An arm mechanism for an anchor net trolley

Abstract

The present invention provides a boom mechanism for an anchor net trolley, comprising a main boom (1), an anchor rod mechanism, and a net hanging mechanism (7); the main boom (1) is used to connect to the anchor net trolley; the anchor rod mechanism is connected to the main boom (1) and is used to store the anchor rod; the net hanging mechanism (7) is connected to the anchor rod mechanism and is used to hang a steel mesh. The present invention simultaneously arranges the anchor rod mechanism and the net hanging mechanism (7) on the main boom, so that the boom mechanism can simultaneously complete the steps of net hanging and anchor rod installation, thereby improving the working efficiency of the entire anchor net trolley.

Description

Technical Field

[0001] The invention relates to mining anchor net support construction equipment, in particular to an arm mechanism for an anchor net trolley. Background Art

[0002] Currently, anchor-net support, a combination of shotcrete, anchor bolts, and mesh, is a widely used support method in deep foundation pit support projects. Anchor bolts and mesh are closely linked during construction, but current anchor trolley booms lack mesh retrieval and placement capabilities. Therefore, mesh placement typically requires specialized equipment. The need to switch between specialized equipment during construction impacts efficiency, and the increased number of devices also results in high costs. Summary of the Invention

[0003] The object of the present invention is to provide an arm support mechanism for an anchor net trolley in view of the deficiencies in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides an arm mechanism for an anchor net trolley, comprising a main arm, an anchor rod mechanism and a net hanging mechanism; the main arm is used to connect with the anchor net trolley; the anchor rod mechanism is connected to the main arm and is used to store the anchor rod; the net hanging mechanism is connected to the anchor rod mechanism and is used to lay and hang the steel mesh.

[0005] Preferably, the main arm includes an arm support, a first telescopic arm, an arm rotation motor and a rotating frame; the first telescopic arm includes an outer arm, an arm telescopic member and an inner arm, one end of the outer arm is connected to the arm support, and the other end is sleeved on the inner arm, the two ends of the arm telescopic member are respectively connected to the outer arm and the inner arm, for driving the inner arm to perform telescopic movement relative to the outer arm; the two ends of the arm rotation motor are respectively connected to the inner arm and the rotating frame, for driving the rotating frame to rotate relative to the inner arm.

[0006] Preferably, the arm support is used to connect with the anchor net trolley.

[0007] As a further solution of the present invention: a horizontal yaw assembly and a pitch yaw assembly are also provided on the main arm, and the horizontal yaw assembly is connected to the arm support and the front end surface of the outer arm at the same time, and is used to drive the outer arm to swing in the horizontal direction relative to the arm support; the pitch yaw assembly is connected to the arm support and the lower end surface of the outer arm at the same time, and is used to drive the outer arm to swing in the vertical direction relative to the arm support.

[0008] Preferably, the anchor mechanism includes a slewing support and a rod storage assembly, one end of the slewing support is connected to the rotating frame so as to be driven by the rotating frame to rotate synchronously, and the standard storage assembly is arranged on the slewing support for storing anchor rods.

[0009] As a further solution of the present invention: the anchor mechanism is further provided with a first swing assembly, the two ends of which are respectively connected to the rotating frame and the slewing support, for driving the slewing support to swing relative to the rotating frame.

[0010] As a further solution of the present invention: the slewing support is configured as Shape structure.

[0011] As a further solution of the present invention: the rod library assembly includes a rod library, an anchor unit rotary cylinder and a limit ring;

[0012] Preferably, the rod library includes a reaction plate, an anchor rod, an anchor rod fixing assembly and an anchor rod driving assembly, one end of the reaction plate is connected to the slewing support, and the other end is connected to the fixed end of the anchor rod driving assembly, the anchor rod is installed on the anchor rod fixing assembly, and the anchor rod fixing assembly is connected to the driving end of the anchor rod driving assembly so that the anchor rod fixing assembly can be controlled to rotate by the anchor rod driving assembly, thereby running the anchor rod to the grabbing position of the anchor rod unit.

