CN207406360U

CN207406360U - Trolley is installed for the manipulator and bow member of bow member

Info

Publication number: CN207406360U
Application number: CN201721458756.6U
Authority: CN
Inventors: 江乃东; 管永昌
Original assignee: BEIJING XIN NENG ZHENG YUAN ENVIRONMENT TECHNOLOGY Co Ltd
Current assignee: Beijing Xinneng Zhengyuan Intelligent Equipment Co ltd
Priority date: 2017-11-03
Filing date: 2017-11-03
Publication date: 2018-05-25
Anticipated expiration: 2027-11-03

Abstract

This disclosure relates to a kind of manipulator and bow member for bow member installs trolley,The manipulator includes handgrip unit,The handgrip unit includes the installing plate and the first main body of two parallel arrangements,Second main body,The first clamping member,Second clamping piece,STATEMENT OF FEDERALLY SPONSORED,Clamping piece driving device,First main body and the second main body are articulated in by pivotal axis A between two installing plates,The first clamping member is articulated in the first main body by pivotal axis B,Second clamping piece is fixed on the second main body,One end of STATEMENT OF FEDERALLY SPONSORED is articulated in the tail end of the first clamping member by pivotal axis C,The other end is articulated in the tail end of the second clamping piece by pivotal axis D,One end of clamping piece driving device is articulated in the first main body by pivotal axis E,The other end is articulated in the second main body by pivotal axis F,The second main body to be driven to be rotated around pivotal axis F forwards/reverses,So as to fulfill clamping/release to bow member section.The manipulator that the disclosure provides can be clamped with various sizes of bow member section.

Description

Trolley is installed for the manipulator and bow member of bow member

Technical field

This disclosure relates to engineering machinery field, and in particular, to a kind of manipulator and bow member for bow member installs trolley.

Background technology

, it is necessary to set up multiple steel arch-shelfs (hereinafter referred to as along the length direction in tunnel in the cutting in each tunnel Bow member) to prevent Tunnel Landslide.Since the cross section in tunnel is larger, in order to meet the requirements, the length of each bow member also accordingly compared with Greatly, and for the ease of transport, it is generally the case that each bow member can be split as multiple bow member sections.

Utility model content

The purpose of the disclosure is to provide a kind of manipulator for bow member, has various sizes of bow member for clamping Section.

To achieve these goals, the disclosure provides a kind of manipulator for bow member, wherein, the manipulator includes grabbing Hand unit, the handgrip unit include two installing plates being arranged in parallel and the first main body, the second main body, the first clamping member, second Clamping piece, STATEMENT OF FEDERALLY SPONSORED, clamping piece driving device, first main body and the second main body are relative to each other and pass through pivotal axis A It being articulated between described two installing plates, the first clamping member includes opposite the first bare terminal end and the first tail end, and described the Two clamping pieces include opposite the second bare terminal end and the second tail end, and the first clamping member and the second clamping piece are arranged on described the Between one main body and the second main body and first bare terminal end is opposite with second bare terminal end, and the first clamping member passes through Pivotal axis B is articulated in first main body, and second clamping piece is fixed on second main body, and one end of the STATEMENT OF FEDERALLY SPONSORED leads to It crosses pivotal axis C and is articulated in first tail end, the other end is articulated in second tail end by pivotal axis D, and the clamping piece drives One end of dynamic device is articulated in first main body by pivotal axis E, and the other end is articulated in second master by pivotal axis F Body, second main body to be driven to be rotated around the pivotal axis F forwards/reverses, so as to drive first bare terminal end and described Second bare terminal end is close to each other/separate, so as to fulfill clamping/release to bow member section；Described pivotal axis A, B, C, D, E, F are each other It is mutually parallel.

Selectively, the bow member section is configured to I-shaped, including two parallel edges of a wing and is connected to two wings Web between edge, the one side of first bare terminal end towards second bare terminal end are provided with the first groove, second folder It holds end and the one side of a bare terminal end is provided with the second groove, when the bow member section is clamped, the edge of a wing is located at institute It states in the first groove and the second groove, and the end of first bare terminal end cooperates jointly with the end of second bare terminal end To clamp the web.

