CN209308711U - A kind of multiple arch clamping manipulator - Google Patents
A kind of multiple arch clamping manipulator Download PDFInfo
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- CN209308711U CN209308711U CN201821934660.7U CN201821934660U CN209308711U CN 209308711 U CN209308711 U CN 209308711U CN 201821934660 U CN201821934660 U CN 201821934660U CN 209308711 U CN209308711 U CN 209308711U
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- oil cylinder
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Abstract
A kind of multiple arch clamping manipulator, it includes the reverse fold mechanism that one end is installed on trolley chassis, the other end of the reverse fold mechanism is sequentially connected telescoping mechanism, multiple degrees of freedom forearm, multiple arch clamping platform, and pitching oil cylinder is arranged between the reverse fold mechanism and the telescoping mechanism.Reverse fold mechanism includes the first slewing equipment (11) that lowermost end is arranged in, first undersetting (12) are set on the first slewing equipment, the two sides of undersetting are respectively articulated with one end of first connecting rod (13) and second connecting rod (15), the other end of first connecting rod and second connecting rod is hinged on the first upper bracket (14), the first undersetting, first connecting rod, the first upper bracket, second connecting rod is set to constitute four-bar mechanism, the first oil cylinder (16) that setting Neng Shi reverse fold mechanism is swung on the adjacent rod piece of four-bar mechanism.The utility model can realize quick supporting operation, and more Pin arches are disposably installed in place, construction personnel's safety and construction efficiency are greatly improved.
Description
Technical field
The utility model relates to arch trolley, especially a kind of multiple arch clamping manipulator.
Background technique
In water power tunnel, subway engineering, railway tunnel, vcehicular tunnel, underground power house, military ground engineering construction if
Country rock shakiness rule needs to set up arch (grille arch) in advance, performs anchor pole, hangs steel mesh, prevents Tunnel Landslide.
Since tunnel cross sectional is larger, arch span is big, thus existing construction technology of constructing for convenience is to encircle a Pin
Frame is divided into more piece arch section, and more piece arch section is carried into after tunnel installation site, then by rack, is spelled in tunnel by manpower
Complete supporting arch is dressed up to be installed again.Entire work progress is cumbersome, large labor intensity, low efficiency.
By the research and development and accumulation of many years, the mechanization arch installation of manual imitation has been realized now, though it alleviates
The labor intensity of worker, but a Pin Pin arch is installed, thus whole efficiency is not still high.
Utility model content
Technical problem to be solved in the utility model is to overcome the shortage of prior art, and provides a kind of achievable quickly branch
Operation is protected, more Pin arches are disposably installed in place, the multiple arch clamping of construction personnel's safety and construction efficiency is greatly improved
Use manipulator.
In order to solve the above technical problems, the utility model uses a kind of following technical scheme: multiple arch clamping manipulator,
It is installed in the reverse fold mechanism on trolley chassis including one end, the other end of the reverse fold mechanism is sequentially connected telescopic machine
Structure, multiple degrees of freedom forearm, multiple arch clamping platform, and pitching oil is set between the reverse fold mechanism and the telescoping mechanism
Cylinder.
The reverse fold mechanism includes the first slewing equipment that lowermost end is arranged in and manipulator can be made to turn round, and described the
First undersetting is set on single-revolution device, the two sides of the first undersetting are respectively articulated with one end of first connecting rod and second connecting rod,
The other end of first connecting rod and second connecting rod is hinged on the first upper bracket, is made the first undersetting, first connecting rod, is propped up on first
Seat, second connecting rod constitute four-bar mechanism, setting Neng Shi reverse fold mechanism is swung on the adjacent rod piece of four-bar mechanism the
One oil cylinder.
The telescoping mechanism includes the first arm, the second arm, third arm being successively mutually socketed；First arm and the second arm
Between hinged second oil cylinder head and the tail both ends；Hinged third oil cylinder between second arm and third arm.
