CN219563071U - Prefabricated part hoisting mechanical arm - Google Patents

Abstract

The utility model discloses a prefabricated part hoisting mechanical arm, which relates to a mechanical arm with hoisting function, and comprises a six-way movement mechanical arm and a grabber, wherein the six-way movement mechanical arm comprises a front telescopic arm, a rear telescopic arm, an upper and lower regulating arm connected with the front telescopic arm and the rear telescopic arm, a rotation regulating arm connected with the upper and lower regulating arm, and a horizontal regulating arm connected with the rotation regulating arm, the horizontal regulating arm is connected with the grabber, the front telescopic arm and the rear telescopic arm stretch forwards and backwards, the upper and lower regulating arms move upwards and downwards, the rotation regulating arm rotates a vertical surface, the horizontal regulating arm rotates a horizontal surface, and the grabber grabs and fixes a prefabricated part. Compared with the prior art, the mechanical arm can easily hoist prefabricated parts for buildings weighing several tons in a narrow space, and can rapidly install different prefabricated parts in place by installing different grippers.

Description

Prefabricated part hoisting mechanical arm

Technical Field

The utility model relates to a mechanical arm with a hoisting function, in particular to a mechanical arm for hoisting prefabricated members for a building.

Background

The installation of prefabricated members in an underground comprehensive pipe rack is an important step in the whole construction process, but because the prefabricated lining is singly heavy by several tons and the space in the pipe rack is limited, the prefabricated lining is very difficult to install in the pipe rack, the prefabricated lining is usually lifted and transported by a small crane which can be driven into the pipe rack, the prefabricated lining is turned after reaching an installation position, and is lifted down after being manually corrected for angle, and the prefabricated lining frequently collides with the inner wall of the pipe rack or other components in the whole installation process due to the weight, inertia and crane performance and visual field of the prefabricated lining, so that the prefabricated lining is seriously damaged or broken, and even more, the prefabricated lining can collide with workers to cause serious safety accidents. Especially, the cross-section is circular underground pipe gallery, and the prefabricated inside lining of this kind of pipe gallery has the radian, and it is all strict to hoist, installation angle, and the accurate installation control of especially is difficult to, causes the uncontrollable of arc prefabricated inside lining interval, and the back is installed and is basically unable to remedy.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model provides the prefabricated member hoisting mechanical arm which has the functions of moving back and forth, moving up and down, rotating a vertical surface, rotating a horizontal surface and moving left and right, can easily hoist the prefabricated member for building weighing several tons in a narrow space, and can also quickly install different prefabricated members in place by installing different grippers.

In order to solve the technical problems, the utility model is solved by the following technical scheme: the utility model provides a prefab hoist and mount arm, includes rotatable base, still including setting up six to motion arm and the grabber on the base, six to motion arm including around flexible arm, with the flexible arm of around be connected the regulation arm of going up and down, with the rotation regulation arm of going up and down the regulation arm connection, with the horizontal regulation arm of rotating the regulation arm connection, the horizontal regulation arm be connected with the grabber, flexible arm is around going on, the regulation arm is reciprocated about going up and down, the rotation regulation arm is rotated vertical face, the horizontal regulation arm carry out the horizontal plane rotation, the grabber snatch, fixed prefab.

According to the technical method, preferably, the base comprises a sliding cavity, the front telescopic arm and the rear telescopic arm are arranged in the sliding cavity, the upper housing is provided with the telescopic cylinder, the tail ends of the front telescopic arm and the rear telescopic arm are provided with connecting blocks connected with the telescopic cylinder, the front end and the rear end of the sliding cavity are symmetrically provided with supporting rollers which are in contact with the front telescopic arm and the rear telescopic arm, and the upper housing is further provided with the displacement sensor A.

According to the technical method, preferably, the front ends of the front telescopic arms and the rear telescopic arms are provided with the fixed plates, the upper adjusting arm and the lower adjusting arm comprise lifting plates, the two sides of each lifting plate are provided with the leaning wheel assembly, the fixed plates are provided with sliding grooves and limiting stops matched with the leaning wheel assembly, the fixed plates are provided with telescopic cylinders connected with the lifting plates, and the lifting plates are also provided with the displacement sensor B.

In the above technical method, preferably, the lifting plate is further provided with a rotary slewing bearing, the rotary adjusting arm comprises a square tube, the square tube is provided with an organic seat plate, the seat plate is provided with the rotary slewing bearing and a driving tooth group B matched with the horizontal slewing bearing, and the rotary slewing bearing is further meshed with an angle sensor B.

