CN116968080B - Prefabricated arch frame mechanical arm grabbing and lifting device for step operation method - Google Patents
Prefabricated arch frame mechanical arm grabbing and lifting device for step operation method Download PDFInfo
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- CN116968080B CN116968080B CN202311194520.6A CN202311194520A CN116968080B CN 116968080 B CN116968080 B CN 116968080B CN 202311194520 A CN202311194520 A CN 202311194520A CN 116968080 B CN116968080 B CN 116968080B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000000694 effects Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 2
- 238000009434 installation Methods 0.000 description 9
- 238000010276 construction Methods 0.000 description 7
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The utility model relates to a prefabricated arch mechanical arm grabbing and lifting device for a step operation method, which comprises a supporting base frame and a rotary support with an L-shaped section, wherein the top of the rotary support is connected with rotary drive, an eccentric tray seat is arranged above the rotary drive, the top of the eccentric tray seat is provided with the supporting base frame, a telescopic arm swinging oil cylinder is hinged in front of the supporting seat, the output end of a main lifting oil cylinder is connected with a telescopic arm in a hinged manner, one side of the telescopic arm is hinged with a parallel-arranged gripper arm swinging oil cylinder, a vertically-arranged gripper arm is arranged above the telescopic arm, a gripper arm lifting oil cylinder is hinged below the gripper arm, the working efficiency is improved while equipment is reduced, the arch is welded while the arch is supported, and the circular center rotation and the eccentric rotation switching of the device can be realized by utilizing the rotary drive and the cooperation of the eccentric tray, so that the different rotation radius requirements of the device in the step operation in a tunnel are met, and the need of moving of the device is reduced.
Description
Technical Field
The utility model relates to a prefabricated arch mechanical arm grabbing device for a step operation method, in particular to a prefabricated arch mechanical arm grabbing device for a step operation method, which is applied to the technical field of arch construction auxiliary equipment.
Background
In tunnel construction, measuring and placing points, excavating operation, arch frame installation, mesh welding, connecting ribs and the like. The arch frame trolley is provided with wireless remote control, and meets the requirements of prefabricated arch frame installation, various step method operations and accurate positioning adjustment of the arch frame, reduces construction risk, improves efficiency, and realizes standardization and industrialization of tunnel vertical arch, but the installation arch frame and supporting operation thereof comprise various operations such as vertical arch frame, anchor rod installation, welding lacing wires, net hanging and the like, and the traditional method is that a manual bench is used as a main mode, and the construction mode of shouldering shoulder by people is adopted, so that the investment of people is more, the labor intensity is high, the safety is poor, and the automation degree is low.
In order to solve the problems of poor safety and low automation degree, a certain arch centering vehicle in the market adopts a prefabricated arch centering installation design and has a certain market occupation ratio.
The specification of Chinese patent No. 202320417385.6 discloses an arch mechanical arm grabbing and lifting device, relates to the technical field of arch construction auxiliary equipment, and aims to solve the problems that an existing arch truck can only meet the requirement of installing one arch, only can install one steel arch at a time, the cleaning of a working face needs to be carried out by manual work alone or by a separate crusher, and the working efficiency is affected by separate operation. Including the main part frame, install the work basket through gyration support on the main part frame, the right-hand member fixedly connected with fixing base of gyration support, the right side of fixing base articulates there is flexible arm, the bottom of flexible arm articulates there is the support, the bottom fixedly connected with main lift cylinder of fixing base, the piston flexible end of main lift cylinder with the support articulates, the top of flexible arm articulates there is grabs the arm, compares conventional bow member erection equipment, economic cost greatly reduced.
When the mechanical arm grabbing and lifting device performs rotation processing in the working process, circle center rotation can be performed only, but in the actual operation process, rotation processing with different radius values is required to be performed in order to adapt to the requirements of the topography and the arch frame installation size in the tunnel, so that equipment is required to be moved during rotation, and the tunnel operation is not facilitated.
