CN108706333B - Tunnel steel arch installing manipulator and manipulator working platform - Google Patents
Tunnel steel arch installing manipulator and manipulator working platform Download PDFInfo
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- CN108706333B CN108706333B CN201810884199.7A CN201810884199A CN108706333B CN 108706333 B CN108706333 B CN 108706333B CN 201810884199 A CN201810884199 A CN 201810884199A CN 108706333 B CN108706333 B CN 108706333B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 74
- 239000010959 steel Substances 0.000 title claims abstract description 74
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 36
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 238000010276 construction Methods 0.000 abstract description 6
- 238000003466 welding Methods 0.000 description 10
- 230000005484 gravity Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010035148 Plague Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Lining And Supports For Tunnels (AREA)
- Manipulator (AREA)
Abstract
The application discloses a tunnel steel arch installing manipulator, which comprises: the support seat is used for connecting with the main body rotating device of the working platform, and the rotating device is arranged on the support seat; the angle adjusting telescopic arm is used for realizing angle change and is arranged on the rotating end of the rotating device; a handle with a spade end, a first point of the handle is hinged to the free end of the angle adjustment telescoping arm, and a second point of the handle is connected with the angle adjustment telescoping arm through a controllable telescoping device. According to the application, the arch centering is shoveled up from the ground by the aid of the gripper with the shovel-shaped end, and the rotation and lifting of the gripper are controlled by the rotation device and the angle adjusting telescopic arm, so that the steel arch centering installation trolley can directly grab the steel arch centering from the ground, stably and efficiently transport the steel arch centering to a reserved position for installation, and the problem of low construction efficiency is solved. The application also discloses a manipulator working platform comprising the tunnel steel arch mounting manipulator.
Description
Technical Field
The invention relates to the technical field of tunnel machinery, in particular to a tunnel steel arch installing manipulator. In addition, the invention also relates to a manipulator working platform comprising the tunnel steel arch installing manipulator.
Background
In recent years, in order to adapt to the rapid development of social economy in China, the field of traffic infrastructure also develops rapidly, and railway networks and highway construction projects play an important role.
However, at present, many places in China are used for installing artificial steel arches, and the problems of high labor intensity, low safety, low efficiency and the like always plague construction teams. In developed countries and in parts of domestic construction sites, steel arch installations have been essentially mechanized, with robotic equipment dedicated to steel arch installations, but these mechanical equipment typically have the following drawbacks: the manipulator on these devices cannot directly grasp the steel arch directly from the ground, and it is often necessary to manually carry the arch to the manipulator and then to perform the position movement by the manipulator.
In summary, how to provide a manipulator device for facilitating picking and carrying is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention aims to provide a tunnel steel arch installing manipulator which can facilitate picking up and carrying of an arch and provide convenience for the installing operation of the arch.
The invention further aims to provide a manipulator working platform comprising the tunnel steel arch mounting manipulator.
In order to achieve the above object, the present invention provides the following technical solutions:
A tunnel steel arch installation manipulator comprising:
The supporting seat is used for connecting the working platform main body;
The rotating device is used for rotating around the supporting seat and is arranged on the supporting seat;
The angle adjusting telescopic arm is used for realizing angle change and is arranged on the rotating end of the rotating device;
the hand grip with shovel-shaped end, the first point of hand grip articulates in the free end of angle modulation telescopic arm, just the second point of hand grip with the angle modulation telescopic arm passes through controllable telescoping device and connects.
Preferably, the angle adjustment telescopic arm includes:
A link mechanism;
The mechanical arm overturning oil cylinder is used for driving the connecting rod mechanism to rotate around the rotating device forwards and backwards, the first end of the first connecting rod of the connecting rod mechanism is hinged with the rotating device, the second end of the first connecting rod is hinged with the second connecting rod, the second connecting rod is hinged with the first end of the third connecting rod, the second end of the third connecting rod is hinged with the rotating device, and two ends of the mechanical arm overturning oil cylinder are respectively hinged with the third connecting rod and the rotating device;
The telescopic cylinder structure is provided with a first telescopic power device for controlling the telescopic cylinder structure to rotate around the connecting rod mechanism and a second telescopic power device for controlling the grab handle to rotate around the telescopic cylinder structure;
and the rotating plane of the front-back rotation of the connecting rod mechanism is perpendicular to the rotating plane of the telescopic cylinder structure.
