CN218665079U - Arm support manipulator and engineering machinery - Google Patents

Abstract

The utility model provides an arm support manipulator and engineering machinery, the end of the arm support is provided with a material conveying pipe, a traction device comprises a traction slider and a traction disc used for surrounding and connecting the material conveying pipe, the traction slider can perform revolution motion relative to the traction disc, and the traction disc is used for detecting the traction angle of the traction slider and sending a traction angle signal to the engineering machinery; the operating handle is arranged on the traction sliding block, the operating handle is electrically connected with the engineering machinery through the traction sliding block, the traction disc and the engineering machinery in sequence, and the operating handle is used for sending an arm support control signal to the engineering machinery so that the engineering machinery drives the arm support according to the traction angle signal and the arm support control signal. The utility model provides a cantilever crane manipulator passes through draw gear and operating handle's cooperation, adopts and pulls the outer revolution motion of slider and has replaced the inclination and detect to connect operating handle all the time with the draw gear electricity, guaranteed signal transmission's stability, when improving the terminal reliability of controlling of cantilever crane, improved the terminal precision of controlling of cantilever crane.

Description

Arm support manipulator and engineering machinery

Technical Field

The utility model belongs to the technical field of engineering machine tool, especially, relate to an cantilever crane manipulator and engineering machine tool.

Background

At present, the operation and control professional degree of the arm support of the pump truck is high, and a skilled manipulator is needed to operate the arm support according to the requirements of a construction party better, so that the material distribution point at the tail end of the arm support moves in the direction to perform reasonable material distribution. In a control mode of the tail end of the boom of the pump truck in the prior art, an inclination angle change mode is usually adopted to detect the inclination direction generated by the traction of a hose at the tail end of the boom, and the intention of a moving material distribution point of a constructor cannot be truly reflected all the time under the condition of hose deformation, so that the inclination angle change detection is unreliable, and the control reliability of the boom is low; or the tail end of the arm support is controlled in a following mode based on the relative position positioning of the wireless control terminal, but the problems of poor signal quality and poor positioning accuracy of wireless control following exist because the wireless communication and positioning technology is not mature at present.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims at providing a cantilever crane manipulator and engineering machine tool aims at solving among the prior art cantilever crane end and controls the technical problem that the reliability is low and the precision is poor.

In order to achieve the above object, the utility model provides an arm support manipulator for engineering machine's arm support, the end of arm support is provided with the conveying pipeline, the arm support manipulator includes: the traction device comprises a traction sliding block and a traction disc used for being connected with the material conveying pipe in a surrounding mode, the traction sliding block can perform revolution motion relative to the traction disc, and the traction disc is used for detecting the traction angle of the traction sliding block and sending a traction angle signal to the engineering machinery; the operating handle is arranged on the traction sliding block, the operating handle is electrically connected with the engineering machinery sequentially through the traction sliding block, the traction disc and the engineering machinery, and the operating handle is used for sending an arm support control signal to the engineering machinery so that the engineering machinery drives the arm support according to the traction angle signal and the arm support control signal.

In the embodiment of the utility model, draw gear includes: the conducting ring is arranged around the traction disc, the traction sliding block is provided with a conducting head corresponding to the conducting ring, and the conducting head is electrically connected with the operating handle; and the elastic pressing mechanism is arranged on the traction sliding block and is used for pressing the conductive head onto the conductive ring along the radial direction of the conveying pipe.

In the embodiment of the utility model, elasticity hold-down mechanism includes: the conductive head is mounted on the mounting rack; the elastic component, elastic compression in the mounting bracket with pull between the slider, it is spacing to pull the slider be provided with the mounting bracket with the locating part of elastic component, with the mounting bracket is relative the traction disc is spacing in electric connection position.

In the embodiment of the utility model, draw gear still includes: the variable resistance detection circuit comprises a variable resistance ring and a variable resistance sliding sheet which is matched and connected with the variable resistance ring, the variable resistance ring is arranged outside the traction disc, and the variable resistance sliding sheet is arranged on the traction sliding block; and the signal processor is connected with the variable resistance detection circuit and is used for processing the resistance value change signal of the variable resistance detection circuit into a communication signal and sending the communication signal to the engineering machinery.

In the embodiment of the utility model provides an in, varistor detection circuitry still include with the electrical connection ring of the coaxial setting of varistor ring, the electrical connection ring the varistor ring all with the varistor gleitbretter is connected, the varistor ring is provided with the wiring opening, signal processor one end electricity is connected wiring open-ended head end, other end electricity are connected the electrical connection ring.

