WO2024036930A1 - 一种拱架抓取机构 - Google Patents

一种拱架抓取机构 Download PDF

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Publication number
WO2024036930A1
WO2024036930A1 PCT/CN2023/080717 CN2023080717W WO2024036930A1 WO 2024036930 A1 WO2024036930 A1 WO 2024036930A1 CN 2023080717 W CN2023080717 W CN 2023080717W WO 2024036930 A1 WO2024036930 A1 WO 2024036930A1
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WO
WIPO (PCT)
Prior art keywords
arch
clamp
grabbing mechanism
frame
driving unit
Prior art date
Application number
PCT/CN2023/080717
Other languages
English (en)
French (fr)
Inventor
毛波
王慧民
龚俊
宋祖源
蔡畅
肖凌云
曾詹辉
阳乐多
周鹤
Original Assignee
湖南五新隧道智能装备股份有限公司
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Application filed by 湖南五新隧道智能装备股份有限公司 filed Critical 湖南五新隧道智能装备股份有限公司
Publication of WO2024036930A1 publication Critical patent/WO2024036930A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries

Definitions

  • the invention relates to the technical field of arch installation equipment, and in particular to an arch grabbing mechanism.
  • the tunnel arch frame installation vehicle needs to be used to grab and fix the arch frame, and then the construction personnel will install the arch frame.
  • manual arch assembly or a single spreader is often used to grab the arch for installation.
  • Manual installation is time-consuming and laborious, with low construction efficiency and high personal safety risks; the single spreader installation mechanism has only one arch clamping position, and most of the arches are arc-shaped, so it is easy to become unstable during the arch grabbing and lifting process. , especially when erecting arches after multiple arch frames are prefabricated.
  • the clamping cylinder of the arch grasping mechanism is generally set on the side of the support platform. The cylinder lacks protection during the clamping and relaxing state changes and the overall volume of the arch grasping mechanism increases. , it is easy to collide with other structures during operation, affecting the flexibility of the arch grasping mechanism.
  • the present invention provides an arch grasping mechanism, which drives two sets of jaw assemblies to synchronously grasp through a driving unit, thereby improving the stability of the arch grasping, and changing the force in the space. direction, so that the telescopic direction of the drive unit can be arranged along the length of the support platform, thereby improving the compactness of the arch grasping mechanism.
  • the specific technical solution is as follows.
  • An arch grasping mechanism includes two sets of clamping jaw assemblies, a support platform and a driving unit; the two sets of clamping jaw assemblies are arranged along the length direction of the support platform and are used to clamp the arch frame on the support platform; the clamping jaws
  • the assembly includes a connecting frame, a limiting block, and two oppositely arranged clamps; the connecting frame is hinged with the support platform, the driving unit, and the limiting block respectively; both ends of the driving unit are respectively connected with the two sets of clamping jaw assemblies.
  • the connecting frame is hinged; when the drive unit expands and contracts, it drives the connecting frame to rotate around a hinge point, thereby driving the limit block to move; the clamp is hinged to the support platform and connected to the connecting frame, and the clamp moves around as the connecting frame moves. Its hinge points rotate.
  • the limit block is provided with two symmetrically arranged slide grooves; the end of the clamp close to the limit block is connected to a limit pin; the limit pins of the two clamps in the same set of clamp jaw assemblies are They are respectively movably placed in two chutes.
  • a limiting sleeve is rotatably connected to the limiting pin; and the limiting sleeve is movably placed in the chute.
  • the symmetrical center planes of the two slide grooves are the same as the symmetrical center planes of the two clamping jaws.
  • an anti-separation device is provided at one end of the limit pin away from the clamp, and the anti-separation device is used to prevent the limit pin from sliding out of the chute.
  • the driving unit is a one-way oil cylinder or a two-way oil cylinder.
  • a pressing block is detachably connected to the clamping end of the clamp, and the pressing block is used to compress the arch frame.
  • the support platform includes a support part and a bending part bent downward along both sides of the support part; the support part and the bending part surround a receiving groove with an opening downward; the driving unit, the connection The frame and limit blocks are arranged in the receiving groove.
