WO2021169605A1 - 混凝土搅拌车加料机械手 - Google Patents

混凝土搅拌车加料机械手 Download PDF

Info

Publication number
WO2021169605A1
WO2021169605A1 PCT/CN2021/070063 CN2021070063W WO2021169605A1 WO 2021169605 A1 WO2021169605 A1 WO 2021169605A1 CN 2021070063 W CN2021070063 W CN 2021070063W WO 2021169605 A1 WO2021169605 A1 WO 2021169605A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
telescopic cylinder
mixer truck
swing arm
rotatably connected
Prior art date
Application number
PCT/CN2021/070063
Other languages
English (en)
French (fr)
Inventor
盛富春
Original Assignee
山东精砼工程机械股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 山东精砼工程机械股份有限公司 filed Critical 山东精砼工程机械股份有限公司
Publication of WO2021169605A1 publication Critical patent/WO2021169605A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
    • B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
    • B28C5/4203—Details; Accessories
    • B28C5/4234—Charge or discharge systems therefor
    • B28C5/4237—Charging, e.g. hoppers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles

Definitions

  • the invention relates to a manipulator device for feeding concrete mixer trucks, which can also be used in other operating situations.
  • the feeding of the concrete mixer truck is realized through the feeding hopper installed on the mixer tank of the mixer truck.
  • the feeding of the mixer truck is carried out in the mixing station.
  • the feeding hopper on the mixer truck loses its function and becomes a burden: one is that it needs to be cleaned, and the other is that it is not rainproof, not insulated and not Moisturizing, the third is to increase the weight and length of the car, and the fourth is to increase the equipment maintenance points.
  • the current feeding method has obvious spills, and the feeding location is the biggest pollution and waste point in the feeding room of the mixing station.
  • the present invention proposes a concrete mixer truck charging manipulator. Its purpose is to: (1) provide a feeding plan in the mixing station, without affecting the mixing truck feeding, to solve the need for cleaning, The problems of poor heat preservation and moisture retention, no rain protection, large weight, long length and difficult maintenance; (2) Reduce the spills and leakage generated when the mixing station is charged; (3) The concrete samples for slump test can be extracted online.
  • a concrete mixer truck charging manipulator includes a mechanical arm arranged at the mixing station and a drainage device installed at the end of the mechanical arm; the mechanical arm is used to move the position of the drainage device and adjust the angle of the drainage device; the drainage device It is used to transport the concrete output from the lower hopper of the mixer to the mixing barrel of the mixer truck.
  • the mechanical arm is provided with a third telescopic cylinder
  • the telescopic rod of the third telescopic cylinder is equipped with a bracket
  • the drainage device is installed on the bracket.
  • the mechanical arm also includes a base, a main arm, a swing arm, a first telescopic cylinder and a second telescopic cylinder;
  • the rear end of the main arm is rotatably connected with the front side of the base;
  • the upper end of the first telescopic cylinder is rotatably connected with the main arm, and the lower end is rotatably connected with the base, for driving the main arm to pitch and rotate relative to the base;
  • the swing arm is installed at the front end of the main arm in a rotating manner; one end of the second telescopic cylinder is rotatably connected with the swing arm, and the other end is rotatably connected with the main arm, for driving the swing arm to pitch and rotate relative to the main arm;
  • the bracket is installed on the swing arm through a sliding fit, and one end of the third telescopic cylinder is connected with the swing arm, and the other end is connected with the bracket.
  • the base is fixedly installed on an upright building
  • the base is installed on an upright building body through a vertically arranged slide rail to achieve lifting relative to the ground;
  • the base part is installed on the upright building body through a rotary connection, so as to realize horizontal swing relative to the ground.
  • the mechanical arm when the base is fixedly installed on an upright building body or is installed on an upright building body through a vertically arranged slide rail, the mechanical arm also includes a fourth telescopic cylinder, one end of the fourth telescopic cylinder It is rotatably connected with the main arm, and the other end is rotatably connected with the base to drive the main arm to swing horizontally relative to the base.
  • the mechanical arm also includes a mounting frame, a swing arm and a second telescopic cylinder;
  • the mounting frame is installed on the lower hopper