The embodiment of the utility model provides an in, the traction disc is provided with the confession well cavity that the conveying pipeline passed, well cavity with the shape phase-match of conveying pipeline, well cavity's chamber wall be used for with the laminating of the inseparable face of conveying pipeline, the traction disc be provided with pull slider sliding fit's annular track groove, well cavity with annular track groove nestification and coaxial setting in proper order from inside to outside.

In an embodiment of the utility model, the traction disc includes: the hollow cavity is arranged in the mounting cylinder; the limiting track ring is annularly arranged outside the mounting cylinder, a supporting plate is supported between the mounting cylinder and the limiting track ring, the mounting cylinder, the limiting track ring and the supporting plate are enclosed to form the annular track groove, and the limiting track ring is used for abutting and limiting the traction sliding block.

In the embodiment of the utility model, it includes to pull the slider: the sliding block main body is provided with a protection cavity into which the limiting track ring extends, the conducting ring is arranged on the limiting track ring, and the elastic pressing mechanism is arranged in the protection cavity; and the limiting baffle is arranged in the slider main body and stretches into the annular track groove, the limiting track ring is used for abutting the limiting baffle, and the limiting baffle is externally rotatably sleeved with an inner roller in rolling contact with the limiting track ring.

The embodiment of the utility model provides an in, pull the slider still including being located the splint of protection intracavity, the outer rotatable cover of splint is equipped with outer gyro wheel, spacing track ring card is located interior gyro wheel with between the outer gyro wheel.

In the embodiment of the utility model, the axial tip of spacing track ring all protrude in the backup pad makes the thickness direction both sides of backup pad all form annular track groove.

The embodiment of the utility model provides an in, the surface of an installation section of thick bamboo is provided with the reference direction mark, the axial tip of an installation section of thick bamboo all protrusion in spacing track ring, the reference direction mark is close to the axial tip of an installation section of thick bamboo sets up.

In the embodiment of the utility model, draw gear still includes: the knob is mounted on the traction disc and can move relative to the traction disc; the clamping plate is connected with the knob and used for clamping or loosening the conveying pipeline under the driving of the knob.

In the embodiment of the utility model, the cantilever crane manipulator still including connect in pull the slider with haulage rope between the operating handle.

The utility model discloses still provide an engineering machine tool, engineering machine tool including the cantilever crane that has the conveying pipeline and as above cantilever crane manipulator.

Through the technical scheme, the embodiment of the utility model provides a cantilever crane manipulator has following beneficial effect:

when the arm support manipulator is used, the traction disc can be sleeved outside the material conveying pipe at the tail end of the arm support in a surrounding manner to enable the traction disc to be fixedly connected with the material conveying pipe, when the arm support needs to be dragged or lifted, the traction sliding block can perform revolution motion relative to the traction sliding block in a mode of dragging the traction sliding block, the revolution angle of the traction sliding block is used as the traction angle of the material conveying pipe, the change of the traction direction is presented as an external direction, the inclination angle detection which is difficult to observe in the prior art is replaced, the condition that the inclination angle change detection is unreliable can be avoided, and the reliability and the precision of arm support traction are improved; the traction disc can detect the traction angle of the traction sliding block and send a traction angle signal to an industrial personal computer of the engineering machinery, constructors can also input an arm support control instruction through an operating handle, the operating handle is electrically connected with the traction disc all the time through the traction sliding block, the arm support control signal can be stably sent to the engineering machinery through the traction device, the condition of poor signal transmission quality is avoided, the engineering machinery can stably and accurately drive the arm support by combining the traction angle signal and the arm support control signal, and a material conveying pipe is driven to move to a specified material distribution point. The utility model provides a cantilever crane manipulator passes through draw gear and operating handle's cooperation, adopts and pulls the outer revolution motion of slider and has replaced the inclination and detect to connect operating handle all the time with the draw gear electricity, guaranteed signal transmission's stability, when improving the terminal reliability of controlling of cantilever crane, improved the terminal precision of controlling of cantilever crane.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic structural diagram of a boom manipulator according to an embodiment of the present invention;

fig. 2 is a schematic cross-sectional structure diagram of a boom manipulator according to another embodiment of the present invention;

FIG. 3 is a schematic view of a portion of the structure of FIG. 2;

FIG. 4 is a schematic view of a boom manipulator and a feed delivery pipe according to another embodiment of the present invention;

fig. 5 is a schematic view of the operation principle of the operation handle according to an embodiment of the present invention;

fig. 6 is a schematic view of the operation principle of the operation handle according to another embodiment of the present invention;

fig. 7 is a schematic diagram illustrating a matching principle of the varistor detection circuit and the signal processor according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a matching principle of a varistor detection circuit and a signal processor according to another embodiment of the present invention;

fig. 9 is a schematic diagram illustrating a matching principle of the varistor detection circuit and the signal processor according to still another embodiment of the present invention.