  • a hinged bracket is provided on the outer surface of the bent portion, and the clamp is hingedly connected to the hinged bracket.
  • the support part is connected with a " ⁇ "-shaped support frame.
  • the arch grabbing mechanism provided by the present invention can change the direction of the force output by the driving unit in space through the connecting frame and the limiting block, so that the telescopic direction of the driving unit can be along the length of the supporting platform.
  • the directional arrangement reduces the size of the grabbing mechanism, avoids collisions with other structures in the tunnel during the expansion and contraction of the drive unit, and improves the flexibility of the grabbing mechanism; and is connected to the connecting frame of the two sets of clamping jaw assemblies through one driving unit.
  • the two sets of clamping claw assemblies can grasp the arch frame synchronously, avoiding the arch frame from being deflected due to unsynchronized grasping during the grasping process, and improving the stability of the arch frame grasping.
  • Figure 1 is a schematic diagram of the overall structure of the arch grabbing mechanism
  • Figure 2 is one of the schematic cross-sectional views of the arch grabbing mechanism along its length direction
  • Figure 3 is one of the cross-sectional views along the A-A plane in Figure 2;
  • Figure 4 is the second cross-sectional view along the A-A plane in Figure 2
  • Figure 5 is a partial cross-sectional view along B-B in Figure 2;
  • Figure 6 is a schematic structural diagram of the clamp
  • Figure 7 is a schematic diagram of the pressing block pressing the arch flange plate
  • Figure 8 is a schematic diagram of the pressing block pressing the arch web
  • Figure 9 is the second schematic cross-sectional view of the arch grabbing mechanism along its length direction.
  • Supporting part 22. Bending part; 23. Accommodating groove; 24. Hinged bracket; 25. Supporting frame;
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a detachable connection.
  • Deconnection, or integral connection can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • connection or integral connection
  • connection can be a mechanical connection or an electrical connection
  • it can be a direct connection or an indirect connection through an intermediate medium
  • it can be an internal connection between two components.
  • the arch 4 grabbing mechanism includes two sets of jaw assemblies 1 , a support platform 2 and a driving unit 3 .
  • the two sets of clamping jaw assemblies 1 are arranged along the length direction of the support platform 2 , that is, they are respectively located close to both ends of the support platform 2 .
  • the arch 4 is clamped on the support platform 2 through the two sets of clamping jaw assemblies 1 . Because the arch 4 is mostly arc-shaped, the two sets of clamping jaw assemblies 1 are respectively located close to both ends of the support platform 2 so that a certain distance is maintained between the two clamping positions. , It is not easy to become unstable when erecting an arch.
  • the clamp assembly 1 includes a connecting frame 11 , a limiting block 12 and two relatively symmetrically arranged clamps 13 .
  • the connecting frame 11 is hinged with the support platform 2 to form a first hinge point 14
  • the connecting frame 11 is hinged with the driving unit 3 to form a second hinge point 15
  • the connecting frame 11 and the limiting block 12 are The hinges form a third hinge point 16; the first hinge point 14, the second hinge point 15, and the third hinge point 16 can be set in a non-collinear triangle shape, or can be set in a collinear inclined state.
  • the telescopic direction of the drive unit 3 is arranged along the length direction of the support platform 2 , that is, the axis of the drive unit 3 is parallel to the length direction of the support platform 2 , and both ends of the drive unit 3 are respectively connected to the connecting frames of the two sets of jaw assemblies 1 11 is hinged.
  • the driving unit 3 telescopes, it drives the two connecting frames 11 to rotate around the first hinge point 14 respectively, thereby driving the limit block 12 to move according to the rotation trajectory of the second hinge point 12.
  • the clamp 13 and the support The platform 2 is hinged to form a fourth hinge point 17, and the clamp 13 is also connected to the connecting frame 11, and rotates around the fourth hinge point 17 as the connecting frame 11 moves, thereby achieving clamping and loosening actions.
