CN218968172U

CN218968172U - Support piece grabbing mechanism, support piece conveying device and roadway support equipment

Info

Publication number: CN218968172U
Application number: CN202320006480.7U
Authority: CN
Inventors: 张强; 高鑫洲; 赵洪林; 高承兴
Original assignee: Sany Heavy Equipment Co Ltd
Current assignee: Sany Heavy Equipment Co Ltd
Priority date: 2023-01-03
Filing date: 2023-01-03
Publication date: 2023-05-05
Anticipated expiration: 2033-01-03

Abstract

The utility model relates to the field of support piece transportation, and provides a support piece grabbing mechanism, a support piece conveying device and roadway support equipment, wherein the support piece grabbing mechanism comprises: a telescoping member; the positioning assembly is connected with the telescopic end of the telescopic piece, the end part of the positioning assembly is provided with a positioning notch, and the positioning notch is used for positioning the support piece; the clamping jaw assembly is connected with the telescopic end of the telescopic piece, and the clamping jaw assembly is opened and closed to grasp the support piece positioned by the positioning assembly. The support grabbing mechanism comprises a support grabbing mechanism, a positioning assembly, a clamping jaw assembly, a positioning notch, a clamping jaw assembly, a positioning assembly and a grabbing assembly.

Description

Support piece grabbing mechanism, support piece conveying device and roadway support equipment

Technical Field

The utility model relates to the technical field of anchor rod transportation, in particular to a support grabbing mechanism, a support conveying device and roadway support equipment.

Background

Support members, such as anchor rods and anchor cables, are the most basic components of roadway support in contemporary coal mines, and reinforce the surrounding rock of the roadway together so that the surrounding rock supports itself. The anchor rod is not only used for mines, but also used for main reinforcement of slopes, tunnels and dam bodies in engineering technology.

The existing support piece transportation setting is that the support piece is conveyed to the feeding mechanism for feeding after being grabbed from the storage bin, but the existing support piece transportation setting is that the support piece is grabbed by the clamping jaw directly, in the process of realizing the utility model, the inventor finds that at least the problem of lower grabbing success rate exists in the prior art, and the feeding efficiency of the support piece is affected.

Disclosure of Invention

The utility model provides a support grabbing mechanism, a support conveying device and roadway support equipment, which are used for solving the defect of low grabbing success rate in the prior art, realizing the positioning of a positioning assembly before grabbing a support and improving the grabbing success rate.

In one aspect, the present utility model provides a strut grasping mechanism comprising:

a telescoping member;

the positioning assembly is connected with the telescopic end of the telescopic piece, the end part of the positioning assembly is provided with a positioning notch, and the positioning notch is used for positioning the support piece;

the clamping jaw assembly is connected with the telescopic end of the telescopic piece, and the opening and closing of the clamping jaw assembly are used for grabbing the support piece positioned by the positioning assembly.

Preferably, according to the support grabbing mechanism provided by the utility model, the positioning assembly comprises:

the length direction of the guide rail is perpendicular to the telescopic direction of the telescopic piece;

the L-shaped locating rack is arranged in the guide rail in a rotatable mode at one end, and the locating notch is formed in the other end of the L-shaped locating rack;

the support frame is arranged in parallel with the guide rail, the support frame is provided with a hollowed-out area, and the other end of the L-shaped positioning frame penetrates through the hollowed-out area.

Preferably, according to the support grabbing mechanism provided by the utility model, the clamping jaw assembly comprises a clamping jaw cylinder and a clamping jaw, the clamping jaw cylinder is connected with the telescopic end of the telescopic piece, the clamping jaw is connected with the clamping jaw cylinder, and the clamping jaw cylinder is used for controlling the clamping jaw to open and close;

the clamping claw is provided with a clamping groove, the clamping groove is used for clamping the support piece, and the positioning assembly is arranged on the upper portion of the clamping claw cylinder.

On the other hand, the utility model also provides a support piece conveying device which comprises the support piece grabbing mechanism.

Preferably, the support member transporting device provided by the utility model further comprises a transporting mechanism, wherein the transporting mechanism is connected with the support member grabbing mechanism and is used for enabling the support member grabbing mechanism to move along multiple degrees of freedom.

Preferably, according to the support member transporting device provided by the utility model, the transporting mechanism comprises a Z-axis moving assembly, the support member grabbing mechanism is mounted on the Z-axis moving assembly, and the Z-axis moving assembly is used for driving the support member grabbing mechanism to lift along the axis direction of the support member.