According to the technical method, preferably, the square tube further comprises a vertical cavity, the horizontal adjusting arm comprises an inner arm, the inner arm penetrates through the vertical cavity, a limiting rack is arranged on the inner arm, limiting tooth groups matched with the limiting rack are arranged on the square tube, supporting rollers which are in contact with the inner arm are symmetrically arranged at the upper end and the lower end of the vertical cavity, a mounting plate is arranged at the bottom of the inner arm, a horizontal slewing bearing and a driving tooth group C matched with the rotary slewing bearing are arranged on the mounting plate, and an angle sensor C is meshed with the horizontal slewing bearing.

According to the technical method, preferably, the grabber comprises the grabbing plate, the grabbing plate is connected with the horizontal slewing bearing, the grabbing plate is provided with the pressing assembly, the limiting assembly and the hook device, the pressing assembly and the limiting assembly are oppositely arranged, the hook device is used for hoisting the prefabricated member, and the pressing assembly and the limiting assembly are used for fixing the prefabricated member.

According to the technical method, preferably, the grabbing plate is provided with the installation area for fixing the horizontal slewing bearing, the installation area is provided with the through hole, the hook device comprises a hanging seat arranged in the installation area, the hanging seat comprises a lower pin seat and an upper pin seat, the lower pin seat is rotatably provided with a hook, the upper pin seat is rotatably provided with a hook oil cylinder, the hook oil cylinder is connected with the hook, and the hook penetrates through the through hole.

According to the technical method, preferably, the pressing assembly comprises the main fixing seat arranged in the middle of the grabbing plate and the auxiliary fixing seat arranged at the edge of the grabbing plate, the pressing block is rotatably arranged on the auxiliary fixing seat, and the connecting oil cylinder A connected with the pressing block is arranged on the main fixing seat.

In the above technical method, preferably, the gripping plate is provided with two symmetrical pressing assemblies.

According to the technical method, preferably, the limiting assembly comprises control assemblies respectively arranged on two sides of the grabbing plate, the control assemblies comprise rocker arm bases and oil cylinder bases, connecting oil cylinders B are arranged on the oil cylinder bases, connecting plates are rotatably arranged on the rocker arm bases, the connecting oil cylinders B are connected with the connecting plates, and limiting plates are fixedly arranged between the two connecting plates.

The mechanical arm can be used for installing prefabricated members in underground pipe galleries and tunnels. The mechanical arm has the functions of vertical surface rotation, horizontal surface rotation, up-down adjustment and front-back adjustment, and the base with steering function also has the left-right adjustment function. The grabber is detachable on the mechanical arm, and the mechanical arm can have the functions of grabbing and installing different prefabricated members by replacing the grabber corresponding to different prefabricated member shapes.

Compared with the prior art, the mechanical arm has the functions of moving back and forth, moving up and down, rotating a vertical surface, rotating a horizontal surface and moving left and right, can easily hoist prefabricated members for buildings weighing several tons in a narrow space, and can rapidly install different prefabricated members in place by installing different grippers.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following discussion will discuss the embodiments or the drawings required in the description of the prior art, and it is obvious that the technical solutions described in connection with the drawings are only some embodiments of the present utility model, and that other embodiments and drawings thereof can be obtained according to the embodiments shown in the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the main structure of the present utility model.

Fig. 2 is a schematic perspective view of a six-way mechanical arm of the present utility model.

Fig. 3 is a schematic front view of a six-way mechanical arm of the present utility model.

Fig. 4 is a schematic side view of a six-way robotic arm of the present utility model.

Fig. 5 is a schematic top view of a six-way mechanical arm of the present utility model.

Fig. 6 is a schematic perspective view of the cockpit of the present utility model.

Fig. 7 is a schematic front view of the cockpit of the present utility model.

Fig. 8 is a perspective view of the front and rear telescopic arms of the present utility model.

Fig. 9 is a front and side schematic view of the front and rear telescopic arms of the present utility model.

Fig. 10 is a perspective and front view of the upper and lower adjustment arms of the present utility model.

Fig. 11 is a schematic perspective view of a rotary adjustment arm according to the present utility model.

Fig. 12 is a schematic front view of a rotary adjustment arm of the present utility model.

Fig. 13 is a schematic side view of a rotary adjustment arm of the present utility model.

Fig. 14 is a schematic perspective view of a rotary adjustment arm and a horizontal adjustment arm of the present utility model.