  • the direction of the force output by the driving unit 3 can be changed in space through the connecting frame 11 and the limiting block 12, so that the telescopic direction of the driving unit 3 can be arranged along the length direction of the support platform 2, reducing the This reduces the size of the grabbing mechanism, avoids the collision of the driving unit 3 with other structures in the tunnel during the expansion and contraction process, and improves the flexibility of the grabbing mechanism; and is connected to the connecting frame 11 of the two sets of clamping jaw assemblies 1 through one driving unit 3, so that The two sets of clamping jaw assemblies 1 can synchronously grasp the arch frame 4, thereby preventing the arch frame 4 from being deflected due to asynchronous grasping during the grasping process, and improving the grasping stability of the arch frame 4.
  • the limiting block 12 is provided with two symmetrically arranged chute 121.
  • the chute 121 is a waist-shaped hole or a special-shaped hole.
  • the two chute 121 The center plane of symmetry is the same as the center plane of symmetry of the two clamps 13; the end of the clamps 13 close to the limiting block 12 is connected to a limiting pin 131, and the limiting pin 131 is in contact with the clamps in the horizontal direction. 13 is vertical; the limit pins 131 of the two clamps 13 in the same group of jaw assemblies 1 are movably placed in the two chute 121 respectively.
  • the limit pin 131 can not only move along the chute 121 can move relative to the limiting block 12 in the length direction, and can also move relative to the limiting block 12 along the axis direction of the limiting pin 131 .
  • the limit block 12 drives the two clamps 13 to perform clamping or loosening actions synchronously, thereby realizing the two clamps in the same set of clamp jaw assemblies 1 .
  • the synchronous action of the clamps 13 avoids the deviation of the arch 4 from the center of the arch grasping mechanism due to asynchronous clamping of the clamps 13, and the possibility that the clamp 13 on one side pushes the arch 4 and the arch during the clamping process.
  • the contact on the other side causes the arch 4 to become unstable.
  • the process of using the clamping jaw assembly 1 to clamp the arch 4 includes: referring to Figure 2, extending the driving unit 3, pushing the connecting frame 11 to rotate counterclockwise, and making the limiting block 12 face the clamp. 13, as shown in Figure 3, and at the same time move the limiting block 12 in a direction away from the support platform 2. Since the clamp 13 is hinged with the support platform 2, the clamp 13 is caused to rotate around the fourth hinge point 17, The two limiting pins 131 move in the chute 121 and move away from each other until the clamp 13 clamps the arch 4, and its final clamping state is shown in Figure 4.
  • the process of using the clamping jaw assembly 1 to loosen the arch 4 includes: referring to Figure 2, shortening the driving unit 3, pulling the connecting frame 11 to rotate clockwise, and moving the limiting block 12 in a direction away from the clamp 13.
  • the limit block 12 is moved in a direction close to the support platform 2 . Since the clamp 13 is hinged with the support platform 2 , the clamp 13 is rotated around the fourth hinge point 17 , and the two limit pins 131 Move in the chute 121 and approach each other until the limiting block 12 abuts the support platform 2.
  • the relaxed state is shown in Figure 3.
  • the limiting sleeve 132 is rotatably connected to the limiting pin 131.
  • the limiting sleeve 132 is preferably made of nylon.
  • the limiting sleeve 132 is movably placed on Inside the chute 121. on gripper assembly 1 During the clamping and loosening process, the limit sleeve 132 can be used to avoid rigid friction between the limit pin 131 and the limit block 12, so that the limit pin 131 can move smoothly in the chute 121, and the limit pin can be extended. 131 service life.
  • an end of the limiting pin 131 away from the clamp 13 is provided with an anti-off device 133.
  • the size of the anti-off device 133 is larger than the size of the chute 121.
  • the anti-off device 133 is used to prevent The limiting pin 131 slides out from the chute 121 .
  • the limit pin 131 During the relative movement between the limit pin 131 and the limit block 12 , the limit pin 131 not only moves relative to the length of the chute 121 , but also moves along the axial direction of the limit pin 131 .
  • the detachment device 133 prevents the limit pin 131 and the limit block 12 from being detached from the chute 121 when they move in the axial direction of the limit pin 131 .
  • the driving unit 3 may be a one-way oil cylinder.
  • the driving unit 3 may also be a two-way oil cylinder. During the expansion and contraction process of the oil cylinder, the two jaw assemblies 1 are driven synchronously to clamp or relax.
