CN207567765U - Piling machine robot manipulator structure - Google Patents
Piling machine robot manipulator structure Download PDFInfo
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- CN207567765U CN207567765U CN201721481506.4U CN201721481506U CN207567765U CN 207567765 U CN207567765 U CN 207567765U CN 201721481506 U CN201721481506 U CN 201721481506U CN 207567765 U CN207567765 U CN 207567765U
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- mechanical arm
- piling machine
- pile
- concrete
- robot manipulator
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- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The utility model is related to a kind of piling machine robot manipulator structure, to be mounted on piling machine platform, it is characterised in that：Including between left and right every pair two mechanical arms set and two mechanical arm oil cylinders, the inner end of mechanical arm be hinged on piling machine platform upper and can left and right opening and closing, each mechanical arm correspondence can be swung by mechanical arm hydraulic oil cylinder driving one of them described, the position limiting structure limited to concrete-pile is additionally provided between two mechanical arms, under mechanical arm closed configuration, concrete-pile is constrained between two mechanical arms by the position limiting structure.It is equipped with the mechanical arm of energy opening and closing on forepart in piling machine platform, mechanical arm energy opening and closing by mechanical arm hydraulic oil cylinder driving, mechanical arm combines position limiting structure after closing up and can embrace the concrete-pile sling, and robot manipulator structure can be rotated with the revolving platform of piling machine, in this way so that during stake is hung, concrete-pile will not shake, and can more rapidly hang in place stake, substantially increase piling efficiency.
Description
Technical field
The utility model is related to one kind to hang a pile driving equipment more particularly to a kind of piling machine robot manipulator structure.
Background technology
In current rivers,lakes and seas bunding engineering, using concrete pile body when components build bunding protecting wall, need in river
The bunding in river and lake sea carries out piling construction, in practice, during bunding engineering construction frequently with piling guide device be simple and crude length
Square frame structure during constructing operation, which is first nested in the fixing component of engineering starting point, then inserts pile body
Enter and soil is squeezed into frame structure, next again squeeze into adjacent pile body to be stitched together in soil side by side, but use this
When kind of frame structure is oriented to piling construction, the single easy left-right of pile body, it is difficult to be accurately positioned and therefore cause stake and stake it
Between be difficult to splice, therefore construction efficiency is very low, project progress is slow, more seriously influence bunding construction quality；Moreover, the guiding
Device is simple and crude and heavy, and when construction is difficult to automatic moving, and loop wheel machine cooperation is needed to lift again, further influences construction speed.
Have and constructed using special piling machine to channel revetment, such as Patent No. ZL201110269494.X (notification numbers
For CN102425165B) Chinese invention patent《A kind of pile driver for embankment》, they are using there is piling machine, including the first elevator
Machine, second hoist, mast, support oil cylinder, dynamical system, hydraulic system, electrical system, the mast are equipped with tubular diesel
Hammer, tubular diesel hammer are connected by steel wire rope with first hoist, which is characterized in that are additionally provided with revolving platform, travelling platform, are returned
Turn platform and be equipped with auxiliary loop wheel machine, the lower section of the revolving platform is equipped with vertical shift mechanism, and the vertical shift mechanism is turned round by center
Supporting mechanism is connected with revolving platform, and the side of the vertical shift mechanism is equipped with Auxiliary support ship；The both ends of the revolving platform point
Not She You transverse-moving mechanism, the transverse-moving mechanism is connected with support oil cylinder；Strut and change are equipped between the mast and revolving platform
Width oil cylinder.
This piling machine, because of the rotation of revolving platform, causes the concrete-pile sling easily to shake very not during stake is hung
Steadily, this has operator very high skill set requirements, is in addition unfavorable for hanging concrete-pile in place, hangs stake and spends the time long.
Utility model content
Technical problem to be solved in the utility model be for the above-mentioned prior art present situation and provide a kind of for driving piles
The robot manipulator structure of machine, the robot manipulator structure can embrace concrete-pile during stake is hung, and entirely hang a process and do not shake, and be real
Existing piling machine it is efficient precisely hang that stake piling provides may.