Description of the reference numerals

Label name

100. Arm support operator 21 button

1. Traction device 22 varistor

11. Traction sliding block 3 variable resistance detection circuit

111. Slider body 31 varistor ring

112. Protective cavity 32 wiring opening

113. Limit baffle 33 electric connection ring

114. Variable-resistance sliding sheet of inner roller 34

115. Splint 4 signal processor

116. Outer roller 5 conducting ring

117. Mounting hole 6 conductive head

118. Elastic pressing mechanism of limiting piece 7

12. Traction disc 71 mounting rack

121. Annular track groove 72 limiting groove

122. Mounting cylinder 73 elastic member

123. Hollow cavity 8 knob

124. Reference direction mark 9 card

125. Limiting track ring 10 hauling rope

126. Interface unit of the supporting plate 20

2. Operating handle 200 feed delivery pipe

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It should be understood that the description herein of specific embodiments is for purposes of illustration and explanation only and is not intended to limit the invention.

The boom manipulator according to the present invention is described below with reference to the accompanying drawings.

As shown in fig. 1 to 4, in the embodiment of the present invention, the boom manipulator is used for a boom of an engineering machine, a feed delivery pipe 200 is arranged at the end of the boom, and the boom manipulator 100 includes a traction device 1 and an operating handle 2; the traction device 1 comprises a traction sliding block 11 and a traction disc 12 used for being connected with the material conveying pipe 200 in a surrounding mode, the traction sliding block 11 can perform revolution motion relative to the traction disc 12, and the traction disc 12 is used for detecting a traction angle of the traction sliding block 11 and sending a traction angle signal to engineering machinery; the operating handle 2 is installed on the traction sliding block 11, the operating handle 2 is electrically connected with the engineering machinery sequentially through the traction sliding block 11, the traction disc 12 and the engineering machinery, and the operating handle 2 is used for sending an arm support control signal to the engineering machinery, so that the engineering machinery drives the arm support according to the traction angle signal and the arm support control signal.

It can be understood that the boom manipulator 100 in this embodiment is mainly applied to a pump truck, and the material conveying pipe 200 mainly adopts a hose for conveying concrete. The traction angle signal of the traction slider 11 can be detected between the traction slider 11 and the traction disc 12 in an electromagnetic induction mode or a resistance and voltage change mode, such as a magnetostrictive principle: the traction sliding block 11 is a permanent magnet, the traction disc 12 is an annular magnetostrictive rod, and power supply and signals of the traction disc 12 can be led out through a cable and then are connected with the pump truck.

When the boom manipulator 100 in the embodiment is used, the traction disc 12 can be firstly sleeved outside the material conveying pipe 200 at the tail end of the boom in a surrounding manner, so that the traction disc 12 is fixedly connected with the material conveying pipe 200, when the boom needs to be dragged or lifted, the traction slide block 11 can perform revolution motion relative to the traction slide block 11 in a manner of dragging the traction slide block 11, the revolution angle of the traction slide block 11 is used as the traction angle of the material conveying pipe 200 and is used as a visual communication bridge for a constructor and a manipulator, so that the traction direction change is presented as an external direction, the dip angle detection which is difficult to observe in the prior art is replaced, the condition that the dip angle change detection is unreliable can be avoided, and the reliability and the precision of boom traction are improved; the traction disc 12 can detect the traction angle of the traction sliding block 11 and send a traction angle signal to an industrial personal computer of the engineering machinery, a constructor can also input an arm support control instruction through the operation handle 2, the operation handle 2 is electrically connected with the traction disc 12 all the time through the traction sliding block 11, the arm support control signal can be stably sent to the engineering machinery through the traction device 1, the condition that the signal transmission quality is poor is avoided, the engineering machinery can be stable, the traction angle signal and the arm support control signal are accurately combined to drive the arm support, and the conveying pipe 200 is driven to move to a specified material distribution point. In the arm support manipulator 100 in this embodiment, through the cooperation of the traction device 1 and the operation handle 2, the peripheral revolution motion of the traction slider 11 is adopted to replace the inclination detection, and the operation handle 2 is electrically connected with the traction device 1 all the time, so that the stability of signal transmission is ensured, and the control reliability of the tail end of the arm support is improved, and the control precision of the tail end of the arm support is improved.