  • the bracket is installed on the swing arm through a sliding fit, and one end of the third telescopic cylinder is connected with the swing arm, and the other end is connected with the bracket;
  • One end of the second telescopic cylinder is rotatably connected with the mounting frame, and the other end is rotatably connected with the swing arm;
  • the swing arm is mounted on the mounting frame through a fixed arm: the upper end of the fixed arm is fixedly connected to the mounting frame, and the lower end is rotatably connected to the swing arm; or the swing arm is mounted on the mounting frame through a fifth telescopic cylinder: The upper end of the fifth telescopic cylinder is rotatably connected with the mounting frame, and the lower end is rotatably connected with the swing arm.
  • the diversion device includes a feed hopper located below the lower hopper, and also includes a launder communicated with the discharge port of the feed hopper.
  • a slump sampler is also installed at the bottom of the feeding hopper.
  • the front end of the mechanical arm or the front side of the drainage device is also equipped with a position detection device, and the position detection device is used to obtain the phase position between the drainage device and the mixer truck.
  • the device also includes a vehicle positioning device installed under the robotic arm.
  • the feeding device is arranged in the mixing station. After the mixer truck enters the station, the concrete is directly loaded by the charging device, so that the mixer truck does not need to be equipped with a feeding hopper and other devices.
  • Figure 1 is an overall schematic diagram of the first embodiment
  • Figure 2 is a partial schematic diagram of part A in Figure 1;
  • Figure 3 is a schematic diagram of the structure of the second embodiment
  • FIG. 4 is a schematic top view of the fourth telescopic cylinder and the main arm part in the third embodiment
  • Figure 5 is a schematic diagram of the structure of the fourth embodiment
  • Figure 6 is a schematic diagram of the structure of the fifth embodiment
  • Fig. 7 is a schematic diagram of the structure of the sixth embodiment.
  • a concrete mixer truck charging manipulator includes a mechanical arm arranged at a mixing station and a drainage device installed at the end of the mechanical arm.
  • the mechanical arm is used to move the position of the drainage device and adjust the angle of the drainage device, realize the flexible movement of the drainage device in space, and facilitate the alignment of the feed inlet of the mixing barrel.
  • the diversion device includes a feed hopper located below the lower hopper, and a launder communicating with the discharge port of the feed hopper. After the concrete output from the lower hopper enters the feed hopper, it flows out from the launder and is loaded into Mixing drum.
  • the robotic arm can be installed on the vertical building. If the lower hopper is far away from the building, the robot arm can be installed on the lower hopper.
  • the robot arm 1 is installed on the upright building 4.
  • the robotic arm 1 includes a base 1-7, a main arm 1-1, a swing arm 1-4, a first telescopic cylinder 1-2, a second telescopic cylinder 1-3, a third telescopic cylinder 1-5, and a bracket 1- 6.
  • the base 1-7 is fixedly installed on the upright building body 4.
  • the rear end of the main arm 1-1 is rotatably connected with the front side of the base 1-7; the upper end of the first telescopic cylinder 1-2 is rotatably connected with the main arm 1-1, and the lower end is connected with the base 1- 7 Rotation connection, used to drive the main arm 1-1 to pitch and rotate relative to the base 1-7.
  • the swing arm 1-4 is installed at the front end of the main arm 1-1 in a rotating manner; one end of the second telescopic cylinder 1-3 is rotatably connected with the swing arm 1-4, and the other end is rotatably connected with the main arm 1-1, Used to drive the swing arm 1-4 to pitch and rotate relative to the main arm 1-1.
  • the bracket 1-6 is mounted on the swing arm 1-4 through a sliding fit, and one end of the third telescopic cylinder 1-5 is connected with the swing arm 1-4, and the other end is connected with the bracket 1-6.
  • the hopper 2-1 is installed on the bracket 1-6.
  • a slump sampler 2-3 is also installed at the bottom of the hopper 2-1, which can be used for sampling and testing while feeding.
  • the front end of the robotic arm 1 or the front side of the drainage device 2 is also equipped with a position detection device.
  • the position detection device can be a camera with a illuminator, or a laser positioning device for acquiring the drainage device 2 and the mixer truck. The relative position between. When using a camera, the control end needs to observe the relative position through the display screen to control the robotic arm 1. If laser positioning is used, the distance between a number of measurement points and the laser transmitter is picked up to determine the position of the manipulator relative to the mixer truck, and then the action of the manipulator 1 is controlled.