Fig. 15 is a schematic side view of a rotary adjustment arm and a horizontal adjustment arm of the present utility model.

Fig. 16 is a schematic perspective view of a leveling arm in accordance with the present utility model.

Fig. 17 is a schematic bottom view of the leveling arm of the present utility model.

Fig. 18 is a schematic front and side view of a gripper of the present utility model.

Fig. 19 is a top and perspective view of the gripper of the present utility model.

Fig. 20 is a top and perspective view of a gripper stop assembly of the present utility model.

Fig. 21 is a schematic perspective view of a gripper compression assembly of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made in detail and with reference to the accompanying drawings, wherein it is apparent that the embodiments described are only some, but not all embodiments of the present utility model. All other embodiments, which can be made by a person of ordinary skill in the art without the need for inventive faculty, are within the scope of the utility model, based on the embodiments described in the present utility model.

Example 1: as shown in fig. 1 to 20, the base is a cockpit 31, a rotary platform 111 is disposed at the bottom of the cockpit 31, a cockpit slewing bearing 31 and a driving tooth set a-35 matched with the cockpit slewing bearing are fixed on the rotary platform 111, and an angle sensor a-8 is further meshed with the driving tooth set a 35. The cockpit 31 also includes a door 34 and a viewing window 33.

The six-direction movement mechanical arm 6 comprises a front-back telescopic arm 61, an upper-lower adjusting arm 62 connected with the front-back telescopic arm 61, a rotation adjusting arm 63 connected with the upper-lower adjusting arm 62, and a horizontal adjusting arm 64 connected with the rotation adjusting arm 63, wherein the horizontal adjusting arm 64 is connected with the gripper 7. The top of the cockpit 31 is provided with an upper cover shell, the upper cover shell 35 is provided with a sliding cavity 36, and the front and rear telescopic arms 61 are arranged in the sliding cavity 36.

The upper housing 35 is provided with a telescopic cylinder 37, the tail ends of the front and rear telescopic arms 61 are provided with a connecting block 611 connected with the telescopic cylinder 37, the front and rear ends of the sliding cavity 36 are symmetrically provided with supporting rollers 38 contacted with the front and rear telescopic arms 61, basically, the number of the supporting rollers 38 at each end is four, the supporting rollers 38 are opposite to each other up and down, and the front and rear telescopic arms 61 can move in the sliding cavity 36 better through the supporting rollers 38. The upper housing 35 is also provided with a displacement sensor A-39, and the displacement sensor A-39 is positioned right below the telescopic oil cylinder A-37. The front end of the front telescopic arm 61 and the rear telescopic arm 61 are provided with a fixed plate 612, the top of the fixed plate 612 is provided with a placing plate 613, the placing plate 613 is provided with a plurality of hydraulic valve groups 619, and the hydraulic valve groups are communicated with a hydraulic station.

The up-down adjusting arm 62 includes a lifting plate 621, two sides of the lifting plate 621 are provided with a leaning wheel assembly 622, the fixed plate 612 is provided with a sliding groove 614 and a limit stop 615 which are matched with the leaning wheel assembly 622, the placing plate 613 is provided with a telescopic cylinder B-616, the lifting plate 621 is provided with a through hole 623 and a fixed position 624 which are matched with the telescopic cylinder B-616, wherein the through hole 623 is used for limiting the telescopic cylinder B-616. Fixed plate 612 is also provided with displacement sensor B-617 in cooperation with telescoping cylinder B-616.

The lifting plate 622 is further provided with a rotary slewing bearing 625, the rotary adjusting arm 63 comprises a square pipe 631, the square pipe 631 is provided with an organic seat board 632, the seat board 632 is used for fixing the rotary slewing bearing 625, the seat board 632 is further provided with two vertical driving seats 635 which are arranged relative to the rotary slewing bearing 625, the vertical driving seats 635 are internally provided with driving tooth groups B-636 which are matched with the rotary slewing bearing 625, one of the driving tooth groups B-636 is further meshed with an angle sensor B-637, and the angle sensor B-637 is consistent with the angle sensor A-8.

The square tube 631 further comprises a vertical cavity 638, the horizontal adjusting arm 64 comprises an inner arm 641, the inner arm 641 passes through the vertical cavity 638, a limiting rack 649 is arranged on the inner arm 641, a limiting tooth set 639 matched with the limiting rack 642 is arranged on the square tube 637, and the limiting tooth set 639 drives the inner arm 641 to slide up and down in the square tube 631 through rotation. The upper and lower ends of the vertical cavity 638 are symmetrically provided with supporting rollers 38 contacting with the inner arm 641, each end of the vertical cavity 638 is provided with 4 supporting rollers 38 which are symmetrical in pairs, and the inner arm 641 can slide in the vertical cavity 638 more smoothly through the supporting rollers 38.

