CN214055265U

CN214055265U - Arch clamping manipulator

Info

Publication number: CN214055265U
Application number: CN202023119958.2U
Authority: CN
Inventors: 胡鹏填; 苏早; 魏鹏程
Original assignee: Hunan Pengxiang Xingtong Automobile Co ltd
Current assignee: Hunan Pengxiang Xingtong Automobile Co ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-08-27
Anticipated expiration: 2030-12-22

Abstract

The utility model relates to an engineering machine tool's technical field, more specifically relates to an arch center centre gripping manipulator. An arch center clamping manipulator comprises a clamping body, two clamping devices for clamping an arch center, an auxiliary arm swing oil cylinder and a base; one end of the auxiliary arm swing oil cylinder is hinged with the base, and the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm; one end of the auxiliary arm is hinged with the upper part of the clamping body, and the other end of the auxiliary arm is fixedly provided with one clamping device; the other clamping device is fixed on the upper part of the clamping body. The utility model discloses can realize two point centre gripping of bow member and better with the bow member laminating, make things convenient for bow member angle posture adjustment simultaneously.

Description

Arch clamping manipulator

Technical Field

The utility model relates to an engineering machine tool's technical field, more specifically relates to an arch center centre gripping manipulator.

Background

The concrete is required to be sprayed primarily in the construction of hydroelectric tunnels, subway projects, railway tunnels, highway tunnels, underground powerhouses and military underground projects. If the surrounding rock is unstable, a steel arch (a grating arch) needs to be erected in advance, and the arch erecting operation usually adopts mechanical arm operation to reduce labor intensity and improve efficiency, so that a clamping device is needed to conveniently clamp the arch during arch erecting by the mechanical arm.

When the existing clamping device clamps a tunnel arch centering, one clamping point is unstable, when two clamping points are clamped, the two clamping points cannot be effectively and completely attached, the range of clamping positions is narrow, and a hanging basket platform is separated from a manipulator arm frame.

For example, patent CN201821070082 discloses a gripping device for a tunnel arch, and one end of a clamping component of the gripping device adopts a gear and a rack, which is inconvenient, and the clamping process is jerky and may not be tight. The distance between the two clamping points is short, which is not beneficial to the stability of the arch frame. The middle position of the arch frame needs to be clamped, the clamping device and the hanging basket platform cannot be simultaneously arranged on one arm frame, and the clamping device and the hanging basket platform need to be respectively hinged with one arm frame.

For another example, CN201611208626 discloses an adjustable clamping mechanism for an arch centering, which is complex in clamping manner and small in swing arm of the clamping device.

SUMMERY OF THE UTILITY MODEL

The utility model discloses it is complicated to aim at solving above-mentioned clamping means to a certain extent at least, and the clamping device interval is little, and the little technical problem of the swing arm of force provides an bow member centre gripping manipulator, and clamping device is simple and convenient, and two point clamp tightly just can adjust laminating angle, and two distance between the tight point of clamp are great.

The technical scheme of the utility model is that: an arch center clamping manipulator comprises a clamping body, two clamping devices for clamping an arch center, an auxiliary arm swing oil cylinder, a base, a telescopic arm and a fixed arm;

one end of the auxiliary arm swing oil cylinder is hinged with the base, and the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm; one end of the auxiliary arm is hinged with the upper part of the clamping body, and the other end of the auxiliary arm is fixedly provided with one clamping device; the other clamping device is fixed on the upper part of the clamping body; the base be fixed in on the flexible arm of manipulator, flexible arm passes through lift cylinder and is connected with the fixed arm, the bottom and the base of centre gripping body are articulated. The clamping body is fixedly provided with a positioning part, one end of the auxiliary arm is hinged with the positioning part, and one clamping device is fixed on the positioning part.

Further, the base comprises a base bottom plate, a base limiting plate and a base hinge part, the lower part of the base bottom plate is fixed with the manipulator telescopic arm, and the base limiting plate is arranged at the upper part of the base bottom plate; the base articulated part is arranged on the base limiting plate, and the bottom of the clamping body is articulated with the base through the base articulated part.

Furthermore, the number of the base limiting plates is two, and the clamping body is arranged in a space between the two base limiting plates.

Furthermore, the base comprises a base hinge part arranged on one side, and the base hinge part is hinged with one end of the auxiliary arm swing oil cylinder.

Furthermore, the auxiliary arm comprises an auxiliary arm main body, an auxiliary arm first hinge part and an auxiliary arm second hinge part, and the auxiliary arm main body is hinged with the positioning component through the auxiliary arm first hinge part; the auxiliary arm second hinged part is arranged on the inner side of the auxiliary arm main body, one end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm second hinged part, and the other end of the auxiliary arm swing oil cylinder is hinged with the base hinged part.

