CN210003302U - manipulator for supporting arch installation - Google Patents
manipulator for supporting arch installation Download PDFInfo
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- CN210003302U CN210003302U CN201822040349.4U CN201822040349U CN210003302U CN 210003302 U CN210003302 U CN 210003302U CN 201822040349 U CN201822040349 U CN 201822040349U CN 210003302 U CN210003302 U CN 210003302U
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- arm
- auxiliary
- auxiliary arm
- hinged
- gripper
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Abstract
The utility model discloses an manipulator for supporting bow member installation, including the main arm, vertical establish the flexible arm at the main arm tip, install the gripper on flexible arm and be used for auxiliary gripper to snatch the auxiliary arm that supports the bow member, the end of auxiliary arm articulates on flexible arm, can drive gripper and auxiliary arm synchronous lift when flexible arm is flexible, still including the hydraulic cylinder that is used for driving the relative flexible arm every single move of auxiliary arm, hydraulic cylinder's end articulates on the auxiliary arm, end articulates on flexible arm in addition, upwards rotatory raising through hydraulic cylinder drive auxiliary arm, make the auxiliary arm reach can with the gripper coact in the position of bow member, to sum up, the utility model provides a manipulator, simple structure is compact, the auxiliary arm can be synchronous lift at random gripper for the high relative improvement of auxiliary arm lifting bow member, can enough guarantee that the effective auxiliary gripper of auxiliary arm snatchs the bow member and can guarantee again to have sufficient working space between bow member and the work platform.
Description
Technical Field
The utility model relates to an arch centering erection equipment technical field especially relates to kinds of manipulators that are used for supporting the arch centering installation.
Background
In the process of tunnel construction by a drilling and blasting method, unstable rocks exist on the surface of an excavation chamber formed by blasting and slag removal of a tunnel excavation surface, an arch center is required to be installed on the tunnel excavation surface as a supporting framework, and then concrete guniting support operation is carried out to ensure the operation safety.
The method comprises the steps that each arch needs to be split into multiple sections due to structural limitation of a tunnel section and transportation reasons, and mechanical claws on a mechanical arm frame are adopted to directly grab when the arch is installed, in the prior art, an auxiliary arm 4 of a mechanical arm is usually installed on a main arm 1 of the mechanical arm, please refer to fig. 1, wherein a dotted line part is a schematic diagram that the auxiliary arm 4 is located at the position of the maximum depression angle, when the mechanical claw 3 grabs the arch, the auxiliary arm 4 cannot ascend with the mechanical claw 3 on a telescopic arm 2, so that two problems easily occur, namely, when the mechanical claw 3 rises to the highest position, the auxiliary arm 4 cannot act on the arch, when the maximum elevation angle position of the auxiliary arm 4 can act on the arch, the mechanical claw 3 cannot rise to the highest position, so that the height of a working platform from the arch is reduced, the working space is reduced, and construction is inconvenient.
Therefore, how to increase the lifting height of the manipulator auxiliary arm so that the manipulator auxiliary arm can effectively assist the gripper to grab the arch and ensure the working space is a technical problem which needs to be solved by the technical personnel in the field at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a manipulator for supporting the bow member installation, its simple structure is compact, and the auxiliary arm can be along with the gripper synchronous lift, and the auxiliary arm lifting bow member height improves relatively, has increased working space, the workman's of being convenient for construction.
In order to solve the technical problem, the utility model provides an manipulator for supporting bow member installation, establish including main arm, vertical the flexible arm of main arm tip, install gripper on the flexible arm and be used for assisting the gripper snatchs the auxiliary arm of supporting the bow member, the end of auxiliary arm articulates on the flexible arm, still including being used for the drive the auxiliary arm is relative the hydraulic cylinder of flexible arm every single move, hydraulic cylinder's end articulates on the auxiliary arm, end articulates in addition on the flexible arm.
Preferably, a connecting rod is hinged to the end, close to , of the auxiliary arm, a second connecting rod is hinged to the position, close to the auxiliary arm, of the telescopic arm, the end of the hydraulic oil cylinder is hinged to the auxiliary arm, and the other end of the hydraulic oil cylinder is hinged to the connecting rod and the second connecting rod.
