CN118143999A - Prefabricated member self-adaptive grabber and working method thereof - Google Patents

Abstract

The application discloses a prefabricated member self-adaptive gripper and a working method thereof, wherein the gripper comprises a mounting frame, a pair of clamping assemblies and a supporting assembly, wherein the pair of clamping assemblies and the supporting assembly are arranged on the mounting frame; the clamping assemblies are positioned in the middle parts of the two sides of the mounting frame, and are suitable for being spliced with preformed holes arranged in the middle parts of the connecting sides of the prefabricated parts so as to grasp the prefabricated parts; the support assembly is suitable for being always propped against the inner side of the prefabricated member in the grabbing process of the prefabricated member, so that the support moment formed between the support assembly and the clamping assembly is always balanced with the gravitational moment of the prefabricated member. The application has the beneficial effects that: the clamping assembly clamps the joint side of the prefabricated member, so that the observation and the positioning of the grabbing position are facilitated; the support component can carry out corresponding structural change according to the position change of the prefabricated part, and then the balance position of the prefabricated part is adjusted in real time, so that the stress of the whole gripper is more reasonable, and the gripping safety of the prefabricated part is ensured.

Description

Prefabricated member self-adaptive grabber and working method thereof

Technical Field

The application relates to the technical field of tunnel engineering construction, in particular to a prefabricated member self-adaptive grabber and a working method thereof.

Background

The inner space of the pipe gallery is small, and large-scale mechanical equipment cannot be used; meanwhile, the weight of the prefabricated lining piece required by pipe gallery construction can reach several tons, and the manual operation difficulty is high. The prior art gripping method for the prefabricated lining mainly has the following defects:

1. the small crane enters the interior of the pipe gallery, the lining is lifted and then is installed by manual assistance, and due to the weight of the lining, the field of view of the crane, the manual reaction time and the like, the lining is possibly damaged, and even personnel safety accidents are caused.

2. Before each time of grabbing, the existing grabber needs to manually install a hanging ring on a lining member, an operator needs to adjust the position of a grabber hanging hook in real time when grabbing operation, grabbing precision is poor, time is consumed, and intelligent degree is not high.

3. The gravity of the prefabricated lining piece changes with the grabbing direction of the grabber along with the change of the grabbing position, and the change can lead to uneven stress of the grabber, so that the prefabricated lining piece is grabbed unstably and even falls off.

Based on this, improvements to existing grippers are now urgently needed.

Disclosure of Invention

It is an object of the present application to provide a preform adaptation grabber that addresses at least one of the above-mentioned drawbacks of the prior art.

Another object of the present application is to provide a method for operating a preform adaptation gripper that solves at least one of the above drawbacks of the prior art.

In order to achieve at least one of the above objects, the present application adopts the following technical scheme: a preform adaptive gripper comprising a mounting frame, a pair of clamping assemblies and a supporting assembly, wherein the clamping assemblies and the supporting assemblies are arranged on the mounting frame; the clamping assemblies are positioned in the middle of two sides of the mounting frame, and are suitable for being spliced with preformed holes arranged in the middle of the connecting side of the prefabricated member so as to grasp the prefabricated member; the support assembly is adapted to always be in abutment with the inside of the preform during gripping of the preform, so that the support moment formed between the support assembly and the clamping assembly is always balanced with the gravitational moment of the preform.

Preferably, the clamping assembly comprises a first telescopic device and a clamping jaw; the clamping jaw is slidably mounted on the mounting frame; the first telescopic device is arranged on the mounting frame and is in driving connection with the clamping jaw, so that the clamping jaw is driven by the first telescopic device to slide along the mounting frame, and then the clamping jaw is driven to be arranged on the clamping jaw to be inserted into the shaft head of the mounting frame and the reserved hole of the prefabricated member at intervals.

Preferably, the jaw comprises a first jaw section and a second jaw section; the first claw section is provided with a plurality of sliding holes which are in sliding fit with the guide shafts on the mounting frame; the second claw section is inclined to the first claw section, and the shaft head is installed at one end, far away from the first claw section, of the second claw section, so that the shaft head and the installation frame are arranged at intervals.

Preferably, the clamping assembly further comprises a self-locking assembly, and the self-locking assembly is mounted on the clamping jaw; when the clamping jaw is in plug connection with the preformed hole through the shaft head, the self-locking assembly is suitable for being matched and locked with the mounting frame, so that the clamping jaw is limited in movement in the direction away from the preformed hole.

Preferably, the mounting frame is provided with a shaft seat, and a locking rod is elastically and slidably arranged in the radial direction of the shaft hole of the shaft seat; the self-locking assembly comprises a locking shaft which is arranged on the clamping jaw and is in sliding fit with the shaft hole of the shaft seat; when the prefabricated member is grabbed, the locking shaft is suitable for synchronously moving along with the clamping jaw until the locking rod slides to a set position relative to the locking shaft, and the locking rod is suitable for being matched and locked with the locking shaft.

Preferably, the lock shaft is fixedly installed on the clamping jaw, and a radially extending protruding portion is arranged on one side, away from the mounting frame, of the lock shaft; the self-locking assembly further comprises an unlocking disc which is matched with the size of the protruding part, and the unlocking disc is slidably arranged on the lock shaft and is close to the protruding part; when the prefabricated member is grabbed, the locking rod is suitable for sliding relatively along the direction of the protruding part along the locking shaft until the locking rod passes over the protruding part and is clamped between the unlocking disc and the protruding part so as to lock the locking shaft; when unlocking, the method comprises a first process and a second process; wherein, the first process: the locking rod slides relative to the lock shaft in a direction away from the protruding part to pass over the unlocking disc; the second process is as follows: the locking rod slides towards the direction close to the protruding portion, and then drives the unlocking disc to be close to the protruding portion, so that the locking rod passes through the unlocking disc to cross the protruding portion.

Preferably, one of an arc surface, an inclined surface and a conical surface is arranged at the end part of the locking rod, and the cross section of the side edge of the unlocking disc is V-shaped or arc-shaped.

Preferably, the support assembly comprises a pair of compression assemblies, a traction plate and a second telescopic device; the compression assemblies are respectively rotatably arranged at the front end and the rear end of the mounting frame; the traction plate is respectively connected with the two compression assemblies in a matched manner through two ends; the second telescopic device is rotatably arranged on the mounting frame through the tail part, the output end of the second telescopic device is in matched connection with one of the compression assemblies or the traction plates, and the compression assemblies are suitable for propping against the inner side of the prefabricated member under the driving of the second telescopic device; the gravity center positions of the preformed hole and the prefabricated part are located in the corresponding area between the two pressing assemblies.