Preferably, the gripper comprises a gripper weldment, the gripper weldment is hinged with a gripper body, the free end of the gripper body is provided with a jaw for clamping an arch in cooperation with the gripper weldment, and the gripper weldment is provided with a clamping cylinder for controlling the gripper body to rotate.
Preferably, the gripper welding piece is hinged with the gripper body through a first pin shaft, and a clamping plate used for limiting the rotation range of the first pin shaft is arranged on the gripper welding piece.
Preferably, the clamping cylinder is connected with the gripper weldment through a pin shaft.
Preferably, the telescopic cylinder structure comprises an outer telescopic cylinder and an inner telescopic cylinder which is sleeved in the outer telescopic cylinder in a telescopic way;
the outer telescopic cylinder is hinged with the grip, and the inner telescopic cylinder is hinged with the connecting rod mechanism;
the telescopic two ends of the first telescopic power device are respectively connected with the inner telescopic cylinder and the connecting rod mechanism, and the telescopic two ends of the second telescopic power device are respectively connected with the outer telescopic cylinder and the gripper; the motion plane of the first telescopic power device and the motion plane of the second telescopic power device are perpendicular to each other.
Preferably, the rotating device includes:
the mechanical arm overturning oil cylinder and the first connecting rod are connected to the base; an industrial control desk is arranged on the base;
The main body of the rotary speed reducer is connected with the supporting seat, and the output end of the rotary speed reducer is connected with the base.
Preferably, the first telescopic power device is an amplitude variable oil cylinder, and the second telescopic power device is a floating oil cylinder.
The mechanical hand working platform comprises a working platform main body and further comprises any tunnel steel arch installing mechanical hand, wherein the number of the tunnel steel arch installing mechanical hand is at least three, and a preset placing angle is reserved between the tunnel steel arch installing mechanical hands.
Preferably, the tunnel steel arch installing manipulators located on two sides are provided with two grippers, and the same grippers on the tunnel steel arch installing manipulator are arranged in parallel.
In the above-mentioned structure, install the rotation device on the supporting seat and can realize the rotation in the plane, install the flexible arm of angle modulation on rotation device can realize the flexible of tongs that set up on it, can also control the tongs simultaneously for the rotation of the flexible arm of angle modulation. In actual use, angle adjustment of the manipulator can be achieved through controlling the rotating device, angle change of the gripper is achieved, as the gripper is of a structure with a spade-shaped end part, adjustment of a plurality of angles and adjustment of space positions of the gripper can be achieved through controlling the rotating device and the angle adjusting telescopic arm, the spade-shaped end part of the gripper can be controlled to spade the arch frame from the ground, and the spade-shaped end part of the manipulator is erected through controlling the manipulator to rotate, due to the fact that the arch frame is an arc-shaped frame body, when the arch frame body is spaded up, and after rotation and lifting are conducted, vertical alignment can be achieved at the middle of the arch frame, so that grabbing work of the arch frame can be achieved, the problem of low picking work efficiency can be solved, stability of a process is guaranteed, and labor input is avoided.
The application provides a tunnel steel arch installing manipulator, which is characterized in that an arch is lifted up from the ground by a gripper with a shovel-shaped end part, and then the rotation and lifting of the gripper are controlled by a rotation device and an angle adjusting telescopic arm, so that a steel arch installing trolley can directly grab the steel arch from the ground, stably and efficiently transport the steel arch to a reserved position for installation, a series of actions can be automatically completed without manual assistance, and the problems of low construction efficiency are solved.