Moreover, the mode that the constructor pulls the traction slide block 11 to realize the revolution motion to adjust the traction angle cancels the load motion that the constructor directly pulls the conveying pipe 200, can avoid the condition that the moving speed of the constructor cannot follow the moving speed of the arm support, can carry out traction operation no matter the moving speed of the arm support is slow or fast, improves the potential safety hazard that the arm support is out of control due to construction efficiency, cancels the load traction in the prior art, and improves the construction efficiency.

It should be noted that the operating handle 2 may adopt an input handle in the prior art, or adopt the operating handle 2 in fig. 2, 5, and 6, the operating handle 2 includes a button 21 and a varistor 22, the operating handle 2 in fig. 2 may drive a contact position of the varistor 22 to change, so as to change a resistance value of the operating handle 2, wherein the operating handle 2 in fig. 2 and 6 adopts a three-wire system, in the figures, "+", "" are power line pins, and "s" is a signal line pin, and a boom control signal may be detected through a linearly changing voltage signal. The operating handle 2 in fig. 2 adopts a two-wire system, and can detect the boom control signal through the change of the resistance value, and when the button 21 is in the center, the generated resistance value or voltage signal can be identified as the no boom operation requirement. In other embodiments, the continuously variable analog-quantity operating handle 2 may be replaced with a form of "speed step regulator" plus a "direction switch" of the switching quantity.

As shown in fig. 2 and 3, the traction device 1 includes a conductive ring 5 and an elastic pressing mechanism 7; the conducting ring 5 is arranged around the traction disc 12, the traction sliding block 11 is provided with a conducting head 6 corresponding to the conducting ring 5, and the conducting head 6 is electrically connected with the operating handle 2; the elastic pressing mechanism 7 is installed on the traction sliding block 11, and the elastic pressing mechanism 7 is used for pressing the conductive head 6 to the conductive ring 5 along the radial direction of the material conveying pipe 200. In this embodiment, three conducting rings 5 surround the traction disc 12 at intervals in the vertical direction, three conducting heads 6 are connected with the three conducting rings 5 in a one-to-one correspondence manner, the conducting heads 6 are connected with the operating handle 2 through cables, and a boom control signal input by a constructor through the operating handle 2 can be transmitted to an industrial personal computer of the engineering machinery through the cables after sequentially passing through the conducting heads 6 and the conducting rings 5. In this embodiment, the elastic pressing mechanism 7 presses the conductive head 6 against the conductive ring 5 to form electrical communication, so that when the traction slider 11 is dragged to perform circumferential revolution motion relative to the traction disc 12, the operation handle 2 is always electrically connected with the traction disc 12 through the traction slider 11, and the communication stability of the operation handle 2 is further improved.

In the embodiment of the present invention, the elastic pressing mechanism 7 includes a mounting frame 71 and an elastic member 73; the conductive head 6 is mounted on the mounting bracket 71; the elastic member 73 is elastically compressed between the mounting bracket 71 and the traction slider 11, and the traction slider 11 is provided with a limiting member 118 for limiting the mounting bracket 71 and the elastic member 73 so as to limit the mounting bracket 71 to an electrical connection position relative to the traction disc 12. As shown in fig. 3, in the embodiment, the mounting block 71 is provided with a limiting groove 72, the limiting member 118 is cylindrical and extends into the limiting groove 72, the elastic member 73 can be a spring sleeved outside the limiting member 118, and the limiting member 118, the elastic member 73 and the mounting block 71 are sequentially nested and limited, so that the mounting block 71 can be prevented from shifting relative to the traction disc 12, and the connection stability of the conductive head 6 and the conductive ring 5 can be ensured.

In the embodiment of the present invention, the traction apparatus 1 further comprises a resistance-variable detection circuit 3 and a signal processor 4; the variable resistance detection circuit 3 comprises a variable resistance ring 31 and a variable resistance sliding sheet 34 which is in fit connection with the variable resistance ring 31, the variable resistance ring 31 is annularly arranged outside the traction disc 12, and the variable resistance sliding sheet 34 is installed on the traction sliding block 11; and the signal processor 4 is connected with the variable resistance detection circuit 3, and the signal processor 4 is used for processing the resistance value change signal of the variable resistance detection circuit 3 into a communication signal and sending the communication signal to the engineering machinery. The signal processor 4 in the present embodiment may be a signal processor in the related art; specifically, when the traction sliding block 11 revolves relative to the traction disc 12, the resistance-variable sliding sheet 34 is driven to move relative to the resistance-variable ring 31, so that the resistance value changes, the resistance value changes to serve as a traction angle signal, the traction angle signal is processed by the signal processor 4 to serve as a communication signal, and the communication signal can be sent to engineering machinery. In the embodiment, the resistance change detection circuit 3 is formed among the signal processor 4, the traction disc 12 and the traction slider 11, and the traction angle signal is detected in a mode that the traction slider 11 revolves to change the resistance value, so that the circuit structure is simple, and the detection of the traction angle can be facilitated. The traction device 1 in this embodiment further includes an interface unit 20 electrically connected to the signal processor 4, and the interface unit 20 can be connected to the engineering machine, so as to implement communication.