The multiple degrees of freedom forearm includes the second slewing equipment connecting with the telescoping mechanism, is consolidated on the second slewing equipment
Revolving bed is set surely, and one end of hinged 4th oil cylinder and forearm, the other end of the 4th oil cylinder are articulated with forearm on the revolving bed
Middle part, and the angular transducer for monitoring forearm pitch angle is installed on forearm, control system receiving angle sensor
Signal and feed back to hydraulic system to adjust the 4th oil cylinder, make forearm keep horizontality.It can also be closed according to time situation
Automatic naughty function, by manually controlling forearm posture.
The multiple arch clamping platform includes the rotary pair formed by third slewing equipment, and rotary pair obtains multiple arch in third
Adjustment freedom degree in slewing equipment plane of rotation；Second undersetting is set above third slewing equipment, one second upper bracket with
Second undersetting is hinged, and between the second upper and lower support be arranged oscillating oil cylinder and form a swinging pair, make multiple arch obtain perpendicular to
The adjustment freedom degree of third slewing equipment plane of rotation；Guide rail, the top of second upper bracket are provided on one support stand
It is provided with guide groove, guide groove and guide rail cooperation make the second upper bracket and support stand form one group of prismatic pair, the second upper bracket
Side and one end of translation oil cylinder connect, the other end of translation oil cylinder connects support stand, and flexible by translation oil cylinder makes
Support stand moves back and forth along guide groove, and multiple arch is made to obtain horizontal direction adjustment freedom degree.
The front end of the third oil cylinder is supported on the medial surface of the third arm by the second support roller, second oil cylinder
Front end is supported on the lateral surface of the third oil cylinder by the first support roller.
It is installed on the support stand multiple for fixing the fixation device of multiple arch.
The fixed device includes the fixing seat being fixedly connected with support stand, and the top of fixing seat is equipped with more for being placed in
The V-type guide groove of arch, the two sides of fixing seat are respectively articulated with the middle part of clamp arm, and the lower end of two clamp arms connects through clamping cylinder
It connects, two clamp arms is acted on by clamping cylinder stretching, two clamp arm tops is shunk and pushes down multiple arch.
Floating support device is arranged in the end of the support stand.
The floating support device includes drive cylinder and swinging frame, and swinging frame top is provided with support rod, swinging frame
Side is hinged with support stand, and one end of the drive cylinder and the bottom of the swinging frame are hinged, the drive cylinder it is another
One end is fixedly connected with the support stand.
Compared with prior art, multiple arch can be disposably transported to tunnel by multiple arch clamping platform and arrived by the utility model,
And pass through control reverse fold mechanism, the corresponding freedom of pitching oil cylinder, telescoping mechanism, multiple degrees of freedom forearm, multiple arch clamping platform
Degree, pushes to designated position for multiple arch, thus can realize the quick supporting operation of arch, and more Pin arches are disposably installed to
Position, greatly improves construction personnel's safety and construction efficiency.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model.
Fig. 2 is the structural schematic diagram of the utility model reverse fold mechanism.
Fig. 3 looks up schematic perspective view for the utility model multiple arch clamping platform.
Fig. 4 is the utility model multiple arch clamping platform top perspective structural schematic diagram.
Fig. 5 is the main view of the utility model multiple arch clamping platform.
Fig. 6 is the side view of the utility model multiple arch clamping platform.
Fig. 7 is the utility model fixture structure schematic diagram.
Fig. 8 is that the fixed device of the utility model clamps arch status architecture schematic diagram.
Fig. 9 is the utility model floating support device structure chart.
Figure 10 is the usage state diagram of the utility model floating support device.
Specific embodiment
The utility model is further described below in conjunction with specific preferred embodiment, but does not therefore limit this reality
With novel protection scope.