The application also provides a manipulator working platform comprising the tunnel steel arch installing manipulator, and the manipulator working platform comprises at least three tunnel steel arch installing manipulators which are used for carrying out picking and carrying work of the steel arch in a matched mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a tunnel steel arch mounting manipulator provided by the invention;
FIG. 2 is a front view of the body structure of the manipulator;
FIG. 3 is a side view of the body structure of the manipulator;
FIG. 4 is a front view of a gripper of the middle manipulator;
FIG. 5 is a side view of a gripper of the middle manipulator;
FIG. 6 is a front view of a gripper of the left and right manipulator;
FIG. 7 is a side view of a gripper of the left and right manipulator;
FIG. 8 is a front view of a combined structure of a base, a swing reducer, and a support base;
FIG. 9 is a side view of a combined structure of a base, a swing reducer, and a support base;
FIG. 10 is a front view of a tunnel steel arch installation manipulator according to the present invention in an implementation during operation;
fig. 11 is a top view of the device during operation.
In fig. 1-11:
The mechanical arm overturning device comprises a 1-mechanical arm overturning oil cylinder, a 2-base, a 3-supporting seat, a 4-rotary speed reducer, a 5-handle, a 6-outer telescopic cylinder, a 7-inner telescopic cylinder, an 8-first connecting rod, a 9-second connecting rod, a 10-third connecting rod, an 11-amplitude variation oil cylinder and a 12-floating oil cylinder;
101-first hinge pin, 102-second hinge pin, 103-third hinge pin, 104-fourth hinge pin, 105-fifth hinge pin, 106-sixth hinge pin, 107-seventh hinge pin, 108-eighth hinge pin, 109-ninth hinge pin, 110-tenth hinge pin, 111-eleventh hinge pin, 112-twelfth hinge pin, 113-thirteenth hinge pin;
201-a clamping oil cylinder, 202-a first pin shaft, 203-a handle body, 204-a jaw, 205-a second pin shaft, 206-a handle weldment, 207-a third pin shaft and 208-a clamping plate;
301-the grippers of the left and right manipulators are hinged with a supporting oil cylinder through pin shafts, 302-the grippers of the left and right manipulators are welded;
401-a base hinge pin, 402-an electric cover, 403-a mechanical arm and a support base hinge pin;
the gravity center of the whole C-gripper and the steel arch, the contact point of the D-steel arch and the ground, the hinging point of the O-gripper and the outer extension cylinder, the x-horizontal coordinate axis, the y-vertical coordinate axis, the gravity of the whole G-gripper and the steel arch, the acting force of a pin roll on the gripper at the F1-O point, the acting force of the F2-ground on the steel arch and the distance from the a-gravity G to the original point O.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a tunnel steel arch installing manipulator which can be used for conveniently picking up and carrying an arch and provides convenience for the installation operation of the arch.
The invention further provides a manipulator working platform comprising the tunnel steel arch mounting manipulator.
Referring to fig. 1 to 11, the tunnel steel arch installing manipulator provided by the present application is mainly used for picking up and carrying an arch in the installation process of an arch in a tunnel, and structurally mainly includes: the support seat 3, the rotating device, the angle adjusting telescopic arm and the gripper 5.
The supporting seat 3 is used as a supporting mechanism of the manipulator and is mainly used for connecting with the main body of the working platform so as to locate the manipulator on the working platform.
The rotating device is arranged on the supporting seat 3 and is used for controllably rotating around the supporting seat 3. The rotation mainly refers to plane rotation in a horizontal plane, but may be any rotation in a vertical plane, other planes or space, and the present application is not limited to the rotation range of the rotation device.
The angle adjusting telescopic arm is arranged on the rotating device, specifically, is arranged on the rotating end of the rotating device, namely, the rotation of the rotating device can drive the whole of the angle adjusting telescopic arm to rotate. Be equipped with tongs 5 on the angle modulation flexible arm, the angle modulation flexible arm can be for the usual arm in the prior art, and the change of angle can be realized to oneself, consequently can be used for realizing the space angle change of tongs 5. Optionally, the angle adjusting telescopic arm may be a mechanical arm with a telescopic function and an angle adjusting function, or a mechanical arm with multiple degrees of freedom.