Preferably, the support assembly further comprises a pressure sensor mounted to both of the hold-down assemblies; the pressure sensor is adapted to generate an adjustment signal based on pressure information of the compaction assembly and the preform; the second telescopic device is suitable for adjusting the relative position between the two pressing assemblies according to the adjusting signal.

Preferably, the pressing assembly comprises a pressing plate and a roller; the pressing plate is rotatably arranged on the mounting frame through a first end, the traction plate is rotatably connected with the middle part of the pressing plate, and the roller is arranged at a second end of the pressing plate and is suitable for rolling and propping against the prefabricated member; or, the pressing component comprises a pressing plate, a driving plate and a roller; one end of the pressing plate is rotatably mounted with the mounting frame through a fixed rotating shaft, one end of the driving plate is fixed with the rotating shaft, the other end of the driving plate is rotatably connected with the traction plate, and the roller is rotatably mounted at the other end of the pressing plate and is suitable for rolling and propping against the prefabricated member.

The working method of the prefabricated member self-adaptive grabber comprises the following specific steps:

S100: the clamping assembly is controlled to be spliced with a preformed hole arranged on the connecting side of the prefabricated member placed on the ground;

S200: controlling a pressing component positioned on the second side of the preformed hole to prop against the preformed piece based on the position of the gravity center of the preformed piece relative to the first side of the preformed hole;

s300: lifting the prefabricated part, and detecting the pressure between the currently working compression assembly and the prefabricated part in the lifting process;

S400: when the prefabricated member is judged to be in the self-balancing position based on the detected pressure value, the other pressing assembly is controlled to be propped against the prefabricated member;

s500: and continuously lifting the prefabricated part until the prefabricated part is positioned at the set installation position.

Compared with the prior art, the application has the beneficial effects that:

(1) The clamping assembly clamps the joint side of the prefabricated member, so that the observation and positioning of the grabbing position can be conveniently performed. And set up two clamping components and can share the grabbing force of prefabrication to ensure the stability of snatching.

(2) The support component can carry out corresponding structural change according to the position change of the prefabricated part in the process of grabbing and lifting the prefabricated part, and then the balance position of the prefabricated part is adjusted in real time, so that the stress of the whole grabber is more reasonable, and the grabbing safety of the prefabricated part is ensured.

Drawings

FIG. 1 is a schematic view of the structure of a preform to be gripped according to the present invention.

Fig. 2 is a schematic diagram of the overall structure of the present invention.

Fig. 3 is a schematic view of the bottom structure of the mounting frame of the present invention.

FIG. 4 is a schematic view of a partially cut-away structure of a shaft seat according to the present invention.

Fig. 5 is a schematic structural view of a clamping assembly according to the present invention.

FIG. 6 is a schematic diagram of a self-locking assembly according to the present invention.

Fig. 7 is an enlarged partial schematic view of fig. 6 a in accordance with the present invention.

FIG. 8 is a schematic view showing a partially mated state of the self-locking assembly and the locking lever when the clamping assembly is in an open state.

FIG. 9 is a schematic view showing a partially engaged state of the self-locking assembly and the locking lever when the clamping assembly clamps the preform.

Fig. 10 is a schematic diagram showing a partial state of the self-locking assembly and the locking rod when the self-locking assembly and the locking rod are matched and unlocked.

Fig. 11 is a schematic diagram of a second partial state of the self-locking assembly and the locking rod when the self-locking assembly and the locking rod are matched and unlocked.

Fig. 12 is a schematic structural view of a support assembly according to the present invention.

Fig. 13 is a schematic diagram showing a state of the preform gripper gripping the preform according to the present invention.

Fig. 14 is a second schematic view showing a state where the preform is gripped by the preform adaptive gripper according to the present invention.

Fig. 15 is a schematic view of a preform gripper according to the present invention in a state of lifting a gripped preform.

Fig. 16 is a second schematic view showing a state in which the preform gripper lifts the gripped preform according to the present invention.

In the figure: preform 01, engagement side 011, preformed hole 012, mounting bracket 100, guide shaft 110, first rotating seat 120, shaft seat 130, second rotating seat 140, locking lever 141, first elastic member 142, clamping assembly 2, first telescoping device 21, clamping jaw 22, slide hole 220, first jaw segment 221, second jaw segment 222, spindle head 23, self-locking assembly 24, locking shaft 241, boss 2411, sliding portion 2412, first limiting portion 2413, second limiting portion 2414, unlocking plate 242, second elastic member 243, supporting assembly 3, second telescoping device 31, traction plate 32, first pressing plate 33, driving plate 34, second pressing plate 35, rotating shaft 36, roller 301.

Detailed Description

The present application will be further described with reference to the following specific embodiments, and it should be noted that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.

In the description of the present application, it should be noted that, for the azimuth words such as terms "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, it is merely for convenience of describing the present application and simplifying the description, and it is not to be construed as limiting the specific scope of protection of the present application that the device or element referred to must have a specific azimuth configuration and operation.

It should be noted that the terms "first," "second," and the like in the description and in the claims are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

The terms "comprises" and "comprising," along with any variations thereof, in the description and claims, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

One aspect of the present application provides a preform adaptation grabber, as shown in fig. 1 and 2; one preferred embodiment includes a mounting bracket 100 and a pair of clamping assemblies 2 and support assemblies 3 mounted to the mounting bracket 100. The mounting frame 100 is used for being connected with the output end of a tunnel prefabricated member mounting vehicle for pipe gallery construction, so that the prefabricated member 01 is driven by the mounting vehicle to correspondingly move. The clamping component 2 is located in the middle of two sides of the mounting frame 100, and the clamping component 2 can be inserted into a reserved hole 012 formed in the middle of the engagement side 011 of the prefabricated member 01 so as to grasp the prefabricated member 01. The support component 3 can always prop against the inner side of the prefabricated part 01 in the lifting process after the prefabricated part 01 is grabbed, and then the support moment formed between the support component 3 and the clamping component 2 can always balance with the gravity moment of the prefabricated part 01, so that the grabbing stability of the prefabricated part 01 can be ensured.