Selectively, the linkage is configured to rod-shaped, and one end therein offers bar hole, and the pivotal axis C or D is passed through The bar hole.

Selectively, second end structure is the wedge structure towards first tail end, is driven in the clamping piece Dynamic device drives second main body around during the pivotal axis F forwards/reverses rotate, and the wedge structure is along described the The corresponding side movement of two tail ends, the end of the lozenges and second tail end forms leading for second clamping piece To structure.

Selectively, the handgrip unit, which further includes, prevents second main body from being drawn along the /V of the reversed inordinate rotation Bar, one end of the limit pull rod are articulated in first main body by the pivotal axis B, and the other end is offered to be drawn along the /V The bar shaped slot hole of the length direction extension of bar, the limit pull rod are articulated in second clamping piece, the pivot by pivotal axis G Shaft G passes through the bar shaped slot hole, and the pivotal axis G is parallel to the pivotal axis A.

Selectively, it is provided on the limit pull rod in the branch of bow member section described in the supported underneath of the bow member section Support structure, the support construction and first bare terminal end and the second bare terminal end cooperate to keep the bow member section jointly jointly.

Selectively, the first clamping member described in two groups, the second clamping are provided between first main body and the second main body Part and STATEMENT OF FEDERALLY SPONSORED.

Selectively, the installing plate includes installation end and the working end opposite with the installation end, and the handgrip unit is set It puts in the working end, the manipulator further includes the first slewing equipment and handgrip cell driving device, and the installing plate passes through The installation end is connected to first slewing equipment, and one end of the handgrip cell driving device is articulated with by pivotal axis H First main body, the other end are articulated with first slewing equipment, the pivotal axis H and I and the pivot by pivotal axis I Axis A is parallel to each other, and first slewing equipment is limited parallel to the installing plate and vertical with the axis of the pivotal axis A the Single-revolution axis, and the handgrip unit and the installing plate can be driven to be rotated around first axis of rotation；The machine Tool hand further includes the first connecting plate, the second connecting plate, first driving means and the second slewing equipment, and first slewing equipment connects It being connected between the installing plate and first connecting plate, second slewing equipment is fixedly connected with second connecting plate, First connecting plate is hinged by pivotal axis K and second connecting plate, and one end of the first driving means passes through pivot Axis L is articulated with first connecting plate, and the other end is articulated with second connecting plate by pivotal axis M, for driving described grab Hand unit, installing plate, the first slewing equipment and the first connecting plate are synchronously rotated around the pivotal axis K, the pivotal axis K, L, the axis of M is vertical with first axis of rotation, and second slewing equipment is limited to hang down with the axis of described pivotal axis K, L, M The second straight axis of rotation, and the handgrip unit, installing plate, the first slewing equipment, the first connecting plate, second can be driven Connecting plate and first driving means are rotated around second axis of rotation；The manipulator further includes tailgate and the second driving dress It puts, second slewing equipment is connected between second connecting plate and the tailgate, and the tailgate is used to install with bow member The working arm end of trolley is hinged by pivotal axis P, and one end of second driving device is articulated with the tail by pivotal axis Q Plate, the other end are used to be hinged by pivotal axis R and the working arm end；The axis of described pivotal axis P, Q, R are put down each other Row, and it is perpendicular, vertical with the length direction of the working arm with second axis of rotation.

Selectively, the clamping piece driving device, handgrip cell driving device, first driving means and the second driving dress It is set to hydraulic cylinder.

Based on the above technical solutions, the disclosure also provides a kind of bow member installation trolley, wherein, the bow member erecting bed Vehicle, which includes the bow member trolley, includes trolley and operation unit, and the trolley includes chassis and running gear, set on the chassis It is useful for providing the power unit of power for the trolley and the operation unit, the operation unit is all connected to including bottom The telescopic working arm on the chassis, the end of the working arm are both provided with the machinery for bow member of disclosure offer Hand, for capturing and keeping the different bow member sections.