The above-mentioned hand grip 5 is an important structure in the manipulator, it has the pointed end of shovel shape, and the first point of hand grip 5 articulates in the free end of angle modulation telescopic arm, and the second point of hand grip 5 is connected with the angle modulation telescopic arm through controllable telescoping device. The gripper 5 is hinged with the angle adjusting telescopic arm, and meanwhile, the gripper 5 and the angle adjusting telescopic arm are connected through the telescopic device, so that the gripper 5 can rotate around the angle adjusting telescopic arm through telescopic adjustment of the telescopic device.
By the above structure, it can be known that the rotation device mounted on the supporting seat 3 can realize the rotation in the plane, and the angle adjusting telescopic arm mounted on the rotation device can realize the extension and retraction of the hand grip 5 arranged thereon, and can also control the rotation of the hand grip 5 relative to the angle adjusting telescopic arm. In actual use, the angle adjustment of the manipulator can be realized through controlling the rotating device, and the angle change of the gripper 5 is realized, because the gripper 5 is of a structure with a spade-shaped end part, the adjustment of a plurality of angles and the adjustment of space positions of the gripper 5 can be realized through controlling the rotating device and the angle adjusting telescopic arm, the spade-shaped end part of the gripper 5 can be controlled to scoop up the arch from the ground, and the spade-shaped end part of the manipulator is lifted up through controlling the manipulator to rotate, because the arch is usually an arc-shaped frame body, when the middle part of the arch is scooped up, and after the arch is rotated and lifted, the middle part of the arch can be vertically swung so as to realize the grabbing work of the arch, and by adopting the mode, the problem of low picking work efficiency can be solved, the stability of the process is ensured, and the manpower input is prevented from being increased.
The application provides a tunnel steel arch installing manipulator, which is characterized in that an arch is lifted up from the ground by a gripper 5 with a shovel-shaped end part, and then the rotation and lifting of the gripper 5 are controlled by a rotation device and an angle adjusting telescopic arm, so that a steel arch installing trolley can directly grab the steel arch from the ground, stably and efficiently transport the steel arch to a reserved position for installation, a series of actions can be automatically completed without manual assistance, and the problems of low construction efficiency are solved.
On the basis of the above embodiment, the angle adjusting telescopic arm mainly includes the following structures: the mechanical arm overturning cylinder comprises a connecting rod mechanism, a mechanical arm overturning cylinder 1 and a telescopic cylinder structure.
The mechanical arm overturning oil cylinder 1 is a common oil cylinder and is mainly used for driving a connecting rod mechanism to rotate around a front and back of a rotating device, and it is to be noted that the front and back rotation is not limited to a certain absolute direction, but a plane capable of rotating, namely a plane in space coordinates, can refer to a plane in the front and back direction of a visual angle provided in a drawing, or can rotate front and back at any visual angle, and can be adjusted according to actual use.
The link mechanism comprises a plurality of links, a four-link mechanism can be selected generally, the first end of a first link 8 of the link mechanism is hinged with the rotating device, the second end of the first link 8 is hinged with a second link 9, the second link 9 is hinged with the first end of a third link 10, the second end of the third link 10 is hinged with the rotating device, and the two ends of the mechanical arm overturning cylinder 1 are respectively hinged with the third link 10 and the rotating device. The above can be regarded as a four-bar mechanism, and the mechanical arm overturning oil cylinder 1 drives the third connecting rod 10 to rotate relative to the rotating device, so that the plane rotation of the first connecting rod 8 is realized.
One end of the telescopic cylinder structure is hinged to the first connecting rod 8, the other end of the telescopic cylinder structure is hinged to the gripper 5, and the telescopic cylinder structure is provided with a first telescopic power device for controlling the telescopic cylinder structure to rotate around the connecting rod mechanism and a second telescopic power device for controlling the gripper 5 to rotate around the telescopic cylinder structure.
The telescopic cylinder structure is a power structure with power output, the telescopic cylinder body is telescopic through power, the telescopic cylinder structure is connected with a first telescopic power device, the first telescopic power device is hinged with a connecting rod mechanism, the first telescopic power device can be an oil cylinder, and the telescopic cylinder structure is controlled to rotate around the connecting rod mechanism through self telescopic control. The telescopic cylinder structure is also provided with a hinged gripper 5 and a second telescopic power device for driving the gripper 5 to rotate, the second telescopic power device is hinged with the gripper 5 and the main body of the telescopic cylinder structure, and the gripper 5 is controlled to rotate through self-expansion.