Preferably, the hinge point of the second connecting rod and the telescopic arm is located below the hinge point of the auxiliary arm and the telescopic arm.
Preferably, a boss is arranged at the end of the auxiliary arm far away from the telescopic arm, and the end of the hydraulic oil cylinder, which is hinged with the auxiliary arm, is hinged on the boss.
Preferably, the telescopic arm is provided with a connecting block, the auxiliary arm is used for being hinged to the connecting block at the end hinged to the telescopic arm, and the second connecting rod is used for being hinged to the connecting block at the end hinged to the telescopic arm.
Preferably, the cylinder body of the hydraulic oil cylinder is hinged with the th connecting rod and the second connecting rod at the same hinge point , and the piston rod of the hydraulic oil cylinder is hinged on the auxiliary arm.
The utility model provides a manipulator for supporting bow member installation, including main arm, vertical establish at the flexible arm of main arm tip, install the gripper on flexible arm and be used for supplementary gripper to snatch the auxiliary arm that supports the bow member, the end of auxiliary arm articulates on flexible arm, still including the hydraulic cylinder that is used for driving the relative flexible arm every single move of auxiliary arm, hydraulic cylinder's end articulates on the auxiliary arm, end articulates on flexible arm in addition.
When supporting the bow member installation, can drive the forearm rotation upwards through hydraulic cylinder earlier and raise, make the forearm reach the position that can act on the bow member with the gripper jointly, then flexible arm extension drives gripper and auxiliary arm and rises in step, improves bow member to work platform's interval to guarantee to support the installation space of bow member, the construction of being convenient for.
To sum up, the utility model provides a manipulator, its simple structure is compact, and the auxiliary arm can be synchronous lift of gripper along with for the auxiliary arm lifting bow member height improves relatively, can enough guarantee that the effective auxiliary gripper of auxiliary arm snatchs the bow member and can guarantee to have sufficient working space between bow member and the work platform again.
Drawings
FIG. 1 is a schematic diagram of a prior art robot for supporting arch installation;
fig. 2 is a schematic structural diagram of specific embodiments of the manipulator for supporting arch installation provided by the present invention.
The drawings are numbered as follows:
the mechanical gripper comprises a main arm 1, a telescopic arm 2, a mechanical gripper 3, an auxiliary arm 4, an -th connecting rod 5, a second connecting rod 6, a hydraulic oil cylinder 7, a boss 8 and a connecting block 9.
Detailed Description
The core of the utility model is to provide kinds of manipulators that are used for supporting the bow member installation, its simple structure is compact, and the auxiliary arm can be along with the gripper synchronous lift, and the auxiliary arm lifting bow member height improves relatively, has increased working space, and the workman of being convenient for is under construction.
In order to make the technical field of the present invention better understand, the present invention is described in detail with reference to the accompanying drawings and the detailed description of the embodiments in .
Referring to fig. 2, fig. 2 is a schematic structural diagram of embodiments of the manipulator for supporting arch installation according to the present invention, and the dashed-dotted line in fig. 2 is a schematic diagram of the auxiliary arm 4 at the position of the maximum depression angle.
The utility model discloses a manipulator for supporting bow member installation that embodiment provided, mainly include main arm 1, flexible arm 2, gripper 3 and be used for auxiliary gripper 3 to snatch the auxiliary arm 4 that supports the bow member, wherein, the vertical installation of flexible arm 2 is at 1 tip of main arm, gripper 3 installs on flexible arm 2, the end of auxiliary arm 4 articulates on flexible arm 2, can drive gripper 3 and auxiliary arm 4 synchronous lift when flexible arm 2 is flexible, still including the hydraulic cylinder 7 that is used for driving the relative flexible arm 2 every single move of auxiliary arm 4, the end of hydraulic cylinder 7 articulates on auxiliary arm 4, end articulates on flexible arm 2 in addition.