  • vehicle positioning devices on the ground such as positioning blocks, marking lines, sensors, etc.
  • the mixer truck After the mixer truck enters the station, it stops at a fixed position.
  • the height of the feeding hopper 2-1 and the flow trough 2-2 can be adjusted by the first telescopic cylinder 1-2, and the feeding hopper 2-1 and the flow trough 2 can be further adjusted by the second telescopic cylinder 1-3.
  • the third telescopic cylinder 1-5 moves to send out the hopper 2-1 and the flow tank 2-2, and the end of the flow tank 2-2 enters the mixing tank , At this time, the feeding hopper 2-1 is just below the lower hopper 3.
  • the concrete output from the lower hopper 3 flows into the mixing barrel through the hopper 2-1 and the launder 2-2 to complete the feeding.
  • the third telescopic cylinder 1-5 moves in the reverse direction, the flow tank 2-2 leaves the mixing tank, and then the robot arm 1 moves to move the feeding hopper 2-1 and flow tank 2-2 away from the mixer truck, and finally the mixer truck leaves Feeding point.
  • the base 1-7 is installed on the upright building body 4 through the vertically arranged slide rails 1-8 to achieve lifting relative to the ground.
  • the bases 1-7 can be driven by a traction rope, a rack and pinion device or a screw nut mechanism to achieve lifting motion.
  • this embodiment has a larger adjustment space in the height direction of the hopper 2-1 and the launder 2-2, which is convenient for adapting to mixer trucks of various heights.
  • the manipulator 1 also includes a fourth telescopic cylinder 1-9, and one end of the fourth telescopic cylinder 1-9 is connected to the main
  • the arm 1-1 is rotatably connected, and the other end is rotatably connected with the base 1-7 to drive the main arm 1-1 to swing horizontally relative to the base 1-7. 2 and 3 for other parts at this time, the rear end of the main arm 1-1, the rear end of the fourth telescopic cylinder 1-9, and the rear end of the first telescopic cylinder 1-2 are all ball-articulated.
  • the first telescopic cylinder 1-2 is located directly below the main arm 1-1, and the fourth telescopic cylinder 1-9 is located in the same plane as the main arm 1-1.
  • the difference between this embodiment and the first embodiment is that the base 1-7 is in the shape of a rotating shaft and is installed on the upright building body 4 through a rotary connection to realize horizontal swing relative to the ground.
  • the mechanical arm 1 realizes another form of horizontal swing.
  • shaft-shaped base 1-7 may also be installed on a lifting mechanism, so as to realize the lifting and the horizontal swing at the same time.
  • the robot arm 1 is installed on the lower hopper 3.
  • the robot arm 1 includes a mounting frame 1-10, and the mounting frame 1-10 is mounted on the lower hopper 3.
  • the mechanical arm 1 also includes a swing arm 1-4, a third telescopic cylinder 1-5, and a bracket 1-6.
  • the bracket 1-6 is mounted on the swing arm 1-4 by a sliding fit.
  • the third telescopic cylinder 1 One end of -5 is connected with the swing arm 1-4, and the other end is connected with the bracket 1-6.
  • the hopper 2-1 is installed on the bracket 1-6.
  • the mechanical arm 1 further includes a second telescopic cylinder 1-3, one end of the second telescopic cylinder 1-3 is rotatably connected with the mounting frame 1-10, and the other end is rotatably connected with the rear end of the swing arm 1-4.
  • the swing arm 1-4 is also mounted on the mounting frame 1-10 through the fixed arm 1-11, the upper end of the fixed arm 1-11 is fixedly connected with the mounting frame 1-10, and the lower end is rotatably connected with the swing arm 1-4.
  • the angle of the feeding hopper 2-1 can be adjusted.
  • the front and rear positions of the runner 2-2 can be adjusted by the third telescopic cylinder 1-5 for feeding.
  • the difference between this embodiment and the fifth embodiment is that the swing arm 1-4 is installed on the mounting frame 1-10 through the fifth telescopic cylinder 1-12, and the fifth telescopic cylinder 1-12 The upper end is rotatably connected with the mounting frame 1-10, and the lower end is rotatably connected with the swing arm 1-4.
  • the fifth telescopic cylinder 1-12 and the second telescopic cylinder 1-3 expand and contract synchronously, the height can be adjusted, and only one telescopic cylinder can realize the angle adjustment.
  • the mechanical arm 1 may also have other structural forms, as long as it can realize the movement and swing of the feed hopper 2-1 and the flow trough 2-2, all within the protection scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Structural Engineering (AREA)
  • Preparation Of Clay, And Manufacture Of Mixtures Containing Clay Or Cement (AREA)