The embodiment of the utility model provides an in, varistor detection circuitry 3 still includes the electric connecting ring 33 with the coaxial setting of varistor ring 31, and electric connecting ring 33, varistor ring 31 all are connected with varistor gleitbretter 34, and varistor ring 31 is provided with wiring opening 32, and the head end of wiring opening 32 is connected to 4 one end electricity of signal processor, other end electricity connection electric connecting ring 33. In this embodiment, the electrical connection ring 33 and the resistance variable ring 31 are both matched with the resistance variable sliding sheet 34, and the resistance variable ring 31 is opened, so that the resistance change detection of the resistance variable detection circuit 3 can be facilitated. As shown in fig. 7 to 9, the present invention specifically provides three embodiments of the varistor detection circuit 3, wherein the electrical connection ring 33 in fig. 7 and 8 is a conductive wire, the signal processor 4 in fig. 7 adopts a two-wire system, and the pins of the power wire are respectively connected to the head end of the wiring opening 32 and the electrical connection ring 33; the signal processor 4 in fig. 8 adopts a three-wire system, power line pins of the signal processor 4 are respectively connected with the head end and the tail end of the wiring opening 32, and signal line pins of the signal processor 4 are connected with the electrical connection ring 33; in fig. 9, the electrical connection ring 33 is an external varistor with an opening, the varistor ring 31 is connected to the tail end of the electrical connection ring 33, the signal processor 4 adopts a two-wire system, and the power line pins of the signal processor 4 are respectively connected to the head end of the varistor ring 31 and the head end of the electrical connection ring 33.

The embodiment of the utility model provides an in, the traction disc 12 is provided with the well cavity 123 that supplies conveying pipe 200 to pass, and well cavity 123 and conveying pipe 200's shape phase-match, the chamber wall that well cavity 123 be used for with the conveying pipe 200 closely face laminating, traction disc 12 be provided with pull slider 11 sliding fit's annular track groove 121, well cavity 123 and annular track groove 121 from inside to outside nested and coaxial setting in proper order. In this embodiment, the hollow cavity 123 and the annular track groove 121 are sequentially nested and coaxially arranged from inside to outside, and after the conveying pipe 200 passes through the hollow cavity 123, the cavity wall of the hollow cavity 123 is annularly arranged outside the conveying pipe 200, so that the protection and connection area of the traction disc 12 on the conveying pipe 200 can be increased, and the use stability of the traction device 1 is improved while the installation of the traction disc 12 is facilitated. In this embodiment, by providing the annular track groove 121 in sliding fit with the traction slider 11, the movement track of the traction slider 11 can be accurately limited, and the situation that the traction slider 11 is separated from the sliding track is avoided. Moreover, the annular track groove 121 and the hollow cavity 123 in this embodiment are coaxially arranged, so that the traction angle of the traction slider 11 relative to the traction disc 12 can be conveniently calculated after the traction slider 11 slides.

In the embodiment of the present invention, the traction disc 12 includes a mounting cylinder 122 and a limiting track ring 125; the hollow cavity 123 is arranged in the mounting cylinder 122; the limiting track ring 125 is annularly arranged outside the mounting cylinder 122, a supporting plate 126 is supported between the mounting cylinder 122 and the limiting track ring 125, an annular track groove 121 is defined by the mounting cylinder 122, the limiting track ring 125 and the supporting plate 126, and the limiting track ring 125 is used for resisting the limiting traction sliding block 11. Installation section of thick bamboo 122 in this embodiment is cylindrical hollow tubular structure, specifically forms annular track groove 121 with the mode that spacing track ring 125 propped off installation section of thick bamboo 122 through backup pad 126, for drawing slider 11 to provide the sliding space, spacing track ring 125 can keep out spacing slider 11 that pulls to avoid drawing the condition that slider 11 breaks away from annular track groove 121 orbit, further guaranteed the movement track who draws slider 11.