Furthermore, clamping device including press from both sides tight hydro-cylinder, press from both sides tight hook, press from both sides tight locating plate, the tight locating plate of clamp be fixed in the outside of assisting arm main part or locating part, press from both sides tight hook quantity 2, 2 press from both sides tight hook and all articulate with pressing from both sides tight locating plate, press from both sides the both ends of tight hydro-cylinder and articulate with 2 press from both sides tight hooks respectively.

Furthermore, the clamping hook is of a 7-shaped structure, the lower part of the clamping hook is provided with a clamping hook connecting part, and two ends of the clamping oil cylinder are respectively hinged with the clamping hook connecting part.

Furthermore, the two sides of the clamping positioning plate are provided with clamping positioning plate hinged parts, and the middle lower part of the clamping hook is hinged with the clamping positioning plate hinged parts.

Furthermore, a clamping body cavity is further arranged on the clamping body, and a clamping oil cylinder of a clamping device fixed on the positioning component penetrates through the clamping body cavity.

Furthermore, the auxiliary arm and the positioning component are also provided with polyurethane plates.

Further, the fixed arm is articulated with the hanging flower basket connecting seat.

Compared with the prior art, the beneficial effects are: the utility model discloses can realize two point centre gripping of bow member and better with the bow member laminating, make things convenient for bow member angle posture adjustment simultaneously. And the clamping device has simple structure and can effectively clamp the arch centering, the arch centering grabs two points to clamp tightly, and the distance between the two points is larger, and the joint angle of the second clamping point can be adjusted according to the curvature radius of the arch centering to ensure that the two points are clamped tightly. The manipulator swing oil cylinder has larger acting force arm, and can effectively reduce the cylinder diameter of the oil cylinder and reduce the pressure of the oil cylinder.

Polyurethane board fixed mounting can increase the bow member frictional force and prevent that the bow member from pressing from both sides unstably on the locating part and the auxiliary arm of centre gripping body, can prevent simultaneously that the bow member from pressing from both sides the deformation.

Drawings

FIG. 1 is a schematic view of the overall side view structure of the present invention;

FIG. 2 is a schematic view of the clamping device of the present invention;

fig. 3 is a schematic view of the overall three-dimensional structure of the present invention.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

As shown in fig. 1-3, an arch center clamping manipulator comprises a clamping body 3, two clamping devices 4 for clamping an arch center, an auxiliary arm 6, an auxiliary arm swing cylinder 5, a base 1, a telescopic arm 100 and a fixed arm 101;

one end of an auxiliary arm swing oil cylinder 5 is hinged with the base 1, and the other end of the auxiliary arm swing oil cylinder is hinged with an auxiliary arm 6; one end of the auxiliary arm 6 is hinged with the upper part of the clamping body 3, and the other end is fixedly provided with one clamping device 4; the other clamping device 4 is fixed on the upper part of the clamping body 3; the base 1 is fixed on a manipulator telescopic arm 100, the telescopic arm 100 is connected with a fixed arm 101 through a lifting oil cylinder, and the bottom of the clamping body 3 is hinged with the base 1. A positioning part 7 is fixed on the clamping body 3, one end of the auxiliary arm 6 is hinged with the positioning part 7, and one clamping device 4 is fixed on the positioning part 7.

In this embodiment, the entire arch clamping manipulator is mounted on the manipulator telescopic arm 100, and is responsible for arch grabbing work. The telescopic arm 100 is connected with the fixed arm 101 through a lifting oil cylinder, and can realize the up-and-down lifting of the manipulator. The bottom of the clamping body 3 is hinged with the base 1, and the clamping body 3 can rotate around the axis of the base hinge 13 (as shown in figure 1).

In addition, one end of the auxiliary arm swing oil cylinder 5 is hinged with the base 1, the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm 6, one end of the auxiliary arm 6 is hinged with the positioning component 7, and the auxiliary arm swing oil cylinder 5 drives the auxiliary arm 6 to swing up and down around the auxiliary arm first hinge part 62.

The two clamping devices 4 are respectively fixed at the end part of the auxiliary arm 6 and the positioning part 7 on the clamping body 3, the arch frame grabs two points for clamping, the distance between the two points is large, the joint angle of the second clamping point can be adjusted according to the curvature radius of the arch frame, and the two points are ensured to be clamped. The auxiliary arm swing oil cylinder 5 has larger acting force arm, and can effectively reduce the cylinder diameter of the oil cylinder and reduce the pressure of the oil cylinder.