The rotation plane of the front-back rotation of the link mechanism is perpendicular to the rotation plane of the telescopic cylinder structure. Because the rotation plane of the link mechanism and the rotation plane of the telescopic cylinder structure are not coplanar, the rotation of the link mechanism and the telescopic cylinder structure is not coplanar, and the rotation of the gripper 5 at any position and angle in space can be realized through the two rotations.
Optionally, the positions of the above-mentioned link mechanism and the telescopic cylinder structure can be interchanged, that is, the rotating device is connected with the telescopic cylinder structure, the telescopic cylinder structure is connected with the link mechanism, and the link mechanism is connected with the gripper 5, because the structures providing different rotation freedom are all independent operations, the positions of the two can be interchanged, and the rotation space and the angle of the gripper 5 can be ensured.
On the basis of the embodiment, the gripper 5 comprises a gripper welding piece 206, the gripper welding piece 206 is hinged with a gripper body 203, a jaw 204 for clamping an arch in cooperation with the gripper welding piece 206 is arranged at the free end of the gripper body 203, and a clamping oil cylinder 201 for controlling the gripper body 203 to rotate is arranged on the gripper welding piece 206.
It should be noted that, the gripper weldment 206 is a structure with a spade end, the gripper weldment 206 and the gripper 203 cooperate to grasp the arch, and the gripper 203 is provided with the jaws 204. Both ends of the clamping cylinder 201 are respectively hinged with a grip welding piece 206 and a grip body 203, so that rotation of the grip body 203 around the grip welding piece 206 is controlled.
In this embodiment, the arch is scooped up by the grip weldment 206 having a scoop-shaped end, and then the grip body 203 is driven to rotate by the grip cylinder 201 so as to grip the arch with the grip weldment 206.
Optionally, in the specific structure of the gripper, gripping can be realized through other power structures.
Based on the above embodiment, the grip welding member 206 is hinged to the grip body 203 through the first pin 202, and the grip welding member 206 is provided with a clamping plate 208 for limiting the rotation range of the first pin 202.
In the application, the connection of a plurality of parts is realized by hinging, and the connection can be realized by a pin shaft connection mode. Of course, other implementations in the prior art may be used.
Optionally, the clamping cylinder 201 is pinned to the grip weldment 206.
On the basis of any one of the above embodiments, the telescopic cylinder structure comprises an outer telescopic cylinder 6 and an inner telescopic cylinder 7 which is sleeved in the outer telescopic cylinder 6 in a telescopic way.
The outer telescopic cylinder 6 is hinged with the grip 5, and the inner telescopic cylinder 7 is hinged with the link mechanism.
The telescopic two ends of the first telescopic power device are respectively connected with the inner telescopic cylinder 7 and the connecting rod mechanism, and the telescopic two ends of the second telescopic power device are respectively connected with the outer telescopic cylinder 6 and the gripper 5; the movement plane of the first telescopic power device and the movement plane of the second telescopic power device are perpendicular to each other.
It should be noted that, in the telescopic cylinder structure, the telescopic control of the outer telescopic cylinder 6 and the inner telescopic cylinder 7 can be realized by an oil cylinder, an air cylinder or other modes, wherein the outer telescopic cylinder 6 and the inner telescopic cylinder 7 can be of an inner-outer nested structure or a parallel structure, and the outer telescopic cylinder 6 and the inner telescopic cylinder 7 can be required to move relatively or away from each other so as to realize telescopic movement of the telescopic cylinder structure.
The two telescopic cylinders are respectively connected with the grip 5 and the link mechanism, and the telescopic cylinder structure is used for connecting the grip 5 and the link mechanism.
On the basis of any of the above embodiments, the rotating device may specifically include a base 2, a rotary speed reducer 4, an industrial console, and the like.
Referring to fig. 1, a mechanical arm overturning oil cylinder 1 and a first connecting rod 8 are both connected to a base 2, and an industrial control console is arranged on the base 2; that is, the base 2 is a mounting base for the above parts, and in order to realize the rotational movement of the above structure, the base 2 is provided on the rotary speed reducer 4, the main body of the rotary speed reducer 4 is connected to the support base 3, and the output end of the rotary speed reducer 4 is connected to the base 2.
