A pipe pile tail plate plug removal device

Abstract

The present invention discloses a pipe pile tail plate plug removal device, comprising a frame and a flip telescopic manipulator, wherein the left end of the frame is provided with a bearing position for bearing the pipe pile, the flip telescopic manipulator is installed on the right end of the frame through a mounting assembly, the flip telescopic manipulator is provided with a clamping assembly, and the frame is provided with a collection position below the flip telescopic manipulator, during operation, the flip telescopic manipulator drives the clamping assembly to flip upward from the bottom to the bearing position to clamp the plug and then flips downward from the top to retract, and is used to pull out the plug and drive the plug to flip and move to the top of the collection position to remove and collect the plug. The present invention has the advantages of simple and compact structure, easy manufacture and maintenance, convenient and flexible operation, greatly reduced labor intensity, greatly improved labor efficiency, and convenient for plug reuse.

Description

Technical Field

[0001] The invention mainly relates to the field of pipe pile production equipment, and in particular to a pipe pile tail plate plug removal device. Background Art

[0002] In current construction operations, a large number of pipe piles are needed. During the production of pipe piles, there is a process in which the plug inserted at the end of the pipe pile needs to be pulled out before the centrifugal residual slurry of the pipe pile is dumped. The current plug pulling operation has the following technical problems:

[0003] First, some prior arts adopt manual operation to pull out. Since the plug has a certain mass and is firmly inserted into the pile, this makes the pulling out not only high in labor cost, but also high in labor intensity and low in work efficiency.

[0004] Secondly, in the prior art, cement slurry adheres to the plug when it is pulled out, and cement slurry is easily splashed out of the pipe pile when the plug is suddenly pulled out. The slurry is not collected and is easily splashed onto the workers' bodies and eyes. The working environment is poor, and manual operation is also prone to safety accidents.

[0005] Third, in the prior art, whether the plugs are pulled out manually or with simple tools, the plugs cannot be collected centrally, and the pulled out plugs are scattered randomly, which is not conducive to the cleaning and reuse of the plugs.

[0006] Fourth, some of the prior art uses equipment to directly pull out the plug in a straight line. Since cement slurry adheres to the plug, this straight-line removal method does not cause the cement slurry adhered to the plug to be thrown off. The plug is often mixed with the remaining slurry, causing contamination and damage to the plug, and increasing the difficulty of subsequent cleaning of the plug, which is not conducive to the reuse of the plug.

[0007] Fifth, in the prior art, the device directly pulls out the plug in a straight line backwards, which is provided with two left and right clamps, each of which is provided with a cylinder to push the clamp to move left and right for clamping. This method increases the manufacturing and maintenance costs, and secondly, the clamping force of this structure is not strong. Since the plug has a certain mass and is firmly inserted into the pile, the clamping often slips when pulling out in a straight line, and the pulling out fails, and the plug is also damaged.

[0008] Sixth, in the prior art, pipe piles are hoisted and moved by hoisting equipment (such as a crane), and some equipment does not use a positioning mechanism, resulting in an unfixed placement of the hoisted pipe piles, which affects the accuracy and rapid removal of the subsequent plugs. At the same time, some equipment does not leave hoisting space for the pipe piles, resulting in inconvenient operation and low work efficiency, whether it is when the pipe piles are hoisted and placed, or when the pipe piles need to be hoisted away after the plugs are removed. Summary of the invention

[0009] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a pipe pile tail plate plug removal device which has a simple and compact structure, is easy to manufacture and maintain, is convenient and flexible to operate, greatly reduces labor intensity, greatly improves labor efficiency, and is convenient for plug reuse.

[0010] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0011] A device for removing a pipe pile tail plate plug comprises a frame and a flip telescopic manipulator, wherein the left end of the frame is provided with a bearing position for bearing the pipe pile, the flip telescopic manipulator is installed on the right end of the frame through a mounting assembly, a clamping assembly is provided on the flip telescopic manipulator, and the frame is provided with a collecting position below the flip telescopic manipulator. During operation, the flip telescopic manipulator drives the clamping assembly to flip upward from bottom to top in the direction of the bearing position to clamp the plug and then flips downward from top to bottom to retract, so as to pull out the plug and drive the plug to flip and move above the collecting position to remove and collect the plug.