It should be noted that the specific structure and working principle of the prefabricated member mounting vehicle for a tunnel are known to those skilled in the art, for example, the application patent with publication number CN116175116a entitled "prefabricated member mounting vehicle for a pipe gallery and tunnel" discloses a prefabricated member mounting vehicle, and the prefabricated member adaptive gripper of the present application may be mounted on a six-way movement mechanical arm of the prefabricated member mounting vehicle through a mounting frame 100, so as to drive the gripped prefabricated member 01 to approach to a construction position of the tunnel for corresponding mounting. In the construction of the tunnel, the sides of the adjacent preforms 01 that are bonded to each other may be defined as the joint sides 011. Meanwhile, one side of the prefabricated part 01, which is attached to the wall surface, can be regarded as an outer side, and the corresponding other side is an inner side.

It will be appreciated that, in the molding of the preform 01, the desired preformed hole 012 may be molded in the middle of the joining side 011 of the preform 01 by providing a corresponding mold; the theory of the location of the preformed hole 012 is that it is necessary to be close to the center of gravity of the preform 01. The inner diameter and depth of the preformed holes 012 can be designed by those skilled in the art from the row according to the actual size and weight of the preform 01. Through setting up preformed hole 012 at the middle part of the linking side 011 of prefabrication part 01 and carrying out the horizontal extension towards the center of prefabrication part 01, when carrying out prefabrication part 01's snatch like this, mounting bracket 100 isotructure can not produce the interference to preformed hole 012's position, and then can make things convenient for operating personnel to carry out preformed hole 012's position observation and follow-up snatch location.

Compared with the traditional grabbing mode adopting vertical buckling, the horizontal plugging of the clamping assembly 2 is adopted in the embodiment, so that the grabbing process and the forming difficulty of the prefabricated member 01 can be simplified. On the other hand, according to the prefabricated member 01, the reserved holes 012 are formed in the two connection sides 011, and when the prefabricated member 01 is grabbed, the weight of the prefabricated member 01 can be uniformly spread through the two clamping assemblies 2 to improve the stress condition of the single clamping assembly 2. On the other hand, by gripping from both sides of the preform 01 by the two gripping assemblies 2, the stability of the preform 01 in the horizontal direction or the width direction can be ensured.

It will also be appreciated that the relative position of the preform 01 is varied at time during the lifting of the preform 01. I.e. the direction of the force exerted by the preform 01 on the gripper is varied with the position of the lifting process. In this embodiment, the supporting component 3 can perform corresponding structural change according to the position change of the prefabricated component 01 during the grabbing and lifting process of the prefabricated component 01, so as to adjust the balance position of the prefabricated component 01 in real time, ensure that the stress of the whole grabber is more reasonable, and ensure the grabbing safety of the prefabricated component 01.

Meanwhile, in the grabbing process of the prefabricated member 01, the clamping assembly 2 is used for grabbing and lifting the prefabricated member 01, so that the force born by the clamping assembly 2 is maximum; the support assembly 3 is mainly used for balancing the prefabricated member 01, so that the position of the prefabricated member 01 is ensured to be stable in the lifting process. Based on this, the moment of gravity of the preform 01 can be regarded as the moment generated from the gravity to the position where the clamping assembly 2 is inserted into the reserved hole 012, and correspondingly, the moment generated from the position where the supporting assembly 3 is abutted against the inner side of the preform 01 to the position where the clamping assembly 2 is inserted into the reserved hole 012 is the balancing moment, so as to balance the moment of gravity of the preform 01.

In this embodiment, the specific structure of the clamping assembly 2 capable of achieving the above-mentioned functions is various, and for convenience of understanding, description will be made by one of the structures. As shown in fig. 2,3 and 5, the clamping assemblies 2 on both sides of the mounting frame 100 have the same structure; the clamping assembly 2 comprises a first telescopic device 21 and a clamping jaw 22. Clamping jaw 22 slidable mounting is in mounting bracket 100, and first telescoping device 21 passes through the fastener to be installed in mounting bracket 100, and the output of first telescoping device 21 can drive with clamping jaw 22 to be connected, and then clamping jaw 22 can drive down the width direction of mounting bracket 100 under the drive of first telescoping device 21 and slide to can drive the interval of installing on clamping jaw 22 and peg graft in the spindle nose 23 of mounting bracket 100 and the preformed hole 012 of prefab 01.

It can be appreciated that the shaft heads 23 installed on the clamping jaws 22 are arranged at intervals with the mounting frame 100, so that an avoidance space can be provided for the installation of the prefabricated member 01, namely, after the clamping jaws 22 are inserted into the reserved holes 012 through the shaft heads 23, the inner side of the prefabricated member 01 is located in an interval area between the shaft heads 23 and the mounting frame 100, and interference between the mounting frame 100 and the prefabricated member 01 is avoided.

Meanwhile, the specific structure and working principle of the first telescopic device 21 are well known to those skilled in the art, and thus will not be described in detail herein. The first telescopic device 21 is commonly provided with a linear motor, an air cylinder, a hydraulic cylinder and the like; in this embodiment, a hydraulic cylinder is preferably used.

For ease of understanding, the process of clamping the preform 01 by the clamping assembly 2 will be described in detail below.

Initially, the mounting cart may drive the grippers close to the ground placed preform 01 and align the fore-aft direction of the mounting frame 100 with the length direction of the preform 01. The first telescopic means 21 on the two gripping assemblies 2 are then activated to move the two jaws 22 away from each other until the distance between the stub shafts 23 on the two jaws 22 is greater than the width of the preform 01. After the whole gripper is moved down to the corresponding reserved holes 012 aligned with the shaft heads 23 on the clamping jaws 22, the two first telescopic devices 21 are controlled to drive reversely, so that the clamping jaws 22 can drive the shaft heads 23 to move oppositely until the two shaft heads 23 are inserted into the reserved holes 012 on the corresponding sides to clamp the prefabricated member 01.

In this embodiment, the specific structure of the clamping jaw 22 capable of achieving the above-mentioned functions is various, and for convenience of understanding, the following description will be made by one of the structures. As shown in fig. 3 and 5, a plurality of guide shafts 110 are installed at intervals on both sides of the bottom end of the mounting frame 100. The jaw 22 includes a first jaw segment 221 and a second jaw segment 222. The first jaw segment 221 is provided with a plurality of slide holes 220 that slidably engage the guide shaft 110 of the mounting bracket 100. The second claw section 222 is inclined to the first claw section 221 in a direction away from the mounting frame 100, and the shaft head 23 is mounted at one end of the second claw section 222 away from the first claw section 221, so that the shaft head 23 and the mounting frame 100 can be arranged at intervals.