  • the clamping end of the clamp 13 can be an integral structure to directly clamp the arch 4, or can be connected to a detachable pressing block 134.
  • the flange plate 41 or the web 42 of the arch 4 can be compressed by replacing the pressing block 134 with a different shape.
  • the pressing blocks 134 of different shapes are replaced according to different structures of the arch 4, thereby improving the applicability of the arch 4 for grasping.
  • the support platform 2 includes a support portion 21 and a bending portion 22 bent downward along both sides of the support portion 21; the support portion 21 and the bending portion 22 Surrounded by a receiving groove 23 that opens downward, the driving unit 3 , the connecting frame 11 , and the limiting block 12 are all arranged in the receiving groove 23 .
  • the accommodating groove 23 provides protection for the drive unit 3, the connecting frame 11, and the limiting block 12 to avoid collisions with these components during the movement of the arch 4 grabbing mechanism, making the structure of the arch grabbing mechanism more compact and reducing the volume. Smaller, improves flexibility during operation.
  • a hinge bracket 24 is provided on the outer side of the bent portion 22 , and the clamp 13 is hinged to the hinge bracket 24 , and the clamp 13 is hinged to the side of the support platform 2 . Further improve the compactness of the structure.
  • the top of the support part 21 is connected with a " ⁇ "-shaped support frame 25.
  • the support frame 25 limits the deflection of the arch 4 to prevent the arch 4 from falling into the two sides due to operational errors during the process of placing or grabbing the arch 4.
  • the inside of the clamp 13 improves the reliability of the process of grabbing the arch 4.

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Abstract