[0012] As a further improvement of the present invention, the flip telescopic manipulator includes a first telescopic driving component and upper arm links, lower arm links, active links, and driven links that are symmetrically arranged in pairs. The right ends of the two upper arm links and the two lower arm links are respectively hingedly mounted on the mounting assembly, the left ends of the two upper arm links are respectively hinged to the right ends of the two active links, the left ends of the two lower arm links are respectively hinged to the right ends of the two driven links, and are respectively hingedly mounted at the middle sections of the two active links, and the left ends of the two active links and the two driven links are both hinged to the clamping assembly; the first telescopic driving component is fixed to the mounting assembly, and the telescopic end is connected to the active link through the first connecting member.

[0013] As a further improvement of the present invention, an elastic limiter for improving the operating stability of the flip telescopic manipulator is also provided between the two upper arm connecting rods. The left ends of the two upper arm connecting rods are fixedly connected by a first support rod. One end of the elastic limiter is connected to the first support rod, and the other end is installed on the mounting assembly so that the elastic limiter is stretched when the flip telescopic manipulator is flipped and extended.

[0014] As a further improvement of the present invention, the first connecting member includes a second supporting rod connected between the two active connecting rods.

[0015] As a further improvement of the present invention, a support shaft is provided at the hinged joints of the two upper arm links and the two active links, and a support shaft is also provided at the hinged joints of the two lower arm links and the two driven links.

[0016] As a further improvement of the present invention, a residual material collecting bucket is provided on the frame between the bearing position and the collecting position for collecting cement slurry sprayed out of the pipe pile when the plug is pulled out and cement slurry thrown off when the plug is turned over.

[0017] As a further improvement of the present invention, at least one positioning and limiting plate is provided on the frame at the bearing position, and the positioning and limiting plate is provided with a first arc-shaped groove with an upper opening, which is used to clamp and limit the fallen pipe pile so as to facilitate the flipping and telescopic manipulator to accurately pull out the plug.

[0018] As a further improvement of the present invention, the clamping assembly includes two symmetrically arranged mounting plates, the two mounting plates are fixedly connected by a plurality of fixing parts, the upper ends of the two mounting plates are provided with a vertical second telescopic driving part, two clamping plates and two push-pull rods are provided between the two mounting plates, the two clamping plates are hinged in a scissor-like manner through a first rotating shaft part and are installed on the two mounting plates, the upper ends of the two clamping plates are respectively hinged to the lower end of a push-pull rod, the upper ends of the two push-pull rods are hinged through a second rotating shaft part, the telescopic end of the second telescopic driving part is connected through a second connecting part and a second rotating shaft part, and vertical limit grooves are provided on the two mounting plates for the second rotating shaft part to extend into, so that the second rotating shaft part can only slide up and down along the limit groove when the second telescopic driving part is driven.

[0019] As a further improvement of the present invention, the mounting plate is provided with a plurality of hollow portions for reducing the weight of the mounting plate, and the clamping plates are provided with a second arc-shaped groove for clamping the plug between the two clamping plates during clamping.

[0020] As a further improvement of the present invention, an inclined guide chute is provided at the collection position to buffer the dropped plugs and guide the plugs to an external collection device.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] First, the pipe pile tail plate plug removal device of the present invention uses a robot to complete the plug extraction and collection, avoiding manual operation, which not only greatly reduces labor costs and labor intensity, but also greatly improves work efficiency and reduces the occurrence of safety accidents in manual operations.

[0023] Secondly, the pipe pile tail plate plug removal device of the present invention has a special design of flipping out and retracting when the rotating and telescopic manipulator is retracted, so the retraction of the rotating and telescopic manipulator will not cause any obstruction to the retraction of the load-bearing position, which makes it easy for the lifting equipment to lift the heavy pipe piles quickly and conveniently and drop them on the retracted position of the load-bearing position for operation, thereby greatly improving the operation efficiency.

[0024] Third, the pipe pile tail plate plug removal device of the present invention has a special design of flipping and retracting when the telescopic manipulator is retracted, which is not a simple linear movement. Therefore, the plug will be driven by the retraction of the clamping assembly to perform a rapid flipping and swinging after being pulled out. This flipping and swinging process can shake off a large amount of cement slurry adhering to the plug, making it difficult for the subsequent plug to be mixed with the mud during collection, reducing the pollution of the work site and the pollution and damage of the plug itself, and also facilitating the subsequent cleaning operation of the plug and facilitating the rapid reuse of the plug.