Abstract

本发明公开了一种混凝土搅拌车加料机械手，包括设置在搅拌站的机械臂，还包括安装在机械臂末端的引流装置。所述机械臂用于移动引流装置的位置以及调整引流装置的角度，实现引流装置在空间中的灵活动作，方便对准搅拌桶的进料口。所述引流装置包括位于下料斗下方的进料斗，还包括与所述进料斗出料口相通的流槽，用于下料斗输出的混凝土进入进料斗后，从流槽流出，装入搅拌桶。本发明将加料装置设置在搅拌站中，搅拌车进站后通过加料装置直接装载混凝土，从而搅拌车无需配备加料斗等装置，解决了搅拌车装载加料斗所带来的需要清洗、保温保湿差等问题，同时还减少了加料过程中的洒漏。

Description

混凝土搅拌车加料机械手 技术领域
本发明涉及一种为混凝土搅拌车加料的机械手装置，也可以用于其它作业场合。
 背景技术
目前，混凝土搅拌车的进料是通过安装在搅拌车搅拌桶上的进料斗来实现的。对于预拌混凝土，搅拌车的加料是在搅拌站里进行的，之后，在搅拌车上的进料斗也就失去作用，成为负担：一是需要清洗，二是不防雨、不保温、不保湿，三是增加车的重量和长度，四是增加了设备维护点。
另一方面，目前的加料方式存在明显的洒漏，加料地点是搅拌站加料间最大的污染和浪费点。
 技术问题
本发明提出了一种混凝土搅拌车加料机械手，其目的是：（1）提供一种搅拌站内加料方案，在不影响搅拌车加料的情况下，解决搅拌车装载加料斗所带来的需要清洗、保温保湿差、不防雨、重量大、长度长和难维护的问题；（2）减少搅拌站加料时产生的洒漏；（3）可以在线的提取坍落度测试的混凝土试样。
 技术解决方案
本发明技术方案如下：
一种混凝土搅拌车加料机械手，包括设置在搅拌站的机械臂，还包括安装在机械臂末端的引流装置；所述机械臂用于移动引流装置的位置以及调整引流装置的角度；所述引流装置用于将搅拌机的下料斗输出的混凝土输送至搅拌车的搅拌桶中。
作为本装置的进一步改进：所述机械臂上设有第三伸缩缸，所述第三伸缩缸的伸缩杆上安装有支架，所述引流装置安装在支架上。
作为本装置的进一步改进：所述机械臂还包括基部、主臂、摆动臂、第一伸缩缸和第二伸缩缸；
所述主臂的后端与所述基部前侧转动连接；所述第一伸缩缸上端与所述主臂转动连接、下端与所述基部转动连接，用于驱动主臂相对于基部俯仰转动；
所述摆动臂通过转动方式安装在主臂的前端；所述第二伸缩缸一端与摆动臂转动连接、另一端与主臂转动连接，用于驱动摆动臂相对于主臂俯仰转动；
所述支架通过滑动配合方式安装在摆动臂上，所述第三伸缩缸一端与摆动臂相连接、另一端与所述支架相连接。
作为本装置的进一步改进：所述基部固定安装在直立建筑体上；
或者，所述基部通过竖直设置的滑轨安装在直立建筑体上以实现相对于地面的升降；
或者，所述基部通过转动连接方式安装在直立建筑体上，以实现相对于地面的水平摆动。
作为本装置的进一步改进：当基部固定安装在直立建筑体上或者通过竖直设置的滑轨安装在直立建筑体上时，所述机械臂还包括第四伸缩缸，所述第四伸缩缸一端与主臂转动连接、另一端与所述基部转动连接，以驱动所述主臂相对于基部水平摆动。
作为本装置的进一步改进：所述机械臂还包括安装架、摆动臂和第二伸缩缸；
所述安装架安装在下料斗上；
所述支架通过滑动配合方式安装在摆动臂上，所述第三伸缩缸一端与摆动臂相连接、另一端与所述支架相连接；
所述第二伸缩缸一端与安装架转动连接、另一端与所述摆动臂转动连接；
所述摆动臂通过固定臂安装在安装架上：所述固定臂上端与安装架固定连接，下端与摆动臂转动连接；或者，所述摆动臂通过第五伸缩缸安装在安装架上：所述第五伸缩缸上端与安装架转动连接，下端与摆动臂转动连接。