Embodiment 1:
As shown in Figure 1, one embodiment of the utility model multiple arch clamping manipulator includes reverse fold mechanism 1, pitching oil
Cylinder 2, telescoping mechanism 3, multiple degrees of freedom forearm 4, multiple arch clamping platform 5.Wherein:
As shown in Figure 1 and Figure 2, reverse fold mechanism 1 includes that the lowermost end of manipulator is arranged in and manipulator can be made to turn round
The first undersetting 12 is arranged on first slewing equipment 11 in first slewing equipment 11, and the two sides of the first undersetting 12 are respectively articulated with
The other end of one end of one connecting rod 13 and second connecting rod 15, first connecting rod 13 and second connecting rod 15 is hinged on the first upper bracket 14
On, so that the first undersetting 12, first connecting rod 13, the first upper bracket 14, second connecting rod 15 is constituted sequentially connected double leval jib in this way
Mechanism.Hinged first oil cylinder 16 between the second connecting rod 15 of four-bar mechanism and the first undersetting 12, when the first oil cylinder 16 stretches out
When, second connecting rod 15 will be rotated counterclockwise around the hinge joint with the first undersetting 12.According to four-bar mechanism principle, propped up on first
Seat 14 will also be rotated counterclockwise around the hinge joint with second connecting rod 15, correspondingly, first connecting rod 13 around with the first undersetting 12
Hinge rotates counterclockwise.When the first oil cylinder 16 retracts, second connecting rod 15 will be around clockwise with the hinge joint of the first undersetting 12
Rotation.According to four-bar mechanism principle, the first upper bracket 14 will also be rotated clockwise around the hinge joint with second connecting rod 15, accordingly
Ground, first connecting rod 13 are rotated clockwise around the hinge with the first undersetting 12.
In the present embodiment, the first oil cylinder 16 is mounted between second connecting rod 15 and the first undersetting 12, but is not limited to
In this, as long as the first oil cylinder 16 is arranged suitable by the first undersetting 12, first connecting rod 13, the first upper bracket 14, second connecting rod 15
Sequence connects on the adjacent cells for the closed loop four-bar mechanism to be formed, and four-bar mechanism can be driven to rotate around its hinge joint, than
As between the first undersetting 12 and first connecting rod 13, between first connecting rod 13 and the first upper bracket 14, the first upper bracket 14 and the
Between two connecting rods 15.
As shown in Figure 1, telescoping mechanism 3 includes the first arm 31, the second arm 32, third arm 33, the second oil cylinder 34, third oil cylinder
35, the first support roller 36, the second support roller 37 and slip bocks system.First arm 31, the second arm 32, third arm 33 are successively each other by sliding block
System socket.The both ends of second oil cylinder 34 are hinged with the first arm 31, the second arm 32 respectively, when the second oil cylinder 34 stretches out, the second arm
32 stretch out relative to the first arm 31, and when the second oil cylinder 34 retracts, the second arm 32 is retracted relative to the first arm 31.Third oil cylinder 35
Both ends are hinged with the second arm 32, third arm 33 respectively, and when third oil cylinder 35 stretches out, third arm 33 is stretched out relative to the second arm 32,
When third oil cylinder 35 retracts, third arm 33 is retracted relative to the second arm 32.
Third oil cylinder 35 is fixedly arranged at the front end with the second support roller 37, and 37 wheel face of the second support roller and 33 medial surface of third arm are tangent, energy
Enough effectively support third oil cylinders 35.Second oil cylinder 34 is fixedly arranged at the front end with the first support roller 36,36 wheel face of the first support roller and third oil cylinder
35 peripheries are tangent, can effectively support the second oil cylinder 34.
As shown in Figure 1,31 one end of the first arm and 14 upper end of upper bracket are hinged.Among 2 one end of pitching oil cylinder and upper bracket 14
Hinge is hinged, and 2 other end of pitching oil cylinder and the intermediate hinge of the first arm 31 are hinged.Pitching oil cylinder 2 stretch out when, the first arm 31 relative to
Reverse fold mechanism 1 faces upward.When pitching oil cylinder 2 retracts, the first arm 31 is relative to 1 nutation of reverse fold mechanism.