Preferably, according to the support member transporting device provided by the utility model, the transporting mechanism further comprises a rotating assembly, the Z-axis moving assembly is mounted on the rotating assembly, and the Z-axis moving assembly can rotate around the rotating center of the rotating assembly.

Preferably, according to the support member transporting device provided by the utility model, the transporting mechanism further comprises a Y-axis moving assembly, the rotating assembly is mounted on the Y-axis moving assembly, and the Y-axis moving assembly is used for driving the rotating assembly to move along a lifting direction perpendicular to the Z-axis moving assembly.

Preferably, according to the support member transporting device provided by the utility model, the transporting mechanism further comprises an X-axis moving assembly, the Y-axis moving assembly is mounted on the X-axis moving assembly, and the X-axis moving assembly is used for driving the Y-axis moving assembly to move along a telescopic direction parallel to the telescopic member.

On the other hand, the utility model also provides roadway support equipment, which comprises the support piece grabbing mechanism;

or, the roadway support equipment comprises the support piece conveying device.

According to the support grabbing mechanism, the positioning assembly and the clamping jaw assembly are arranged at the telescopic end of the telescopic piece to position and grab the support, the positioning assembly positions the support through the positioning notch before the grabbing assembly grabs the support, so that the success rate of grabbing the support is improved, and after the positioning assembly is positioned, the clamping jaw assembly grabs the positioned support, and the grabbing efficiency is improved.

Further, in the stent-transporting device and the roadway support equipment provided by the utility model, the stent grabbing mechanism is provided, so that the advantages are also provided.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a diagram of a strut grasping mechanism according to one embodiment of the present utility model;

FIG. 2 is a schematic view of an L-shaped spacer according to one embodiment of the present utility model;

FIG. 3 is a second schematic view of an L-shaped positioning frame according to an embodiment of the present utility model;

FIG. 4 is a schematic view of the overall construction of a support member conveyance apparatus according to one embodiment of the present utility model;

FIG. 5 is a schematic view of a Z-axis moving assembly according to one embodiment of the present utility model;

FIG. 6 is a top view of a Z-axis movement assembly according to one embodiment of the present utility model;

FIG. 7 is a schematic view of a rotating assembly according to one embodiment of the present utility model;

FIG. 8 is a schematic view of a Y-axis moving assembly according to one embodiment of the present utility model;

FIG. 9 is a schematic view of an X-axis moving assembly according to one embodiment of the present utility model;

FIG. 10 is a schematic diagram of a second embodiment of an X-axis moving assembly according to the present utility model.

Reference numerals:

100: a support grabbing mechanism; 110: a telescoping member; 120: a positioning assembly; 121: a guide rail; 122: a supporting frame; 123: an L-shaped positioning frame; 124: positioning the notch; 130: a jaw assembly; 131: a clamping jaw cylinder; 132: clamping claws; 101: a guide hole; 102: a sliding shaft; 103: a first rod body; 104: a second rod body;

200: a Z-axis movement assembly; 201: a first slide rail; 202: a first slider; 203: a first motor; 204: a first rack; 205: a first gear; 206: a first mounting plate;

300: a rotating assembly; 301: a rotary support; 302: a mounting flange; 303: a second gear; 304: a second motor; 305: rotating the support frame;

400: a Y-axis moving assembly; 401: a third motor; 402: a third gear; 403: a second rack; 404: a second mounting plate; 405: a guide plate; 406: a second slide rail; 407: a second slider; 408: a limit bar;

500: an X-axis moving assembly; 501: a transmission beam; 502: a third rack; 503: a fourth gear; 504: a fourth motor; 505: a first guide structure; 506: a second guide structure; 600: a transfer mechanism; 601: and (5) anchoring rods.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the embodiments of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of describing the embodiments of the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the embodiments of the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present utility model will be understood in detail by those of ordinary skill in the art.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 embodiments of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Embodiments of the present utility model are described below with reference to fig. 1 to 10. It is to be understood that the following are only illustrative embodiments of the present utility model and are not to be construed as limiting the utility model.