[0025] Fourth, the pipe pile tail plate plug removal device of the present invention has a special design of flipping and retracting when the telescopic manipulator is retracted, which is not a simple linear movement. Therefore, the clamping component is not simply pulled out directly to the rear in a straight line after retracting the plug, but there is a force of retreating backward and flipping downward at the same time. This makes it possible for the clamping component to retract without slipping, and the plug can be pulled out quickly and stably without causing damage to the circumferential surface of the plug.

[0026] Fifth, the device for pulling out the plug at the tail plate of the pipe pile of the present invention has a collecting position retracted below the frame when the flip telescopic manipulator is retracted, so that the pulled out plugs can be unloaded and collected together. The pulled out plugs are no longer scattered at will, which reduces the pollution of the working site and the pollution and damage of the plugs themselves, and is also convenient for the subsequent cleaning operation of the plugs, and facilitates the rapid reuse of the plugs.

[0027] Sixth, the pipe pile tail plate plug removal device of the present invention is specially designed to retract the elastic limiter in order to balance the problem of ensuring that the extraction driving force is large after clamping and that the driving force before clamping is not too large. When the unloaded flip telescopic manipulator retracts and flips out, the elastic limiter will be stretched, which effectively offsets a part of the driving force, so that the retraction operation of the flip telescopic manipulator is stable and will not flip forward suddenly and quickly. It effectively ensures the accurate positioning of the retracted and extended position of the flip telescopic manipulator, that is, it ensures the accurate retraction position of the front clamping assembly, and can accurately clamp the plug without hitting the plug and the pipe pile. When the flip telescopic manipulator retracts and clamps the plug and returns, the elastic limiter retracts under the action of the elastic restoring force, which can pull the heavy flip telescopic manipulator to retract and flip and retract quickly, and to a certain extent cooperates with the retraction drive of the first telescopic drive member, making the retraction more convenient and easy.

[0028] Seventh, the pipe pile tail plate plug removal device of the present invention has more than one positioning limit plate retracted on the retracted position of the frame at the bearing position. The first is to quickly and accurately limit the position of the plug, play a role in rapid positioning, and facilitate the retraction of the flip telescopic manipulator to accurately clamp and pull out the plug. Secondly, it plays a limiting role, so that the pipe pile will not roll and displace when the plug is pulled out, which is convenient for subsequent lifting and has extremely high safety.

[0029] Eighth, the pipe pile tail plate plug removal device of the present invention has a special design of retracting the clamping assembly. First, as long as the second telescopic drive member is retracted, clamping can be achieved, and the structure is lighter and the manufacturing and maintenance costs are lower. Second, because the plug has a certain mass and is firmly inserted into the pipe pile, the retracting of the clamping assembly is required to have a good clamping force, which can not only clamp and pull out the plug, but also prevent the plug from falling when it is flipped and swung. The retracting design of the two mounting plates and the limiting design of the limit grooves ensure that the two clamping plates and the two push-pull rods are not easily deformed during clamping, thereby ensuring a good holding force. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the three-dimensional structural principle of the pipe pile tail plate plug removal device of the present invention.

[0031] Figure 2 The schematic diagram of the three-dimensional structure principle of the flip telescopic manipulator of the present invention when it is extended Figure 1 .

[0032] Figure 3 The schematic diagram of the three-dimensional structure principle of the flip telescopic manipulator of the present invention when it is extended Figure 2 .

[0033] Figure 4 It is a schematic diagram of the three-dimensional structural principle of the flip telescopic manipulator of the present invention when it is retracted.

[0034] Figure 5 It is a schematic diagram of the three-dimensional structural principle of the clamping assembly of the present invention.

[0035] Figure 6 It is a schematic diagram of the internal structure principle of the clamping assembly of the present invention.

[0036] Figure 7 It is a schematic diagram of the structural principle of the positioning and limiting plate, the buffer plate, and the elastic buffer member of the present invention.

[0037] Figure 8 It is a schematic diagram of the structural principle of the flip telescopic manipulator of the present invention in different working states.