The bottom of the inner arm 641 is provided with a mounting plate 642, the mounting plate 642 is provided with a horizontal slewing bearing 643, the mounting plate 642 is also provided with a horizontal driving seat 644, the horizontal driving seat 644 is internally provided with a driving tooth group C-645 which is meshed with the horizontal slewing bearing 643, and the driving tooth group C-645 is also meshed with an angle sensor C-646. The angle sensor C-646 corresponds to the angle sensor A-8.

The whole rotation of the six-direction movement mechanical arm 6 drives the cockpit 31 to rotate by the cockpit slewing bearing 31, so as to drive the six-direction movement mechanical arm 6 to rotate, and the rotation can be 360 degrees. The front and rear telescopic arms 61 are driven to move back and forth in the sliding cavity 36 through the telescopic oil cylinder 37, and the moving distance is monitored by the displacement sensors A-39. The up-down adjusting arm 62 is driven by the telescopic cylinder B-616 to move up and down, and the moving distance is detected by the displacement sensor B-617. The rotation adjusting arm 63 is driven to rotate by the rotation slewing bearing 625, and can theoretically rotate by 360 degrees, and only 180 degrees are needed in actual operation. The horizontal adjustment arm 64 is moved up and down by the inner arm 641.

The gripper comprises a gripping plate 71, the gripping plate 71 is connected with a horizontal slewing bearing 643, the gripping plate 71 is provided with a pressing component 711, a limiting component 712 and a hook device 713, the pressing component 711 and the limiting component are oppositely arranged 712, the hook device 713 is used for hoisting a prefabricated member, and the pressing component 711 and the limiting component 712 are used for fixing the prefabricated member.

The grabbing plate 71 is provided with a mounting area 72 for fixing the horizontal slewing bearing 643, the mounting area 72 is provided with a through hole 73, the hook device 713 comprises a hook seat 7131 arranged in the mounting area, the hook seat 7131 comprises a lower pin seat 7132 and an upper pin seat 7133, the lower pin seat 7133 is rotationally provided with a hook 7134, the upper pin seat 7132 is rotationally provided with a hook oil cylinder 7135, the hook oil cylinder 7135 is connected with the hook 7134, and the hook 7134 passes through the through hole 73.

The pressing assembly 711 comprises a main fixing seat 7111 arranged in the middle of the grabbing plate 71 and an auxiliary fixing seat 7112 arranged at the edge of the grabbing plate 71, a pressing block 7113 is rotatably arranged on the auxiliary fixing seat 7112, and a connecting oil cylinder A-7114 connected with the pressing block 7113 is arranged on the main fixing seat 7111. The gripping plate 71 is provided with two symmetrical pressing members 711.

The limiting component 712 comprises control components respectively arranged on two sides of the grabbing plate 71, the control components comprise a rocker arm base 7122 and an oil cylinder base 7123, a connecting oil cylinder B-7124 is arranged on the oil cylinder base 7123, a connecting plate 7125 is rotatably arranged on the rocker arm base 7122, the connecting oil cylinder B-7124 is connected with the connecting plate 7125, and a limiting plate 7126 is fixedly arranged between the two connecting plates 7125.

The gripping plate 71 is driven by a horizontal slewing bearing 643 to rotate 360 degrees. When the device is used, the pressing component 711 and the limiting component 712 are firstly opened, then the grabbing plate 71 is positioned above the prefabricated part through the six-direction movement mechanical arm 6, the hook device 713 is aligned to the prefabricated part hook, then the hook device 713 is hooked with the prefabricated part hook, then the hook 7134 is pushed tightly through the hook oil cylinder 7135, the prefabricated part is prevented from falling, then the pressing component 711 and the limiting component 712 are moved to two ends of the prefabricated part through the six-direction movement mechanical arm 6, and then the limiting plate 7126 and the pressing block 7113 clamp the prefabricated part through the oil cylinders B-7124 and the oil cylinders A-7114 respectively.