As shown in Figure 1, the end of telescoping mechanism 3 is arranged in multiple degrees of freedom forearm 4.One end of second slewing equipment 41 and the
Revolving bed 42 is fixedly installed in the connection of three arms, 33 end, 41 other end of the second slewing equipment.When the revolution of the second slewing equipment 41, return
Swivel base 42 is turned round relative to third arm 33.Hinge and 44 one end of forearm are hinged on revolving bed 42, the lower hinge and the 4th of revolving bed 42
43 one end of oil cylinder is hinged, and 43 other end of the 4th oil cylinder and the middle part hinge of forearm 44 are hinged.When the 4th oil cylinder 43 stretches, forearm
44 relative to 42 pitching of revolving bed.Electric-control system is provided on forearm 44, electric-control system monitors 44 angle state of forearm in real time, and
It feeds back to hydraulic system and adjusts the 4th oil cylinder 43 in real time, forearm 44 is made to keep horizontality.It can also be closed according to time situation certainly
Naughty function is moved, by manually controlling forearm posture.
Multiple arch clamping platform 5 is set above the end of multiple degrees of freedom forearm 4.
As shown in Fig. 3-Figure 10, multiple arch clamping platform 5 on third slewing equipment 51, the second undersetting 52, second including propping up
Seat 53, oscillating oil cylinder 54, support stand 55, translation oil cylinder 56, floating support device 57, fixed device 58.
Third slewing equipment 51 includes the fixed part and superposed rotating part positioned at lower part, is set on fixed part
It is equipped with the detachable interface connecting with forearm 44, rotating part is connected and fixed part through pivoting support, under rotating part and second
Support 52 is fixedly connected, and obtains multiple arch in 51 plane of rotation of third slewing equipment by the rotary motion of third slewing equipment 51
Interior revolution adjusts freedom degree.
Second upper bracket 53 and the second undersetting 52 are hinged, and the right end of the second undersetting 52 is provided with cylinder installation seat and pendulum
One end connection of dynamic oil cylinder 54, the right end of the second upper bracket 53 is provided with cylinder installation seat and the other end of oscillating oil cylinder 54 connects
It connects, by the effect of oscillating oil cylinder 54 so that opposite second undersetting 52 swing of the second upper bracket 53 obtains multiple arch perpendicular to the
The adjustment freedom degree up and down of the plane of rotation of three slewing equipments 51.
The top of second upper bracket 53 is provided with guide groove 531, guide rail 551 is provided on support stand 55, by guiding
The cooperation of slot 531 and guide rail 551 makes the second upper bracket 53 form one group of prismatic pair with support stand 55.A left side for second upper bracket 53
End is provided with cylinder installation seat and connect with one end of translation oil cylinder 56, and the left end of support stand 55 is provided with cylinder installation seat and puts down
Move oil cylinder 56 the other end connection, by the telescopic action of translation oil cylinder 56 allow support stand 55 along guide groove 531 come
Return is dynamic, so that multiple arch 6 obtains left and right directions and adjusts freedom degree: support stand 55 will be relative to second when translation oil cylinder 56 stretches out
Upper bracket 53 moves downward, and support stand 55 will be moved right relative to the second upper bracket 53 when translation oil cylinder 56 retracts.
As Figure 6-Figure 8, the middle upper portion of support stand 55 is arranged in fixed device 58.Fixed device 58 includes warp
The top of the fixing seat 581 that bolt is connect with support stand 55, fixing seat 581 is equipped with V-type guide groove, the two sides of fixing seat 581
It is respectively articulated with clamp arm 583, the middle part of two clamp arms 583 and fixing seat 581 are hinged, and the lower end of two clamp arms 583 is through clamping
Oil cylinder 582 connects.When multiple arch falls into fixed device 58,582 stretching of clamping cylinder effect by the V-type guide groove of fixing seat 581
In two clamp arms 583 so that two clamp arms, 583 top relative rotation and push down multiple arch 6.The quantity of fixed device 58 is more sets,
It is configured according to the maximum quantity of arch contained in multiple arch.Spacing between adjacent fixation devices 58 can have according to arch support process
Grade or step-less adjustment, for example multiple groups mounting hole can be used and carried out grade adjusting, stepper motor or servo motor driving can also be used
Screw rod carries out electrodeless adjustment.