When supporting the bow member installation, can drive 4 upwards rotations of auxiliary arm through hydraulic cylinder 7 earlier and raise, make 4 reachs the position that can act on the bow member with gripper 3 jointly of auxiliary arm, then 2 extensions of flexible arm drive gripper 3 and 4 synchronous rises of auxiliary arm, improve bow member to work platform's interval to the installation space of supporting the bow member is guaranteed, the construction of being convenient for.
To sum up, the utility model provides a manipulator, its simple structure is compact, and the auxiliary arm 4 can be along with gripper 3 synchronous lifting for the 4 lifting arches of auxiliary arm height improve relatively, can enough guarantee that auxiliary arm 4 effectively assists gripper 3 to snatch the arch centering and can guarantee to have sufficient working space between arch centering and the work platform again.
, in order to increase the pitch angle of the auxiliary arm 4, a link 5 may be hinged to the end of the auxiliary arm 4 near the telescopic arm 2, a second link 6 may be hinged to the telescopic arm 2 near the auxiliary arm 4, the end of the hydraulic cylinder 7 is hinged to the auxiliary arm 4, and the end is hinged to both the link 5 and the second link 6.
Preferably, the other end of the hydraulic cylinder 7 is hinged to the same hinge point as the link 5 and the second link 6, if the hinge point at which the auxiliary arm 4 is hinged to the telescopic arm 2 is defined as a hinge point, the hinge point at which the link 5 is hinged to the auxiliary arm 4 is defined as a second hinge point, the hinge point at which the other end of the hydraulic cylinder 7 is hinged to the link 5 and the second link 6 is defined as a third hinge point, and the hinge point at which the second link 6 is hinged to the telescopic arm 2 is defined as a fourth hinge point, the hinge point, the second hinge point, the third hinge point and the fourth hinge point are sequentially connected to form a quadrangle with fixed side length of .
Specifically, the hinge point of the second link 6 and the telescopic arm 2 is preferably located below the hinge point of the auxiliary arm 4 and the telescopic arm 2, when the hydraulic oil cylinder 7 extends, the end of the th link 5 hinged with the link 5 is pushed away from the auxiliary arm 4, under the supporting action of the second link 6 and the reverse pushing action of the th link 5, the auxiliary arm 4 rotates anticlockwise around the th hinge point and lifts upwards, when the hydraulic oil cylinder 7 shortens, the end of the th link 5 hinged with the link 5 is driven to be close to the auxiliary arm 4, and under the reverse pulling action of the second link 6 and the th link 5, the auxiliary arm 4 rotates clockwise around the th hinge point and bends downwards.
When the arch is installed, the telescopic arm 2 extends to drive the auxiliary arm 4 and the mechanical claw 3 to ascend synchronously, a piston rod of the hydraulic oil cylinder 7 extends out of the cylinder body and drives the auxiliary arm 4 to rotate upwards to lift, and the auxiliary arm 4 assists the mechanical claw 3 to grab the arch; after the arch center is installed, the telescopic arm 2 is shortened to drive the auxiliary arm 4 and the mechanical claw 3 to descend synchronously, the piston rod of the hydraulic oil cylinder 7 retracts into the cylinder body and drives the auxiliary arm 4 to rotate downwards until the auxiliary arm and the main arm 1 are close to the joint, the structure is more compact, and the placement of a mechanical arm is more convenient.
In order to make the auxiliary arm 4 rotate downwards to further steps fit the main arm 1, a boss 8 perpendicular to the end of the auxiliary arm 4 far away from the telescopic arm 2 can be arranged, and the end of the hydraulic oil cylinder 7 for hinging the auxiliary arm 4 can be hinged on the boss 8.
On the basis of each above-mentioned embodiment, the utility model discloses a manipulator for supporting bow member installation that embodiment provided, for the installation that makes things convenient for sub-arm 4, can install connecting block 9 on flexible arm 2, sub-arm 4 is used for and can articulate on connecting block 9 with flexible arm 2 articulated end, and second connecting rod 6 is used for also articulating on this connecting block 9 with flexible arm 2 articulated end simultaneously, and the hinge point of sub-arm 4 and connecting block 9 is different from the hinge point of second connecting rod 6 and connecting block 9.