Through the above technical solutions, through the above technical solutions, in the manipulator provided in the disclosure, the second main body is being pressed from both sides It is rotated under the driving of gripping member driving device around pivotal axis F forwards/reverses, since the second clamping piece is fixed on the second main body, Second clamping piece follows the second body rotation, and under the action of STATEMENT OF FEDERALLY SPONSORED, the second clamping piece drives the first clamping member around pivotal axis B It rotates, so that the first bare terminal end and the second bare terminal end are relatively close to each other/separate, is achieved in the folder to bow member section It holds/discharges.Further, since the distance between the first bare terminal end and the second bare terminal end can by control clamping piece driving device from And the second main body is controlled to be adjusted compared with the distance of the first main body, therefore, the manipulator that the disclosure provides is suitable for having not With the bow member section of lateral dimension, this causes the manipulator that the disclosure provides to have good versatility.

Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.

Description of the drawings

Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool Body embodiment is together for explaining the disclosure, but do not form the limitation to the disclosure.In the accompanying drawings：

Fig. 1 is the stereoscopic schematic diagram of the manipulator described in the embodiment of the present disclosure；

Fig. 2 is the stereoscopic schematic diagram of the tongs unit described in the embodiment of the present disclosure；

Fig. 3 is that the tongs unit described in the embodiment of the present disclosure is in the schematic diagram for clamping bow member section state；

Fig. 4 is that the tongs unit described in the embodiment of the present disclosure is in release bow member section or prepares clamping bow member section The schematic diagram of state；

Fig. 5 is the first clamping member of the tongs unit described in the embodiment of the present disclosure and the structure of the second clamping piece Schematic diagram.

Reference sign

10- installing plates, the first main bodys of 11-, the second main bodys of 12-, 13- the first clamping members, the first bare terminal ends of 131-, 1311- First groove, 1312- ends, the first tail ends of 132-, the second clamping pieces of 14-, the second bare terminal ends of 141-, the second grooves of 1411-, 1412- ends, the second tail ends of 142-, 15- STATEMENT OF FEDERALLY SPONSOREDs, 151- bar holes, 16- clamping piece driving devices, 17- limit pull rods, 171- bar shaped slot holes, 18- handgrip cell driving devices, the first slewing equipments of 2-, the first connecting plates of 31-, the second connecting plates of 32-, 4- first driving means, the second slewing equipments of 5-, 6- tailgates, the second driving devices of 7-, 8- working arms, 9- bow member sections.

Specific embodiment

The specific embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.

In the disclosure, in the case where not making explanation on the contrary, front, back, left, right, up, down six is defined on the basis of trolley A orientation, wherein, front, rear, left and right direction restriction level face, vertical direction limits vertical direction；In addition, for ease of description, The forefront of working arm is defined as end, and rearmost is defined as bottom.Above-mentioned term position is only used for the explanation and illustration disclosure, It should not be interpreted as the limitation to the disclosure.

According to the specific embodiment of the disclosure, a kind of manipulator for bow member is provided, Fig. 1 shows the one of manipulator Kind embodiment, with reference to shown in figure 1, manipulator includes handgrip unit 1, and Fig. 2 shows a kind of embodiment party of handgrip unit 1 Formula, with reference to shown in figure 2, handgrip unit 1 include two parallel arrangement 10 and first main bodys 11 of installing plate, the second main body 12, The first clamping member 13, the second clamping piece 14, STATEMENT OF FEDERALLY SPONSORED 15, clamping piece driving device 16,11 and second main body of the first main body Between 12 are articulated in described two installing plates 10 by pivotal axis A toward each other and, the first clamping member 13 includes phase To the first bare terminal end 131 and the first tail end 132, second clamping piece 14 include the second opposite bare terminal end 141 and second Tail end 142,13 and second clamping piece 14 of the first clamping member are arranged between 11 and second main body 12 of the first main body simultaneously And first bare terminal end 131 is opposite with second bare terminal end 141, the first clamping member 13 is articulated in by pivotal axis B First main body 11, second clamping piece 14 are fixed on second main body 12, and one end of the STATEMENT OF FEDERALLY SPONSORED 15 passes through pivot Rotating shaft C is articulated in first tail end 132, and the other end is articulated in second tail end 142, the clamping piece by pivotal axis D One end of driving device 16 is articulated in first main body 11 by pivotal axis E, and the other end is articulated in described by pivotal axis F Two main bodys 12, second main body 12 to be driven to be rotated around the pivotal axis F forwards/reverses, so as to drive first clamping End 131 and second bare terminal end 141 are close to each other/separate, so as to fulfill clamping/release to bow member section 9；The pivotal axis A, B, C, D, E, F are parallel each other.