作为本装置的进一步改进：所述引流装置包括位于下料斗下方的进料斗，还包括与所述进料斗出料口相通的流槽。
作为本装置的进一步改进：所述进料斗底部还安装有坍落度取样器。
作为本装置的进一步改进：所述机械臂的前端或引流装置的前侧还安装有位置检测装置，所述位置检测装置用于获取引流装置与搅拌车之间的相位位置。
作为本装置的进一步改进：还包括安装在机械臂下方的车辆定位装置。
 有益效果
相对于现有技术，本发明具有以下有益效果：（1）本发明将加料装置设置在搅拌站中，搅拌车进站后通过加料装置直接装载混凝土，从而搅拌车无需配备加料斗等装置，解决了搅拌车装载加料斗所带来的需要清洗、保温保湿差、不防雨、重量大、长度长和难维护等诸多问题，也降低了搅拌车的成本；（2）通过将流槽伸入搅拌桶实现加料，加料后搅拌车尾部无残留混凝土，减少了洒漏；（3）通过机械臂可以实现进料斗和流槽的空间移动与位置调整，适用于不同的搅拌车；（4）机械手既可以安装在靠近下料斗的墙壁上，也可以直接安装在下料斗上，适用于不同情况的搅拌站；（5）进料斗底部还设有坍落度取样器，可以边加料边进行取样检测；（6）通过摄像头、激光定位装置等位置检测装置，便于快速、直观地获取机械臂相对于搅拌桶的位置，准确加料。
 附图说明
图1为实施例一的整体示意图；
图2为图1中A部分的局部示意图；
图3为实施例二的结构示意图；
图4为实施例三中第四伸缩缸与主臂部分的俯视示意图；
图5为实施例四的结构示意图；
图6为实施例五的结构示意图；
图7为实施例六的结构示意图。
 本发明的最佳实施方式
下面结合附图详细说明本发明的技术方案：
一种混凝土搅拌车加料机械手，包括设置在搅拌站的机械臂，还包括安装在机械臂末端的引流装置。所述机械臂用于移动引流装置的位置以及调整引流装置的角度，实现引流装置在空间中的灵活动作，方便对准搅拌桶的进料口。所述引流装置包括位于下料斗下方的进料斗，还包括与所述进料斗出料口相通的流槽，用于下料斗输出的混凝土进入进料斗后，从流槽流出，装入搅拌桶。
如果下料斗靠近搅拌站的墙壁或立柱等直立建筑体，可以将机械臂安装在直立建筑体上。如果下料斗距离建筑体较远，可以将机械臂安装在下料斗上。
实施例一
如图1和2，本实施例中，机械臂1安装在直立建筑体4上。
所述机械臂1包括基部1-7、主臂1-1、摆动臂1-4、第一伸缩缸1-2、第二伸缩缸1-3、第三伸缩缸1-5和支架1-6。
所述基部1-7固定安装在直立建筑体4上。
所述主臂1-1的后端与所述基部1-7前侧转动连接；所述第一伸缩缸1-2上端与所述主臂1-1转动连接、下端与所述基部1-7转动连接，用于驱动主臂1-1相对于基部1-7俯仰转动。
所述摆动臂1-4通过转动方式安装在主臂1-1的前端；所述第二伸缩缸1-3一端与摆动臂1-4转动连接、另一端与主臂1-1转动连接，用于驱动摆动臂1-4相对于主臂1-1俯仰转动。
所述支架1-6通过滑动配合方式安装在摆动臂1-4上，所述第三伸缩缸1-5一端与摆动臂1-4相连接、另一端与所述支架1-6相连接。所述进料斗2-1安装在支架1-6上。
所述进料斗2-1底部还安装有坍落度取样器2-3，可以边加料边进行取样检测。
进一步的，所述机械臂1的前端或引流装置2的前侧还安装有位置检测装置，位置检测装置可以是摄像头搭配照明灯，也可以是激光定位装置，用于获取引流装置2与搅拌车之间的相对位置。采用摄像头时，操控端需要通过显示屏观测相对位置，对机械臂1进行控制。如果采用激光定位，则是通过拾取若干测量点与激光发射器之间的距离，判断机械手相对于搅拌车的方位，进而控制机械臂1动作。
