An arch frame clamping manipulator

Abstract

The present invention relates to the technical field of engineering machinery, and more specifically, to an arch frame clamping manipulator. An arch frame clamping manipulator, comprising a clamping body, two clamping devices for clamping the arch frame, an auxiliary arm, and an auxiliary arm swing cylinder; one end of the auxiliary arm swing cylinder is hinged to the clamping body, and the other end is hinged to the auxiliary arm; one end of the auxiliary arm is hinged to the upper part of the clamping body, and the other end is fixedly provided with one of the clamping devices; the other clamping device is fixed to the upper part of the clamping body. The present invention can realize two-point clamping of the arch frame and has a good fit with the arch frame, while facilitating the adjustment of the angle and posture of the arch frame.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and more specifically, to an arch clamping manipulator. Background Art

[0002] At present, when the clamping device clamps the tunnel arch frame, it is unstable to clamp one point; when clamping two points, the two clamping points cannot be effectively and fully fitted; the clamping position range is narrow, and the hanging basket platform is separated from the mechanical arm frame.

[0003] For example, patent CN201821070082 discloses a gripping device for tunnel arches. This solution uses a gear rack at one end of the clamping component, which is inconvenient, and there is a sense of frustration during the clamping process, and there is a possibility that the clamping is not tight. The two clamping points are close to each other, which is not conducive to the stability of the arch. It is necessary to clamp the middle position of the arch. The clamping device and the hanging basket platform cannot be installed on one arm at the same time, and they need to be hinged to one arm respectively.

[0004] For example, patent CN201611208626 discloses an adjustable corner arch clamping mechanism, in which the clamping method is more complicated and the swing arm of the clamping device is small. Summary of the invention

[0005] The present invention aims to solve the above technical problems at least to a certain extent, and provides an arch frame clamping robot with a simple clamping device, two-point clamping and adjustable fitting angle, and a large distance between the two clamping points.

[0006] The technical solution of the present invention is: an arch frame clamping manipulator, which includes a clamping body, two clamping devices for clamping the arch frame, an auxiliary arm, and an auxiliary arm swing cylinder;

[0007] One end of the auxiliary arm swing cylinder is hinged to the clamping body, and the other end is hinged to the auxiliary arm; one end of the auxiliary arm is hinged to the upper part of the clamping body, and the other end is fixed with one of the clamping devices; the other clamping device is fixed to the upper part of the clamping body.

[0008] Furthermore, the arch frame clamping manipulator also includes a manipulator telescopic arm, a base, and a manipulator swing cylinder; the base is fixed on the manipulator telescopic arm, the bottom of the clamping body is hinged to the base, and the manipulator swing cylinder is respectively hinged to the base and the clamping body.

[0009] Furthermore, a positioning component is fixed on the clamping body, one end of the auxiliary arm is hinged to the positioning component, and one of the clamping devices is fixed on the positioning component.

[0010] Furthermore, the base includes a base bottom plate, a base limiting plate, a base first hinge part, and a base second hinge part. The lower part of the base bottom plate is fixed to the telescopic arm of the robot, and the base limiting plate is arranged on the upper part of the base bottom plate; the base first hinge part is arranged on the base limiting plate, and the bottom of the clamping body is hinged to the base through the base first hinge part; the base second hinge part is arranged on the side of the base bottom plate.

[0011] Furthermore, there are two base limit plates, and the clamping body is arranged in the space between the two base limit plates.

[0012] Furthermore, the clamping body comprises a first hinged portion of the clamping body provided on one side and a second hinged portion of the clamping body provided on the other side, and one end of the manipulator swing cylinder is hinged to the second hinged portion of the base, and the other end is hinged to the first hinged portion of the clamping body;

[0013] The second hinged portion of the clamping body is hinged to one end of the auxiliary arm swing cylinder.

[0014] Furthermore, the auxiliary arm includes an auxiliary arm main body, an auxiliary arm first hinge part, and an auxiliary arm second hinge part. The auxiliary arm main body is hinged to the positioning component through the auxiliary arm first hinge part; the auxiliary arm second hinge part is arranged on the inner side of the auxiliary arm main body, and one end of the auxiliary arm swing cylinder is hinged to the auxiliary arm second hinge part, and the other end is hinged to the second hinge part of the clamping body.

[0015] Furthermore, the clamping device includes a clamping cylinder, a clamping hook, and a clamping positioning plate. The clamping positioning plate is fixed to the outside of the auxiliary arm body or the positioning component. There are two clamping hooks, both of which are hinged to the clamping positioning plate. The two ends of the clamping cylinder are respectively hinged to the two clamping hooks.

[0016] Furthermore, the clamping hook is in a "7"-shaped structure, a clamping hook connecting portion is provided at the lower portion of the clamping hook, and both ends of the clamping oil cylinder are respectively hinged to the clamping hook connecting portion.