Through the above technical solutions, in the manipulator provided in the disclosure, the second main body 12 is in clamping piece driving device 16 Driving under rotated around pivotal axis F forwards/reverses, since the second clamping piece 14 is fixed on the second main body 12, the second clamping Part 14 follows the second main body 12 to rotate, and under the action of STATEMENT OF FEDERALLY SPONSORED 15, the second clamping piece 14 drives the first clamping member 13 around pivot Axis B is rotated, so that the first bare terminal end 131 and the second bare terminal end 141 are relatively close to each other/separate, is achieved in arch Clamping/release of frame section 89.Further, since the distance between the first bare terminal end 131 and the second bare terminal end 141 can pass through control Clamping piece driving device 16 adjusts so as to control the second main body 12 compared with the distance of the first main body 11, and therefore, the disclosure carries The manipulator of confession is suitable for the bow member section 9 with different lateral dimensions, and it is good that this so that the manipulator that the disclosure provides has Versatility.

In the specific embodiment provided in the disclosure, manipulator can be used for the bow member section of grid type, can be used for I-shaped bow member section, it is only necessary to the structure of the first bare terminal end 131 of corresponding design and the structure of the second bare terminal end 141.Fig. 1 The specific embodiment of the manipulator for I-shaped bow member section is shown to Fig. 5.With reference to shown in figure 3 and Fig. 4, the bow member Section 9 be configured to it is I-shaped, including two parallel edges of a wing 91 and the web 92 being connected between two edges of a wing 91, reference chart Shown in 5, the one side of first bare terminal end 131 towards second bare terminal end 141 is provided with the first groove 1311, and described The one side of two bare terminal ends 141 towards a bare terminal end 131 is provided with the second groove 1411.When the bow member section 9 is clamped, The edge of a wing 91 is located in 1311 and second groove 1411 of the first groove, and the end of first bare terminal end 131 1312 cooperate to clamp the web 92 jointly with the end 1412 of second bare terminal end 141.

In the other embodiment provided in the disclosure, for example, the manipulator for grid type bow member section can be in groove Side wall on serrated slot is set, with accommodate and /V grid type bow member section.

In addition, in the specific embodiment provided in the disclosure, in order to avoid the first tail end 132 and the second tail end 142 it Between occur movement interference, it is so structured that rod-shaped, one end therein offers bar hole 151, the pivotal axis C for the linkage 15 Or D passes through the bar hole 151.

In the specific embodiment provided in the disclosure, shown in Fig. 5, second tail end 142 is configured to Towards the wedge structure of first tail end 132, second main body 12 is driven around described in the clamping piece driving device 16 During pivotal axis F forwards/reverses rotate, the wedge structure is moved along the 142 corresponding side of the second tail end, can be with With reference to shown in figure 3 and Fig. 4, the end of the lozenges and second tail end 142 is formed for second clamping piece 14 Guide frame.

In addition, in order to prevent the second main body 12 rotated backward under the driving of clamping piece driving device 16 excessively and can not be again It is rotated towards direction, the handgrip unit further includes the /V for preventing second main body 12 along the reversed inordinate rotation Pull rod 17, one end of the limit pull rod 17 are articulated in first main body 11 by the pivotal axis B, and the other end is offered along institute The bar shaped slot hole 171 of the length direction extension of limit pull rod 17 is stated, the limit pull rod 17 is articulated in described the by pivotal axis G Two clamping pieces 14, the pivotal axis G pass through the bar shaped slot hole 171, and the pivotal axis G is parallel to the pivotal axis A.I.e.：Item The length of shape slot hole 171 determines the maximum range between the first bare terminal end 131 and the second bare terminal end 141, that is, manipulator The maximum transverse size for the bow member section that can be clamped.