Technical solution is used by the utility model solves above-mentioned technical problem：A kind of piling machine robot manipulator structure,
To be mounted on piling machine platform, it is characterised in that：Including between left and right every pair two mechanical arms set and two mechanical arm oil
Cylinder, the inner end of mechanical arm be hinged on the upper of piling machine platform and can left and right opening and closing, each mechanical arm correspondence is as described in one of them
Mechanical arm hydraulic oil cylinder driving and can swing, the position limiting structure limited to concrete-pile is additionally provided between two mechanical arms,
Under mechanical arm closed configuration, concrete-pile is constrained between two mechanical arms by the position limiting structure.
Alternatively, the cylinder body of above-mentioned mechanical arm oil cylinder is hinged on piling machine platform, cylinder rod and the phase of mechanical arm oil cylinder
It answers hinged in the middle part of the mechanical arm of side.Certain cylinder body and cylinder rod position can be interchanged.
Above-mentioned position limiting structure includes front wheel, side wheel and rear roller, and the front wheel is set on the madial wall of mechanical arm
The front end face of concrete-pile is limited, the side wheel is set on the madial wall of mechanical arm and the side of concrete-pile is carried out
Constraint, the rear roller limit between being set on two mechanical arms to the rear end face to concrete-pile, and rear roller is by driving
Whether dynamic structure drives and can be moved forward and backward to determine to contact with the rear end face of concrete-pile.It can be right by front wheel and rear roller
The constraint being sandwiched on the concrete-pile progress front-rear direction between mechanical arm, the setting of side wheel are conducive to concrete-pile relative mechanical
Arm moves down, and rear roller can be moved forward and backward, and can be suitble to the pile-type without thickness in this way, is in addition rolling between idler wheel and concrete-pile
Dynamic contact, it is ensured that concrete-pile can smooth downlink.
Above-mentioned driving structure includes outer tube, inner sleeve and drive cylinder, and outer tube is fixed on piling machine platform, inner sleeve
Pipe is plugged in outer tube and can be slid before and after opposite outer tube, and the cylinder body of the support cylinder is fixed in outer tube, is supported
The piston rod of oil cylinder is then stretched into inner sleeve and is connect with inner sleeve.
It is further improved, above-mentioned side wheel, which can control, to be slid and positioned.The pile-type of different in width is adapted in this way.
The fixing sleeve that through-thickness is worn is fixed on above-mentioned mechanical arm, the movement that can control sliding is equipped in fixing sleeve
Fixing sleeve is stretched out in set, the outer end of movable sleeving, and the side wheel is mounted on movable sleeving, and movable sleeving is driven left and energy by actuator
Right sliding.It can certainly directly be connect with drive cylinder with rear roller, the cross-sectional area of inner sleeve is more than the transversal of piston rod
Area effectively prevent piston rod to be bent in the case of larger shearing force and is even broken, extends the service life of drive cylinder.
Alternatively, above-mentioned actuator is driving screw rod, and driving screw flight is connected on the bottom wall of fixing sleeve, drives spiral shell
The end of bar is stretched into fixing sleeve and is fixed with the movable sleeving.
Above-mentioned piling machine platform is revolving platform and/or travelling platform.I.e. it is flat can be provided only on revolution for robot manipulator structure
It on platform, can also be arranged on travelling platform, robot manipulator structure can also be respectively provided on revolving platform and travelling platform.
Compared with prior art, the utility model has the advantage of：It is equipped with and can open on forepart in piling machine platform
The mechanical arm of conjunction, mechanical arm energy opening and closing by mechanical arm hydraulic oil cylinder driving, the mechanical arm combine position limiting structure after closing up and can will sling
Concrete-pile embrace, and robot manipulator structure can be rotated with the revolving platform of piling machine, so that during stake is hung,
Concrete-pile will not shake, and can more rapidly hang in place stake, substantially increase piling efficiency.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment；
Fig. 2 is the dimensional structure diagram (hanging stake and clamped state) of the utility model embodiment；
Fig. 3 is the driving structure schematic diagram of rear roller in the utility model embodiment；
Fig. 4 is the driving structure schematic diagram of side wheel in the utility model embodiment.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing embodiment.
As shown in figures 1-4, it is a preferred embodiment of the utility model.