As shown in fig. 1-3, further, the base 1 includes a base bottom plate 11, a base limit plate 12, and a base hinge 13, wherein the lower portion of the base bottom plate 11 is fixed to the manipulator telescopic arm 100, and the base limit plate 12 is disposed on the upper portion of the base bottom plate 11; the base articulated part 13 is arranged on the base limiting plate 12, and the bottom of the clamping body 3 is articulated with the base 1 through the base articulated part 13.

In this embodiment, the base plate 11 plays a role of supporting and holding the body 3, and the base plate 11 is fixed to the manipulator telescopic arm 100 by bolts or other means. The base limiting plate 12 is welded on the base bottom plate 11, and the bottom of the clamping body 3 is hinged with the base 1 through a base hinging part 13.

Further, the number of the base limiting plates 12 is two, and the clamping body 3 is arranged in a space between the two base limiting plates 12. In this embodiment, because the clamping body 3 is to support the arch with a larger weight, the base limiting plate 12 clamps the clamping body 3 from both sides of the clamping body 3, so that the clamping body 3 is safer and more stable in the working state, and accidents are prevented.

Further, the base 1 comprises a base hinge part 102 arranged on one side, and the first hinge part 102 of the base 1 is hinged with one end of the auxiliary arm swing oil cylinder 5.

The auxiliary arm 6 comprises an auxiliary arm main body 61, an auxiliary arm first hinge part 62 and an auxiliary arm second hinge part 63, wherein the auxiliary arm main body 61 is hinged with the positioning component 7 through the auxiliary arm first hinge part 62; the auxiliary arm second hinge 63 is disposed inside the auxiliary arm main body 61, and one end of the auxiliary arm swing cylinder 5 is hinged to the auxiliary arm second hinge 63, and the other end is hinged to the clamping body first hinge 102.

In this embodiment, the auxiliary arm main body 61 is an elongated arm-shaped structure extending outward from the side of the holding body 3, and the entire auxiliary arm 6 can swing up and down around the auxiliary arm first hinge 62 under the action of the auxiliary arm swing cylinder 5.

Specifically, the clamping device 4 includes a clamping cylinder 41, clamping hooks 42, and a clamping positioning plate 44, the clamping positioning plate 44 is fixed to the outside of the auxiliary arm main body 61 or the positioning part 7, the number of the clamping hooks 42 is 2, 2 clamping hooks 42 are hinged to the clamping positioning plate 44, and two ends of the clamping cylinder 41 are hinged to the 2 clamping hooks 42 respectively.

In this embodiment, one of the clamp devices 4 is fixed to the end of the sub-arm body 61, and the other clamp device 4 is fixed to the positioning member 7. The clamping cylinder 41 drives the clamping hook 42 to clamp or release the arch frame when acting.

Specifically, the clamping hook 42 is of a 7-shaped structure, a clamping hook connecting portion 46 is arranged at the lower portion of the clamping hook 42, and two ends of the clamping cylinder 41 are hinged to the clamping hook connecting portion 46 respectively. Clamping positioning plate hinge portions 45 are provided on both side portions of the clamping positioning plate 44, and the middle-lower portion of the clamping hook 42 is hinged to the clamping positioning plate hinge portions 45.

In this embodiment, the clamping hook 42 is a "7" shaped structure, which can be adapted to the shape of the arch, and safely and reliably clamp the arch. Each clamping device 4 is provided with two clamping hooks 42, the two clamping hooks 42 can rotate around a clamping positioning plate hinge part 45, and the clamping cylinder 41 drives the clamping hooks 42 to open and clamp when stretching.

The holding body 3 is further provided with a holding body cavity 31, and a clamping cylinder 41 of the clamping device 4 fixed to the positioning member 7 passes through the holding body cavity 31. The provision of the clamp body cavity portion 31 makes it easier to assemble the clamping device 4.

Specifically, the auxiliary arm 6 and the positioning member 7 are further provided with a polyurethane plate 43. The polyurethane plate 43 is fixedly mounted on the positioning part 7 and the auxiliary arm 6 of the clamping body 3, so that the friction force of the arch can be increased to prevent the arch clamp from being unstable, and meanwhile, the deformation of the arch clamp can be prevented.

Specifically, the fixing arm 101 is hinged to the basket connecting seat. The whole front and back swing of the manipulator is realized through the extension and retraction of the turnover oil cylinder.

The working principle of the utility model is as follows:

the arch center is firstly horizontally placed on the ground, the manipulator telescopic arm 100 is bent downwards to be matched with the clamping device 4 on the clamping body 3 to clamp the bottom surface of the arch center firstly, then the auxiliary arm swing oil cylinder 5 drives the auxiliary arm 6 to rotate, when the bottom surface of the clamping device 4 on the auxiliary arm 6 is contacted with the bottom surface of the arch center, the auxiliary arm swing oil cylinder 5 stops acting, then the clamping device 4 on the auxiliary arm 6 clamps the bottom surface of the arch center, and the clamping action of the whole arch center is completed. The telescopic arm 100 is connected with the fixed arm 101 through a lifting oil cylinder, so that the up-and-down lifting of the manipulator can be realized, the angle of the mounting surface can be conveniently adjusted when the two arms are in butt joint with the arch centering, and further, the bolt can be conveniently penetrated.