地面上设有车辆定位装置，例如定位块、标记线、传感器等。
搅拌车进站后，在固定位置停下。加料时，通过第一伸缩缸1-2可以调整进料斗2-1与流槽2-2的高度，通过第二伸缩缸1-3可以进一步调整进料斗2-1与流槽2-2的角度，当流槽2-2末端对准搅拌桶后，第三伸缩缸1-5动作，将进料斗2-1与流槽2-2送出，流槽2-2末端进入搅拌桶，此时进料斗2-1恰好位于下料斗3的下方。下料斗3输出的混凝土经过进料斗2-1和流槽2-2流入搅拌桶中，完成加料。加料后，第三伸缩缸1-5反向动作，流槽2-2离开搅拌桶，然后机械臂1动作，使进料斗2-1和流槽2-2远离搅拌车，最后搅拌车离开加料点。
 本发明的实施方式
实施例二
如图3，本实施例与实施例一的不同之处在于：
所述基部1-7通过竖直设置的滑轨1-8安装在直立建筑体4上以实现相对于地面的升降。基部1-7可以通过牵引绳索、齿轮齿条装置或丝杠螺母机构驱动，实现升降动作。
本实施例相对于实施例一，进料斗2-1与流槽2-2在高度方向上的调整空间更大，方便适配各种高度的搅拌车。
实施例三
本实施例与实施例一或二的不同之处在于：如图4（俯视方向），所述机械臂1还包括第四伸缩缸1-9，所述第四伸缩缸1-9一端与主臂1-1转动连接、另一端与所述基部1-7转动连接，以驱动所述主臂1-1相对于基部1-7水平摆动。此时其它部位参考图2和图3，主臂1-1后端、第四伸缩缸1-9的后端以及第一伸缩缸1-2的后端均为球铰接。第一伸缩缸1-2位于主臂1-1正下方，第四伸缩缸1-9与主臂1-1位于同一平面内。
还可以通过其它机构代替第四伸缩缸1-9来驱动主臂1-1水平摆动，例如电机齿轮机构等。水平摆动便于在左右方向上寻找搅拌桶的位置。
实施例四
如图5，本实施例与实施例一的不同之处在于：所述基部1-7为转轴状，通过转动连接方式安装在直立建筑体4上，以实现相对于地面的水平摆动，此为机械臂1实现水平摆动的另一种实现形式。
进一步的，所述转轴状的基部1-7也可以是安装在升降机构上，实现升降的同时还能实现水平摆动。
实施例五
本实施例中机械臂1是安装在下料斗3上。
如图6，所述机械臂1包括安装架1-10，所述安装架1-10安装在下料斗3上。机械臂1还包括摆动臂1-4、第三伸缩缸1-5和支架1-6，所述支架1-6通过滑动配合方式安装在摆动臂1-4上，所述第三伸缩缸1-5一端与摆动臂1-4相连接、另一端与所述支架1-6相连接。所述进料斗2-1安装在支架1-6上。
机械臂1还包括第二伸缩缸1-3，所述第二伸缩缸1-3一端与安装架1-10转动连接、另一端与所述摆动臂1-4后端转动连接。
所述摆动臂1-4还通过固定臂1-11安装在安装架1-10上，所述固定臂1-11上端与安装架1-10固定连接，下端与摆动臂1-4转动连接。
第二伸缩缸1-3伸缩时，可以调整进料斗2-1的角度，调整好后，通过第三伸缩缸1-5调整流槽2-2的前后位置，进行加料。
实施例六
如图7，本实施例与实施例五的不同之处在于，所述摆动臂1-4通过第五伸缩缸1-12安装在安装架1-10上，所述第五伸缩缸1-12上端与安装架1-10转动连接，下端与摆动臂1-4转动连接。第五伸缩缸1-12与第二伸缩缸1-3同步伸缩时，可以实现高度的调整，只有一个伸缩，可以实现角度的调整。
机械臂1还可以是其它结构形式，只要可以实现进料斗2-1与流槽2-2的移动和摆动，都在本发明的保护范围在内。