[0038] The symbols in the figure represent:

[0039] 1. Frame; 11. Load-bearing position; 12. Mounting assembly; 13. Collection position; 14. Residual material collection bucket; 15. Support leg; 2. Flip telescopic manipulator; 21. Clamping assembly; 211. Mounting plate; 2111. Hollow part; 212. Fixing member; 213. Second telescopic driving member; 214. Clamping plate; 215. Push-pull rod; 216. Second rotating shaft member; 217. Limiting groove; 218. Second connecting member; 219. First rotating shaft member; 22. Upper arm connecting rod; 23. Lower arm connecting rod; 24. Active connecting rod; 25. Driven connecting rod; 26. First telescopic driving member; 27. First supporting rod; 28. First connecting member; 29. ​​Support rotating shaft; 3. Elastic limiting member; 4. Positioning limiting plate; 41. Buffer plate; 42. Elastic buffer member; 5. Guide chute. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] like Figures 1 to 8 As shown, the present invention provides a pipe pile tail plate plug removal device, including a frame 1 and a flip telescopic manipulator 2. The left end of the frame 1 is provided with a bearing position 11 for bearing the pipe pile. The flip telescopic manipulator 2 is installed on the right end of the frame 1 through an installation component 12. A clamping component 21 is provided on the flip telescopic manipulator 2. The frame 1 is provided with a collection position 13 below the flip telescopic manipulator 2. During operation, the flip telescopic manipulator 2 drives the clamping component 21 to flip from bottom to top toward the bearing position 11 to clamp the plug and then flip from top to bottom to retract, for pulling out the plug and driving the plug to flip and move to the top of the collection position 13 to remove and collect the plug. In this embodiment, the frame 1 is provided with a plurality of legs 15. It should be particularly noted that the description of the front, back, left, and right directions in this embodiment is only represented according to the drawings to facilitate a clear understanding of the structure of the device. The front, back, left, and right directions are not a limitation on the structure of the device. That is, in the present figure, the bearing position 11 is arranged at the left end of the frame 1, and the flip telescopic manipulator 2 is installed at the right end of the frame 1; in practice, the directions of the bearing position 11 and the flip telescopic manipulator 2 can also be reversed, the bearing position 11 is arranged at the right end of the frame 1, and the flip telescopic manipulator 2 is installed at the left end of the frame 1. The specific implementation principle is as follows:

[0042] Since the inverting and telescopic manipulator 2 of the present invention adopts a special design of inverting and extending and inverting and retracting, this is not a simple linear movement. Figure 4 and Figure 8 As shown in A, the flip telescopic manipulator 2 drives the clamping assembly 21 to be folded inward. This makes it easier for the lifting equipment to quickly and conveniently lift the heavy pipe pile and place it on the bearing position 11. Figure 1 , Figure 2 , Figure 3 , Figure 8 As shown in B, the flip telescopic manipulator 2 drives the clamping assembly 21 to flip and extend rapidly from bottom to top toward the bearing position 11, so that the clamping assembly 21 is close to the plug (in order to more clearly understand the structure of the device from the attached figure, the pipe pile and the plug are not shown in the figure). Figure 8 As shown in FIG. C, the clamping assembly 21 is in a clamping state to clamp the plug; then Figure 8 As shown in D, the retractable manipulator 2 is retracted rapidly from top to bottom, and the clamping assembly 21 will also drive the plug to be retracted rapidly from top to bottom, and drive the plug to be retracted to the top of the collection position 13, and then the clamping assembly 21 is opened, so that the plug is unloaded and collected under its own weight. At this time, since the retractable manipulator 2 is retracted, there is no obstruction above the bearing position 11, which also facilitates the lifting equipment to quickly lift the heavy pipe pile with the plug removed again. The above special structural design has the following technical effects:

[0043] First, the pipe pile tail plate plug removal device of the present invention uses a robot to complete the plug extraction and collection, avoiding manual operation, which not only greatly reduces labor costs and labor intensity, but also greatly improves work efficiency and reduces the occurrence of safety accidents in manual operations.

[0044] Second, the pipe pile tail plate plug removal device of the present invention has a special design of flipping, extending and retracting the rotating and telescopic manipulator 2, which does not cause any obstruction to the load-bearing position 11, making it convenient for the lifting equipment to lift the heavy pipe pile quickly and conveniently and place it on the load-bearing position 11 for operation, thereby greatly improving the operation efficiency.