A kind of piling machine robot manipulator structure is flat including revolving platform 11 and walking to be mounted on piling machine platform 1
Platform 12, revolving platform 11 are rotatably installed on travelling platform 12 and can carry out 360 degree rotation, revolving platform by travelling platform 12 relatively
11 are equipped with control room 13 and the lifting appliance 15 concrete-pile 4 and hydraulic pile hammer 14 to be sling.This robot manipulator structure
It may be mounted at revolving platform 11 and/or travelling platform 12.Robot manipulator structure in the present embodiment is to be installed to revolving platform 11
For upper.
Robot manipulator structure is included between left and right every pair two mechanical arms 2 set and two mechanical arm oil cylinders 3, mechanical arm 2 it is interior
End be hinged on piling machine platform 1 upper and can left and right opening and closing, each mechanical arm 3 is corresponded to be driven by one of mechanical arm oil cylinder 2
And can swing, the cylinder body of mechanical arm oil cylinder 3 is hinged on piling machine platform 1, the cylinder rod of mechanical arm oil cylinder 3 and corresponding side
2 middle part of mechanical arm is hinged.
The position limiting structure limited to concrete-pile 4 is additionally provided between two mechanical arms 2, under 2 closed configuration of mechanical arm,
Concrete-pile 4 is constrained between two mechanical arms 2 by the position limiting structure.
Position limiting structure includes front wheel 5, side wheel 6 and rear roller 7, and front wheel 5 is set on the madial wall of mechanical arm 2 to mixed
The front end face of solidifying soil stake 4 is limited, and side wheel 6 is set on the madial wall of mechanical arm 2 and the side of concrete-pile 4 is carried out about
Beam, rear roller 7 limit between being set on two mechanical arms 2 to the rear end face to concrete-pile 4, and rear roller 7 is by driving structure
Whether driving and can be moved forward and backward to determine that the rear end face with concrete-pile 4 contacts.Lower stake direction and the rotating direction phase of idler wheel
It cuts.
Driving structure includes outer tube 71, inner sleeve 72 and drive cylinder 73, and outer tube 71 is fixed on piling machine platform 1
On, inner sleeve 72 is plugged in outer tube 71 and can be slid before and after opposite outer tube 71, and the cylinder body 731 of the support cylinder 73 is solid
It is scheduled in outer tube 71, the piston rod 732 of support cylinder 73 is then stretched into inner sleeve 72 and connect with inner sleeve 72.
Side wheel 6 can control and slide and be positioned.The fixing sleeve 8 that through-thickness is worn is fixed on mechanical arm 2, it is fixed
Be equipped in set 8 can left and right sliding movable sleeving 9, the outer end of movable sleeving 9 stretches out fixing sleeve 8, and side wheel 6 is mounted on stretching fixing sleeve
On 8 movable sleeving 9, movable sleeving 9 is driven by actuator and is slid can control.Actuator is driving screw rod 10, drives screw rod 10
It is threaded on the bottom wall of fixing sleeve 8, the end of driving screw rod 10 is stretched into fixing sleeve 8 and fixed with movable sleeving 9.
Before stake position is under the present embodiment, afterwards with preceding opposite, left and right directions is vertical with front-rear direction.
It is equipped with the mechanical arm 2 of energy opening and closing on forepart in revolving platform 11, mechanical arm 2 is driven by mechanical arm oil cylinder 3
And energy opening and closing, the mechanical arm 3 combine position limiting structure after closing up and can embrace the concrete-pile 4 sling, and robot manipulator structure is whole
It can be rotated with the revolving platform 11 of piling machine, so that during stake is hung, concrete-pile 4 will not shake, can be faster
Speed hangs stake in place, substantially increases piling efficiency.
Claims (8)
1. a kind of piling machine robot manipulator structure, to be mounted on piling machine platform (1), it is characterised in that：Including between left and right
Every pair two mechanical arms (2) set and two mechanical arm oil cylinders (3), the inner end of mechanical arm (2) is hinged on piling machine platform (1)
Above energy left and right opening and closing, each mechanical arm (3) is corresponding to be swung by mechanical arm oil cylinder (2) driving one of them described,
The position limiting structure limited to concrete-pile (4) is additionally provided between two mechanical arms (2), under mechanical arm (2) closed configuration, is led to
The position limiting structure is crossed to constrain in concrete-pile (4) between two mechanical arms (2).