Claims (10)

  1. 一种混凝土搅拌车加料机械手，其特征在于：包括设置在搅拌站的机械臂（1），还包括安装在机械臂（1）末端的引流装置（2）；所述机械臂（1）用于移动引流装置（2）的位置以及调整引流装置（2）的角度；所述引流装置（2）用于将搅拌机的下料斗（3）输出的混凝土输送至搅拌车的搅拌桶中。
  2. 如权利要求1所述的混凝土搅拌车加料机械手，其特征在于：所述机械臂（1）上设有第三伸缩缸（1-5），所述第三伸缩缸（1-5）的伸缩杆上安装有支架（1-6），所述引流装置（2）安装在支架（1-6）上。
  3. 如权利要求2所述的混凝土搅拌车加料机械手，其特征在于：所述机械臂（1）还包括基部（1-7）、主臂（1-1）、摆动臂（1-4）、第一伸缩缸（1-2）和第二伸缩缸（1-3）；
    所述主臂（1-1）的后端与所述基部（1-7）前侧转动连接；所述第一伸缩缸（1-2）上端与所述主臂（1-1）转动连接、下端与所述基部（1-7）转动连接，用于驱动主臂（1-1）相对于基部（1-7）俯仰转动；
    所述摆动臂（1-4）通过转动方式安装在主臂（1-1）的前端；所述第二伸缩缸（1-3）一端与摆动臂（1-4）转动连接、另一端与主臂（1-1）转动连接，用于驱动摆动臂（1-4）相对于主臂（1-1）俯仰转动；
    所述支架（1-6）通过滑动配合方式安装在摆动臂（1-4）上，所述第三伸缩缸（1-5）一端与摆动臂（1-4）相连接、另一端与所述支架（1-6）相连接。
  4. 如权利要求3所述的混凝土搅拌车加料机械手，其特征在于：所述基部（1-7）固定安装在直立建筑体（4）上；
    或者，所述基部（1-7）通过竖直设置的滑轨（1-8）安装在直立建筑体（4）上以实现相对于地面的升降；
    或者，所述基部（1-7）通过转动连接方式安装在直立建筑体（4）上，以实现相对于地面的水平摆动。
  5. 如权利要求4所述的混凝土搅拌车加料机械手，其特征在于：当基部（1-7）固定安装在直立建筑体（4）上或者通过竖直设置的滑轨（1-8）安装在直立建筑体（4）上时，所述机械臂（1）还包括第四伸缩缸（1-9），所述第四伸缩缸（1-9）一端与主臂（1-1）转动连接、另一端与所述基部（1-7）转动连接，以驱动所述主臂（1-1）相对于基部（1-7）水平摆动。
  6. 如权利要求2所述的混凝土搅拌车加料机械手，其特征在于：所述机械臂（1）还包括安装架（1-10）、摆动臂（1-4）和第二伸缩缸（1-3）；
    所述安装架（1-10）安装在下料斗（3）上；
    所述支架（1-6）通过滑动配合方式安装在摆动臂（1-4）上，所述第三伸缩缸（1-5）一端与摆动臂（1-4）相连接、另一端与所述支架（1-6）相连接；
    所述第二伸缩缸（1-3）一端与安装架（1-10）转动连接、另一端与所述摆动臂（1-4）转动连接；
    所述摆动臂（1-4）通过固定臂（1-11）安装在安装架（1-10）上：所述固定臂（1-11）上端与安装架（1-10）固定连接，下端与摆动臂（1-4）转动连接；或者，所述摆动臂（1-4）通过第五伸缩缸（1-12）安装在安装架（1-10）上：所述第五伸缩缸（1-12）上端与安装架（1-10）转动连接，下端与摆动臂（1-4）转动连接。
  7. 如权利要求2所述的混凝土搅拌车加料机械手，其特征在于：所述引流装置（2）包括位于下料斗（3）下方的进料斗（2-1），还包括与所述进料斗（2-1）出料口相通的流槽（2-2）。
  8. 如权利要求7所述的混凝土搅拌车加料机械手，其特征在于：所述进料斗（2-1）底部还安装有坍落度取样器（2-3）。
  9. 如权利要求1所述的混凝土搅拌车加料机械手，其特征在于：所述机械臂（1）的前端或引流装置（2）的前侧还安装有位置检测装置，所述位置检测装置用于获取引流装置（2）与搅拌车之间的相位位置。
  10. 如权利要求1至9任一所述的混凝土搅拌车加料机械手，其特征在于：还包括安装在机械臂（1）下方的车辆定位装置。
PCT/CN2021/070063 2020-02-28 2021-01-04 混凝土搅拌车加料机械手 WO2021169605A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010129984.9A CN111070417A (zh) 2020-02-28 2020-02-28 混凝土搅拌车加料机械手
CN202010129984.9 2020-02-28

Publications (1)

Publication Number Publication Date
WO2021169605A1 true WO2021169605A1 (zh) 2021-09-02

Family

ID=70324636

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/070063 WO2021169605A1 (zh) 2020-02-28 2021-01-04 混凝土搅拌车加料机械手

Country Status (2)

Country Link
CN (1) CN111070417A (zh)
WO (1) WO2021169605A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118342608A (zh) * 2023-12-30 2024-07-16 盐城市荣立新型建材有限公司 一种大型路缘石生产设备及其生产工艺