On the basis of any one of the embodiments, the first telescopic power device is a luffing cylinder 11, and the second telescopic power device is a floating cylinder 12. The ends of the two oil cylinders are required to be hinged with other parts so as to promote fluency.
Alternatively, the telescopic power apparatus may be another type of power apparatus.
In one embodiment provided by the invention, the tunnel steel arch installing manipulator comprises a manipulator arm overturning cylinder 1, a base 2, a supporting seat 3, a rotary speed reducer 4, a grab handle 5, an outer telescopic cylinder 6, an inner telescopic cylinder 7, a first connecting rod 8, a second connecting rod 9, a third connecting rod 10, an amplitude cylinder 11 and a floating cylinder 12.
The rotary speed reducer 4 is respectively connected with the supporting seat 3 and the base 2 through nut bolts; the second connecting rod 9 is hinged with the first connecting rod 8 and the second connecting rod 9 through pin shafts.
The inner telescopic cylinder 7 is hinged on the first connecting rod 8 through a pin shaft, and the outer telescopic cylinder 6 is hinged with the gripper 5 through a pin shaft; the mechanical arm overturning oil cylinder 1 is fixed on the base 2, and the telescopic end is hinged on the second connecting rod 9.
The amplitude cylinder 11 is fixed on the inner telescopic cylinder 7, and the telescopic end is hinged on the first connecting rod 8. The floating cylinder 12 is fixed on the outer telescopic cylinder 6, and the telescopic end is hinged on the grip 5.
The mechanical arm overturning oil cylinder 1 can realize the front-back rotation of the mechanical arm, the amplitude changing oil cylinder 11 can realize the left-right rotation of the mechanical arm, the floating oil cylinder 12 can be used as an acting force-free telescopic cylinder when the steel arch is swung by self gravity, only plays a limiting role, and the gripper 5 can be driven to overturn back and forth to slightly adjust after the steel arch is erected. The tunnel steel arch installing manipulator device has the functions of automatically grabbing, conveying and installing the steel arch.
The gripper mainly comprises a clamping cylinder 201, a first pin 202, a gripper body 203, a jaw 204, a second pin 205, a gripper weldment 206, a third pin 207 and a clamping plate 208.
The jaw 204 is connected with the grip body 203 through cap screws, and the second pin 205 articulates the grip body 203 with the clamping cylinder 201. The grip body 203 and the clamping cylinder 201 are respectively hinged and fixed with the grip weldment 206 through a first pin 202 and a third pin 207; the catch plate 208 may limit the displacement of the pin. Since the grip weldment 206 has a spade end, the pointed end can be inserted under the steel arch placed on the ground, and the gripping cylinder 201 is extended to grip the steel arch via the grip body 203 and the jaws 204.
The gripper 5 is hinged with the outer telescopic cylinder 6 through a first hinge pin 101, the telescopic end of the floating oil cylinder 12 is hinged with the gripper 5 through a second hinge pin 102, the lower end of the floating oil cylinder 12 is connected with the outer telescopic cylinder 6 through a third hinge pin 103, and the floating oil cylinder 12 stretches and contracts to enable the gripper 5 to rotate around the first hinge pin 101.
Optionally, the inner and outer telescopic cylinders are linked by an oil cylinder to realize the telescopic operation, the telescopic end of the oil cylinder is fixed on the outer telescopic cylinder 6 through a pin shaft 105, the lower end of the oil cylinder is hinged with the inner telescopic cylinder 7 through a fourth hinge pin shaft 104, and the telescopic operation of the oil cylinder can control the outer telescopic cylinder 6 to move up and down.
The inner telescopic cylinder 7 is hinged with the first connecting rod 8 through a twelfth hinge pin shaft 112.
The main body of the luffing cylinder 11 is hinged with the inner telescopic cylinder 7 through a pin shaft, the telescopic end of the luffing cylinder 11 is connected with the first connecting rod 8 through a seventh hinge pin shaft 107, and the luffing cylinder 11 can control the inner telescopic cylinder to swing left and right through telescopic operation.