In addition, it can be provided on the limit pull rod 17 in bow member section 9 described in the supported underneath of the bow member section 9 Support construction 172, with reference to shown in figure 3 and Fig. 4, the support construction and 131 and second bare terminal end of the first bare terminal end 141 common cooperations to keep the bow member section 9 jointly, so as to prevent bow member section 9 in the first groove 1311 and the second groove 1411 In rock.

In addition, in the specific embodiment provided in the disclosure, it is contemplated that the secured and stability of clamping, first master It can be provided with the first clamping member 13 described in two groups, the second clamping piece 14 and STATEMENT OF FEDERALLY SPONSORED 15 between 11 and second main body 12 of body, two Group the first clamping member 13 shares same pivotal axis B, and the STATEMENT OF FEDERALLY SPONSORED 15 in two groups shares pivotal axis C and D, in addition, the above Limit pull rod 17 one can also be accordingly set in every group, share same pivotal axis G.

The manipulator that the disclosure provides is used to be mounted on the end of the working arm 8 of bow member installation trolley (being described below) End, the position and angle of lifting and adjustment bow member in the work progress of bow member installation.

Therefore, the manipulator further includes the first slewing equipment 2 and handgrip cell driving device 18, and the installing plate 10 can To include installation end and the working end opposite with the installation end, the handgrip unit is arranged on the working end, the installing plate 10 are connected to first slewing equipment 2 by the installation end, and one end of the handgrip cell driving device 18 passes through pivot Axis H is articulated with first main body 11, and the other end is articulated with first slewing equipment 2, the pivotal axis H by pivotal axis I It is parallel to each other with I and the pivotal axis A, first slewing equipment 2 limit parallel to the installing plate 10 and with the pivot The first vertical axis of rotation of the axis of axis A, and the handgrip unit and the installing plate 10 can be driven around described first Axis of rotation rotates, so that handgrip unit 1 and the bow member section 9 clamped by it can swing by a small margin relatively.

The manipulator further includes the first connecting plate 31, the second connecting plate 32,4 and second slewing equipment of first driving means 5, first slewing equipment 2 is connected between the installing plate 10 and first connecting plate 31, second slewing equipment 5 It being fixedly connected with second connecting plate 32, first connecting plate 31 is hinged by pivotal axis K and second connecting plate 32, One end of the first driving means 4 is articulated with first connecting plate 31 by pivotal axis L, and the other end is cut with scissors by pivotal axis M Second connecting plate 32 is connected to, for driving the handgrip unit, installing plate 10, the first slewing equipment 2 and the first connection Plate 31 is synchronously rotated around the pivotal axis K, and the axis of described pivotal axis K, L, M are vertical with first axis of rotation, so that Handgrip unit 1 and its clamped bow member section 9 being capable of ground lower swings by a small margin relatively.

Second slewing equipment 5 limits second axis of rotation vertical with the axis of described pivotal axis K, L, M, and energy The handgrip unit, installing plate 10, the first slewing equipment 2, the first connecting plate 31, the second connecting plate 32 and first is enough driven to drive Dynamic device 4 is rotated around second axis of rotation, so that handgrip unit 1 and its clamped bow member section 9 can relatively significantly It swings degree.

The manipulator further includes 6 and second driving device 7 of tailgate, and second slewing equipment 5 is connected to described second Between connecting plate 32 and the tailgate 6, the tailgate 6 is used to cut with scissors by pivotal axis P with 8 end of working arm of bow member installation trolley Connect, one end of second driving device 7 is articulated with the tailgate 6 by pivotal axis Q, the other end be used for by pivotal axis R with 8 end of working arm is hinged.The axis of described pivotal axis P, Q, R are parallel each other, and with second axis of rotation It is perpendicular, vertical with the length direction of the working arm 8.Therefore, under the driving of the second driving device 7, handgrip is enabled to Unit 1 and its clamped bow member section 9 significantly ground lower swing relatively.