2. piling machine robot manipulator structure according to claim 1, it is characterised in that：The cylinder of the mechanical arm oil cylinder (3)
Body is hinged on piling machine platform (1), hinged in the middle part of the cylinder rod of mechanical arm oil cylinder (3) and the mechanical arm (2) of corresponding side.
3. piling machine robot manipulator structure according to claim 1, it is characterised in that：The position limiting structure includes front wheel
(5), side wheel (6) and rear roller (7), the front wheel (5) is on the madial wall of mechanical arm (2) to concrete-pile (4)
Front end face is limited, and the side wheel (6) carries out about the side of concrete-pile (4) on the madial wall of mechanical arm (2)
Beam, the rear roller (7) limit between two mechanical arms (2) to the rear end face to concrete-pile (4), rear to roll
Whether wheel (7) is driven by driving structure and can be moved forward and backward to determine that the rear end face with concrete-pile (4) contacts.
4. piling machine robot manipulator structure according to claim 3, it is characterised in that：The driving structure includes outer tube
(71), inner sleeve (72) and drive cylinder (73), outer tube (71) are fixed on piling machine platform (1), and inner sleeve (72) plugs
In the outer tube (71) and can opposite outer tube (71) is front and rear slides, the cylinder body (731) of the support cylinder (73) is fixed on outer
In casing (71), the piston rod (732) of support cylinder (73) is then stretched into inner sleeve (72) and is connect with inner sleeve (72).
5. piling machine robot manipulator structure according to claim 1, it is characterised in that：The side wheel (6) can left and right cunning
It moves and is positioned.
6. piling machine robot manipulator structure according to claim 5, it is characterised in that：It is fixed on the mechanical arm (2)
The fixing sleeve (8) that through-thickness is worn, be equipped in fixing sleeve (8) can left and right sliding movable sleeving (9), outside movable sleeving (9)
Fixing sleeve (8) is stretched out at end, and on movable sleeving (9), movable sleeving (9) is driven left and energy the side wheel (6) by actuator
Right sliding.
7. piling machine robot manipulator structure according to claim 6, it is characterised in that：The actuator is driving screw rod
(10), driving screw rod (10) is threaded on the bottom wall of fixing sleeve (8), and fixing sleeve (8) is stretched into the end of driving screw rod (10)
It is interior and fixed with the movable sleeving (9).
8. according to any piling machine robot manipulator structure of claim 1~7, it is characterised in that：The piling machine platform
(1) it is revolving platform (11) and/or travelling platform (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721481506.4U CN207567765U (en) | 2017-11-08 | 2017-11-08 | Piling machine robot manipulator structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721481506.4U CN207567765U (en) | 2017-11-08 | 2017-11-08 | Piling machine robot manipulator structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207567765U true CN207567765U (en) | 2018-07-03 |
Family
ID=62694051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721481506.4U Active CN207567765U (en) | 2017-11-08 | 2017-11-08 | Piling machine robot manipulator structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207567765U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928750A (en) * | 2018-08-14 | 2018-12-04 | 德马科起重机械有限公司 | A kind of ship's crane for height limiting zone of opening the navigation or air flight |
| CN113981969A (en) * | 2021-11-30 | 2022-01-28 | 中国矿业大学 | Guardrail pile driver capable of intelligently taking and positioning piles and working method |
-
2017
- 2017-11-08 CN CN201721481506.4U patent/CN207567765U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928750A (en) * | 2018-08-14 | 2018-12-04 | 德马科起重机械有限公司 | A kind of ship's crane for height limiting zone of opening the navigation or air flight |
| CN108928750B (en) * | 2018-08-14 | 2024-04-12 | 德马科起重机械有限公司 | Marine crane for navigation height-limiting area |
| CN113981969A (en) * | 2021-11-30 | 2022-01-28 | 中国矿业大学 | Guardrail pile driver capable of intelligently taking and positioning piles and working method |
| CN113981969B (en) * | 2021-11-30 | 2024-04-26 | 中国矿业大学 | Intelligent pile taking and positioning guardrail pile driver and working method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200426 Address after: Phase I project 1103, No. 916, Jinzhai South Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: ANHUI HENGKUN FOUNDATION BASE ENGINEERING Co.,Ltd. Address before: Room 903, room B, Residence Internazionale, central Anhui, Hefei, Anhui Province Patentee before: Luo Wanyou |