It will be appreciated that by slidably engaging the first jaw segment 221 with the mounting frame 100 at a plurality of points, the sliding stability of the jaw 22 may be ensured; the number of the points matched with the sliding can be selected according to actual needs. For example, as shown in fig. 3 and 5, a pair of sliding holes 220 are formed in the first jaw segment 221, and a pair of guide shafts 110 are spaced apart from each other on both sides of the mounting frame 100. The output end of the first telescopic device 21 is connected with the first claw section 221, and the connection position is located in the central area of the two slide holes 220.

It will be appreciated that, as the gripping operation is carried out for a long period of time, the preform 01 will typically weigh several tons due to its relatively heavy weight, which may result in some degree of bending of the stub shaft 23 under the weight of the preform 01. Further, the spindle nose 23 may generate a movement trend of driving the clamping jaw 22 to move away from the preform 01 under the gravity action of the preform 01, so that the spindle nose 23 may be separated from the reserved hole 012, and the preform 01 may be separated to cause a safety accident. So after the clamping assembly 2 clamps the preform 01, the clamping assembly 2 can be locked to ensure the clamping safety of the clamping assembly 2 to the preform 01.

Specifically, as shown in fig. 5, the clamping assembly 2 further includes a self-locking assembly 24, and the self-locking assembly 24 is mounted to the clamping jaw 22. When the jaws 22 are engaged with the reserved holes 012 via the shaft heads 23, the self-locking assembly 24 can be locked with the mounting frame 100 in a matching manner, so that the jaws 22 are limited from moving away from the reserved holes 012.

It should be noted that, for the locking between the self-locking assembly 24 and the mounting frame 100, the self-locking assembly 24 may actively lock with the mounting frame 100, or the mounting frame 100 may lock with the self-locking assembly 24 through a related structure. For ease of understanding, the following may be described in detail by one of the structures.

In this embodiment, as shown in fig. 4 to 11, the mounting bracket 100 is provided with a shaft seat 130, and the shaft seat 130 is elastically slidably provided with a locking rod 141 in a radial direction of the shaft hole through a first elastic member 142. The self-locking assembly 24 includes a locking shaft 241. The locking shaft 241 is mounted to the jaw 22 and slidably engages the shaft bore of the shaft seat 130. When the preform 01 is gripped, the lock shaft 241 can be moved synchronously with the jaw 22 until the lock lever 141 slides to a set position relative to the lock shaft 241, and the lock lever 141 can be locked in cooperation with the lock shaft 241.

It should be noted that the specific structure and working principle of the first elastic member 142 are known to those skilled in the art, and the common first elastic member 142 includes a spring, a shrapnel, and the like; in this embodiment, the first elastic member 142 is preferably a spring, which is sleeved on the locking rod 141 and respectively abuts against the locking rod 141 and the shaft seat 130 through two ends. The specific locking manner of the locking shaft 241 by the elastic sliding of the locking lever 141 is various, and a detailed description will be made below by one of the specific structures for the convenience of understanding.

Specifically, as shown in fig. 4 to 11, the lock shaft 241 is fixedly mounted to the jaw 22, and a radially extending boss 2411 is provided on a side of the lock shaft 241 remote from the mounting frame 100. The self-locking assembly 24 further includes an unlocking plate 242 sized to fit over the boss 2411, the unlocking plate 242 being slidably mounted to the lock shaft 241 proximate to the boss 2411. When the preform 01 is gripped, the locking rod 141 can slide relatively along the locking shaft 241 toward the boss 2411 until the locking rod 141 passes over the boss 2411 and is engaged between the unlocking plate 242 and the boss 2411, so that when the movement trend of the clamping jaw 22 away from the preform 01 occurs, the axial movement of the locking shaft 241 is limited by the abutment of the locking rod 141 and the side end of the boss 2411, and the clamping jaw 22 is locked. When unlocking is needed, the whole unlocking process comprises a first process and a second process; wherein, the first process: the lock lever 141 slides with respect to the lock shaft 241 in a direction away from the boss 2411 to pass over the unlocking disk 242. The second process is as follows: the locking lever 141 slides in a direction approaching the boss 2411, thereby driving the unlocking plate 242 to approach the boss 2411, so that the locking lever 141 passes over the boss 2411 through the unlocking plate 242.

For ease of understanding, a detailed description of the specific operation will follow.

(1) When the jaws 22 are at maximum opening, i.e. the distance between the two jaws 22 is greater than the width of the preform 01, as shown in fig. 8, the lock shaft 241 will carry the unlocking disc 242 and the protruding portion 2411 to be spaced from the shaft seat 130 outside the mounting frame 100. While the locking lever 141 may be in a natural or contracted state against the locking shaft 241.

(2) When the clamping jaw 22 drives the shaft head 23 to approach the reserved hole 012 and insert under the driving of the first telescopic device 21, as shown in fig. 9, the locking shaft 241 slides along the shaft seat 130 along with the clamping jaw 22 toward the locking rod 141 along with the boss 2411. When the locking lever 141 slides along the boss 2411, the locking lever 141 is radially pressed by the boss 2411 to perform a contracting sliding away from the lock shaft 241 and compress the first elastic member 142. After the locking lever 141 passes over the boss 2411, the locking lever 141 may perform an extending sliding in a radial direction of the locking shaft 241 by an elastic force of the first elastic member 142 such that an end portion of the locking lever 141 is located between the unlocking disc 242 and a side end of the boss 2411; the side end of the boss 2411 refers to the side that is opposite to the unlocking disk 242. At this time, the locking lever 141 may abut against the side end of the boss 2411 in the axial direction of the lock shaft 241, and thus the degree of freedom of movement of the lock shaft 241 in the outer direction of the mount 100, that is, the degree of freedom of movement of the jaw 22 in the direction away from the reserved hole 012 is restricted.