Disclosure of Invention
Aiming at the prior art, the technical problem to be solved by the utility model is to switch the circle center support rotation and the eccentric support rotation so as to adapt to the problem of insufficient length caused by the circle center support rotation when the working surface is switched by rotation, and avoid moving the working basket in the step working process.
In order to solve the problems, the utility model provides a prefabricated arch mechanical arm grabbing and lifting device for a step operation method, which comprises a supporting base frame and a slewing support with an L-shaped cross section, wherein the top of the slewing support is connected with a slewing drive, an eccentric tray seat is arranged above the slewing drive, the top of the eccentric tray seat is provided with the supporting base frame, the top of the supporting base frame is provided with a working basket and a supporting seat positioned at one side of the working basket, the front of the supporting seat is hinged with a telescopic arm swinging cylinder, the bottom of the supporting seat is provided with a main lifting cylinder, the output end of the main lifting cylinder is connected with a telescopic arm, the surface of the telescopic arm is hinged with the output end of the telescopic arm swinging cylinder, one side of the telescopic arm is hinged with a parallel arranged gripper arm swinging cylinder, the upper side of the telescopic arm is provided with a vertically arranged gripper arm, the lower side of the gripper arm is hinged with a gripper arm lifting cylinder, the lower side of the gripper arm is provided with a clamping cylinder, and one end of the gripper arm is provided with a breaking hammer.
In the prefabricated arch mechanical arm grabbing device for the step operation method, the grabbing device can be used for combining the cleaning of an operation surface and the installation of an arch frame into a whole, three grabbing devices are simultaneously operated on one trolley, the work efficiency is improved while equipment is reduced, the arch frame is welded while the arch frame is supported, meanwhile, the revolving support and the cooperation of revolving drive and an eccentric tray can be utilized, eccentric revolving can be realized on the basis of assisting the grabbing device to realize circle center revolving, so that different revolving radius requirements during the step operation in a tunnel are met, and the necessity of device moving is reduced.
As the further improvement of this application, the bottom of eccentric tray seat is equipped with the bar groove, the roof sliding connection of bar groove has the removal rack, the below meshing of removal rack is connected with drive gear, the movable block that is located bar inslot portion is installed to the below of removal rack, and the top of movable block is the sunken design, the inner wall of movable block is installed through the bearing and is rotated the horizontal pole, the inside of drive gear is run through to the one end of rotation horizontal pole, driven bevel gear has been cup jointed on the other end surface of rotation horizontal pole, the inside of movable block runs through and installs the connecting rod, and the tail end and the output of gyration drive of connecting rod are connected, the tip surface mounting of connecting rod has the initiative bevel gear of being connected with driven bevel gear meshing.
As a still further improvement of the present application, an electromagnetic block is mounted on the top end of the coupling rod and is located above the drive bevel gear, the magnetic attraction block is embedded in the drive bevel gear, and a magnetic attraction force is provided between the magnetic attraction block and the electromagnetic block.
As still further improvement of this application, the output of tongs arm swing hydro-cylinder articulates with the surface of tongs arm, and telescopic arm's internally mounted has telescopic hydro-cylinder, and telescopic hydro-cylinder's output articulates with the surface of tongs arm.
As a further improvement of the application, the surface of the grabbing arm is provided with clamping blocks which are symmetrically arranged through pin shafts, the clamping oil cylinder is designed to be double in output end, and the output end of the clamping oil cylinder is hinged with the surface of each clamping block respectively.
As a still further improvement of the present application, the outer surface of the moving block is in fixed contact with the inner wall of the bar-shaped groove, and the cross-sectional width of the moving block is larger than the dimension of the cross-sectional width of the bottom end of the bar-shaped groove.