Claims (10)

1. The utility model provides a prefab hoist and mount arm, includes rotatable base, characterized by, still including setting up six to motion arm and the grabber on the base, six to motion arm including around flexible arm, with the upper and lower adjustment arm of flexible arm connection around, with the rotation adjustment arm of adjusting arm connection around, with the horizontal adjustment arm of rotating adjustment arm connection, the horizontal adjustment arm be connected with the grabber, flexible arm around carries out the fore-and-aft flexible, the upper and lower adjustment arm carries out the reciprocating, the rotation adjustment arm carries out the vertical face rotation, the horizontal adjustment arm carry out the horizontal plane rotation, the grabber snatch, fixed prefab.

2. The prefabricated member hoisting mechanical arm according to claim 1, wherein the base comprises a sliding cavity, the front telescopic arm and the rear telescopic arm are arranged in the sliding cavity and further comprise an upper housing, a telescopic cylinder is arranged on the upper housing, connecting blocks connected with the telescopic cylinder are arranged at the tail ends of the front telescopic arm and the rear telescopic arm, supporting rollers which are in contact with the front telescopic arm and the rear telescopic arm are symmetrically arranged at the front end and the rear end of the sliding cavity, and a displacement sensor A is further arranged on the upper housing.

3. The prefabricated member hoisting mechanical arm according to claim 2, wherein the front ends of the front telescopic arms and the rear telescopic arms are provided with fixing plates, the upper adjusting arm and the lower adjusting arm comprise lifting plates, two sides of each lifting plate are provided with leaning wheel assemblies, the fixing plates are provided with sliding grooves and limiting stops matched with the leaning wheel assemblies, the fixing plates are provided with telescopic cylinders connected with the lifting plates, and the lifting plates are further provided with displacement sensors B.

4. The prefabricated member hoisting mechanical arm according to claim 3, wherein the lifting plate is further provided with a rotary slewing bearing, the rotary adjusting arm comprises a square pipe, the square pipe is provided with an organic seat plate, the seat plate is provided with the rotary slewing bearing and a driving tooth group B matched with the rotary slewing bearing, and the rotary slewing bearing is further meshed with an angle sensor B.

5. The prefabricated member hoisting mechanical arm according to claim 4, wherein the square tube further comprises a vertical cavity, the horizontal adjusting arm comprises an inner arm, the inner arm penetrates through the vertical cavity, a limiting rack is arranged on the inner arm, limiting tooth groups matched with the limiting rack are arranged on the square tube, supporting rollers which are in contact with the inner arm are further symmetrically arranged at the upper end and the lower end of the vertical cavity, a mounting plate is arranged at the bottom of the inner arm, a horizontal slewing bearing and a driving tooth group C matched with the horizontal slewing bearing are arranged on the mounting plate, and the horizontal slewing bearing is further meshed with an angle sensor C.

6. The prefabricated member hoisting mechanical arm according to claim 5, wherein the grabber comprises a grabbing plate, the grabbing plate is connected with the horizontal slewing bearing, a pressing assembly, a limiting assembly and a hook device are arranged on the grabbing plate, the pressing assembly and the limiting assembly are arranged oppositely, the hook device is used for hoisting the prefabricated member, and the pressing assembly and the limiting assembly are used for fixing the prefabricated member.

7. The prefabricated member hoisting mechanical arm according to claim 6, wherein the grabbing plate is provided with a mounting area for fixing the horizontal slewing bearing, a through hole is formed in the mounting area, the hooking device comprises a hanging seat arranged in the mounting area, the hanging seat comprises a lower pin seat and an upper pin seat, the lower pin seat is rotatably provided with a hook, the upper pin seat is rotatably provided with a hook oil cylinder, the hook oil cylinder is connected with the hook, and the hook penetrates through the through hole.

8. The prefabricated member hoisting mechanical arm according to claim 6, wherein the pressing assembly comprises a main fixing seat arranged in the middle of the grabbing plate and an auxiliary fixing seat arranged at the edge of the grabbing plate, a pressing block is rotatably arranged on the auxiliary fixing seat, and a connecting oil cylinder A connected with the pressing block is arranged on the main fixing seat.

9. The prefabricated member lifting mechanical arm according to claim 8, wherein two symmetrical pressing assemblies are arranged on the grabbing plate.

10. The prefabricated member hoisting mechanical arm according to claim 6, wherein the limiting assembly comprises control assemblies respectively arranged on two sides of the grabbing plate, the control assemblies comprise a rocker arm seat and an oil cylinder seat, a connecting oil cylinder B is arranged on the oil cylinder seat, a connecting plate is rotatably arranged on the rocker arm seat, the connecting oil cylinder B is connected with the connecting plate, and a limiting plate is fixedly arranged between the two connecting plates.