一种拱架抓取机构，包括两组夹爪组件（1）、支撑平台（2）和驱动单元（3）；两组夹爪组件（1）沿支撑平台（2）的长度方向布置，用于将拱架（4）夹紧于支撑平台（2）上；夹爪组件（1）包括连接架（11）、限位块（12）、以及两个相对布置的夹钳（13）；连接架（11）分别与支撑平台（2）、驱动单元（3）、限位块（12）铰接；驱动单元（3）的两端分别与两组夹爪组件（1）的连接架（11）铰接；驱动单元（3）伸缩时带动连接架（11）绕一铰接点转动，从而带动限位块（12）移动；夹钳（13）与支撑平台（2）铰接并与连接架（11）连接，夹钳（13）随限位块（12）移动而绕其铰接点转动。上述结构能够实现两组夹爪组件（1）同步抓取，提高拱架抓取机构的紧凑性、以及抓取过程的稳定性。

Description

一种拱架抓取机构 技术领域
本发明涉及拱架安装设备技术领域，具体涉及一种拱架抓取机构。
背景技术
在隧道拱架安装过程中，需要利用隧道拱架安装车对拱架进行抓取固定后，再由施工人员对拱架进行安装。在传统的施工过程中，常采用人工拱架拼装或单个吊具抓取拱架进行安装。人工安装费时费力，施工效率低、人身安全风险大；单吊具安装机构由于拱架夹持位置仅一处，而拱架大多为圆弧形，在拱架抓取举升过程中容易失稳，尤其是多榀拱架预制后进行立拱时尤为明显。另外，参照申请号为CN106703844B的发明专利，拱架抓取机构的夹紧油缸一般设置于支撑平台的侧面，油缸在夹紧和放松状态变化过程中缺少防护且拱架抓取机构整体体积增大，作业过程中容易与其他结构碰撞，影响拱架抓取机构的灵活性。
发明内容
为了解决上述存在的技术问题，本发明提供了一种拱架抓取机构，通过一个驱动单元带动两组夹爪组件同步抓取，提高拱架抓取的稳定性，并且通过改变力在空间内的方向，使得驱动单元的伸缩方向能够沿支撑平台的长度方向布置，提高拱架抓取机构的紧凑性，其具体技术方案如下。
一种拱架抓取机构，包括两组夹爪组件、支撑平台和驱动单元；两组夹爪组件沿支撑平台的长度方向布置，用于将拱架夹紧于支撑平台上；所述夹爪组件包括连接架、限位块、以及两个相对布置的夹钳；所述连接架分别与支撑平台、驱动单元、限位块铰接；所述驱动单元的两端分别与两组夹爪组件的连接架铰接；所述驱动单元伸缩时带动连接架绕一铰接点转动，从而带动限位块移动；所述夹钳与所述支撑平台铰接并与连接架连接，夹钳随连接架移动而绕其铰接点转动。
进一步的，所述限位块内设有两个对称布置的滑槽；所述夹钳靠近限位块的端部连接有限位销；同一组夹爪组件内的两个夹钳的限位销分别可移动地置于两个滑槽内。
进一步的，所述限位销上可转动地套接有限位套筒；所述限位套筒可移动地置于滑槽内。
进一步的，两个所述滑槽的对称中心面与两个所述夹爪的对称中心面相同。
进一步的，所述限位销远离夹钳的一端设有防脱装置，所述防脱装置用于防止限位销从滑槽内滑出。
可选的，所述驱动单元为单向油缸或双向油缸。
可选的，所述夹钳的夹持端可拆卸地连接有压块，所述压块用于压紧拱架。
进一步的，所述支撑平台包括支撑部、以及沿支撑部两侧向下弯折的弯折部；所述支撑部与弯折部围绕成一个开口向下的容纳槽；所述驱动单元、连接架、限位块均布置于容纳槽内。
进一步的，所述弯折部的外侧面设有铰接支架，所述夹钳铰接于该铰接支架上。
进一步的，所述支撑部上连接有“凵”型的支撑架。
有益效果：本发明所提供的一种拱架抓取机构，通过连接架和限位块能够在空间内改变驱动单元所输出的作用力的方向，使得驱动单元的伸缩方向能够沿支撑平台的长度方向布置，减小了抓取机构的体积，避免驱动单元伸缩过程中与隧道内其他结构碰撞，提高了抓取机构的灵活性；并且通过一个驱动单元与两组夹爪组件的连接架连接，使两组夹爪组件能够对拱架进行同步抓取，避免拱架在抓取过程中因抓取不同步而产生偏移，提高拱架抓取的稳定性。
附图说明
图1为拱架抓取机构的整体结构示意图；
图2为拱架抓取机构沿其长度方向的剖面示意图之一；
图3为图2中沿A-A平面的剖视图之一；
图4为图2中沿A-A平面的剖视图之二
图5为图2中沿B-B的部分剖视图；
图6为夹钳的结构示意图；
图7为压块压紧拱架翼缘板的示意图；
图8为压块压紧拱架腹板的示意图；
图9为拱架抓取机构沿其长度方向的剖面示意图之二。
附图标记：1、夹爪组件；2、支撑平台；3、驱动单元；4、拱架；
11、连接架；12、限位块；13、夹钳；14、第一铰接点；15、第二铰接点；16、第三铰接点；17、第四铰接点；
121、滑槽；