[0013] Preferably, one end of the anchor unit rotary cylinder is connected to the rotary support, and the other end is connected to the anchor unit of the anchor net trolley, which is used to achieve the connection of the construction process of aligning the anchor with the anchor hole and driving the anchor after the anchor unit has drilled the anchor hole.

[0014] Preferably, the limiting ring is configured as an arc structure, one end of which is mounted on the slewing support and the other end extends to the rod depot, for preventing the anchor rods provided on the rod depot from falling off during rotation.

[0015] As a further solution of the present invention: the anchor rod fixing assembly includes at least one retaining ring, the retaining ring includes a chuck and a retaining spring, the chuck is provided with at least one retaining groove, the retaining grooves are respectively arranged on the chuck in a circular array, for clamping the anchor rod, the retaining spring is provided with at least one group, and each group is provided with two symmetrically arranged pieces, which are respectively installed on both sides of the retaining groove, for limiting and fixing the anchor rod clamped in the retaining groove by the spring force of the retaining spring.

[0016] Preferably, the net hanging mechanism includes a second swing assembly, a second telescopic arm, a gripper and a gripper drive assembly; the fixed end of the second swing assembly is mounted on a slewing support, and its driving end is connected to the second telescopic arm, for driving the second telescopic arm to swing relative to the slewing support; the second telescopic arm includes a first arm, a net hanging arm telescopic part and a second arm, one end of the first arm is connected to the driving end of the second swing assembly, and the other end is sleeved on the second arm, the net hanging arm telescopic part is used to connect the first arm and the second arm, and drive the second arm to telescope on the first arm; the gripper drive assembly is mounted on the second arm, for driving the gripper to grab or release the wire mesh.

[0017] Preferably, the gripper drive assembly includes a first net hanging arm rotary motor, a transition plate, a second net hanging arm rotary motor, an intermediate bracket, a gripper telescopic member, a first gripper bracket and a second gripper bracket; the fixed end of the first net hanging arm rotary motor is connected to the second arm, and its driving end is connected to the fixed end of the second net hanging arm rotary motor through the transition plate, so that the second arm net hanging arm rotary motor and the first net hanging arm rotary motor are in a mutually perpendicular state; an intermediate bracket is installed on the driving end of the second net hanging arm rotary motor to drive the gripper telescopic member to rotate in two mutually perpendicular directions; the intermediate bracket is installed There is a connecting assembly, which includes a connecting rod and a sleeve. The sleeve is provided with two parts respectively arranged at both ends of the connecting rod, and the central axis of the sleeve is arranged perpendicular to the central axis of the connecting rod; the first gripper bracket and the second gripper bracket are respectively arranged with the sleeve, and a gripper telescopic member is also connected between the first gripper bracket and the second gripper bracket. The gripper telescopic member is arranged as a dual-drive telescopic member to drive the first gripper bracket and the second gripper bracket to rotate relative to each other, thereby controlling the grippers respectively installed on the first gripper bracket and the second gripper bracket to release or grasp.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) The present invention arranges the anchor rod mechanism and the net hanging mechanism on the main arm at the same time, so that the arm mechanism can complete the steps of net hanging and anchor rod installation at the same time, thereby improving the working efficiency of the entire anchor net trolley.

[0020] (2) In the present invention, the main arm is configured as a retractable structure to effectively increase the adaptability of the main arm.

[0021] (3) In the present invention, a horizontal yaw assembly and a pitch yaw assembly for controlling the horizontal yaw and pitch yaw of the outer arm are provided on the main arm, so that the outer arm can operate flexibly and the adaptability range of the outer arm is increased.

[0022] (4) In the present invention, by setting the slewing support The shaped structure makes the overall structure of the arm mechanism compact.

[0023] (5) In the present invention, a limiting ring is provided on the rod library to prevent the anchor rod from falling off during the rotational movement.