[0045] Third, the pipe pile tail plate plug removal device of the present invention has a special design of flipping and retracting of the rotating and telescopic manipulator 2, which is not a simple linear movement. Therefore, the plug will be driven by the clamping assembly 21 to perform a rapid flipping and swinging after being pulled out. This flipping and swinging process can shake off a large amount of cement slurry adhering to the plug, making it difficult for the subsequent plug to be mixed with the mud during collection, reducing the pollution of the work site and the pollution and damage of the plug itself, and also facilitating the subsequent cleaning operation of the plug and facilitating the rapid reuse of the plug.

[0046] Fourth, the pipe pile tail plate plug removal device of the present invention has a special design of flipping and retracting of the rotating and telescopic manipulator 2, which is not a simple linear movement. Therefore, after clamping the plug, the clamping component 21 is not simply pulled out directly to the rear in a straight line, but there is a force of retreating backward and flipping downward. This prevents the clamping component 21 from slipping during clamping, and can quickly and stably pull out the plug without causing damage to the circumferential surface of the plug.

[0047] Fifth, the pipe pile tail plate plug extraction and removal device of the present invention has a frame 1 further provided with a collection position 13 below the flip telescopic manipulator 2, which can remove the pulled out plugs and collect them together. The pulled out plugs are no longer scattered at will, which reduces the pollution of the work site and the pollution and damage of the plugs themselves, and is also convenient for subsequent cleaning operations of the plugs, and facilitates the rapid reuse of the plugs.

[0048] like Figures 1 to 4 As shown, further, in a preferred embodiment, the flip telescopic manipulator 2 includes a first telescopic driving member 26 and upper arm links 22, lower arm links 23, active links 24, and driven links 25 that are symmetrically arranged in pairs. The right ends of the two upper arm links 22 and the two lower arm links 23 are respectively hingedly mounted on the mounting assembly 12, the left ends of the two upper arm links 22 are respectively hinged to the right ends of the two active links 24, the left ends of the two lower arm links 23 are respectively hinged to the right ends of the two driven links 25, and are respectively hingedly mounted at the middle sections of the two active links 24, and the left ends of the two active links 24 and the two driven links 25 are both hinged to the clamping assembly 21; the first telescopic driving member 26 is fixed to the mounting assembly 12, and the telescopic end is connected to the active link 24 through the first connecting member 28. In this embodiment, the mounting assembly 12 includes two mounting rods erected on the frame 1, and a transverse connecting rod is connected between the two mounting rods. The right ends of the two upper arm connecting rods 22 and the two lower arm connecting rods 23 are respectively rotatably hingedly mounted on the vertical mounting rods through rotating shafts. Of course, in other embodiments, the mounting assembly 12 can also be of other designs, as long as the flip telescopic manipulator 2 can be installed on the frame 1 according to the above-mentioned structural form and positional relationship. In this embodiment, the first telescopic drive member 26 includes a cylinder. When the telescopic end of the cylinder is extended, it will push the active connecting rod 24 to extend forward together. At this time, it is subject to the special limitation of the above-mentioned structure, so that Figure 8 As shown, the flip telescopic manipulator 2 will complete a flip-up and extension action from bottom to top. When the telescopic end of the cylinder retracts, it will pull the active connecting rod 24 back together, so that the flip telescopic manipulator 2 will complete a flip-down and retraction action from top to bottom. This structural form is not only simple and light, easy to manufacture and maintain, but also ensures the realization of the special design of flip extension and flip retraction.