As shown in fig. 1, the present utility model provides a stent grabbing mechanism 100, comprising: the telescopic device comprises a telescopic piece 110, a positioning assembly 120 and a clamping jaw assembly 130, wherein the positioning assembly 120 is connected with a telescopic end of the telescopic piece 110, a positioning notch 124 is formed in the end part of the positioning assembly 120, and the positioning notch 124 is used for positioning a support piece; the clamping jaw assembly 130 is connected with the telescopic end of the telescopic piece 110, and the clamping jaw assembly 130 is opened and closed to grasp the support piece positioned by the positioning assembly 120. The support of the present utility model will be described with reference to an anchor rod.

That is, the telescopic ends of the telescopic members 110 are telescopic to enable the positioning assembly 120 and the clamping jaw assembly 130 to stretch, the positioning assembly 120 positions the anchor rod 601 first, and then the clamping jaw assembly 130 clamps the positioned anchor rod 601, so that the success rate and accuracy of the clamping jaw assembly 130 to grasp the anchor rod 601 are improved. For example, the telescoping member 110 may be selected from a cylinder or a cylinder.

For example, the telescopic end of the telescopic member 110 extends, the positioning assembly 120 reaches the position of the anchor rod 601 before the clamping jaw assembly 130, and the anchor rod 601 is placed in the positioning notch 124 for positioning; the initial state of the jaw assembly 130 is in an open state, and after the positioning assembly 120 completes positioning, the jaw assembly 130 merges to clamp. The position state of the anchor rod 601 grabbed by the clamping jaw assembly 130 can be better, the grabbing standard is met, and the precision is provided for the subsequent process. Wherein, the positioning component 120 can be turned over, and the positioning component 120 is converted from a vertical state to a horizontal state in the extending process of the telescopic piece 110, so as to realize positioning of the anchor rod 601; or the positioning component 120 also moves in a telescopic way, and the stretching process of the telescopic piece 110 drives the positioning component 120 to stretch out, so that the positioning notch 124 is matched with the anchor rod 601.

In addition, the positioning notch 124 may be semicircular, and after the positioning assembly 120 positions the anchor rod 601, the axis of the anchor rod 601 passes through the center of the positioning notch 124.

As shown in fig. 1 to 3, in one embodiment of the present utility model, the positioning assembly 120 includes: a guide rail 121, an L-shaped positioning frame 123 and a supporting frame 122, wherein the length direction of the guide rail 121 is perpendicular to the telescopic direction of the telescopic member 110; one end of the L-shaped positioning frame 123 can slide along the guide rail 121 in a rotating manner, and a positioning notch 124 is formed in the other end of the L-shaped positioning frame 123; the support frame 122 is arranged in parallel with the guide rail 121, the support frame 122 is provided with a hollowed-out area, and the other end of the L-shaped positioning frame 123 penetrates through the hollowed-out area.

In other words, one end of the L-shaped positioning frame 123 moves up and down along the guide rail 121, and the L-shaped positioning frame 123 can rotate relative to the guide rail 121; for example, the guide rail 121 is provided with guide holes 101 on two sides of the frame body, the L-shaped positioning frame 123 slides in the guide holes 101 through the sliding shaft 102, and the L-shaped positioning frame 123 is rotatably connected with the sliding shaft 102 or the sliding shaft 102 is rotatably arranged in the guide holes 101; the guide rail 121 is connected to the telescopic end of the telescopic member 110.

The other end of the L-shaped positioning frame 123 penetrates through the supporting frame 122, and the supporting frame 122 has the functions of supporting and limiting the L-shaped positioning frame 123. For example, the L-shaped positioning frame 123 includes a first rod 103 and a second rod 104, the first rod 103 is connected with the guide rail 121, the second rod 104 is vertically connected with the first rod 103, and the positioning notch 124 is formed on the second rod 104.

In the state that the telescopic member 110 is completely retracted, as shown in fig. 3, the L-shaped positioning frame 123 is in a state that the sliding shaft 102 and the first rod body 103 are arranged at the bottom of the guide hole 101, the first rod body 103 is parallel to the telescopic direction of the telescopic member 110, and the second rod body 104 is perpendicular to the telescopic direction of the telescopic member 110; the first rod 103 penetrates through the supporting frame 122, the first rod 103 is parallel to the supporting frame 122, and the supporting frame 122 can limit the first rod 103. That is, the supporting frame 122 may be attached to the first rod 103, and the supporting frame 122 is disposed between the guide rail 121 and the first rod 103.