In the embodiment of the present invention, the traction sliding block 11 includes a sliding block main body 111 and a limit baffle 113; the slider body 111 is provided with a protection cavity 112 into which the limiting track ring 125 extends, the conducting ring 5 is embedded around the limiting track ring 125, and the elastic pressing mechanism 7 is installed in the protection cavity 112; the limiting baffle 113 is installed on the slider body 111 and extends into the annular track groove 121, the limiting track ring 125 is used for resisting the limiting baffle 113, and the limiting baffle 113 is rotatably sleeved with an inner roller 114 in rolling contact with the limiting track ring 125. As shown in fig. 3, the cross section of the slider main body 111 in this embodiment is U-shaped, the protection cavity 112 cooperates with the limit baffle 113 to limit the limit baffle 113, and can protect the conductive ring 5 and the conductive head 6 in the protection cavity 112, so as to prevent the conductive ring 5 and the conductive head 6 from being damaged by external components. The annular track groove 121 provides a sliding space for the limiting baffle 113, and can ensure that the limiting baffle 113 is always in limiting fit with the limiting track ring 125.

In the embodiment of the present invention, the traction block 11 further includes a clamp plate 115 located in the protection cavity 112, the outer rotatable sleeve of the clamp plate 115 is provided with an outer roller 116, and the limiting track ring 125 is clamped between the inner roller 114 and the outer roller 116. In this embodiment, the inner and outer sides of the limiting track ring 125 are respectively provided with the inner roller 114 and the outer roller 116, so that the stability of the cooperation between the traction disc 12 and the traction slider 11 is improved, and the movement compliance of the traction slider 11 is improved.

In the embodiment of the present invention, the axial end of the limiting track ring 125 protrudes from the supporting plate 126, so that the two sides of the supporting plate 126 in the thickness direction form the annular track groove 121. In one embodiment, the electrical connection ring 33 and the varistor ring 31 are respectively and annularly arranged at the upper end and the lower end of the limiting rail ring 125, the supporting plate 126 is internally embedded with cables respectively connected with the electrical connection ring 33, the varistor ring 31 and the three conducting rings 5, and the cables in the supporting plate 126 extend into the hollow cavity 123 from the installation cylinder 122 and are connected with the signal processor 4 in the hollow cavity 123; the foreign steamer of two upper and lower interior gyro wheels 114 is the electrically conductive metal finished piece of being connected with electric go-between 33, varistor ring 31 electricity, and the embedded cable that is connected two upper and lower interior gyro wheels 114 electricity that is equipped with of slider main part 111, sets up through the embedding of cable in this embodiment, combines the protection in protection chamber 112, can guarantee the stability of communication, avoids the condition that the cable is damaged by external member simultaneously, has guaranteed cantilever crane manipulator 100's life.

In one embodiment, the supporting plate 126 is annularly disposed outside the mounting cylinder 122 and vertically connected to the mounting cylinder 122, the length of the limiting track ring 125 is greater than the thickness of the supporting plate 126, and the axial ends of the limiting track ring 125 protrude out of the supporting plate 126, so that the upper and lower sides of the supporting plate 126 form the annular track grooves 121. The supporting plate 126 in this embodiment is an annular flat plate, the limiting track ring 125 and the mounting cylinder 122 are both hollow cylindrical structures, and the supporting plate 126 can ensure that the outer edge of the mounting cylinder 122 is connected to the inner wall of the limiting track ring 125, so as to improve the connection stability between the limiting track ring 125 and the mounting cylinder 122, as shown in fig. 3, the supporting plate 126 is located at a lower position in the middle of the mounting cylinder 122. Through the length that is greater than spacing track ring 125 than the thickness of backup pad 126, and the axial tip of spacing track ring 125 all protrudes in backup pad 126, make backup pad 126's upper and lower both ends all be formed with annular track groove 121, the upper and lower both ends of pulling slider 11 all are provided with limit baffle 113 and splint 115, limit baffle 113 and the splint 115 downwardly extending that is located the upper end, the limit baffle 113 that is located the lower extreme upwards extends with splint 115, and be provided with the slip clearance between limit baffle 113 and the backup pad 126, thereby avoid producing between limit baffle 113 and the backup pad 126 and interfere, mounting bracket 71 is located between two splint 115 and sets up with two splint 115 intervals, the upper and lower both ends that enable to pull slider 11 all with annular track groove 121 sliding fit, and spacing relative spacing track ring 125, thereby improve the stability of cooperation between pulling slider 11 and the spacing track ring 125.