[0017] Furthermore, both sides of the clamping and positioning plate are provided with clamping and positioning plate hinge parts, and the lower middle part of the clamping hook is hinged to the clamping and positioning plate hinge parts.

[0018] Furthermore, the clamping body is also provided with a clamping body cavity portion, and the clamping cylinder of the clamping device fixed on the positioning component passes through the clamping body cavity portion.

[0019] Furthermore, a polyurethane plate is provided on the auxiliary arm and the positioning component.

[0020] Compared with the prior art, the invention has the following beneficial effects: the invention can achieve two-point clamping of the arch frame and fit the arch frame well, and facilitates the adjustment of the angle and posture of the arch frame. Moreover, the clamping device has a simple structure and can effectively clamp the arch frame. The arch frame grabs two points for clamping, and the distance between the two points is large. The fitting angle of the second clamping point can be adjusted according to the curvature radius of the arch frame to ensure that both points are clamped. The mechanical arm swing cylinder has a large force arm, which can effectively reduce the cylinder diameter and reduce the cylinder pressure.

[0021] The polyurethane plate is fixedly mounted on the positioning component and the auxiliary arm of the clamping body, which can increase the friction force of the arch frame to prevent the arch frame clamp from being unstable and prevent the arch frame clamp from being deformed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall side structure of the present invention.

[0023] Figure 2 It is a schematic diagram of the structure of the clamping device of the present invention.

[0024] Figure 3 It is a schematic diagram of the overall three-dimensional structure of the present invention. DETAILED DESCRIPTION

[0025] The drawings are only for illustrative purposes and cannot be construed as limiting the present invention. To better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are only for illustrative purposes and cannot be construed as limiting the present invention.

[0026] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] like Figure 1-3 As shown, an arch frame clamping manipulator includes a clamping body 3, two clamping devices 4 for clamping the arch frame, an auxiliary arm 6, and an auxiliary arm swing cylinder 5;

[0028] One end of the auxiliary arm swing cylinder 5 is hinged to the clamping body 3, and the other end is hinged to the auxiliary arm 6; one end of the auxiliary arm 6 is hinged to the upper part of the clamping body 3, and the other end is fixed with one of the clamping devices 4; the other clamping device 4 is fixed to the upper part of the clamping body 3.

[0029] The arch frame clamping manipulator also includes a manipulator telescopic arm 100, a base 1, and a manipulator swing cylinder 2; the base 1 is fixed to the manipulator telescopic arm 100, the bottom of the clamping body 3 is hinged to the base 1, and the manipulator swing cylinder 2 is hinged to the base 1 and the clamping body 3 respectively. A positioning component 7 is fixed to the clamping body 3, one end of the auxiliary arm 6 is hinged to the positioning component 7, and one of the clamping devices 4 is fixed to the positioning component 7.

[0030] In this embodiment, the entire arch frame clamping manipulator is installed on the manipulator telescopic arm 100, which is responsible for the arch frame grabbing work. The bottom of the clamping body 3 is hinged to the base 1, and the clamping body 3 can rotate around the axis of the first hinge part 13 of the base. The manipulator swing cylinder 2 is hinged to the base 1 and the clamping body 3 respectively, and the manipulator swing cylinder 2 drives the clamping body 3 to swing left and right (such as Figure 1 shown).

[0031] In addition, one end of the auxiliary arm swing cylinder 5 is hinged to the clamping body 3, and the other end is hinged to the auxiliary arm 6. One end of the auxiliary arm 6 is hinged to the positioning component 7. The auxiliary arm swing cylinder 5 drives the auxiliary arm 6 to swing up and down around the auxiliary arm first hinge part 62.

[0032] The two clamping devices 4 are respectively fixed on the ends of the auxiliary arm 6 and the positioning component 7 on the clamping body 3. The arch frame grabs two points for clamping, and the distance between the two points is large. The fitting angle of the second clamping point can be adjusted according to the curvature radius of the arch frame to ensure that both points are clamped. The manipulator swing cylinder 2 has a large force arm, which can effectively reduce the cylinder diameter and reduce the cylinder pressure.

[0033] like Figure 1-3 As shown, further, the base 1 includes a base bottom plate 11, a base limiting plate 12, a base first hinge portion 13, and a base second hinge portion 14. The lower part of the base bottom plate 11 is fixed to the manipulator telescopic arm 100, and the base limiting plate 12 is arranged on the upper part of the base bottom plate 11; the base first hinge portion 13 is arranged on the base limiting plate 12, and the bottom of the clamping body 3 is hinged to the base 1 through the base first hinge portion 13; the base second hinge portion 14 is arranged on the side of the base bottom plate 11.