In the state that the telescopic member 110 is continuously extended until it is completely extended, the sliding shaft 102 continuously slides upwards along the guide hole 101, so as to drive the first rod body 103 to change from the horizontal state to the vertical state, and further, the second rod body 104 continuously changes from the vertical state to the horizontal state, as shown in fig. 2. The second rod 104 positions the anchor rod 601 in the process of continuously rotating and falling, and finally the anchor rod 601 is placed in the positioning notch 124. The contact portion of the supporting frame 122 and the L-shaped positioning frame 123 is a flat surface, so as to ensure that the second rod 104 can be parallel to the expansion direction of the expansion member 110.

With continued reference to fig. 1, in another embodiment of the present utility model, the jaw assembly 130 includes a jaw cylinder 131 and a jaw 132, the jaw cylinder 131 is connected to the telescopic end of the telescopic member 110, the jaw 132 is connected to the jaw cylinder 131, and the jaw cylinder 131 is used to control the jaw 132 to open and close; the clamping claw 132 is provided with a clamping groove, the clamping groove is used for clamping the anchor rod 601, and the positioning assembly 120 is arranged on the upper portion of the clamping claw cylinder 131.

Specifically, the clamping jaw air cylinder 131 drives the pair of clamping jaws 132, the clamping jaws 132 are in a separated state in an initial state, after the positioning assembly 120 positions the anchor rod 601, the clamping jaw air cylinder 131 is controlled to enable the pair of clamping jaws 132 to be folded towards the middle, and the anchor rod 601 is placed in the clamping groove to finish clamping of the anchor rod 601. The cross section of the clamping groove is circular, one clamping groove of the pair of clamping claws 132 is semicircular, and the circle center of the circular clamping groove coincides with the axis of the anchor rod 601.

Wherein a proximity switch is provided on jaw assembly 130 for detecting whether jaw assembly 130 is gripping an anchor 601, for example, a proximity switch may be provided on jaws 132, only after a pair of jaws 132 are closed to detect anchor 601.

In addition, jaw cylinder 131 may be coupled to the telescoping end of telescoping member 110, and positioning assembly 120 is mounted to jaw cylinder 131, for example, rail 121 is mounted to jaw cylinder 131, and holder 122 is disposed above jaw cylinder 131.

The utility model also provides a support member transporting device comprising the support member grabbing mechanism 100 of the above embodiment.

As shown in fig. 4, in some embodiments of the present utility model, the stent transport device further comprises a transport mechanism 600, the transport mechanism 600 being connected to the stent grabbing mechanism 100, the transport mechanism 600 being configured to move the stent grabbing mechanism 100 in multiple degrees of freedom. For example, the transport mechanism 600 may effect movement of the stent grabbing mechanism 100 in the X-axis, Y-axis, Z-axis directions, as well as rotation about a center of rotation. The supporting piece grabbing mechanism 100 is operated to a feeding unit after grabbing the anchor rods 601 in the bin, the anchor disc is fed, and the transporting process from the feeding unit to the drilling machine unit is realized; thereby realizing the full-process automation of the anchor rod 601.

In an alternative embodiment of the present utility model, as shown in fig. 5 and 6, the transferring mechanism 600 includes a Z-axis moving assembly 200, the support grabbing mechanism 100 is mounted on the Z-axis moving assembly 200, and the Z-axis moving assembly 200 is used to drive the support grabbing mechanism 100 to lift along the axial direction of the anchor rod 601. That is, the support grabbing mechanism 100 is driven by the Z-axis moving assembly 200 to move along the Z-axis direction.

For example, the Z-axis moving assembly 200 includes a first slide rail 201, a first slider 202, and a first driving structure, where the first slide rail 201 is disposed along the Z-axis direction, the first slider 202 is matched with the first slide rail 201, and the first driving structure drives the first slider 202 to slide along the first slide rail 201. The support grabbing mechanism 100 is mounted on the first slider 202, and driven by the first driving structure, the support grabbing mechanism 100 moves up and down along the Z-axis direction where the first sliding rail 201 is located, so that the positions of the anchor rods 601 in different bins can be matched, and the clamping jaw assemblies 130 can grab the middle parts of the anchor rods 601.