Alternatively, as shown in Figure 9, Figure 10, (it can be left side on the outside of the upper surface of support stand 55, be also possible to
Right side) setting floating support device 57.Floating support device 57 includes drive cylinder 571 and swinging frame 572.Swinging frame 572 is set
In one end upper surface of support stand 55, and the side of swinging frame 572 and support stand 55 are hinged, the other side of swinging frame 572
Support rod 573 is set, and swinging frame 572 and the hinged side of support stand 55 extend to below support stand 55.Drive cylinder 571
Below support stand 55, and one end of drive cylinder 571 is fixedly connected with support stand 55, drive cylinder 571 it is another
One end side hinged with support stand 55 with swinging frame 572 is hingedly fixed.In this way, passing through the telescopic action of drive cylinder 571
The height of 572 upper support bar 573 of swinging frame of adjustable floating support device 57 adjusts the bearing height of swinging frame 572, with
Guarantee the secure support of different radii arch.
Alternatively, support stand 55 can be used as aerial work platform use after carrying out multiple arch supporting operation.
When carrying out arch installation using the utility model, arch is divided into three sections of left, center, right, and wherein middle section is multiple arch 6,
Multiple arch be arranged side by side by more Pin arches and with accordingly connect the molding arch that transverse bar and steel mesh be welded, middle left and right
Section arch is scattered single-unit arch.When specifically used, multiple arch 6 is hung on multiple arch clamping platform 5 by boom hoisting first,
And after being clamped with fixed device 58, multiple arch is transported to construction site by arch trolley, then pass through reverse fold mechanism 1, bow
The movement for facing upward oil cylinder 2, telescoping mechanism 3, automatic leveling forearm 4 tentatively pushes to multiple arch near installation site, and passes through multiple arch
Clamping platform 5, which finely tunes multiple arch position, is bonded it with installation site, and carries out specific installation operation.
The above is only the preferred embodiment of the application, not does any type of limitation to the application, although this Shen
Please disclosed as above with preferred embodiment, however not to limit the application, any person skilled in the art is not taking off
In the range of technical scheme, a little variation or modification are made using the technology contents of the disclosure above and is equal to
Case study on implementation is imitated, is belonged in technical proposal scope.
Claims (10)
1. a kind of multiple arch clamping manipulator, it is characterised in that the reverse fold mechanism being installed in including one end on trolley chassis
(1), the other end of the reverse fold mechanism is sequentially connected telescoping mechanism (3), multiple degrees of freedom forearm (4), multiple arch clamping platform
(5), and between the reverse fold mechanism and the telescoping mechanism pitching oil cylinder (2) are set.
2. a kind of multiple arch clamping manipulator according to claim 1, which is characterized in that the reverse fold mechanism includes
Lowermost end is set and the first slewing equipment (11) of manipulator revolution can be made, is arranged first lower on first slewing equipment
Seat (12), the two sides of the first undersetting are respectively articulated with one end of first connecting rod (13) and second connecting rod (15), first connecting rod and the
The other end of two connecting rods is hinged on the first upper bracket (14), connects the first undersetting, first connecting rod, the first upper bracket, second
Bar constitutes four-bar mechanism, the first oil cylinder that setting Neng Shi reverse fold mechanism is swung on the adjacent rod piece of four-bar mechanism
(16)。
3. a kind of multiple arch clamping manipulator according to claim 1, which is characterized in that the telescoping mechanism includes successively
The first arm (31), the second arm (32), the third arm (33) being mutually socketed；Hinged second oil cylinder between first arm and the second arm
(34) head and the tail both ends；Hinged third oil cylinder (35) between second arm and third arm.
4. a kind of multiple arch clamping manipulator according to claim 1, which is characterized in that the multiple degrees of freedom forearm includes
Revolving bed (42) are fixedly installed on the second slewing equipment in the second slewing equipment (41) connecting with the telescoping mechanism, and described time
One end of hinged 4th oil cylinder (43) and forearm (44) on swivel base, the other end of the 4th oil cylinder are articulated with the middle part of forearm, and small
The angular transducer for monitoring forearm pitch angle, the signal and feedback of control system receiving angle sensor are installed on arm
To hydraulic system to adjust the 4th oil cylinder, forearm is made to keep horizontality.