As another improvement of this application, the inside of movable block is equipped with the cylinder passageway that matches with the yoke lever, and the internally mounted of cylinder passageway has the adjustment unit, and the adjustment unit is equipped with annular cavity including locating the inside outwards extending joint groove of cylinder passageway, the top of joint groove, and the electromagnetism piece that has the magnetic attraction effect between a plurality of and the joint groove is installed at the top of annular cavity, and the inside sliding connection in joint groove has the magnetism piece, and the surface sliding joint of magnetism piece and yoke lever.
As a further improvement of the application, the height value of the annular cavity is not smaller than that of the magnetic moving plate, and the radius value of the annular cavity is larger than the section width value of the clamping groove.
As a supplement to the further improvement of the present application, the sum of the height values of the annular cavity and the clamping groove is smaller than the height value of the cylindrical channel, and the annular cavity and the cylindrical channel are designed in concentric circles.
To sum up, this application utilizes the cooperation that utilizes gyration to support and gyration drive and eccentric tray, and this grabbing device of assistance realizes centre of a circle gyration and eccentric gyration and switches, when carrying out eccentric gyration, utilize the yoke lever to drive movable block pivoted, with the help of the meshing transmission effect between initiative bevel gear and the passive bevel gear, drive the drive gear rotation and then drive and remove rack fixed connection's eccentric tray seat, realize eccentric processing, and combine with the gyration that the movable block drove, realize eccentric rotation, in addition can also utilize the segmentation processing of the supplementary this device realization eccentric gyration of adjusting, and then supplementary this grabbing device promotes the adaptation degree to the tunnel inner operation topography.
Drawings
Fig. 1 is an overall schematic view of the appearance of embodiment 1 of the present application;
fig. 2 is a schematic view of a mounting structure of a gripper arm lifting cylinder and a gripper arm according to embodiment 1 of the present application;
FIG. 3 is a front view of embodiment 1 of the present application;
FIG. 4 is a top view of embodiment 1 of the present application;
fig. 5 is a construction diagram showing the installation of the swing drive, the swing support and the eccentric tray base according to embodiment 1 of the present application;
fig. 6 is a bottom view of the eccentric tray seat according to embodiment 1 of the present application;
FIG. 7 is an enlarged schematic view of FIG. 6 at A according to embodiment 1 of the present application;
fig. 8 is a schematic diagram of the operation of embodiment 1 of the present application in a circle center rotation state;
fig. 9 is a schematic operation diagram of embodiment 1 of the present application in an eccentric rotation state;
fig. 10 is a schematic structural view of embodiment 2 of the present application;
FIG. 11 is a schematic view illustrating an operation state of embodiment 2 of the present application;
fig. 12 is a schematic diagram showing a comparison of the closed and open states of the electromagnetic sheet in embodiment 2 of the present application.
The reference numerals in the figures illustrate:
1. a support base frame; 2. driving in a rotary manner; 3. a rotary support; 4. a telescopic arm swinging oil cylinder; 5. a main lifting oil cylinder; 6. a telescoping arm; 7. a grabbing arm swinging oil cylinder; 8. grabbing an arm lifting oil cylinder; 9. grasping arms; 10. a work basket; 11. clamping an oil cylinder; 12. a telescopic oil cylinder; 13. an eccentric tray seat; 131. a bar-shaped groove; 132. moving the rack; 133. a drive gear; 134. a passive bevel gear; 135. a drive bevel gear; 136. a coupling rod; 137. a moving block; 138. an electromagnetic block; 14. an adjusting unit; 141. an electro-magnetic sheet; 142. a clamping groove; 143. an annular cavity; 144. and the magnetic sheet.
Detailed Description
The following describes 2 embodiments of the present application in detail with reference to the accompanying drawings.