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111070417A (zh) * 2020-02-28 2020-04-28 山东精砼工程机械股份有限公司 混凝土搅拌车加料机械手
CN114227935B (zh) * 2021-12-21 2023-04-11 山东精砼工程机械股份有限公司 混凝土搅拌车的清洗装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040151057A1 (en) * 2003-02-03 2004-08-05 Mcneilus Truck And Manufacturing, Inc. Charge hopper for transit concrete mixer
CN104339450A (zh) * 2013-07-25 2015-02-11 姚天锡 带上料机械手的水泥搅拌运输车
CN205349369U (zh) * 2016-02-18 2016-06-29 郑州市华中建机有限公司 一种复合坐标式混凝土喷射机械手
CN107473142A (zh) * 2017-09-15 2017-12-15 太原矿机电气股份有限公司 一种基于单轨吊的机械手
CN207915759U (zh) * 2018-01-02 2018-09-28 武领征 一种道路市政工程用混凝土搅拌车
GB2562207A (en) * 2017-03-30 2018-11-14 Hymix Ltd Hopper assembly
CN111070417A (zh) * 2020-02-28 2020-04-28 山东精砼工程机械股份有限公司 混凝土搅拌车加料机械手
CN211762570U (zh) * 2020-02-28 2020-10-27 山东精砼工程机械股份有限公司 混凝土搅拌车加料机械手

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040151057A1 (en) * 2003-02-03 2004-08-05 Mcneilus Truck And Manufacturing, Inc. Charge hopper for transit concrete mixer
CN104339450A (zh) * 2013-07-25 2015-02-11 姚天锡 带上料机械手的水泥搅拌运输车
CN205349369U (zh) * 2016-02-18 2016-06-29 郑州市华中建机有限公司 一种复合坐标式混凝土喷射机械手
GB2562207A (en) * 2017-03-30 2018-11-14 Hymix Ltd Hopper assembly
CN107473142A (zh) * 2017-09-15 2017-12-15 太原矿机电气股份有限公司 一种基于单轨吊的机械手
CN207915759U (zh) * 2018-01-02 2018-09-28 武领征 一种道路市政工程用混凝土搅拌车
CN111070417A (zh) * 2020-02-28 2020-04-28 山东精砼工程机械股份有限公司 混凝土搅拌车加料机械手
CN211762570U (zh) * 2020-02-28 2020-10-27 山东精砼工程机械股份有限公司 混凝土搅拌车加料机械手

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118342608A (zh) * 2023-12-30 2024-07-16 盐城市荣立新型建材有限公司 一种大型路缘石生产设备及其生产工艺

Also Published As

Publication number Publication date
CN111070417A (zh) 2020-04-28

Similar Documents

Publication Publication Date Title
WO2021169605A1 (zh) 混凝土搅拌车加料机械手
CN208137467U (zh) 一种砌筑机器人
CN105914626A (zh) 移动式检修方仓
CN106906986B (zh) 一种多功能施工工作台和机器人
CN208800416U (zh) 一种建筑垃圾物料的分拣装置
CN111074701B (zh) Crtsⅲ型板式无砟轨道板自动智能精调施工装置及施工方法
CN111060351A (zh) 一种基于卫星遥感土壤检测装置
CN102980786A (zh) 一种车载移动式全自动煤炭采制样机及其采制样方法
CN115839174B (zh) 一种建筑施工机器人
CN211762570U (zh) 混凝土搅拌车加料机械手
CN211652149U (zh) 一种基于卫星遥感土壤检测装置
CN202649142U (zh) 扁平状复合材料x射线检测装置
CN213732636U (zh) 一种混凝土搅拌站的出料装置
CN206386151U (zh) 一种隧道病害检测自动控制装置
CN208557927U (zh) 一种混凝土搅拌站用全自动压试块系统
CN218824009U (zh) 一种x射线机远程定位装置
CN220879714U (zh) 喷淋装置
CN110253171B (zh) 一种h型钢全自动下料设备
CN219948388U (zh) 一种可升降底盘的园区巡检机器人
CN221219534U (zh) 建筑喷涂设备
CN220418088U (zh) 一种煅烧炉布料电动车
WO2001003841A1 (en) System and self-moving device for the control of milling processes
CN213854384U (zh) 一种具有称重机构的自动配料装置
CN217684100U (zh) 一种工业机器人视觉检测装置
CN221173974U (zh) 取样设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21761279

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21761279

Country of ref document: EP

Kind code of ref document: A1