5. a kind of multiple arch clamping manipulator according to claim 1, which is characterized in that the multiple arch clamping platform includes
The rotary pair formed by third slewing equipment (51), rotary pair make multiple arch obtain the adjustment in third slewing equipment plane of rotation
Freedom degree；It is arranged above third slewing equipment the second undersetting (52), one second upper bracket (53) and the second undersetting are hinged, and
Oscillating oil cylinder (54) are set between second upper and lower support and form a swinging pair, obtain multiple arch perpendicular to third slewing equipment
The adjustment freedom degree of plane of rotation；It is provided on one support stand (55) guide rail (551), the top setting of second upper bracket
Have guide groove (531), guide groove and guide rail cooperation make the second upper bracket and support stand form one group of prismatic pair, the second upper bracket
Side connect with one end of translation oil cylinder (56), the other end of translation oil cylinder connects support stand, passes through stretching for translation oil cylinder
Contracting moves back and forth support stand along guide groove, and multiple arch is made to obtain horizontal direction adjustment freedom degree.
6. a kind of multiple arch clamping manipulator according to claim 3, which is characterized in that the front end of the third oil cylinder is logical
The medial surface that the second support roller (37) is supported on the third arm is crossed, the front end of second oil cylinder is supported by the first support roller (36)
In the lateral surface of the third oil cylinder.
7. a kind of multiple arch clamping manipulator according to claim 5, which is characterized in that installed on the support stand more
A fixation device (58) for being used to fix multiple arch.
8. a kind of multiple arch clamping manipulator according to claim 7, which is characterized in that the fixed device includes and branch
The fixing seat (581) that support rack is fixedly connected, the top of fixing seat are equipped with the V-type guide groove for being placed in multiple arch, fixing seat
Two sides are respectively articulated with the middle part of clamp arm (583), and the lower end of two clamp arms is connected through clamping cylinder (582), by clamping oil
Cylinder stretching acts on two clamp arms, shrinks two clamp arm tops and pushes down multiple arch.
9. a kind of multiple arch clamping manipulator according to claim 5, which is characterized in that the end of the support stand is set
Set floating support device (57).
10. a kind of multiple arch clamping manipulator according to claim 9, which is characterized in that the floating support device packet
Drive cylinder (571) and swinging frame (572) are included, swinging frame top is provided with support rod (573), the side of swinging frame and supporting table
Frame is hinged, and one end of the drive cylinder and the bottom of the swinging frame are hinged, the other end of the drive cylinder and the branch
Support rack is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821934660.7U CN209308711U (en) | 2018-11-22 | 2018-11-22 | A kind of multiple arch clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821934660.7U CN209308711U (en) | 2018-11-22 | 2018-11-22 | A kind of multiple arch clamping manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN209308711U true CN209308711U (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821934660.7U Active CN209308711U (en) | 2018-11-22 | 2018-11-22 | A kind of multiple arch clamping manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209452A (en) * | 2018-11-22 | 2019-01-15 | 长沙科达智能装备股份有限公司 | A kind of multiple arch clamping manipulator |
| CN110685725A (en) * | 2019-10-21 | 2020-01-14 | 中铁五局集团第一工程有限责任公司 | Take bow member mounting plate of integrated valve piece |
-
2018
- 2018-11-22 CN CN201821934660.7U patent/CN209308711U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209452A (en) * | 2018-11-22 | 2019-01-15 | 长沙科达智能装备股份有限公司 | A kind of multiple arch clamping manipulator |
| CN109209452B (en) * | 2018-11-22 | 2024-06-14 | 长沙科达智能装备股份有限公司 | Manipulator for multi-arch clamping |
| CN110685725A (en) * | 2019-10-21 | 2020-01-14 | 中铁五局集团第一工程有限责任公司 | Take bow member mounting plate of integrated valve piece |
| CN110685725B (en) * | 2019-10-21 | 2021-02-23 | 中铁五局集团第一工程有限责任公司 | Take bow member mounting plate of integrated valve piece |
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