Embodiment 1:
fig. 1-4 show a prefabricated arch mechanical arm grabbing device for a step operation method, which comprises a supporting base frame 1 and a slewing support 3 with an L-shaped section, wherein the top of the slewing support 3 is connected with a slewing drive 2, an eccentric tray seat 13 is arranged above the slewing drive 2, the supporting base frame 1 is arranged at the top of the eccentric tray seat 13, a work basket 10 and a supporting seat positioned at one side of the work basket 10 are arranged at the top of the supporting base frame 1, a telescopic arm swinging cylinder 4 is hinged at the front of the supporting seat, a main lifting cylinder 5 is arranged at the bottom of the supporting seat, a telescopic arm 6 is connected with the output end of the main lifting cylinder 5, the surface of the telescopic arm 6 is hinged with the output end of the telescopic arm swinging cylinder 4, one side of the telescopic arm 6 is hinged with a parallel-arranged gripper arm swinging cylinder 7, a vertically-arranged gripper arm 9 is arranged above the telescopic arm 6, a gripper arm lifting cylinder 8 is hinged below the gripper arm 9, a clamping cylinder 11 is arranged below the gripper arm 9, and a breaking hammer is arranged at one end of the gripper arm 9.
Specifically, the lifting of the gripper arms 9 is realized by utilizing the extension and retraction of the gripper arm lifting oil cylinder 8, so that when the gripper arm lifting oil cylinder 8 extends, crushing and cleaning operations of broken stones on a dome through a breaking hammer can be performed, the gripper arm lifting oil cylinder 8 is retracted afterwards, and after the cleaning of the working surface of the breaking hammer is finished, the arch centering is installed;
the vertical swing of the gripper arms 9 is realized by utilizing the extension and retraction of the gripper arm swing oil cylinder 7, and the steel arch centering clamped in the gripper arms 9 is ensured to be parallel to the tunnel dome through the adjustment of the vertical angles of the gripper arms 9;
the telescopic arm 6 is swung by utilizing the telescopic arm swinging oil cylinder 4, so that the working range of the grabbing arm 9 is increased, and the working flexibility is improved;
the main lifting oil cylinder 5 can be used for lifting the grabbing arm 9, so that the device can be used for grabbing and lifting the prefabricated arch, and the construction operation of the first arch, the second arch and the third arch can be met, and the working application range is wide;
when the dome cleaning and arch frame installing operation is carried out, a person can stand in the working basket 10, control the grabbing and lifting device (in a remote control mode and a rocker mode) and carry out welding operation on the arch frame after supporting;
in addition, the grabbing and lifting device can be used for realizing the cleaning of a working surface and the installation of an arch frame into one, three grabbing and lifting devices are simultaneously operated on one trolley, the working efficiency is improved while equipment is reduced, the arch frame is welded while the arch frame is supported, meanwhile, the revolving support 3 and the revolving drive 2 are matched with the eccentric tray seat 13, the grabbing and lifting device is assisted to realize the circle center revolving, and eccentric revolving can be realized to meet the different revolving radius requirements during the step operation in a tunnel, and the device moving necessity is reduced.
Fig. 5-9 show that the bottom of the eccentric tray seat 13 is provided with a bar-shaped groove 131, the top wall of the bar-shaped groove 131 is slidably connected with a movable rack 132, a driving gear 133 is connected under the movable rack 132 in a meshed manner, a movable block 137 positioned in the bar-shaped groove 131 is installed under the movable rack 132, the top of the movable block 137 is of a concave design, the inner wall of the movable block 137 is provided with a rotary cross rod through a bearing, one end of the rotary cross rod penetrates through the inside of the driving gear 133, the other end surface of the rotary cross rod is sleeved with a driven bevel gear 134, the inside of the movable block 137 is provided with a connecting shaft 136 in a penetrating manner, the tail end of the connecting shaft 136 is connected with the output end of the rotary driving 2, and the end surface of the connecting shaft 136 is provided with a driving bevel gear 135 in meshed connection with the driven bevel gear 134.
The electromagnetic block 138 is installed on the top of the coupling rod 136, and the electromagnetic block 138 is located above the drive bevel gear 135, and the magnetic attraction block is embedded in the drive bevel gear 135, and a magnetic attraction force is provided between the magnetic attraction block and the electromagnetic block 138.