In addition, the first driving structure may include a first rack 204, a first gear 205, and a first motor 203, the first rack 204 may be disposed along a length direction of the first slide rail 201, and a length of the first rack 204 may be equal to a length of the first slide rail 201. The first gear 205 is installed on the first motor 203, the first gear 205 is matched with the first rack 204, the first motor 203 is installed on the first sliding block 202, the first motor 203 drives the first gear 205 to rotate, and the first gear 205 is meshed with the first rack 204, so that the first sliding block 202 and the first sliding rail 201 can slide relatively. Of course, a first mounting plate 206 may be provided on the first slider 202 for mounting the first motor 203 and the support grabbing mechanism 100.

In an alternative embodiment of the present utility model, as shown in fig. 7, the transfer mechanism 600 further includes a rotating assembly 300, and the Z-axis moving assembly 200 is mounted on the rotating assembly 300, and the Z-axis moving assembly 200 is capable of rotating about the rotation center of the rotating assembly 300. Based on the orientation of the stock bin, the support grabbing mechanism 100 can be rotated to a proper position through the rotating assembly 300 to grab the anchor rod 601, and in addition, the direction of the support grabbing mechanism 100 can be adjusted in the loading or unloading process of the anchor rod 601.

For example, the rotating assembly 300 includes a rotating support 301, a mounting flange 302, and a second driving structure, wherein a rotating shaft is provided at the center of the rotating support 301, and an axis of the rotating shaft, i.e., a rotating center, and the mounting flange 302 is mounted on the rotating support 301, and the mounting flange 302 is connected to the Z-axis moving assembly 200, for example, to the first slide rail 201. The second driving structure drives the rotary support 301 to rotate, and then drives the Z-axis moving assembly 200 to rotate, that is, 360-degree rotation of the support grabbing mechanism 100 is achieved.

Wherein, the outer lane of rotary support 301 is provided with second rack 403, and the second drive structure includes second motor 304 and second gear 303, and second motor 304 drive second gear 303 rotates, and second gear 303 meshes with second rack 403, realizes 360 degrees rotations of rotary support 301.

In addition, the rotating assembly 300 further comprises a rotating support frame 305, and the rotating support 301 and the second driving structure are both mounted on the rotating support frame 305.

As shown in fig. 8, in other embodiments of the present utility model, the transferring mechanism 600 further includes a Y-axis moving assembly 400, and the rotating assembly 300 is mounted on the Y-axis moving assembly 400, and the Y-axis moving assembly 400 is used to drive the rotating assembly 300 to move along a lifting direction perpendicular to the Z-axis moving assembly 200. That is, the Y-axis moving assembly 400 can drive the support grabbing mechanism 100 to move along the Y-axis.

For example, the Y-axis moving assembly 400 includes a third driving structure, a second mounting plate 404, a guide plate 405, a second slide rail 406, and a second slide block 407, wherein the second slide block 407 is mounted on the second mounting plate 404, the second slide rail 406 is mounted on the guide plate 405, the third driving structure is mounted on the rotating support frame 305, and the rotating support frame 305 is connected with the guide plate 405. The third driving structure drives the rotary mounting bracket and the guide plate 405 to move in the Y-axis direction relative to the second mounting plate 404. In other words, the second mounting plate 404 is stationary and the rotary mounting bracket and guide plate 405 move linearly.

Specifically, the third driving structure includes a third motor 401, a third gear 402, and a second rack 403, the third motor 401 is mounted on the rotary support frame 305, the third gear 402 is mounted on the third motor 401, the second rack 403 is mounted on the second mounting plate 404, and the length direction of the second rack 403 is consistent with the Y-axis direction. The rotary support 305, the third motor 401 and the third gear 402 are all arranged above the second mounting plate 404, and the second slide rail 406 and the second slide block 407 are arranged on the guide plate 405 below the second mounting plate 404. The third motor 401 drives the third gear 402 to engage with the second rack 403, so that the rotary support frame 305 and the guide plate 405 move in the Y-axis direction with respect to the second mounting plate 404, and the support grabbing mechanism 100, the Z-axis moving assembly 200, and the rotary assembly 300 move in the Y-axis direction. Wherein, the deflector 405 slides on both sides of the second mounting plate 404, and the second mounting plate 404 is provided with a limit bar 408 for limiting the deflector 405.

In addition, as shown in fig. 9 and 10, in other embodiments of the present utility model, the transferring mechanism 600 further includes an X-axis moving assembly 500, and the Y-axis moving assembly 400 is mounted on the X-axis moving assembly 500, and the X-axis moving assembly 500 is used to drive the Y-axis moving assembly 400 to move along the telescopic direction parallel to the telescopic member 110.