Above-mentioned significantly swing can be by 9 fast transportation of bow member section to position to be installed, and swing by a small margin can be with Finely tune the posture of bow member section 9, so as to fulfill with adjacent bow member section dock improve construction efficiency.

In addition, in the specific embodiment provided in the disclosure, the clamping piece driving device 16, handgrip unit driving dress It is hydraulic cylinder to put 18, first driving means, 4 and second driving device 7, to realize steady and effectively drive.

Based on the above technical solutions, the disclosure also provides a kind of bow member installation trolley, wherein, the bow member erecting bed Vehicle, which includes the bow member trolley, includes trolley and operation unit, and the trolley includes chassis and running gear, set on the chassis It is useful for providing the power unit of power for the trolley and the operation unit, the operation unit is all connected to including bottom The telescopic working arm 8 on the chassis, the end of the working arm 8 are both provided with the manipulator of disclosure offer, for The different bow member sections 9 is captured and keeps during arch construction.

The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.

It is further to note that the specific technical features described in the above specific embodiments, in not lance In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.

In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought should equally be considered as disclosure disclosure of that.

Claims

1. a kind of manipulator for bow member, which is characterized in that the manipulator includes handgrip unit (1), the handgrip unit (1) Include the installing plate (10) and the first main body (11), the second main body (12), the first clamping member (13), the second folder of two parallel arrangements Gripping member (14), STATEMENT OF FEDERALLY SPONSORED (15), clamping piece driving device (16), first main body (11) and the second main body (12) are relative to each other And between being articulated in described two installing plates (10) by pivotal axis A, the first clamping member (13) includes opposite the One bare terminal end (131) and the first tail end (132), second clamping piece (14) include opposite the second bare terminal end (141) and the Two tail ends (142), the first clamping member (13) and the second clamping piece (14) are arranged on first main body (11) and the second master Between body (12) and first bare terminal end (131) and second bare terminal end (141) relatively, the first clamping member (13) First main body (11) is articulated in by pivotal axis B, second clamping piece (14) is fixed on second main body (12), institute The one end for stating STATEMENT OF FEDERALLY SPONSORED (15) is articulated in first tail end (132) by pivotal axis C, and the other end is articulated in by pivotal axis D Second tail end (142), one end of the clamping piece driving device (16) are articulated in first main body by pivotal axis E (11), the other end is articulated in second main body (12) by pivotal axis F, to drive second main body (12) around the pivot Axis F forwards/reverses rotate, so as to drive first bare terminal end (131) and second bare terminal end (141) close to each other/remote From so as to fulfill clamping/release to bow member section (9)；

Described pivotal axis A, B, C, D, E, F are parallel each other.

2. manipulator according to claim 1, which is characterized in that the bow member section (9) be configured to it is I-shaped, including two The parallel edge of a wing (91) and the web (92) being connected between two edges of a wing (91), the first bare terminal end (131) direction The one side of second bare terminal end (141) is provided with the first groove (1311), and second bare terminal end (141) is pressed from both sides towards described one The one side for holding end (131) is provided with the second groove (1411), and when the bow member section (9) is clamped, the edge of a wing (91) is located at In first groove (1311) and the second groove (1411), and the end (1312) of first bare terminal end (131) and institute The end (1412) for stating the second bare terminal end (141) cooperates to clamp the web (92) jointly.

3. manipulator according to claim 2, which is characterized in that the STATEMENT OF FEDERALLY SPONSORED (15) be configured to it is rod-shaped, therein one End offers bar hole (151), and the pivotal axis C or D passes through the bar hole (151).

4. manipulator according to claim 2, which is characterized in that second tail end (142) is configured to towards described The wedge structure of one tail end (132) drives second main body (12) around the pivot in the clamping piece driving device (16) During axis F forwards/reverses rotate, the wedge structure is moved along the corresponding side of second tail end (142), the wedge Shape face and the end of second tail end (142) form the guide frame for second clamping piece (14).