(3) When the preform 01 is lifted to the set position and needs to be released, as shown in fig. 10, the clamping jaw 22 may be moved to approach the preform 01 by a set distance in the first process, and in the above process (2), when the spindle head 23 completes the plugging with the reserved hole 012, a certain axial gap exists between the spindle head 23 and the reserved hole 012. During the movement of the clamping jaw 22, the locking rod 141 can be first contracted by being pressed by the unlocking disc 242, and after the unlocking disc 242 passes over the locking rod 141, the locking rod 141 is reset again under the action of the elastic force and is in abutting fit with the unlocking disc 242 in the axial direction of the locking shaft 241.

(4) In the second process, as shown in fig. 11, the clamping jaw 22 is driven by the first telescopic device 21 to move away from the prefabricated member 01, and then the lock shaft 241 drives the unlocking disc 242 to move along with the direction approaching the locking rod 141. In this process, the lock lever 141 abuts against the unlock plate 242, so that the unlock plate 242 can slide along the lock shaft 241 near the side end of the boss 2411 until the unlock plate 242 abuts against the side end of the boss 2411, and the lock lever 141 can retract and pass over the unlock plate 242 by pressing against the side of the unlock plate 242. After the locking lever 141 passes over the unlocking plate 242, the locking lever 141 can be abutted against the boss 2411 in a contracted state just so that the locking lever 141 can pass over the boss 2411 to complete unlocking.

It will be appreciated that, in order to ensure that the locking lever 141 can naturally expand and contract and abut against the axial direction of the unlocking disc 242 on the lock shaft 241 after passing over the unlocking disc 242 in the process (3), the diameter of the lever section of the lock shaft 241 on the side of the unlocking disc 242 away from the boss 2411 may be set smaller than the diameter of the boss 2411. For example, as shown in fig. 6 to 11, the lock shaft 241 is provided with a sliding portion 2412 on a side facing the side end of the boss 2411, and the diameter of the sliding portion 2412 is smaller than the diameter of the lock shaft 241, that is, the diameter of the lock shaft 241 on the side of the boss 2411 away from the sliding portion 2412. The unlocking disc 242 is slidably mounted on the sliding portion 2412; and in order to ensure that the unlocking plate 242 does not slip off and that the locking lever 141 passes over in the above-described process (3), a first stopper portion 2413 may be provided on a side of the sliding portion 2412 remote from the boss portion 2411. The unlocking plate 242 is slidably mounted on the shaft section between the first limiting portion 2413 and the protruding portion 2411. Thus, when the above-mentioned process (3) is performed, the unlocking disc 242 drives the locking rod 141 to perform corresponding retraction movement by abutting against the first limiting portion 2413.

It will be further appreciated that, in the process (4), if the unlocking plate 242 is completely attached to the side end of the boss 2411 directly under the driving of the locking plate 141, after the locking plate 141 passes over the boss 2411, the unlocking plate 242 may still remain attached to the boss 2411, and further, when the next clamping assembly 2 clamps the preform 01, the locking plate 141 may directly pass over the mutually attached unlocking plate 242 and boss 2411 when relatively sliding in the direction of the unlocking plate 242. Therefore, as shown in fig. 7 to 11, the side end of the boss 2411 is provided with a second stopper 2414; therefore, when the above-mentioned process (4) is performed, the unlocking plate 242 may be pressed against the second limiting portion 2414 under the driving of the locking rod 141, so that a certain interval exists between the unlocking plate 242 and the protruding portion 2411, so as to ensure that after the locking rod 141 passes over the protruding portion 2411 in the next locking process, the unlocking plate 242 can be driven to be away from the protruding portion 2411 through the interval space between the unlocking plate 242 and the protruding portion 2411, thereby ensuring that the locking rod 141 can be clamped between the unlocking plate 242 and the protruding portion 2411.

Of course, to further ensure that the unlocking plate 242 can be spaced from the boss 2411 after unlocking is completed to ensure stable implementation of the next self-lock. As shown in fig. 7 to 11, the second elastic member 243 may be directly mounted on the second stopper portion 2414 or a side end of the boss portion 2411. So that when the above-described process (4) is performed, the unlocking disc 242 may approach the boss 2411 and compress the second elastic member 243 by the urging of the locking lever 141; further, after the locking lever 141 passes over the boss 2411, the unlocking plate 242 may slide along the sliding portion 2412 to be away from the boss 2411 under the elastic force of the second elastic member 243.

It should be noted that the first limiting portion 2413 and the second limiting portion 2414 may be block-shaped or rod-shaped. For the first limiting portion 2413 and the second limiting portion 2414, the first limiting portion 2413 and the second limiting portion 2414 may be annular blocks along the circumferential direction of the lock shaft 241, or may be a plurality of first limiting portions 2413 and second limiting portions 2414, where the plurality of first limiting portions 2413 and the plurality of second limiting portions 2414 are disposed at equal intervals along the circumferential direction of the lock shaft 241, so that stability of stress can be ensured. For the rod-shaped first limiting portion 2413 and second limiting portion 2414, in order to ensure stability of stress, the number may be plural, and the plural first limiting portions 2413 and second limiting portions 2414 are disposed at equal intervals along the circumferential direction of the lock shaft 241.

It should be further appreciated that the specific structure and working principle of the second elastic member 243 are known to those skilled in the art, and the second elastic member 243 is commonly provided with a spring, a shrapnel, etc.; in this embodiment, the second elastic member 243 is preferably a spring; in order to ensure stability of the force, the number of the second elastic members 243 may be plural, and the plural second elastic members 243 are equally spaced along the circumferential direction of the lock shaft 241.

It should be appreciated by those skilled in the art that, as shown in fig. 6 and 8-11, an arc or slope is used to transition between the boss 2411 and the lock shaft 241 in order to ensure that the locking lever 141 can smoothly pass over the boss 2411. Meanwhile, in order to ensure that the locking lever 141 can smoothly pass over the unlocking plate 242, the end of the locking lever 141 is provided with one of an arc surface, an inclined surface and a conical surface, and the side cross section of the unlocking plate 242 is V-shaped or arc-shaped.

For convenience of understanding, an end of the locking lever 141 is in a cambered surface structure, and a side cross section of the unlocking plate 242 is in a V-shaped structure. If the unlocking disc 242 is in a propped state when the locking rod 141 is propped against the side edge of the unlocking disc 242 through the end part, the locking rod 141 can be in sliding fit with the inclined surface of the side edge of the unlocking disc 242 through the cambered surface, and the locking rod 141 can further perform shrinkage movement. If the unlocking disc 242 is in an active state when the end of the locking rod 141 abuts against the side edge of the unlocking disc 242, the locking rod 141 can be pre-driven to enable the unlocking disc 242 to synchronously move until the side edge of the unlocking disc 242 can be contracted by the locking rod 141 after the unlocking disc 242 is in the abutting state. That is, the pushing force of the lock lever 141 to the unlocking plate 242 is significantly larger than the friction force of the unlocking plate 242 and the sliding portion 2412.