[0024] (6) In the present invention, a swing assembly is provided on the anchor rod mechanism to control the swing of the anchor rod mechanism, so that it can better cooperate with the movements of other components of the anchor net trolley.

[0025] (7) In the present invention, the anchor rod fixing assembly is configured as a structure in which a chuck and a retaining spring cooperate with each other, so that the anchor rod can be placed and taken out easily and quickly.

[0026] (8) In the present invention, the structure for controlling the gripper to grab or release the wire mesh is set to a swinging structure, so as to control the gripper to grab the wire mesh in a card-in manner, thereby preventing the gripper from being out of control during the process of grabbing the wire mesh, thereby effectively ensuring the safety performance when hanging the wire mesh.

[0027] (9) In the present invention, the structure for controlling the grabbing rotation is set to a structure in which the first net hanging arm rotary motor and the second net hanging arm rotary motor are perpendicular to each other, so as to ensure the full-range movement control of the grabber required during the net hanging process.

[0028] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 It is an axonometric diagram of the overall structure of the present invention;

[0031] Figure 2 It is a right side schematic diagram of the overall structure of the present invention;

[0032] Figure 3 It is an axonometric diagram of the rod library of the present invention;

[0033] Figure 4 It is a schematic diagram of the main view of the upper arm of the present invention;

[0034] Figure 5 It is an axonometric schematic diagram of the screen hanging arm in the present invention.

[0035] in:

[0036] 1. Main boom, 101. Boom support, 102. Outer boom, 103. Boom telescopic member, 104. Boom yaw cylinder, 105. Boom pitch cylinder, 106. Inner boom, 107. Boom slew motor, 108. Rotating frame;

[0037] 2. Support rotary cylinder, 3. Rotary support, 4. Swing motor;

[0038] 7. Net hanging mechanism, 701. First arm, 702. Net hanging arm telescopic member, 703. Second arm, 704. First net hanging arm rotary motor, 705. Transition plate, 706. Second net hanging arm rotary motor, 707. Intermediate bracket, 708. Gripper telescopic member, 709. First gripper bracket, 710. Second gripper bracket, 711. Gripper;

[0039] 8. Rod storage, 801. End cover, 802. Reaction plate, 803. Rod storage rotary motor, 804. Rotary shaft, 805. First retaining ring, 806. Second retaining ring, 807. Anchor rod;

[0040] 9. Anchor unit rotary cylinder, 10. Limit ring. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned purposes, features and advantages of the present invention more clear and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be noted that the drawings of the present invention are all simplified and non-precisely scaled, and are only used to conveniently and clearly assist in explaining the implementation of the present invention; the "numbers" mentioned in the present invention are not limited to the specific quantities in the examples in the accompanying drawings; the directions or positional relationships indicated by "front", "middle", "back", "left", "right", "up", "down", "top", "bottom", "middle", etc. mentioned in the present invention are based on the directions or positional relationships shown in the drawings of the present invention, and do not indicate or imply that the devices or components referred to must have a specific direction, nor can they be understood as limitations on the present invention.

[0042] This embodiment:

[0043] See also Figure 1 As shown, the present invention provides an arm mechanism for an anchor net trolley, comprising a main arm 1, an anchor rod mechanism and a net hanging mechanism 7; the main arm 1 is used to be connected to the anchor net trolley; the anchor rod mechanism is connected to the main arm 1 for storing anchor rods; the net hanging mechanism 7 is connected to the anchor rod mechanism for laying and hanging the steel mesh.

[0044] See also Figures 1 to 3 As shown, the anchor mechanism includes a slewing support 3 and a rod library assembly, and the slewing support 3 is configured as shaped structure, the upper end of which is connected to the rotating frame 108 through a connecting shaft, the other end is extended downward, and the inner side of the arc end is installed in the rod library assembly.