131、限位销；132、限位套筒；133、防脱装置；134、压块；
21、支撑部；22、弯折部；23、容纳槽；24、铰接支架；25、支撑架；
41、翼缘板；42、腹板。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆解连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
实施例
本实施例提供了一种拱架抓取机构，其用于隧道施工过程中对拱架4进行抓取，便于施工人员对拱架4进行安装作业。具体来说，参照图1所示，该拱架4抓取机构包括两组夹爪组件1、一支撑平台2以及一驱动单元3。两组所述夹爪组件1沿支撑平台2的长度方向布置，即分别位于靠近支撑平台2两端部的位置，通过两组夹爪组件1将拱架4夹紧于支撑平台2上。因为拱架4多为圆弧形，两组所述夹爪组件1分别位于靠近支撑平台2两端部的位置使得两个夹持位之间保持一定的距离，在拱架抓取、举升、立拱时不容易失稳。
参照图2到图4所示，所述夹爪组件1包括一连接架11、一限位块12和两个相对对称布置的夹钳13。参照图2所示，所述连接架11与支撑平台2铰接形成第一铰接点14，所述连接架11与驱动单元3铰接形成第二铰接点15，所述连接架11与限位块12铰接形成第三铰接点16；第一铰接点14、第二铰接点15、第三铰接点16可以设置为不共线的三角状，也可以设置为共线的倾斜状态。所述驱动单元3的伸缩方向沿支撑平台2的长度方向布置，即驱动单元3的轴线与支撑平台2的长度方向平行，并且驱动单元3的两端分别与两组夹爪组件1的连接架11铰接，当驱动单元3伸缩时，分别驱动两个连接架11分别绕第一铰接点14转动，从而带动限位块12按照第二铰接点12的转动轨迹移动。所述夹钳13与所述支撑 平台2铰接形成第四铰接点17，并且夹钳13还与连接架11连接，随着连接架11的移动而绕第四铰接点17转动，从而实现夹紧和放松动作。
在本实施例中，通过连接架11和限位块12能够在空间内改变驱动单元3所输出的作用力的方向，使得驱动单元3的伸缩方向能够沿支撑平台2的长度方向布置，减小了抓取机构的体积，避免驱动单元3伸缩过程中与隧道内其他结构碰撞，提高了抓取机构的灵活性；并且通过一个驱动单元3与两组夹爪组件1的连接架11连接，使两组夹爪组件1能够对拱架4进行同步抓取，避免拱架4在抓取过程中因抓取不同步而产生偏移，提高拱架4抓取的稳定性。
具体来说，参照图2和图3所示，所述限位块12内部设有两个对称布置的滑槽121，该滑槽121为腰型孔或异形孔，两个所述滑槽121的对称中心面与两个所述夹钳13的对称中心面相同；所述夹钳13靠近限位块12的端部连接有限位销131，所述限位销131在水平方向上与夹钳13垂直；同一组夹爪组件1内的两个夹钳13的限位销131分别可移动地置于两个滑槽121内，具体来说，所述限位销131不仅能够沿着滑槽121的长度方向相对限位块12移动，还能够沿着限位销131的轴线方向相对限位块12移动。当驱动单元3驱动限位块12沿连接架11的转动轨迹移动时，限位块12带动两个夹钳13同步进行夹紧或放松动作，从而实现同一组夹爪组件1内的两个夹钳13同步动作，避免了夹钳13因不同步导致的夹紧后拱架4偏离拱架抓取机构的中心、以及夹紧过程中可能会出现由一侧的夹钳13推动拱架4与另一侧接触导致拱架4失稳的问题。
具体来说，利用夹爪组件1对拱架4进行夹紧的过程包括：参照图2所示，使驱动单元3伸长，推动连接架11逆时针方向转动，使限位块12朝向夹钳13所在的方向移动，参照图3所示，同时使限位块12朝向远离支撑平台2的方向移动，由于夹钳13与支撑平台2铰接，因此使得夹钳13绕第四铰接点17转动，两个限位销131在滑槽121内移动并互相远离，直到夹钳13夹持住拱架4，其最终的夹持状态如图4所示。
利用夹爪组件1对拱架4进行放松的过程包括：参照图2所示，使驱动单元3缩短，拉动连接架11顺时针转动，使限位块12朝向远离夹钳13所在的方向移动，参照图4所示，同时使限位块12朝向靠近支撑平台2的方向移动，由于夹钳13与支撑平台2铰接，因此使得夹钳13绕第四铰接点17转动，两个限位销131在滑槽121内移动并互相靠近，直到限位块12与支撑平台2相抵，其放松后的状态参照图3所示。
作为本实施例的进一步改进，所述限位销131上可转动地套接有限位套筒132，所述限位套筒132优选为尼龙材质，所述限位套筒132可移动地置于滑槽121内。在夹爪组件1的 夹紧和放松过程中，利用限位套筒132可避免限位销131与限位块12之间的刚摩擦，使得限位销131能够顺畅的在滑槽121内移动，且延长限位销131的使用寿命。