5. manipulator according to claim 1, which is characterized in that the handgrip unit, which further includes, prevents second main body (12) along the limit pull rod (17) of the reversed inordinate rotation, one end of the limit pull rod (17) is pivotally connected by the pivotal axis B In first main body (11), the other end offers the bar shaped slot hole along the length direction extension of the limit pull rod (17) (171), the limit pull rod (17) is articulated in second clamping piece (14) by pivotal axis G, and the pivotal axis G is described in Bar shaped slot hole (171), the pivotal axis G is parallel to the pivotal axis A.

6. manipulator according to claim 5, which is characterized in that be provided on the limit pull rod (17) for described The support construction (172) of bow member section (9) described in the supported underneath of bow member section (9), the support construction and first bare terminal end (131) and the second bare terminal end (141) cooperates to keep the bow member section (9) jointly jointly.

7. manipulator according to claim 1, which is characterized in that between first main body (11) and the second main body (12) It is provided with the first clamping member (13) described in two groups, the second clamping piece (14) and STATEMENT OF FEDERALLY SPONSORED (15).

8. manipulator according to claim 1, which is characterized in that the installing plate (10) include installation end and with the installation Opposite working end is held, the handgrip unit is arranged on the working end,

The manipulator further includes the first slewing equipment (2) and handgrip cell driving device (18), and the installing plate (10) passes through The installation end is connected to first slewing equipment (2), and one end of the handgrip cell driving device (18) passes through pivotal axis H First main body (11) is articulated with, the other end is articulated with first slewing equipment (2), the pivotal axis H by pivotal axis I It is parallel to each other with I and the pivotal axis A, first slewing equipment (2) limit parallel to the installing plate (10) and with it is described The first vertical axis of rotation of the axis of pivotal axis A, and the handgrip unit and the installing plate (10) can be driven around institute State the rotation of the first axis of rotation；

The manipulator further includes the first connecting plate (31), the second connecting plate (32), first driving means (4) and the second revolution dress It puts (5), first slewing equipment (2) is connected between the installing plate (10) and first connecting plate (31), and described Two-revolution device (5) is fixedly connected with second connecting plate (32), first connecting plate (31) by pivotal axis K with it is described Second connecting plate (32) is hinged, and one end of the first driving means (4) is articulated with first connecting plate by pivotal axis L (31), the other end is articulated with second connecting plate (32) by pivotal axis M, for driving the handgrip unit, installing plate (10), the first slewing equipment (2) and the first connecting plate (31) are synchronously rotated around the pivotal axis K, described pivotal axis K, L, M Axis it is vertical with first axis of rotation, second slewing equipment (5) limits and the axis of described pivotal axis K, L, M hang down The second straight axis of rotation, and the handgrip unit, installing plate (10), the first slewing equipment (2), the first connection can be driven Plate (31), the second connecting plate (32) and first driving means (4) are rotated around second axis of rotation,

The manipulator further includes tailgate (6) and the second driving device (7), and second slewing equipment (5) is connected to described Between two connecting plates (32) and the tailgate (6), the tailgate (6) is used to lead to working arm (8) end of bow member installation trolley It crosses pivotal axis P to be hinged, one end of second driving device (7) is articulated with the tailgate (6) by pivotal axis Q, and the other end is used In hinged by pivotal axis R and the working arm (8) end,

The axis of described pivotal axis P, Q, R are parallel each other, and with second axis of rotation it is perpendicular, with the work The length direction of arm (8) is vertical.

9. manipulator according to claim 8, which is characterized in that the clamping piece driving device (16), handgrip unit drive Dynamic device (18), first driving means (4) and the second driving device (7) are hydraulic cylinder.

10. a kind of bow member installs trolley, which is characterized in that bow member installation trolley, which includes the bow member trolley, includes trolley and operation Unit, the trolley include chassis and running gear, are provided with to be the trolley and the operation unit on the chassis The power unit of power is provided, the operation unit includes the telescopic working arm (8) that bottom is all connected to the chassis, institute The end for stating working arm (8) is both provided with according to the manipulator for bow member described in any one in claim 1-9, is used for Capture and keep the different bow member sections (9).