The embodiment of the utility model provides an in, the surface of an installation section of thick bamboo 122 is provided with reference direction mark 124, and the axial tip of an installation section of thick bamboo 122 all protrudes in spacing track ring 125, and reference direction mark 124 is close to the axial tip setting of an installation section of thick bamboo 122. Specifically, the length of the mounting cylinder 122 is greater than the length of the limiting track ring 125, the axial end of the mounting cylinder 122 protrudes out of the limiting track ring 125, and the reference direction mark 124 is disposed near the axial end of the mounting cylinder 122. As shown in fig. 4, the reference direction mark 124 is a mark pattern located above the traction block 11, and in other embodiments, the reference direction mark 124 may be a protruding mark, a mark lamp, or the like, which is not limited by the present invention. The preliminary calibration may be completed by dragging the drag slider 11 to a position aligned with the reference direction mark 124, with the reference direction mark 124 position as the calibration position. After the traction sliding block 11 is calibrated, the subsequent angle calculation after the revolution motion of the traction sliding block 11 can be facilitated, and the traction construction efficiency and accuracy of the material conveying pipe 200 are improved.

In the embodiment of the utility model, the traction device 1 further comprises a knob 8 and a clamping plate 9; the knob 8 is arranged on the traction disc 12 and can move relative to the traction disc 12; the clamping plate 9 is connected with the knob 8, and the clamping plate 9 is used for clamping or loosening the material conveying pipe 200 under the driving of the knob 8. In an embodiment, the clamping plate 9 is an arc-shaped plate, the knob 8 is in threaded connection with the mounting cylinder 122 of the traction disc 12, and can extend out or contract relative to the hollow cavity 123 in a threaded rotation manner, and drive the clamping plate 9 to move, so that the clamping plate 9 can clamp or loosen the material conveying pipe 200, and the traction device 1 is further fastened on the material conveying pipe 200, and the traction device 1 is more stable and convenient to use. In order to improve the structural strength of the mounting cylinder 122, the mounting cylinder 122 may be provided with an avoiding groove for avoiding the clamping plate 9.

In the embodiment of the present invention, the arm support manipulator 100 further includes a traction rope 10 connected between the traction slider 11 and the operation handle 2. The mounting hole 117 that supplies haulage rope 10 to pass is seted up to traction sliding block 11, and haulage rope 10 can be through the mode of tie-down with traction sliding block 11 can dismantle the connection to the convenience is to the regulation of haulage rope 10 length, and haulage rope 10 can make things convenient for the constructor to pull traction sliding block 11. The operating handle 2 is connected to the head end of the traction rope 10, and a cable for electrically connecting the traction sliding block 11 with the operating handle 2 is arranged in the traction rope 10.

The utility model discloses still provide an engineering machine tool, engineering machine tool including the cantilever crane that has conveying pipeline 200 and as above cantilever crane manipulator 100, the concrete structure of this conveying pipeline 200 refers to above-mentioned embodiment. Since the engineering machine adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here, in one embodiment, the engineering machine is a concrete pump truck.

In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (14)

1. A boom manipulator is used for a boom of an engineering machine, a conveying pipe (200) is arranged at the tail end of the boom, and the boom manipulator (100) is characterized by comprising:

the traction device (1) comprises a traction sliding block (11) and a traction disc (12) used for being connected with the conveying pipeline (200) in a surrounding mode, the traction sliding block (11) can perform revolution motion relative to the traction disc (12), and the traction disc (12) is used for detecting a traction angle of the traction sliding block (11) and sending a traction angle signal to the engineering machinery;

the operating handle (2) is installed on the traction sliding block (11), the operating handle (2) is electrically connected with the engineering machinery sequentially through the traction sliding block (11), the traction disc (12) and the operating handle (2), and the operating handle (2) is used for sending an arm support control signal to the engineering machinery, so that the engineering machinery drives the arm support according to the traction angle signal and the arm support control signal.

2. Boom manipulator according to claim 1, characterized in that the pulling device (1) comprises:

the conducting ring (5) is arranged on the traction disc (12) in a surrounding mode, the traction sliding block (11) is provided with a conducting head (6) corresponding to the conducting ring (5), and the conducting head (6) is electrically connected with the operating handle (2);

the elastic pressing mechanism (7) is installed on the traction sliding block (11), and the elastic pressing mechanism (7) is used for pressing the conductive head (6) to the conductive ring (5) along the radial direction of the conveying pipe (200).