Specifically, the drive bevel gear 135 is engaged with the driven bevel gear 134 when being adsorbed on the bottom of the electromagnetic block 138;
when eccentric rotation is carried out, the electromagnetic block 138 is started, so that the electromagnetic block 138 attracts the drive bevel gear 135, and the electromagnetic block 138 is further attracted below the electromagnetic block 138 and is meshed and connected with the driven bevel gear 134, so that torque output by the rotation driving 2 is synchronously transmitted to the position of the driving gear 133 through the connecting rod 136, at the moment, along with rotation of the driving gear 133, the moving rack 132 is driven to move, and further the eccentric tray seat 13 fixedly connected with the moving rack 132 is driven to transversely move, at the moment, the torque output position corresponding to the rotation driving 2 is positioned at the position of the moving block 137, at the moment, the circle centers of the moving block 137 and the eccentric tray seat 13 are eccentrically arranged, and the eccentric rotation is carried out on the eccentric tray seat 13 under the influence of the connection effect between the moving block 137 and the eccentric tray seat 13;
when the circle center rotation is needed, the electromagnetic block 138 is closed, and at the moment, the drive bevel gear 135 falls to the bottom wall of the movable block 137 under the influence of dead weight, so that the meshing connection with the driven bevel gear 134 is damaged, the movement of the movable rack 132 is avoided, the circle center of the eccentric tray seat 13 and the movable block 137 are indirectly ensured to be positioned on the same axis, the circle center rotation is realized, and the switching coordination treatment of the eccentric rotation and the circle center rotation is realized.
The output end of the gripper arm swinging oil cylinder 7 is hinged with the surface of the gripper arm 9, a telescopic oil cylinder 12 is arranged in the telescopic arm 6, and the output end of the telescopic oil cylinder 12 is hinged with the surface of the gripper arm 9.
Specifically, the telescopic cylinder 12 is located inside the telescopic arm 6 and is not visible, and is fixed through two pin shafts, so that when the telescopic arm 6 is limited in telescopic operation or the adjusting range of the gripper arm 9 is small, the gripper arm 9 can be flexibly adjusted in a small range through the telescopic operation of the telescopic arm 6.
The surface of the grabbing arm 9 is provided with clamping blocks which are symmetrically arranged through a pin shaft, the clamping oil cylinder 11 is of a double-output end design, and the output end of the clamping oil cylinder 11 is hinged with the surface of each clamping block respectively.
Specifically, when the clamping cylinder 11 is contracted, the clamping block rotates around the pin shaft to be in an open state, so that the steel arch is conveniently placed in the clamping cylinder, and when the clamping cylinder 11 is extended, the clamping block rotates around the pin shaft to clamp the placed steel arch, so that grabbing operation is realized.
The outer surface of the moving block 137 is fixedly contacted with the inner wall of the bar-shaped groove 131, and the cross-sectional width of the moving block 137 is greater than the size of the cross-sectional width of the bottom end of the bar-shaped groove 131.
Specifically, the moving block 137 is fixedly connected to the inner wall of the bar-shaped groove 131, so that the moving block 137 fixed to the outer surface of the coupling rod 136 can rotate while driving the eccentric tray seat 13 to rotate.
Embodiment 2:
fig. 10 to 12 show, wherein the same or corresponding parts as in embodiment 1 are denoted by the corresponding reference numerals as in embodiment 1, and only the points of distinction from embodiment 1 are described below for the sake of brevity. This 2 nd embodiment differs from the 1 st embodiment in that: the inside of movable block 137 is equipped with the cylinder passageway that matches with the coupling pole 136, and the internally mounted of cylinder passageway has adjustment unit 14, and adjustment unit 14 is including locating the inside outwards extension joint groove 142 of cylinder passageway, and the top of joint groove 142 is equipped with annular cavity 143, and the electromagnetic sheet 141 that has the magnetic attraction effect between a plurality of and the joint groove 142 is installed at the top of annular cavity 143, and the inside sliding connection of joint groove 142 has magnetic sheet 144, and the surface sliding joint of magnetic sheet 144 and coupling pole 136.