[0034] In this embodiment, the base bottom plate 11 plays a role in supporting the clamping body 3, and the base bottom plate 11 is fixed to the manipulator telescopic arm 100 by bolts or other means. The base limit plate 12 is welded to the base bottom plate 11, and the bottom of the clamping body 3 is hinged to the base 1 through the base first hinge part 13, and the manipulator swing cylinder 2 drives the clamping body 3 to swing left and right.

[0035] Furthermore, there are two base limit plates 12, and the clamping body 3 is disposed in the space between the two base limit plates 12. In this embodiment, since the clamping body 3 needs to support a heavy arch, the base limit plates 12 clamp the clamping body 3 from both sides of the clamping body 3, so that the clamping body 3 is safer and more stable in the working state, and the occurrence of accidents is prevented.

[0036] Furthermore, the clamping body 3 includes a first hinged portion 31 of the clamping body provided on one side and a second hinged portion 32 of the clamping body provided on the other side. One end of the manipulator swing cylinder 2 is hinged to the second hinged portion 14 of the base, and the other end is hinged to the first hinged portion 31 of the clamping body.

[0037] The second hinged portion 32 of the clamping body is hinged to one end of the auxiliary arm swing cylinder 5 .

[0038] The auxiliary arm 6 includes an auxiliary arm main body 61, an auxiliary arm first hinge part 62, and an auxiliary arm second hinge part 63. The auxiliary arm main body 61 is hinged to the positioning component 7 through the auxiliary arm first hinge part 62; the auxiliary arm second hinge part 63 is arranged on the inner side of the auxiliary arm main body 61, and one end of the auxiliary arm swing cylinder 5 is hinged to the auxiliary arm second hinge part 63, and the other end is hinged to the clamping body second hinge part 32.

[0039] In this embodiment, the auxiliary arm body 61 is an elongated arm-shaped structure extending outward from the side of the clamping body 3 . The entire auxiliary arm 6 can swing up and down around the auxiliary arm first hinge part 62 under the action of the auxiliary arm swing cylinder 5 .

[0040] Specifically, the clamping device 4 includes a clamping cylinder 41, a clamping hook 42, and a clamping positioning plate 44. The clamping positioning plate 44 is fixed to the outside of the auxiliary arm body 61 or the positioning component 7. There are two clamping hooks 42, and the two clamping hooks 42 are hinged to the clamping positioning plate 44. The two ends of the clamping cylinder 41 are respectively hinged to the two clamping hooks 42.

[0041] In this embodiment, one clamping device 4 is fixed to the end of the auxiliary arm body 61, and the other clamping device 4 is fixed to the positioning component 7. When the clamping oil cylinder 41 acts, it drives the clamping hook 42 to clamp or release the arch.

[0042] Specifically, the clamping hook 42 is in a "7" shape, and a clamping hook connection portion 46 is provided at the lower portion of the clamping hook 42, and both ends of the clamping oil cylinder 41 are respectively hinged to the clamping hook connection portion 46. Clamping positioning plate 44 has clamping positioning plate hinge portions 45 at both sides, and the middle and lower portions of the clamping hook 42 are hinged to the clamping positioning plate hinge portions 45.

[0043] In this embodiment, the clamping hook 42 is in a "7" shape, which can be adapted to the shape of the arch frame and can clamp the arch frame safely and reliably. Each clamping device 4 has two clamping hooks 42, and both clamping hooks 42 can rotate around the clamping positioning plate hinge 45. When the clamping oil cylinder 41 is extended and retracted, it drives the clamping hook 42 to open and clamp.

[0044] The clamping body 3 is also provided with a clamping body cavity 33, and the clamping oil cylinder 41 of the clamping device 4 fixed on the positioning component 7 passes through the clamping body cavity 33. The provision of the clamping body cavity 33 makes it more convenient to assemble the clamping device 4.

[0045] Specifically, a polyurethane plate 43 is further provided on the auxiliary arm 6 and the positioning component 7. The polyurethane plate 43 is fixedly mounted on the positioning component 7 and the auxiliary arm 6 of the clamping body 3, which can increase the friction force of the arch frame to prevent the arch frame clamp from being unstable and prevent the arch frame clamp from deforming.

[0046] The working principle of the present invention is as follows:

[0047] The arch frame is initially placed horizontally on the ground, the manipulator telescopic arm 100 bends down to cooperate with the clamping device 4 on the clamping body 3 to clamp the bottom surface of the arch frame first, and then the auxiliary arm swing cylinder 5 drives the auxiliary arm 6 to rotate. When the bottom surface of the clamping device 4 on the auxiliary arm 6 contacts the bottom surface of the arch frame, the auxiliary arm swing cylinder 5 stops moving, and then the clamping device 4 on the auxiliary arm 6 clamps the bottom surface of the arch frame to complete the entire arch frame clamping action. The manipulator swing cylinder 2 drives the arch frame to swing, which is convenient for adjusting the installation surface angle when the two arms dock the arch frame, and then it is convenient for the bolts to be penetrated.