3. Boom manipulator according to claim 2, characterized in that the elastic pressing means (7) comprise:

a mounting bracket (71), the conductive head (6) being mounted to the mounting bracket (71);

the elastic piece (73) is elastically compressed between the mounting frame (71) and the traction sliding block (11), and the traction sliding block (11) is provided with a limiting piece (118) for limiting the mounting frame (71) and the elastic piece (73) so as to limit the mounting frame (71) at an electric connection position relative to the traction disc (12).

4. Boom manipulator according to claim 2, characterized in that the pulling device (1) further comprises:

the variable resistance detection circuit (3) comprises a variable resistance ring (31) and a variable resistance slide sheet (34) which is matched and connected with the variable resistance ring (31), the variable resistance ring (31) is arranged outside the traction disc (12) in a surrounding mode, and the variable resistance slide sheet (34) is installed on the traction slide block (11);

the signal processor (4) is connected with the variable resistance detection circuit (3), and the signal processor (4) is used for processing the resistance value change signal of the variable resistance detection circuit (3) into a communication signal and sending the communication signal to the engineering machinery.

5. The boom manipulator according to claim 4, wherein the resistance-change detection circuit (3) further comprises an electrical connection ring (33) coaxially arranged with the resistance-change ring (31), the electrical connection ring (33) and the resistance-change ring (31) are both connected with the resistance-change sliding sheet (34), the resistance-change ring (31) is provided with a wiring opening (32), one end of the signal processor (4) is electrically connected with the head end of the wiring opening (32), and the other end of the signal processor is electrically connected with the electrical connection ring (33).

6. The boom manipulator according to any one of claims 2-5, characterized in that the traction disc (12) is provided with a hollow cavity (123) for the feed delivery pipe (200) to pass through, the hollow cavity (123) is matched with the feed delivery pipe (200) in shape, the cavity wall of the hollow cavity (123) is used for being closely attached to the feed delivery pipe (200), the traction disc (12) is provided with an annular track groove (121) which is in sliding fit with the traction slider (11), and the hollow cavity (123) and the annular track groove (121) are sequentially nested and coaxially from inside to outside.

7. Boom manipulator according to claim 6, characterized in that the traction disc (12) comprises:

the mounting cylinder (122), the hollow cavity (123) is arranged in the mounting cylinder (122);

the limiting track ring (125) is annularly arranged outside the mounting cylinder (122), a supporting plate (126) is supported between the mounting cylinder (122) and the limiting track ring (125), the mounting cylinder (122), the limiting track ring (125) and the supporting plate (126) are enclosed to form the annular track groove (121), and the limiting track ring (125) is used for resisting and limiting the traction sliding block (11).

8. Boom manipulator according to claim 7, characterized in that the traction slider (11) comprises:

the sliding block main body (111) is provided with a protection cavity (112) into which the limiting track ring (125) extends, the conducting ring (5) is annularly arranged on the limiting track ring (125), and the elastic pressing mechanism (7) is arranged in the protection cavity (112);

limiting baffle (113), install in slider main part (111) and stretch into in annular track groove (121), limiting track ring (125) are used for keeping out limiting baffle (113), just limiting baffle (113) outer rotatable cover be equipped with limiting track ring (125) rolling contact complex inside roller (114).

9. The boom manipulator as claimed in claim 8, wherein the traction slider (11) further comprises a clamping plate (115) located in the protection cavity (112), an outer roller (116) is rotatably sleeved outside the clamping plate (115), and the limiting track ring (125) is clamped between the inner roller (114) and the outer roller (116).

10. The boom manipulator as claimed in claim 7, wherein the axial ends of the limiting track ring (125) are protruded from the support plate (126) so that the annular track groove (121) is formed on both sides of the support plate (126) in the thickness direction.

11. The boom manipulator as claimed in claim 7, wherein the outer surface of the mounting barrel (122) is provided with a reference direction mark (124), axial ends of the mounting barrel (122) are protruded from the limiting track ring (125), and the reference direction mark (124) is arranged near the axial end of the mounting barrel (122).

12. The boom manipulator according to any of the claims 1-5, characterized in that the pulling device (1) further comprises:

the knob (8) is arranged on the traction disc (12) and can move relative to the traction disc (12);

the clamping plate (9) is connected with the knob (8), and the clamping plate (9) is used for clamping or loosening the material conveying pipe (200) under the driving of the knob (8).

13. The boom manipulator according to any of the claims 1-5, characterized in that the boom manipulator (100) further comprises a pulling rope (10) connected between the pulling slider (11) and the operating handle (2).

14. A working machine, characterized in that the working machine comprises a boom with a feed conveyor pipe (200) and a boom manipulator (100) according to any of claims 1-13.

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