The utility model discloses embodiment provides a manipulator, hydraulic cylinder 7 is used for driving the relative 2 every single move of flexible arm of auxiliary arm 4, specifically, in order to improve the stability of hydro-cylinder work, can articulate hydraulic cylinder 7's cylinder body and connecting rod 5 and second connecting rod 6 in with hinge point, establish hydraulic cylinder 7's piston rod on the boss 8 of auxiliary arm 4 tip, of course, also can establish hydraulic cylinder 7's cylinder body on the boss 8 of auxiliary arm 4 tip, the piston rod articulates on connecting rod 5 and second connecting rod 6, also is in the utility model discloses a within the protection scope.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the designated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In addition, the embodiments in the specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant part can be referred to the method part for description.
The above is to the utility model provides a manipulator for supporting bow member installation has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (6)
- The mechanical arm for supporting the installation of the arch center is characterized by comprising a main arm (1), a telescopic arm (2) vertically arranged at the end part of the main arm (1), a mechanical claw (3) arranged on the telescopic arm (2) and an auxiliary arm (4) used for assisting the mechanical claw (3) to grab the supporting arch center, wherein the end of the auxiliary arm (4) is hinged to the telescopic arm (2), the mechanical arm further comprises a hydraulic oil cylinder (7) used for driving the auxiliary arm (4) to pitch relative to the telescopic arm (2), the end of the hydraulic oil cylinder (7) is hinged to the auxiliary arm (4), and the end is hinged to the telescopic arm (2).
- 2. A manipulator according to claim 1, wherein the end of the auxiliary arm (4) adjacent to the telescopic arm (2) is hinged with a link (5), the telescopic arm (2) is hinged with a second link (6) adjacent to the auxiliary arm (4), and the other end of the hydraulic ram (7) is hinged with both the link (5) and the second link (6), so that the other end of the hydraulic ram (7) is hinged with the telescopic arm (2) through the second link (6) and the pitch angle of the auxiliary arm (4) is increased.
- 3. A manipulator according to claim 2, characterized in that the hinge point of the second link (6) to the telescopic arm (2) is located below the hinge point of the auxiliary arm (4) to the telescopic arm (2).
- 4. A manipulator according to claim 3, characterized in that the end of the auxiliary arm (4) remote from the telescopic arm (2) is provided with a boss (8) perpendicular thereto, and the end of the hydraulic ram (7) for hinging the auxiliary arm (4) is hinged on the boss (8).
- 5. Manipulator according to any of claims 2-4, characterized in that the telescopic arm (2) is mounted with a joint block (9), the auxiliary arm (4) is hinged to the joint block (9) at its end for hinging with the telescopic arm (2), and the second link (6) is hinged to the joint block (9) at its end for hinging with the telescopic arm (2).
- 6. The manipulator according to claim 5, characterized in that the cylinder of the hydraulic ram (7) is hinged to the same hinge point as the th link (5) and the second link (6), and the piston rod of the hydraulic ram (7) is hinged to the auxiliary arm (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822040349.4U CN210003302U (en) | 2018-12-05 | 2018-12-05 | manipulator for supporting arch installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822040349.4U CN210003302U (en) | 2018-12-05 | 2018-12-05 | manipulator for supporting arch installation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210003302U true CN210003302U (en) | 2020-01-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822040349.4U Active CN210003302U (en) | 2018-12-05 | 2018-12-05 | manipulator for supporting arch installation |
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| CN (1) | CN210003302U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112879030A (en) * | 2021-03-31 | 2021-06-01 | 湖南五新隧道智能装备股份有限公司 | Swing arm mechanism, connecting rod arm frame system and drill jumbo |
-
2018
- 2018-12-05 CN CN201822040349.4U patent/CN210003302U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112879030A (en) * | 2021-03-31 | 2021-06-01 | 湖南五新隧道智能装备股份有限公司 | Swing arm mechanism, connecting rod arm frame system and drill jumbo |
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