Further, the X-axis moving assembly 500 includes a transmission beam 501, a fourth driving structure, a first guiding structure 505 and a second guiding structure 506, wherein the length of the transmission beam 501 is set along the X-axis direction, one ends of the first guiding structure 505 and the second guiding structure 506 are installed on the transmission beam 501, the other ends are installed on the second mounting plate 404, the first guiding structure 505 is disposed above the second mounting plate 404, and the second guiding structure 506 is disposed below the second mounting plate 404. The fourth driving structure drives the second mounting plate 404 to move along the transmission beam 501, so as to drive the Y-axis moving assembly 400, the rotating assembly 300, the Z-axis moving assembly 200 and the support grabbing mechanism 100 to move along the X-axis direction, and transfer the anchor rod 601 from one station to the next.

The fourth driving mechanism includes a fourth motor 504, a fourth gear 503 and a third rack 502, where the third rack 502 is disposed along the length direction of the transmission beam 501, the fourth motor 504 is disposed on the second mounting board 404, the fourth gear 503 is connected with the fourth motor 504, and the fourth motor 504 drives the fourth gear 503 to mesh with the third rack 502, so as to realize the relative movement of the second mounting board 404 relative to the transmission beam 501.

The utility model also provides roadway support equipment, which comprises the support piece grabbing mechanism 100 in the embodiment; alternatively, the roadway support apparatus includes the support member transporting device of the above embodiment. In addition, roadway support equipment includes anchor plate loading attachment and rig, and support piece snatchs the mechanism 100 and snatchs the back with stock 601, removes stock 601 from the feed bin to anchor plate loading unit through transfer mechanism 600, carries out automatic feeding through cat dish loading attachment for stock 601, then carries the stock 601 that the material loading is accomplished to the rig through transfer mechanism 600, supports.

According to the support grabbing mechanism 100 provided by the utility model, the positioning assembly 120 and the clamping jaw assembly 130 are arranged at the telescopic end of the telescopic piece 110 to position and grab the support, the positioning assembly 120 positions the support through the positioning notch 124 before grabbing the support by the grabbing assembly, so that the success rate of grabbing the support is improved, and after the positioning assembly 120 is positioned, the clamping jaw assembly 130 grabs the positioned support, and the grabbing efficiency is improved.

Further, in the stent-transporting device and the roadway support equipment provided by the present utility model, since the stent-gripping mechanism 100 as described above is provided, various advantages as described above are also provided.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A support grabbing mechanism, comprising:

a telescoping member;

2. The support member gripping mechanism of claim 1, wherein the positioning assembly comprises:

3. The support member grabbing mechanism of claim 1 or 2, wherein the jaw assembly comprises a jaw cylinder and a gripper jaw, the jaw cylinder being connected to the telescoping end of the telescoping member, the gripper jaw being connected to the jaw cylinder, the jaw cylinder being configured to control the gripper jaw to open and close;

4. A support member transport device comprising the support member grabbing mechanism of any one of claims 1 to 3.

5. The stent transport device of claim 4, further comprising a transfer mechanism coupled to the stent grabbing mechanism, the transfer mechanism configured to move the stent grabbing mechanism along multiple degrees of freedom.

6. The stent transport device of claim 5, wherein the transport mechanism comprises a Z-axis movement assembly, the stent gripping mechanism being mounted on the Z-axis

And the Z-axis moving assembly is used for driving the support piece grabbing mechanism to lift along the axial direction of the support piece.

7. The stent transport device of claim 6, wherein the transport mechanism further comprises a rotating assembly on which the Z-axis moving assembly is mounted, the Z-axis moving assembly being rotatable about a center of rotation of the rotating assembly.

8. The support member transporter of claim 7, wherein said transport mechanism further comprises a Y-axis movement assembly, said rotation assembly being mounted on said Y-axis movement assembly for driving said rotation assembly to move in a lifting direction perpendicular to said Z-axis movement assembly.

9. The support member transporter of claim 8, wherein said transport mechanism further comprises an X-axis movement assembly mounted on said X-axis movement assembly for moving said Y-axis movement assembly in a telescoping direction parallel to said telescoping member.

10. A roadway support apparatus comprising the support grabbing mechanism of any one of claims 1 to 3;

alternatively, the roadway support apparatus comprising the support member conveyance device of any one of claims 4 to 9.