[0048] The advantages of the present invention are: 1. Long-distance two-point clamping is firm and stable, and any position of the arch frame can be clamped; 2. The position of the auxiliary arm clamping point can be adjusted according to the diameter of the arch frame, and the arch frame will not be deformed due to forced clamping; 3. The posture adjustment is simple when the arch frames are docked, which reduces the labor intensity when the bolts are penetrated.

[0049] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An arch clamping manipulator, characterized in that: It comprises a clamping body (3), two clamping devices (4) for clamping the arch frame, an auxiliary arm (6), and an auxiliary arm swing cylinder (5); One end of the auxiliary arm swing cylinder (5) is hinged to the clamping body (3), and the other end is hinged to the auxiliary arm (6); one end of the auxiliary arm (6) is hinged to the upper part of the clamping body (3), and the other end is fixedly provided with one of the clamping devices (4); the other clamping device (4) is fixed to the upper part of the clamping body (3); The arch frame clamping manipulator also includes a manipulator telescopic arm (100), a base (1), and a manipulator swing cylinder (2); the base (1) is fixed on the manipulator telescopic arm (100), the bottom of the clamping body (3) is hinged to the base (1), and the manipulator swing cylinder (2) is respectively hinged to the base (1) and the clamping body (3).

2. The arch clamping manipulator according to claim 1, characterized in that: A positioning component (7) is fixed on the clamping body (3), one end of the auxiliary arm (6) is hinged to the positioning component (7), and one of the clamping devices (4) is fixed on the positioning component (7).

3. The arch clamping manipulator according to claim 2 is characterized in that: The base (1) comprises a base bottom plate (11), a base limiting plate (12), a first base hinge portion (13), and a second base hinge portion (14); the lower portion of the base bottom plate (11) is fixed to the telescopic arm (100) of the manipulator, and the base limiting plate (12) is arranged on the upper portion of the base bottom plate (11); the first base hinge portion (13) is arranged on the base limiting plate (12), and the bottom of the clamping body (3) is hinged to the base (1) through the first base hinge portion (13); the second base hinge portion (14) is arranged on the side of the base bottom plate (11).

4. The arch clamping manipulator according to claim 3 is characterized in that: There are two base limiting plates (12), and the clamping body (3) is arranged in the space between the two base limiting plates (12).

5. The arch clamping manipulator according to claim 4 is characterized in that: The clamping body (3) comprises a first hinged portion (31) of the clamping body provided on one side and a second hinged portion (32) of the clamping body provided on the other side; one end of the manipulator swing cylinder (2) is hinged to the second hinged portion (14) of the base, and the other end is hinged to the first hinged portion (31) of the clamping body; The second hinged portion (32) of the clamping body is hinged to one end of the auxiliary arm swing cylinder (5).

6. The arch clamping manipulator according to claim 5, characterized in that: The auxiliary arm (6) comprises an auxiliary arm body (61), an auxiliary arm first hinge part (62), and an auxiliary arm second hinge part (63). The auxiliary arm body (61) is hinged to the positioning component (7) via the auxiliary arm first hinge part (62); the auxiliary arm second hinge part (63) is arranged on the inner side of the auxiliary arm body (61); one end of the auxiliary arm swing cylinder (5) is hinged to the auxiliary arm second hinge part (63), and the other end is hinged to the clamping body second hinge part (32).

7. The arch clamping manipulator according to claim 6, characterized in that: The clamping device (4) comprises a clamping cylinder (41), a clamping hook (42), and a clamping positioning plate (44). The clamping positioning plate (44) is fixed to the auxiliary arm body (61) or the outside of the positioning component (7). There are two clamping hooks (42), and both clamping hooks (42) are hinged to the clamping positioning plate (44). The two ends of the clamping cylinder (41) are respectively hinged to the two clamping hooks (42).

8. The arch clamping manipulator according to claim 7, characterized in that: The clamping hook (42) is in a "7"-shaped structure, a clamping hook connecting portion (46) is provided at the lower portion of the clamping hook (42), and both ends of the clamping oil cylinder (41) are respectively hinged to the clamping hook connecting portion (46); The two sides of the clamping and positioning plate (44) are provided with clamping and positioning plate hinge parts (45), and the middle and lower parts of the clamping hooks (42) are hinged to the clamping and positioning plate hinge parts (45); The clamping body (3) is also provided with a clamping body cavity (33), and a clamping cylinder (41) of a clamping device (4) fixed on the positioning component (7) passes through the clamping body cavity (33).

9. An arch clamping manipulator according to any one of claims 2 to 8, characterized in that: The auxiliary arm (6) and the positioning component (7) are also provided with a polyurethane plate.

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