In this embodiment, the specific structure of the support assembly 3 capable of achieving the foregoing functions is various, and for convenience of understanding, one of the structures will be described below. As shown in fig. 12 to 16, the support assembly 3 includes a pair of pressing assemblies, a traction plate 32, and a second telescopic device 31. The compression assemblies are respectively rotatably installed at the front and rear ends of the installation frame 100; the traction plate 32 is respectively connected to the two compression assemblies through two ends in a matched manner; the second telescopic device 31 is rotatably mounted on the mounting frame 100 through the tail, and the output end of the second telescopic device 31 is in fit connection with one of the compression assemblies or the traction plates 32. When the prefabricated member 01 is grabbed, the pressing assemblies can be propped against the inner side of the prefabricated member 01 under the driving of the second telescopic device 31, and the relative positions of the two pressing assemblies can be relatively adjusted under the driving of the second telescopic device 31 in the whole lifting process of the prefabricated member 01, so that the gravity moment generated by the gravity of the prefabricated member 01 can be balanced and supported by the supporting assembly 3 all the time in the lifting process of the prefabricated member 01.

It should be noted that the provision of the reserved hole 012 corresponds theoretically to the position of the center of gravity of the preform 01, but the preform 01 belongs to a large-sized member whose accuracy of shape and size is general; the preform 01 is generally a special structure, and the equivalent point of the gravity center position may not be on the preform 01, so the position of the reserved hole 012 is set as close to the gravity center position as possible.

Meanwhile, the preform 01 is lifted from lying on the ground to a position close to the side wall of the tunnel, and in this process, the preform 01 may be turned over by more than 90 ° or even up to 180 °. Further, during the lifting of the preform 01, the position of the center of gravity changes at a time with respect to the position of the gravity moment generated by the gripped position of the reserved hole 012. In this embodiment, in order to ensure the stability of the preform 01 during the lifting process, the structural change of the support assembly 3 is used to adapt to the position change of the preform 01, so as to balance the gravity moment generated by the preform 01 during the lifting process of the preform 01.

It will be appreciated that in order to ensure that the support assembly 3 is able to achieve a constant support of the gravitational moment of the preform 01, the preformed hole 012 and the position of the centre of gravity of the preform 01 should both be located in the corresponding region between the two hold-down assemblies. The corresponding region between the two hold-down members may be the region between the points of contact of the two hold-down members with the inside of the preform 01 along the extension line normal to the inside of the preform 01.

It is further understood that the specific structure and operation of the second telescopic device 31 are well known to those skilled in the art, and will not be described in detail herein. The common second telescopic device 31 comprises a linear motor, an air cylinder, a hydraulic cylinder and the like; in this embodiment, a hydraulic cylinder is preferably used.

Meanwhile, the output end of the second telescopic device 31 may be connected with the compressing assembly or the traction plate 32 in a matching manner, and the compressing assembly moves in a manner of rotating around the mounting frame 100, so that the traction plate 32 also moves in a nonlinear manner, as shown in fig. 3, the second telescopic device 31 needs to rotate the tail part of the second telescopic device to be mounted on the second rotating seat 140 arranged in the middle of the mounting frame 100, so that when the compressing assembly rotates around the mounting frame 100, the second telescopic device 31 can realize the position change of the compressing assembly through rotating around the second rotating seat 140.

In this embodiment, there are various ways of the fitting connection between the pressing assembly and the traction plate 32, and for convenience of understanding, two specific examples will be given below, but the fitting connection between the pressing assembly and the traction plate 32 is not limited to these two examples.

Example one: as shown in fig. 12, the pressing assembly includes a pressing plate and a roller 301; the clamp plate rotates through first end and installs in the first rotation seat 120 that mounting bracket 100 tip set up, and traction plate 32 rotates with the middle part of clamp plate and is connected, and gyro wheel 301 installs in the second end of clamp plate, and gyro wheel 301 can roll along prefab 01 when the clamp plate rotates around first rotation seat 120 and offset to friction force between clamp plate and prefab 01 can effectually be reduced, the motion of compressing tightly the subassembly is smooth and easy in order to ensure.

Specifically, when the position of the pressing component needs to be adjusted, the second telescopic device 31 can be started, and when one pressing plate rotates around the first rotating seat 120 under the driving of the second telescopic device 31, the traction plate 32 moves along with the pressing plate, so that the other pressing plate can be driven to perform corresponding movement.

Example two: as shown in fig. 12, the pressing assembly includes a pressing plate, a driving plate 34, and a roller 301. One end of the pressing plate is rotatably mounted with a first rotating seat 120 arranged at the end of the mounting frame 100 through a fixed rotating shaft 36, one end of the driving plate 34 is fixed with the rotating shaft 36, the other end of the driving plate 34 is rotatably connected with the traction plate 32, and the roller 301 is rotatably mounted at the other end of the pressing plate; the roller 301 can roll and prop against the prefabricated member 01 when the pressing plate rotates around the first rotating seat 120 through the rotating shaft 36, so that the friction force between the pressing plate and the prefabricated member 01 can be effectively reduced, and smooth movement of the pressing assembly is ensured.

It will be appreciated that in the second example, the fixing of the platen and the rotating shaft 36 may be performed by welding, may be performed by sleeving a non-circular section, or may be performed by integrally molding the platen and the rotating shaft 36.

It should be appreciated that both of the above examples may meet the needs of the present application, and that the same connection structure may be used for both compression assemblies, or different connection structures may be used for each. For example, as shown in fig. 12, the two pressing assemblies may be defined as a front pressing assembly and a rear pressing assembly, the front pressing assembly is rotatably mounted with the front end of the mounting frame 100 through the second pressing plate 35, and the rear pressing assembly is rotatably mounted with the rear end of the mounting frame 100 through the first pressing plate 33.

Meanwhile, the specific number of the traction plate 32 and the first pressing plate 33, the second pressing plate 35 and the driving plate 34 in the pressing assembly can be one or a plurality of, and the specific number can be selected according to the actual needs of those skilled in the art.