[0049] like Figures 1 to 4As shown, further, in a preferred embodiment, an elastic stopper 3 for improving the running stability of the flip telescopic manipulator 2 is also provided between the two upper arm connecting rods 22. The left ends of the two upper arm connecting rods 22 are fixedly connected by a first support rod 27. One end of the elastic stopper 3 is connected to the first support rod 27, and the other end is installed on the mounting assembly 12 so that the elastic stopper 3 is stretched when the flip telescopic manipulator 2 is flipped and extended. Since the plug has a certain mass and is firmly inserted into the pipe pile, in order to pull out the plug, the driving force of the first telescopic driving member 26 must be relatively large. This makes the flip telescopic manipulator 2 flip forward and push out in the no-load state. The flip telescopic manipulator 2 may exceed the position of the plug due to the large pushing force and fast pushing speed, which will make the clamping assembly 21 unable to accurately clamp the plug; or it may hit the plug and pipe pile in front, causing damage to the equipment. In order to balance the problem of ensuring that the driving force for extraction after clamping is large and that the driving force before clamping is not too large, the present invention specially designs an elastic limiter 3. When the unloaded flip telescopic manipulator 2 flips and extends, the elastic limiter 3 will be stretched, which effectively offsets a part of the driving force, so that the flip telescopic manipulator 2 runs stably and will not flip forward suddenly and extend quickly, effectively ensuring the accurate positioning of the extended position of the flip telescopic manipulator 2, that is, ensuring the accurate position of the front clamping assembly 21, and can accurately clamp the plug, and will not hit the plug and the pipe pile. When the flip telescopic manipulator 2 clamps the plug and retracts, the elastic limiter 3 can pull the heavy flip telescopic manipulator 2 to flip and retract quickly under the action of the elastic restoring force, which cooperates with the retraction drive of the first telescopic driving member 26 to a certain extent, and the retraction is more convenient and easy. In this embodiment, the elastic limiter 3 is a tension spring, one end of which is hung on the transverse connecting rod between the two mounting rods, and the other end is hung on the first support rod 27. Of course, in other embodiments, the elastic limiter 3 may also be of other designs, such as an elastic rubber member, etc., which shall all fall within the protection scope of the present invention. The first support rod 27 not only facilitates the installation of the elastic limiter 3, but also forms a connection and support limit for the two upper arm connecting rods 22, so that the flip telescopic manipulator 2 will not be deformed when flipping and telescoping, and the flipping and telescoping are stable.

[0050] like Figures 1 to 4 As shown, further, in a preferred embodiment, the first connecting member 28 includes a second support rod connected between the two active connecting rods 24. The telescopic end of the first telescopic driving member 26 is hinged to the middle of the second support rod. The second support rod not only facilitates the installation of the first telescopic driving member 26, but also forms a connection and support limit for the two active connecting rods 24, so that the flip telescopic manipulator 2 will not be deformed when flipping and telescoping, and the flipping and telescoping are stable.

[0051] like Figures 1 to 4As shown, further, in a preferred embodiment, a support shaft 29 is provided at the hinge of the two upper arm links 22 and the two active links 24, and a support shaft 29 is also provided at the hinge of the two lower arm links 23 and the two driven links 25. The support shaft 29 can not only ensure the realization of the hinge rotation, but also can form a connection and support limit for the two upper arm links 22 and the two active links 24, and the two lower arm links 23 and the two driven links 25, respectively, so that the flip telescopic manipulator 2 will not be deformed when flipping and telescoping, and the flipping and telescoping are stable.

[0052] like Figure 1 As shown, further, in a preferred embodiment, a residual material collecting bucket 14 is provided between the bearing position 11 and the collecting position 13 on the frame 1 to collect the cement slurry sprayed out of the pipe pile when the plug is pulled out and the cement slurry thrown off when the plug is turned over. This allows the cement slurry to be collected and reused, reducing pollution to the work site.

[0053] like Figure 1 , Figure 7 As shown, further, in a preferred embodiment, at least one positioning and limiting plate 4 is provided on the frame 1 at the bearing position 11, and the positioning and limiting plate 4 is provided with a first arc-shaped groove with an upper opening, which is used to clamp and limit the fallen pipe pile so as to facilitate the overturning telescopic manipulator 2 to accurately pull out the plug. When the lifting equipment quickly lifts the heavy pipe pile and drops it at the bearing position 11, the pipe pile will fall into the first arc-shaped groove and be clamped and limited. This is to quickly and accurately limit the position of the plug, play a role in rapid positioning, and facilitate the overturning telescopic manipulator 2 to accurately clamp and pull out the plug. Secondly, it plays a role in limiting, so that the pipe pile will not roll and displace when the plug is pulled out, which is convenient for subsequent lifting and has extremely high safety.

[0054] like Figure 1 , Figure 7 As shown, further, in a preferred embodiment, the positioning and limiting plates 4 are provided with two symmetrically arranged ones, a buffer plate 41 is sandwiched between the two positioning and limiting plates 4, and more than two elastic buffer members 42 are provided between the two positioning and limiting plates 4 below the buffer plate 41 to support the buffer plate 41. When the pipe pile falls into the first arc-shaped groove, the buffer plate 41 will be contacted and pressed to enable the buffer plate 41 to buffer the dropped pipe pile.