The mechanical arm overturning oil cylinder 1 is fixed on the base 2 through a base hinge pin 401, and the telescopic end is hinged with the second connecting rod 9 through a tenth hinge pin 110, so that the mechanical arm overturning oil cylinder 1 can control the mechanical arm main body to realize forward overturning and retracting through a connecting rod mechanism consisting of the first connecting rod 8, the second connecting rod 9 and the third connecting rod 10.
Optionally, the electrical cover 402 is fixed on the base 2 by using a nut and a bolt, the base 2 is connected with the rotary speed reducer 4 by using a plurality of screws, and the rotary speed reducer 4 can drive the base 2 to rotate. The supporting seat 3 is connected with the rotary speed reducer 4 through a plurality of screws; the manipulator is hinged with the arm support through a hinge pin 403 of the manipulator and the support base.
The manipulator provided by the application can automatically grab the steel arch on the ground under the drive of the mechanical arm, and the steel arch can be aligned by self gravity through the close fit of the oil cylinders.
In addition to the main structure and the connection relation of the tunnel steel arch installing manipulator provided by any of the above embodiments, the invention also provides a manipulator working platform comprising the tunnel steel arch installing manipulator disclosed by the above embodiments. The mechanical working platform comprises a working platform main body, at least three tunnel steel arch installing manipulators, and preset placing angles are arranged among the three tunnel steel arch installing manipulators.
Optionally, two grippers 5 are respectively arranged on the tunnel steel arch installing manipulators on two sides, and the grippers 5 on the same tunnel steel arch installing manipulator are arranged in parallel so as to clamp the steel arch.
In any of the above embodiments, the manipulator body includes a gripper 5, an outer telescopic cylinder 6, an inner telescopic cylinder 7, a link mechanism, an amplitude cylinder 11 and a floating cylinder 12, where the gripper 5 has two structural forms, an intermediate manipulator and a left and right manipulator, and the above embodiment is described as the intermediate manipulator, and the structural forms of the grippers on the left and right manipulators are similar to those of the intermediate manipulator, and the form of the left and right manipulators please refer to fig. 6 and 7, except that the gripper has two gripper bodies and the intermediate manipulator has only one gripper body.
Referring to fig. 10, the manipulator has lifted the steel arch to a certain height, and the gripper 5 clamps the steel arch without relative movement, so that the two can be regarded as a whole, the center of gravity of the two is at the point C shown in fig. 10, and O is the hinge point between the outer extension tube 6 and the gripper 5. At this time, the gripper arch assembly receives the acting force F1 of the hinge pin at the point G, O of self gravity, the acting force F2 of the whole body of the arch and the ground contact point, the floating cylinder 12 does not stretch and move at this time, and can be regarded as a fixed telescopic rod, so that the floating cylinder 12 has no effect on the assembly. And (3) taking the point O as an origin, establishing a rectangular coordinate system, wherein the distance from the gravity G to the origin O is a, and therefore, the moment generated by the gravity on the point O is M=G×a. When the manipulator slowly lifts up the arch, because moment M's effect, the cambered surface that the arch is located is greater and greater with the angle on ground for the D point has contact with ground all the time, and when the manipulator lifts to vertical position, the assembly of tongs 5 and arch also can be put forward vertical position, and slightly remove vehicle or flexible arm and remove the arch to predetermined position again can begin the concatenation.
When the manipulator lifts the steel arch, the oil cylinder only serves as a telescopic rod, and the steel arch can rotate around the hinged pin shafts of the gripper 5 and the outer extension cylinder 6 together with the gripper 5 by means of self gravity until the cambered surface where the arch is located is perpendicular to the ground.
