 57323), the first bevel gear (2 a 6) is meshed with the second bevel gear (2 a 7), the pressure sensor (2 a 10) is fixedly arranged in the placing frame (2 a 3), the detection end of the pressure sensor (2 a 10) faces upwards, one end of the fourth connecting rod (2 a 8) is rotatably connected with the first frame body (2 a 4), one end of the fifth connecting rod (2 a 9) is rotatably connected with the second frame body (2 a 5), and the other ends of the fourth connecting rod (2 a 8) and the fifth connecting rod (2 a 9) are rotatably connected and lapped at the detection end of the pressure sensor (2 a 10);
the manipulator further comprises a deflection adjusting mechanism (4), the deflection adjusting mechanism (4) comprises first single-rod oil cylinders (4 a), first fixed steel (4 b), third double-rod oil cylinders (4c), second fixed steel (4 d), third fixed steel (4 e), second single-bar oil cylinders (4 f), fourth fixed steel (4 g), fourth double-rod oil cylinders (4 h) and fifth fixed steel (4 i), output rods of the four first single-rod oil cylinders (4 a) are respectively connected with the four corners of the bottom end of the deflection plate (3) in a rotating mode, one first fixed steel (4 b) is fixedly connected with the bottom ends of the two first single-rod oil cylinders (4 a), the other first fixed steel (4 b) is fixedly connected with the bottom ends of the other two first single-rod oil cylinders (4 a), one end of each third double-rod oil cylinder (4c) comprises a third executing rod (4c1), and the other end of each third double-rod oil cylinder (4c) comprises a fourth executing rod (4c2), a third actuating rod (4c1) and a fourth actuating rod (4c2) are respectively and rotatably connected with a first fixed steel (4 b), a second fixed steel (4 d) is fixedly connected with a third double-rod oil cylinder (4c), two third fixed steels (4 e) are vertically and fixedly connected with the second fixed steel (4 d), two ends of one third fixed steel (4 e) are respectively connected with the output end of a second horizontal-rod oil cylinder (4 f), two ends of one fourth fixed steel (4 g) are respectively connected with the bottom end of the second horizontal-rod oil cylinder (4 f), two fourth fixed steels (4 g) are fixedly connected with the bottom ends of four second horizontal-rod oil cylinders (4 f), one end of the fourth double-rod oil cylinder (4 h) comprises a fifth actuating rod (4 h 1), the other end of the fourth double-rod oil cylinder comprises a sixth actuating rod (4 h 2), the fifth actuating rod (4 h 1) and the sixth actuating rod (4 h 2) are respectively and rotatably connected with the opposite sides of the two fourth fixed steels (4 g), the fifth fixed steel (4 i) is fixedly connected with the fourth double-rod oil cylinder (4 h) and the lifter.
2. A multidimensional adjustment robot for erecting an arch according to claim 1, wherein the first bridging member (2 a) further comprises a hydraulic damper (2 a 11) and a photoelectric encoder (2 a 12), two hydraulic dampers (2 a 11) are rotatably connected with the inner bottom end of the placing frame (2 a 3), the other ends of the two hydraulic dampers (2 a 11) are rotatably connected with the fourth connecting rod (2 a 8) and the fifth connecting rod (2 a 9), the photoelectric encoder (2 a 12) is arranged in the second frame body (2 a 5), and the input end of the photoelectric encoder (2 a 12) is in transmission connection with one end of the bridging roller (2 a 1).
3. An arching multi-dimensional adjustment robot as claimed in claim 2, characterized in that the first bridge (2 a) further comprises a cone (2 a 13), two cones (2 a 13) being coaxially arranged on the lapping roller (2 a 1), the cones of the two cones (2 a 13) being opposite.
4. An arch centering multi-dimensional adjustment manipulator according to claim 3, wherein the first bridge (2 a) further comprises a second guide rail (2 a 14), a second slider (2 a 15) and a limit pin (2 a 16), the second guide rail (2 a 14) is disposed on both sides of the interior of the placement frame (2 a 3), the placement frame (2 a 3) extends in the vertical direction, the second slider (2 a 15) is slidably disposed on the second guide rail (2 a 14) in the vertical direction, the first frame (2 a 4) and the second frame (2 a 5) are respectively disposed on opposite sides of the two second sliders (2 a 15), the limit pin (2 a 16) is fixedly disposed on the second guide rail (2 a 14), and the limit pin (2 a 16) is located on top of the second slider (2 a 15).
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| CN202210762073.9A CN114800458B (en) | 2022-06-30 | 2022-06-30 | Multi-dimensional adjusting manipulator for erecting arch |
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| CN202210762073.9A CN114800458B (en) | 2022-06-30 | 2022-06-30 | Multi-dimensional adjusting manipulator for erecting arch |
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| JP2001303898A (en) * | 2000-04-25 | 2001-10-31 | Mitsubishi Heavy Ind Ltd | Method and device for fastening segment |
| CN206495683U (en) * | 2016-12-01 | 2017-09-15 | 长沙科达智能装备股份有限公司 | A kind of bow member clamping device |
| CN107939422A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | It is a kind of to possess the device for grabbing arch and rock drilling function |
| CN109882210A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel steel arch-shelf assembling machine and its assembling method |
| CN113399976A (en) * | 2021-07-08 | 2021-09-17 | 中国铁建重工集团股份有限公司 | Arch pre-assembled arch mounting device and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001303898A (en) * | 2000-04-25 | 2001-10-31 | Mitsubishi Heavy Ind Ltd | Method and device for fastening segment |
| CN206495683U (en) * | 2016-12-01 | 2017-09-15 | 长沙科达智能装备股份有限公司 | A kind of bow member clamping device |
| CN107939422A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | It is a kind of to possess the device for grabbing arch and rock drilling function |
| CN109882210A (en) * | 2019-04-23 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of novel steel arch-shelf assembling machine and its assembling method |
| CN113399976A (en) * | 2021-07-08 | 2021-09-17 | 中国铁建重工集团股份有限公司 | Arch pre-assembled arch mounting device and using method thereof |
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