作为本实施例的进一步改进，所述限位销131远离夹钳13的一端设有防脱装置133，该防脱装置133的尺寸大于滑槽121的尺寸，所述防脱装置133用于防止限位销131从滑槽121内滑出。在限位销131与限位块12的相对运动过程中，限位销131不仅存在沿滑槽121的长度方向的相对移动，还存在沿限位销131轴向方向的相对移动，通过设置防脱装置133避免限位销131与限位块12沿限位销131的轴向方向移动时从滑槽121内脱离。
可选的，在本实施例中，参照图2所示，所述驱动单元3可以是单向油缸，参照图9所示，也可以是双向油缸。在油缸的伸缩过程中，同步驱动两个夹爪组件1进行夹紧或放松。
可选的，在本实施例中，所述夹钳13的夹持端可以是一体式结构直接对拱架4进行夹持，也可以连接一个可拆卸式的压块134，参照图7和图8所示，更换不同形状的压块134可以压紧拱架4的翼缘板41或腹板42。根据不同的拱架4结构更换不同形状的压块134，提高了拱架4抓取的适用性。
具体来说，参照图1和图2所示，所述支撑平台2包括支撑部21、以及沿支撑部21两侧向下弯折的弯折部22；所述支撑部21和弯折部22围绕成一个开口向下的容纳槽23，所述驱动单元3、连接架11、限位块12均布置于容纳槽23内。由该容纳槽23为驱动单元3、连接架11、限位块12提供保护，避免拱架4抓取机构动作过程中对这些零部件造成碰撞，使拱架抓取机构的结构更加紧凑，体积更小，提高作业过程中的灵活性。
具体来说，参照图1所示，所述弯折部22的外侧面设有铰接支架24，所述夹钳13铰接于该铰接支架24上，将夹钳13铰接于支撑平台2的侧面，进一步提高结构的紧凑性。所述支撑部21顶端连接有“凵”型的支撑架25，通过支撑架25限制拱架4的偏转，避免在放置或抓取拱架4的过程中因操作失误导致拱架4掉入两夹钳13内侧，提高抓取拱架4过程的可靠性。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

  1. 一种拱架抓取机构，其特征在于，包括两组夹爪组件、支撑平台和驱动单元；两组夹爪组件沿支撑平台的长度方向布置，用于将拱架夹紧于支撑平台上；所述夹爪组件包括连接架、限位块、以及两个相对布置的夹钳；所述连接架分别与支撑平台、驱动单元、限位块铰接；所述驱动单元的两端分别与两组夹爪组件的连接架铰接；所述驱动单元伸缩时带动连接架绕一铰接点转动，从而带动限位块移动；所述夹钳与所述支撑平台铰接并与连接架连接，夹钳随连接架移动而绕其铰接点转动。
  2. 根据权利要求1所述的一种拱架抓取机构，其特征在于，所述限位块内设有两个对称布置的滑槽；所述夹钳靠近限位块的端部连接有限位销；同一组夹爪组件内的两个夹钳的限位销分别可移动地置于两个滑槽内。
  3. 根据权利要求2所述的一种拱架抓取机构，其特征在于，所述限位销上可转动地套接有限位套筒；所述限位套筒可移动地置于滑槽内。
  4. 根据权利要求2所述的一种拱架抓取机构，其特征在于，两个所述滑槽的对称中心面与两个所述夹钳的对称中心面相同。
  5. 根据权利要求2所述的一种拱架抓取机构，其特征在于，所述限位销远离夹钳的一端设有防脱装置，所述防脱装置用于防止限位销从滑槽内滑出。
  6. 根据权利要求1所述的一种拱架抓取机构，其特征在于，所述驱动单元为单向油缸或双向油缸。
  7. 根据权利要求1所述的一种拱架抓取机构，其特征在于，所述夹钳的夹持端可拆卸地连接有压块，所述压块用于压紧拱架。
  8. 根据权利要求1～7任一项所述的一种拱架抓取机构，其特征在于，所述支撑平台包括支撑部、以及沿支撑部两侧向下弯折的弯折部；所述支撑部与弯折部围绕成一个开口向下的容纳槽；所述驱动单元、连接架、限位块均布置于容纳槽内。
  9. 根据权利要求8所述的一种拱架抓取机构，其特征在于，所述弯折部的外侧面设有铰接支架，所述夹钳铰接于该铰接支架上。
  10. 根据权利要求8所述的一种拱架抓取机构，其特征在于，所述支撑部上连接有“凵”型的支撑架。
PCT/CN2023/080717 2022-08-16 2023-03-10 一种拱架抓取机构 WO2024036930A1 (zh)

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