The utility model has the advantages that: 1. the long-distance two-point clamping is firm and stable, and can clamp any position of the arch center; 2. the position of the auxiliary arm clamping point can be adjusted according to the diameter of the arch, and the arch is not deformed due to forced clamping; 3. the posture adjustment is simple when the arch centering is butted, and the labor intensity when the bolt is penetrated is reduced.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An arch center clamping manipulator is characterized by comprising a clamping body (3), two clamping devices (4) for clamping an arch center, an auxiliary arm (6), an auxiliary arm swinging oil cylinder (5), a base (1), a manipulator telescopic arm (100) and a fixed arm (101);

one end of the auxiliary arm swing oil cylinder (5) is hinged with the base (1), and the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm (6); one end of the auxiliary arm (6) is hinged with the upper part of the clamping body (3), and the other end is fixedly provided with one clamping device (4); the other clamping device (4) is fixed on the upper part of the clamping body (3);

the base (1) is fixed on a manipulator telescopic arm (100), the telescopic arm (100) is connected with a fixed arm (101) through a lifting oil cylinder, and the bottom of the clamping body (3) is hinged to the base (1).

2. An arch clamping robot as claimed in claim 1, wherein: a positioning part (7) is fixed on the clamping body (3), one end of the auxiliary arm (6) is hinged with the positioning part (7), and one clamping device (4) is fixed on the positioning part (7).

3. An arch clamping robot as claimed in claim 2, wherein: the base (1) comprises a base bottom plate (11), a base limiting plate (12) and a base articulated part (13), wherein the lower part of the base bottom plate (11) is fixed with a manipulator telescopic arm (100), and the base limiting plate (12) is arranged at the upper part of the base bottom plate (11); the base hinging part (13) is arranged on the base limiting plate (12), and the bottom of the clamping body (3) is hinged with the base (1) through the base hinging part (13).

4. An arch clamping robot as claimed in claim 3, wherein: the clamping device is characterized in that the number of the base limiting plates (12) is two, and the clamping body (3) is arranged in a space between the two base limiting plates (12).

5. An arch clamping robot as claimed in claim 4, wherein: the base (1) comprises a base hinged part arranged on one side, and the first hinged part of the base (1) is hinged with one end of the auxiliary arm swing oil cylinder (5).

6. An arch clamping robot as claimed in claim 5, wherein: the auxiliary arm (6) comprises an auxiliary arm main body (61), an auxiliary arm first hinge part (62) and an auxiliary arm second hinge part (63), and the auxiliary arm main body (61) is hinged with the positioning component (7) through the auxiliary arm first hinge part (62); the auxiliary arm second hinge part (63) is arranged on the inner side of the auxiliary arm main body (61), one end of the auxiliary arm swing oil cylinder (5) is hinged with the auxiliary arm second hinge part (63), and the other end of the auxiliary arm swing oil cylinder is hinged with the base hinge part.

7. An arch clamping robot as claimed in claim 6, wherein: clamping device (4) including pressing from both sides tight hydro-cylinder (41), press from both sides tight hook (42), press from both sides tight locating plate (44) and be fixed in the outside of assisting arm main part (61) or locating part (7), press from both sides tight hook (42) quantity be 2, 2 press from both sides tight hook (42) all with press from both sides tight locating plate (44) articulated, press from both sides the both ends of tight hydro-cylinder (41) and press from both sides tight hook (42) articulated with 2 respectively.

8. An arch clamping robot as claimed in claim 7, wherein: the clamping hook (42) is of a 7-shaped structure, a clamping hook connecting part (46) is arranged at the lower part of the clamping hook (42), and two ends of the clamping oil cylinder (41) are respectively hinged with the clamping hook connecting part (46);

two sides of the clamping positioning plate (44) are provided with clamping positioning plate hinge parts (45), and the middle lower part of the clamping hook (42) is hinged with the clamping positioning plate hinge parts (45);

the clamping body (3) is also provided with a clamping body cavity part (31), and a clamping oil cylinder (41) of the clamping device (4) fixed on the positioning component (7) penetrates through the clamping body cavity part (31).

9. An arch clamping robot as claimed in any one of claims 2 to 8, wherein: and polyurethane plates are also arranged on the auxiliary arm (6) and the positioning part (7).

10. An arch clamping robot as claimed in claim 1, wherein: and the fixed arm (101) is hinged with the hanging basket connecting seat.