The height of the annular cavity 143 is not smaller than the height of the magnetic plate 144, and the radius of the annular cavity 143 is larger than the cross-sectional width of the clamping groove 142.
The sum of the height values of the annular cavity 143 and the clamping groove 142 is smaller than the height value of the cylindrical channel, and the annular cavity 143 and the cylindrical channel are designed to be concentric circles.
Specifically, in embodiment 1, the link lever 136 is fixedly connected to the bottom of the moving block 137, so that when the eccentric rotation is performed, the structure above the eccentric tray seat 13 will synchronously rotate and move laterally, and in some working environments, the eccentric distance needs to be adjusted first and then rotated due to the limitation of the space in the tunnel, and this embodiment needs to be used;
when the independent eccentric adjustment is carried out, the electromagnetic sheet 141 and the electromagnetic block 138 are simultaneously started, at the moment, the movable rack 132 drives the eccentric tray seat 13 to transversely move, meanwhile, the attraction effect generated by the electromagnetic sheet 141 enables the magnetic sheet 144 positioned in the clamping groove 142 to move upwards to the annular cavity 143, and the radius value of the annular cavity 143 is larger than the cross section widths of the clamping groove 142 and the magnetic sheet 144, so that the magnetic sheet 144 clamped on the surface of the coupling rod 136 can rotate in the annular cavity 143 without driving the movable block 137 to rotate (in order to avoid the magnetic attraction adsorption between the electromagnetic sheet 141 and the magnetic sheet 144 to cause the movable block 137 to move, the adsorption connection effect between the electromagnetic sheet 141 and the magnetic sheet 144 can be adjusted to further enable the electromagnetic sheet 141 and the magnetic sheet 144 to be in an adsorbed and non-contacted state), and further, the synchronous rotation operation during the eccentric distance adjustment is avoided;
when the rotation and the eccentric adjustment are required to be synchronously carried out, the electromagnetic sheet 141 is closed, the electromagnetic block 138 is started, the magnetic sheet 144 falls into the clamping groove 142, and the magnetic sheet 144 clamped with the link rod 136 can drive the moving block 137 to rotate, so that the eccentric tray seat 13 is driven to rotate.
The scope of protection of the above-described embodiments employed in the present application is not limited to the above-described embodiments, and various changes made by those skilled in the art without departing from the spirit of the present application are still within the scope of protection of the present utility model.
Claims (5)
1. The utility model provides a prefabricated bow member robotic arm snatchs device for step operation method, is including supporting base frame (1) and the gyration support (3) that the cross-section is L, its characterized in that: the top of the rotary support (3) is connected with a rotary drive (2), an eccentric tray seat (13) is arranged above the rotary drive (2), a support base frame (1) is arranged at the top of the eccentric tray seat (13), a work basket (10) and a support seat positioned at one side of the work basket (10) are arranged at the top of the support base frame (1), a telescopic arm swinging cylinder (4) is hinged at the front of the support seat, a main lifting cylinder (5) is arranged at the bottom of the support seat, a telescopic arm (6) is hinged at the output end of the main lifting cylinder (5), the surface of the telescopic arm (6) is hinged with the output end of the telescopic arm swinging cylinder (4), a gripper arm swinging cylinder (7) which is arranged in parallel is hinged at one side of the telescopic arm (6), a gripper arm (9) which is arranged vertically is hinged at the lower part of the gripper arm (9), and a crushing gripper arm (11) is arranged at the lower part of the gripper arm lifting cylinder (9);
the eccentric tray is characterized in that a bar-shaped groove (131) is formed in the bottom of the eccentric tray seat (13), a movable rack (132) is slidably connected to the top wall of the bar-shaped groove (131), a driving gear (133) is connected to the lower portion of the movable rack (132) in a meshed mode, a movable block (137) located inside the bar-shaped groove (131) is arranged below the movable rack (132), the top of the movable block (137) is of a concave design, a rotary cross rod is arranged on the inner wall of the movable block (137) through a bearing, one end of the rotary cross rod penetrates through the inside of the driving gear (133), a driven bevel gear (134) is sleeved on the surface of the other end of the rotary cross rod, a connecting shaft (136) is installed in the inner portion of the movable block (137) in a penetrating mode, the tail end of the connecting shaft (136) is connected with the output end of the rotary drive (2), and a driving bevel gear (135) connected with the driven bevel gear (134) in a meshed mode is installed on the end surface of the connecting shaft (136).