In this embodiment, as can be seen from the foregoing, the relative position adjustment of the pressing assembly is performed according to the position change of the preform 01, and the position change of the preform 01 can be determined by visual detection or pressure detection. Since the gripper according to the present application is used to grip the preform 01, the force requirement is most important, and thus the position detection and judgment of the preform 01 is preferably performed by pressure detection in this embodiment.

Specifically, the support component 3 further comprises pressure sensors, and the pressure sensors are arranged on the two compression components; the pressure sensor can transmit the pressure information between the compression assembly and the prefabricated member 01 to a control module (not shown) in the installation vehicle, the control module can generate an adjustment signal according to the corresponding pressure value and feed the adjustment signal back to the second telescopic device 31, and the second telescopic device 31 can adjust the relative position between the two compression assemblies according to the adjustment signal.

It should be appreciated that the specific structure and operation of the pressure sensor is well known to those skilled in the art and will not be described in detail herein.

Another aspect of the present application provides a working method of the foregoing preform adaptive gripper, including the following specific steps:

s100: the control clamping assembly 2 is spliced with a preformed hole 012 arranged on the engagement side 011 of the prefabricated member 01 placed on the ground.

S200: the pressing assembly on the second side of the preformed hole 012 is controlled to abut against the preform 01 based on the position of the center of gravity of the preform 01 relative to the first side of the preformed hole 012.

S300: the preform 01 is lifted and the pressure between the currently operating hold-down assembly and the preform 01 is detected during the lifting process.

S400: and when the prefabricated member 01 is judged to be in the self-balancing position based on the detected pressure value, controlling the other pressing assembly to prop against the prefabricated member 01.

S500: the preform 01 continues to be lifted until the preform 01 is in the set mounting position.

It should be noted that, for the self-balancing position of the preform 01 in step S400, i.e. the vertically extending line of gravity of the preform 01 passes through the preformed hole 012; the moment of gravity of the preform 01 is zero at this time, that is, the position of the preform 01 does not change even if the preform 01 is not supported by the support assembly 3; the pressure between the support assembly 3 and the preform 01 is at this point minimal, on the basis of which the self-balancing position of the preform 01 can be determined.

Meanwhile, the direction of the gravity moment generated by the prefabricated member 01 at the self-balancing front and back positions will change reversely, so that the supporting direction of the supporting component 3 to the prefabricated member 01 at the self-balancing front and back positions also needs to change correspondingly, that is, the relative position adjustment of the two pressing components in the supporting component 3 can be performed at the self-balancing position of the prefabricated member 01.

For ease of understanding, the method of operation of the preform adaptation grabber of the present application will be described in detail below. Taking fig. 13 to 16 as an example, along the length direction of the preform 01, the left side of the reserved hole 012 on the preform 01 may be set as a first side, and the right side may be set as a second side. The compressing assembly corresponding to the second side is a front compressing assembly, and the compressing assembly corresponding to the first side is a rear compressing assembly.

Initially, as shown in fig. 13, the preform 01 is laid on the ground, and the gripper may approach the preform 01 and insert through the preformed hole 012 provided on the engagement side 011 of the preform 01 through the spindle nose 23 on the clamping assembly 2, where the front pressing assembly and the rear pressing assembly are both spaced on the inner side of the preform 01.

Because the center of gravity of the preform 01 is located at the left side of the reserved hole 012 on the preform 01, if there is no support of the support assembly 3, the clamping assembly 2 drives the preform 01 to rotate counterclockwise around the reserved hole 012 axis under the gravity G generated by the gravity G when lifting the preform 01. Therefore, as shown in fig. 14, after the clamping assembly 2 clamps the preform 01, the front pressing assembly can be driven by the second telescopic device 31 to abut against the inner side of the preform 01 through the roller 301 rotatably installed at the end of the second pressing plate 35. Further, in the process of lifting the preform 01, as shown in fig. 15, the supporting force F1 generated by the second pressing plate 35 on the preform 01 by the roller 301 may form a balance moment in a clockwise direction, and the balance moment may balance the gravitational moment of the preform 01, so as to ensure that the preform 01 may be stable in the lifting process before reaching the balance position.

The rear hold-down assembly may be spaced from the preform 01 or may be in contact with the preform 01, as the rear hold-down assembly does not need to support the preform 01, between the positions of the preform 01 and the self-balancing position, depending on the particular configuration of the preform 01. For convenience of description, the pressing members are spaced apart from the preform 01.

Immediately before the preform 01 is lifted to the self-balancing position, the vertical distance from the gravity G of the preform 01 to the reserved hole 012 gradually decreases as the preform 01 is lifted, i.e., the gravitational moment generated by the gravity G of the preform 01 gradually decreases. The value of the supporting force F1 of the second presser plate 35 of the front presser assembly by the roller 301 and the preform 01 is then also gradually reduced until the preform 01 reaches the self-balancing position, in theory the counter force of the supporting force F1 to the roller 301 at the end of the second presser plate 35 should be zero. The pressure sensor can determine that the preform 01 is already in a self-balancing state at this time according to the detected value zero, and then the rear pressing assembly can be controlled to approach and abut against the inner side of the preform 01.

Of course, the process of lifting the preform 01 is continuous, and the process of adjusting the structure of the support assembly 3 requires time, so that the rear pressing assembly can be controlled to act when the preform 01 reaches the self-balancing position soon, so that the rear pressing assembly can just abut against the preform 01 when the preform 01 reaches the self-balancing position. For example, the driving control of the rear pressing assembly may be started when the pressure value detected by the pressure sensor is 10% of the maximum pressure value. Of course, the fine adjustment of the support assembly 3 can also be performed from the time the preform 01 is lifted up until the support assembly 3 can just drive the rear pressing assembly against the preform 01 by accumulation of fine adjustment when the preform 01 reaches the self-balancing position.

The back pressing assembly and the prefabricated member 01 are driven by the second telescopic device 31 to rotate around the front end of the mounting frame 100, and then the roller 301 installed at the end of the second pressing plate 35 rolls along the prefabricated member 01. Because of the change in the relative position of the second platen 35, the preform 01 will rotate about the axis of the preformed hole 012 in a direction toward the rear hold-down assembly until the preform 01 abuts the rear hold-down assembly under the extrusion of the second platen 35.

