Gripper and mechanical arm for assembling large-tonnage prefabricated structural block

Abstract

The invention discloses a gripper and a mechanical arm for assembling a large-tonnage prefabricated structural block, the gripper comprises a swing mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism which are connected in sequence, and the moving directions of the two translation mechanisms are perpendicular to each other; the clamping mechanism comprises a top frame, a top die connecting assembly and a side die connecting assembly, the top die connecting assembly and the side die connecting assembly are arranged on the top frame, the top frame and the second translation mechanism are rotatably connected, a swing oil cylinder is arranged between the top frame and the second translation mechanism, and the top die connecting assembly comprises a clamping arm used for clamping the first top die tool and a clamping oil cylinder. The side mold connecting assembly comprises a shaft type piece used for being connected with a U-shaped groove in a side mold tool in a clamped mode and a limiting piece used for enabling the side wall prefabricated structural block to be kept vertical during clamping. The two ends of the arm support are hinged to the gripper and the slewing bearing respectively, and the mechanical arm is formed by matching with the gripper pitching oil cylinder, the arm support pitching oil cylinder and the like. The structure has the multi-angle installation freedom degree, the positioning requirement of the large-tonnage prefabricated part is met, and operation is safer and more efficient.

Description

technical field [0001] The invention relates to the technical field of tunnel support construction, in particular to a gripper and a mechanical arm for assembling large-tonnage prefabricated structural blocks. Background technique [0002] During the tunnel construction process, it is necessary to set up support structures on the side and top to prevent safety accidents such as landslides and rock falling. The traditional support structure is made of shotcrete, but in recent years, the process of using prefabricated structural blocks to replace concrete as permanent support is developing rapidly and is widely used. [0003] At present, there is no special supporting equipment in China to implement this new process, and cranes are usually used to complete the positioning and assembly of prefabricated structural blocks. However, due to the limited space in the tunnel, the flexibility of the boom is poor, and the installation process requires a lot of manual assistance. Moreov...

AI Technical Summary

Problems solved by technology

However, due to the limited space in the tunnel, the flexibility of the boom is poor, and the installation process requires a lot of manual assistance. Moreover, due to the large weight and volume of a single prefabricated structural block, the hoisting operation is more dangerous. Therefore, in order to reduce bumps And shaking, the installation speed is slow, affecting the work efficiency

In addition, the hoisting trolley usually needs to use the rails to complete the walking, and the mobility is poor. Moreover, based on the actual construction conditions, the ground in the tunnel cannot guarantee flatness, and it is difficult to meet the high track laying requirements, resulting in unevenness of the crane. Lifting of prefabricated structural blocks

[0004] To sum up, the existing technology has defects such as high work intensity, limited scope of work, poor flexibility, difficulty in assembling prefabricated structural blocks, and dangerous operation, and it is impossible to install the prefabricated structural blocks at the tunnel vault

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