[0055] like Figure 1 , Figure 5 , Figure 6As shown, further, in a preferred embodiment, the clamping assembly 21 includes two symmetrically arranged mounting plates 211, the two mounting plates 211 are fixedly connected by a plurality of fixing members 212, the upper ends of the two mounting plates 211 are provided with a vertical second telescopic driving member 213, two clamping plates 214 and two push-pull rods 215 are provided between the two mounting plates 211, the two clamping plates 214 are hinged in a scissor-like manner through a first rotating shaft member 219 and are installed on the two mounting plates 211, and the two clamping plates 214 are hinged in a scissor-like manner through a first rotating shaft member 219 and are installed on the two mounting plates 211. The upper end of the holding plate 214 is hinged to the lower end of a push-pull rod 215 respectively, and the upper ends of the two push-pull rods 215 are hinged through the second rotating shaft 216. The telescopic end of the second telescopic driving member 213 is connected to the second rotating shaft 216 through the second connecting member 218. The two mounting plates 211 are provided with vertical limiting grooves 217 for the second rotating shaft 216 to extend into, so that the second rotating shaft 216 can only slide up and down along the limiting grooves 217 when the second telescopic driving member 213 is driven. In this embodiment, the second telescopic driving member 213 includes a cylinder.

[0056] That is, Figure 1 , Figure 5 , Figure 6 As shown, two mounting plates 211 and a plurality of fixing members 212 form a flat box structure with an opening at the bottom, and two clamping plates 214 and two push-pull rods 215 are limitedly installed in the flat box structure. When the second telescopic drive member 213 is extended downward and driven, the two push-pull rods 215 will push the upper ends of the two clamping plates 214 to open outward, so that the lower ends of the two clamping plates 214 are clamped inward. When the second telescopic drive member 213 is retracted upward and driven, the two push-pull rods 215 will pull the upper ends of the two clamping plates 214 inward, so that the lower ends of the two clamping plates 214 are opened inward and outward. This special design, firstly, allows clamping to be achieved with only one second telescopic drive member 213, and the structure is lighter, and the manufacturing and maintenance costs are lower. Secondly, since the plug has a certain mass and is firmly inserted into the pile, the clamping assembly 21 needs to have a good clamping force, not only to be able to clamp and pull out the plug, but also to prevent the plug from falling when flipping and swinging. The clamping design of the two mounting plates 211 and the limiting design of the limiting grooves 217 ensure that the two clamping plates 214 and the two push-pull rods 215 are not easily deformed during clamping, thereby ensuring a good clamping force.

[0057] like Figure 5 , Figure 6 As shown, further, in a preferred embodiment, a plurality of hollow portions 2111 are provided on the mounting plate 211 to reduce the weight of the mounting plate 211, and a second arc-shaped groove is provided on each clamping plate 214 to clamp the plug tightly between the two clamping plates 214. This enables the plug to be clamped accurately, and the plug is not easy to fall off when flipped and swung.

[0058] like Figure 1 As shown, further, in a preferred embodiment, a guide chute 5 arranged in an inclined manner is provided at the collection position 13 to buffer the dropped plugs and guide the plugs to an external collection device. The upper end of the guide chute 5 is used to receive the dropped plugs, buffer the plugs and prevent them from being damaged; and the lower end is used to cooperate with the plug box or plug hopper to guide the plugs to the plug box or plug hopper for unified collection.

[0059] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A pipe pile tail plate plug removal device, characterized in that: The invention comprises a frame (1) and a tilting and telescopic manipulator (2), wherein the left end of the frame (1) is provided with a bearing position (11) for bearing a pipe pile, the tilting and telescopic manipulator (2) is installed on the right end of the frame (1) via an installation component (12), the tilting and telescopic manipulator (2) is provided with a clamping component (21), and the frame (1) is provided with a collecting position (13) below the tilting and telescopic manipulator (2). When in operation, the tilting and telescopic manipulator (2) drives the clamping component (21) toward the bearing position (11). ) is turned upside down and extended in the direction of the machine frame (1) to clamp the plug and then turned down and retracted from the top to the bottom, and is used to pull out the plug and drive the plug to turn over and move to above the collection position (13) to unload and collect the plug; a residual material collection bucket (14) is also provided on the frame (1) between the bearing position (11) and the collection position (13) to collect cement slurry sprayed out of the pipe pile when the plug is pulled out and cement slurry thrown off when the plug is turned over; and one or more positioning limit plates (4) are provided on the frame (1) at the bearing position (11).