As the preform 01 is lifted beyond the self-balancing position, the direction of the gravitational moment generated by the gravitational force G of the preform 01 is clockwise. I.e. the preform 01, under the influence of a gravitational moment, tends to move away from the front hold-down assembly, so that the pressure between the front hold-down assembly and the preform 01 is zero. At this time, the supporting force generated by the rear pressing assembly on the prefabricated member 01 through the roller 301 installed at the end of the first pressing plate 33 is F2, the direction from the supporting force F2 to the balancing moment generated by the reserved hole 012 is counterclockwise, and the balancing moment generated by the supporting force F2 can balance the weight moment of the prefabricated member 01.

The foregoing has outlined the basic principles, features, and advantages of the present application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made therein without departing from the spirit and scope of the application, which is defined by the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides a prefab self-adaptation grabber, includes the mounting bracket, its characterized in that, still including install in the mounting bracket:

a pair of clamping assemblies; the clamping assemblies are positioned in the middle of two sides of the mounting frame, and are suitable for being spliced with preformed holes arranged in the middle of the connecting side of the prefabricated member so as to grasp the prefabricated member; and

A support assembly; the support assembly is adapted to always bear against the inside of the preform during the lifting of the preform, so that the support moment formed between the support assembly and the clamping assembly is always balanced with the gravitational moment of the preform.

2. The preform adaptation grabber of claim 1, wherein said clamping assembly comprises:

A clamping jaw; the clamping jaw is slidably mounted on the mounting frame; and

A first telescopic device; the first telescopic device is arranged on the mounting frame and is in driving connection with the clamping jaw;

the clamping jaw is suitable for sliding along the mounting frame under the driving of the first telescopic device, and then the clamping jaw is driven to be mounted on the clamping jaw at intervals between the shaft head of the mounting frame and the reserved hole for plugging.

3. The preform adaptation grabber of claim 2, wherein: the clamping assembly further comprises a self-locking assembly, and the self-locking assembly is mounted on the clamping jaw;

when the clamping jaw is in plug connection with the preformed hole through the shaft head, the self-locking assembly is suitable for being matched and locked with the mounting frame, so that the clamping jaw is limited in movement in the direction away from the preformed hole.

4. A preform adaptation grabber as claimed in claim 3, wherein the mounting frame is provided with a shaft seat, and a locking rod is elastically and slidably arranged in the radial direction of the shaft hole of the shaft seat;

the self-locking assembly comprises a locking shaft which is arranged on the clamping jaw and is in sliding fit with the shaft hole of the shaft seat;

when the prefabricated member is grabbed, the locking shaft is suitable for synchronously moving along with the clamping jaw until the locking rod slides to a set position relative to the locking shaft, and the locking rod is suitable for being matched and locked with the locking shaft.

5. The preform adaptation grabber of claim 4, wherein said lock shaft is fixedly mounted to said clamping jaw, and a radially extending boss is provided on a side of said lock shaft remote from said mounting frame;

the self-locking assembly further comprises an unlocking disc which is matched with the size of the protruding part, and the unlocking disc is slidably arranged on the lock shaft and is close to the protruding part;

when the prefabricated member is grabbed, the locking rod is suitable for sliding relatively along the direction of the protruding part along the locking shaft until the locking rod passes over the protruding part and is clamped between the unlocking disc and the protruding part so as to lock the locking shaft;

When unlocking, the method comprises a first process and a second process; wherein the method comprises the steps of

The first process comprises the following steps: the locking rod slides relative to the lock shaft in a direction away from the protruding part to pass over the unlocking disc;

The second process is as follows: the locking rod slides towards the direction close to the protruding portion, and then drives the unlocking disc to be close to the protruding portion, so that the locking rod passes through the unlocking disc to cross the protruding portion.

6. The preform adaptation grabber of claim 5, wherein an end of the locking lever is provided with one of a cambered surface, a slope surface and a conical surface, and a side cross-sectional shape of the unlocking plate is V-shaped or arc-shaped.

7. The preform adaptation grabber of any one of claims 1 to 6, wherein said support assembly includes:

A pair of compression assemblies; the compression assemblies are respectively rotatably arranged at the front end and the rear end of the mounting frame;

a traction plate; the traction plate is respectively connected with the two compression assemblies in a matched manner through two ends; and

A second telescopic device; the second telescopic device is rotatably arranged on the mounting frame through the tail part, the output end of the second telescopic device is in matched connection with one of the compression assemblies or the traction plates, and the compression assemblies are suitable for propping against the inner side of the prefabricated member under the driving of the second telescopic device;

The gravity center positions of the preformed hole and the prefabricated part are located in the corresponding area between the two pressing assemblies.

8. The preform adaptation grabber of claim 7, wherein said support assembly further comprises a pressure sensor mounted to both of said hold down assemblies;

the pressure sensor is adapted to generate an adjustment signal based on pressure information of the compaction assembly and the preform;

The second telescopic device is suitable for adjusting the relative position between the two pressing assemblies according to the adjusting signal.

9. The preform adaptation grabber of claim 7, wherein said compaction assembly includes a platen and a roller; the pressing plate is rotatably arranged on the mounting frame through a first end, the traction plate is rotatably connected with the middle part of the pressing plate, and the roller is arranged at a second end of the pressing plate and is suitable for rolling and propping against the prefabricated member;

Or, the pressing component comprises a pressing plate, a driving plate and a roller; one end of the pressing plate is rotatably mounted with the mounting frame through a fixed rotating shaft, one end of the driving plate is fixed with the rotating shaft, the other end of the driving plate is rotatably connected with the traction plate, and the roller is rotatably mounted at the other end of the pressing plate and is suitable for rolling and propping against the prefabricated member.

10. The working method of the prefabricated member self-adaptive grabber is characterized by comprising the following specific steps of:

S100: the clamping assembly is controlled to be spliced with a preformed hole arranged on the connecting side of the prefabricated member placed on the ground;

S200: controlling a pressing component positioned on the second side of the preformed hole to prop against the preformed piece based on the position of the gravity center of the preformed piece relative to the first side of the preformed hole;

s300: lifting the prefabricated part, and detecting the pressure between the currently working compression assembly and the prefabricated part in the lifting process;

S400: when the prefabricated member is judged to be in the self-balancing position based on the detected pressure value, the other pressing assembly is controlled to be propped against the prefabricated member;

s500: and continuously lifting the prefabricated part until the prefabricated part is positioned at the set installation position.