In addition to the tunnel steel arch installing manipulator and the manipulator working platform provided in the above embodiments, the structure of each other portion should refer to the prior art, and will not be described herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The tunnel steel arch installing manipulator and the manipulator working platform provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (8)
1. Tunnel steel bow member installation manipulator, its characterized in that includes:
the supporting seat (3) is used for connecting the working platform main body;
the rotating device is used for rotating around the supporting seat (3), and is arranged on the supporting seat (3);
The angle adjusting telescopic arm is used for realizing angle change and is arranged on the rotating end of the rotating device;
A gripper (5) with a spade end, a first point of the gripper (5) being hinged to a free end of the angle-adjusting telescopic arm, and a second point of the gripper (5) being connected to the angle-adjusting telescopic arm by a controllable telescopic device; the shovel-shaped end part shovels the arch frame from the ground;
The angle adjustment telescopic arm includes:
A link mechanism;
The mechanical arm overturning oil cylinder (1) is used for driving the connecting rod mechanism to rotate around the rotating device forwards and backwards, a first end of a first connecting rod (8) of the connecting rod mechanism is hinged with the rotating device, a second end of the first connecting rod (8) is hinged with a second connecting rod (9), the second connecting rod (9) is hinged with a first end of a third connecting rod (10), a second end of the third connecting rod (10) is hinged with the rotating device, and two ends of the mechanical arm overturning oil cylinder (1) are respectively hinged with the third connecting rod (10) and the rotating device;
The telescopic cylinder structure is provided with a first telescopic power device for controlling the gripper (5) to rotate around the connecting rod mechanism and a second telescopic power device for controlling the gripper (5) to rotate around the telescopic cylinder structure;
the rotating plane of the front-back rotation of the connecting rod mechanism is perpendicular to the rotating plane of the telescopic cylinder structure;
The gripper (5) comprises a gripper weldment (206), the gripper weldment (206) is of a structure with a shovel-shaped end part, the gripper weldment (206) is hinged to a gripper body (203), the free end of the gripper body (203) is provided with a jaw (204) used for being matched with the gripper weldment (206) to clamp an arch, and the gripper weldment (206) is provided with a clamping oil cylinder (201) used for controlling the gripper body (203) to rotate.
2. The tunnel steel arch mounting manipulator according to claim 1, wherein the gripper weldment (206) is hinged to the gripper body (203) through a first pin shaft (202), and a clamping plate (208) for limiting the rotation range of the first pin shaft (202) is arranged on the gripper weldment (206).
3. Tunnel steel arch mounting manipulator according to claim 1, characterized in that the clamping cylinder (201) is connected to the gripper weldment (206) by means of a pin.
4. A tunnel steel arch mounting manipulator according to claim 2 or 3, wherein the telescopic cylinder structure comprises an outer telescopic cylinder (6) and an inner telescopic cylinder (7) telescopically received in the outer telescopic cylinder (6);
the outer telescopic cylinder (6) is hinged with the gripper (5), and the inner telescopic cylinder (7) is hinged with the connecting rod mechanism;
The telescopic two ends of the first telescopic power device are respectively connected with the inner telescopic cylinder (7) and the connecting rod mechanism, and the telescopic two ends of the second telescopic power device are respectively connected with the outer telescopic cylinder (6) and the gripper (5); the motion plane of the first telescopic power device and the motion plane of the second telescopic power device are perpendicular to each other.
5. A tunnel steel arch mounting manipulator in accordance with claim 4, wherein the turning means comprises:
the mechanical arm overturning oil cylinder (1) and the first connecting rod (8) are connected to the base (2); an industrial control desk is arranged on the base (2);
The rotary speed reducer (4), the main part of rotary speed reducer (4) is connected supporting seat (3), the output of rotary speed reducer (4) is connected base (2).
6. The tunnel steel arch mounting manipulator of claim 5, wherein the first telescoping power device is a luffing cylinder (11) and the second telescoping power device is a floating cylinder (12).
7. The mechanical hand working platform comprises a working platform main body and is characterized by further comprising the tunnel steel arch installing mechanical hand according to any one of claims 1 to 6, wherein the number of the tunnel steel arch installing mechanical hand is at least three, and a preset placing angle is arranged between the tunnel steel arch installing mechanical hand.
8. The robot working platform according to claim 7, wherein the tunnel steel arch mounting manipulators on both sides are provided with two grippers (5), and the grippers (5) on the same tunnel steel arch mounting manipulator are arranged side by side.
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