2. The pipe pile tail plate plug removal device according to claim 1 is characterized in that: The tilting telescopic manipulator (2) comprises a first telescopic driving member (26) and upper arm connecting rods (22), lower arm connecting rods (23), an active connecting rod (24), and a driven connecting rod (25) which are symmetrically arranged in pairs, wherein the right ends of the two upper arm connecting rods (22) and the two lower arm connecting rods (23) are respectively hingedly mounted on the mounting assembly (12), and the left ends of the two upper arm connecting rods (22) are respectively hingedly mounted on the right ends of the two active connecting rods (24). The left ends of the two lower arm links (23) are respectively hinged to the right ends of the two driven links (25), and are respectively hingedly mounted at the middle sections of the two active links (24); the left ends of the two active links (24) and the two driven links (25) are both hinged to the clamping assembly (21); the first telescopic drive member (26) is fixed to the mounting assembly (12), and the telescopic end is connected to the active link (24) via a first connecting member (28).

3. The pipe pile tail plate plug removal device according to claim 2 is characterized in that: An elastic stopper (3) for improving the operational stability of the flip telescopic manipulator (2) is also provided between the two upper arm connecting rods (22); the left ends of the two upper arm connecting rods (22) are fixedly connected via a first support rod (27); one end of the elastic stopper (3) is connected to the first support rod (27), and the other end is mounted on the mounting assembly (12) so that the elastic stopper (3) is stretched when the flip telescopic manipulator (2) is flipped and extended.

4. The pipe pile tail plate plug removal device according to claim 2 is characterized in that: The first connecting member (28) comprises a second supporting rod connected between the two active connecting rods (24).

5. The pipe pile tail plate plug removal device according to claim 2 is characterized in that: A support shaft (29) is provided at the hinged joint between the two upper arm connecting rods (22) and the two active connecting rods (24), and a support shaft (29) is also provided at the hinged joint between the two lower arm connecting rods (23) and the two driven connecting rods (25).

6. The pipe pile tail plate plug removal device according to claim 1 is characterized in that: The positioning and limiting plate (4) is provided with a first arc-shaped groove with an upper opening, which is used to clamp and limit the fallen pipe pile so as to facilitate the turning of the telescopic manipulator (2) to accurately pull out the plug.

7. The pipe pile tail plate plug removal device according to claim 1 is characterized in that: The clamping assembly (21) comprises two symmetrically arranged mounting plates (211), the two mounting plates (211) being fixedly connected via a plurality of fixing members (212), the upper ends of the two mounting plates (211) being provided with a vertical second telescopic driving member (213), two clamping plates (214) and two push-pull rods (215) being provided between the two mounting plates (211), the two clamping plates (214) being hinged in a scissor-like manner via a first rotating shaft member (219) and being mounted on the two mounting plates (211), the two clamping plates (214) ) are respectively hinged to the lower end of a push-pull rod (215), the upper ends of the two push-pull rods (215) are hinged via a second rotating shaft (216), the telescopic end of the second telescopic driving member (213) is connected to the second rotating shaft (216) via a second connecting member (218), and vertical limiting grooves (217) are provided on the two mounting plates (211) for the second rotating shaft (216) to extend into, so that the second rotating shaft (216) can only slide up and down along the limiting grooves (217) when the second telescopic driving member (213) is driven.

8. The pipe pile tail plate plug removal device according to claim 7 is characterized in that: The mounting plate (211) is provided with a plurality of hollow portions (2111) for reducing the weight of the mounting plate (211), and the clamping plates (214) are each provided with a second arc-shaped groove for clamping the plug to be located between the two clamping plates (214) during clamping.

9. The pipe pile tail plate plug removal device according to claim 1 is characterized in that: The collecting position (13) is provided with an inclined guide chute (5) for buffering the dropped plugs and guiding the plugs to an external collecting device.

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