An electromagnetic block (138) is arranged at the top end of the connecting rod (136), the electromagnetic block (138) is positioned above the drive bevel gear (135), a magnetic attraction block is embedded in the drive bevel gear (135), and a magnetic attraction acting force is arranged between the magnetic attraction block and the electromagnetic block (138);
the outer surface of the moving block (137) is fixedly contacted with the inner wall of the strip-shaped groove (131), and the section width of the moving block (137) is larger than the section width of the bottom end of the strip-shaped groove (131);
the inside of movable block (137) is equipped with the cylinder passageway that matches with joint pole (136), the internally mounted of cylinder passageway has regulating unit (14), regulating unit (14) are including locating inside outside joint groove (142) that extend of cylinder passageway, the top of joint groove (142) is equipped with annular cavity (143), electromagnetic piece (141) that have the magnetic attraction effect between a plurality of and joint groove (142) are installed at the top of annular cavity (143), the inside sliding connection of joint groove (142) has magnetic sheet (144), and the surface slip joint of magnetic sheet (144) and joint pole (136).
2. The prefabricated arch mechanical arm grabbing device for a step operation method according to claim 1, wherein: the output end of the gripper arm swinging oil cylinder (7) is hinged with the surface of the gripper arm (9), a telescopic oil cylinder (12) is installed in the telescopic arm (6), and the output end of the telescopic oil cylinder (12) is hinged with the surface of the gripper arm (9).
3. The prefabricated arch mechanical arm grabbing device for a step operation method according to claim 1, wherein: the surface of the gripper arm (9) is provided with clamping blocks which are symmetrically arranged through pin shafts, the clamping oil cylinder (11) is of a double-output end design, and the output end of the clamping oil cylinder (11) is hinged with the surface of each clamping block respectively.
4. A prefabricated arch robotic arm gripping device for a step work process according to claim 3, wherein: the height value of the annular cavity (143) is not smaller than the height value of the magnetic sheet (144), and the radius value of the annular cavity (143) is larger than the section width value of the clamping groove (142).
5. The prefabricated arch mechanical arm grabbing device for a step operation method according to claim 4, wherein: the sum of the height values of the annular cavity (143) and the clamping groove (142) is smaller than the height value of the cylindrical channel, and the annular cavity (143) and the cylindrical channel are designed to be concentric circles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311194520.6A CN116968080B (en) | 2023-09-15 | 2023-09-15 | Prefabricated arch frame mechanical arm grabbing and lifting device for step operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311194520.6A CN116968080B (en) | 2023-09-15 | 2023-09-15 | Prefabricated arch frame mechanical arm grabbing and lifting device for step operation method |
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| Publication Number | Publication Date |
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| CN116968080A CN116968080A (en) | 2023-10-31 |
| CN116968080B true CN116968080B (en) | 2024-02-13 |
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| CN219061695U (en) * | 2023-03-08 | 2023-05-23 | 云南途腾智能装备有限公司 | Arch frame robotic arm grabbing and lifting device |
| CN219359505U (en) * | 2023-04-21 | 2023-07-18 | 中铁工程装备集团有限公司 | Arch frame grabbing manipulator |
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