[0045] Preferably, the rod library assembly includes a rod library 8, an anchor rod unit rotary cylinder 9 and a limit ring 10, the rod library 8 includes an end cover 801, a reaction plate 802, an anchor rod 807, an anchor rod fixing assembly and an anchor rod driving assembly, one end of the reaction plate 802 is connected to the rotary support 3, and the other end is connected to the end cover 801 and the fixed end of the anchor rod driving assembly, the anchor rod 807 is installed on the anchor rod fixing assembly, and the anchor rod fixing assembly is connected to the driving end of the anchor rod driving assembly to control the anchor rod through the anchor rod driving assembly. The rod fixing assembly rotates, thereby moving the anchor rod 807 to the grabbing position of the anchor rod unit; one end of the anchor rod unit rotary cylinder 9 is connected to the rotary support 3, and the other end is connected to the anchor rod unit of the anchor net trolley, which is used to realize the connection of the construction process of aligning the anchor rod with the anchor rod hole and driving the anchor rod after the anchor rod unit has drilled the anchor rod hole; the limiting ring 10 is set to an arc structure, one end of which is installed on the rotary support 3, and the other end extends to the rod library 8, which is used to prevent the anchor rod 807 set on the rod library 8 from falling off during rotation.

[0046] Preferably, the anchor rod driving assembly includes a rod depot rotary motor 803 and a rotary shaft 804 , wherein the fixed end of the rod depot rotary motor 803 is connected to the reaction plate 802 , and the driving end thereof is connected to the rotary shaft 804 to drive the rotary shaft 804 to rotate.

[0047] Preferably, the anchor rod fixing assembly includes a first clamping ring 805 and a second clamping ring 806 arranged on the rotating shaft 804, the first clamping ring 805 and the second clamping ring 806 are arranged side by side, and the first clamping ring 805 and the second clamping ring 806 both include a chuck and a retaining spring, the chuck is provided with a mounting hole for connecting to the rotating shaft 804, and it is provided with a plurality of slots for clamping the anchor rod 807 in a circular array, and a group of retaining springs for providing clamping force for the clamping anchor rod 807 are provided on both sides of the slot.

[0048] Preferably, each set of retaining springs is provided as two symmetrically arranged pieces.

[0049] Preferably, the anchor mechanism is also provided with a first swing component, which includes a support rotary cylinder 2. The fixed end of the support rotary cylinder 2 is installed on the rotating frame 108, and its driving end is connected to the upper end of the rotary support 3 to drive the rotary support 3 to swing left and right.

[0050] See also Figure 4As shown, the main arm 1 includes a boom support 101, a telescopic arm, a boom rotation motor 107 and a rotating frame 108; the boom support 101 is connected to the anchor net trolley by bolts; the first telescopic arm includes an outer arm 102, a boom telescopic member 103 and an inner arm 106, one end of the outer arm 102 is connected to the boom support 101, and the other end is provided with a cavity for sleeved with the inner arm 106, and its cavity is connected to the inner arm 106 through the boom telescopic member 103, so that the inner arm 106 can be telescopically displaced on the outer arm 102 by driving the boom telescopic member 103; a boom rotation motor 107 is also installed on the extending end of the inner arm 106, and the driving end of the boom rotation motor 107 is connected to the rotating frame 108 to drive the rotating frame 108 to rotate.

[0051] Preferably, the main arm 1 is also provided with a horizontal yaw assembly and a pitch yaw assembly, the horizontal yaw assembly includes a boom yaw cylinder 104 and a first connecting ear, the fixed end of the boom yaw cylinder 104 is connected to the boom support 101 through a pin shaft, and its driving end is connected to the first connecting ear through a pin shaft, and is installed on the front end surface of the outer arm 102 through the first connecting ear to drive and control the outer arm 102 to swing forward and backward relative to the boom support 101; the pitch yaw assembly includes a boom pitch cylinder 105 and a second connecting ear, the fixed end of the arm pitch cylinder 105 is connected to the boom support 101 through a pin shaft, and its driving end is connected to the second connecting ear through a pin shaft, and is installed on the lower end surface of the outer arm 102 through the second connecting ear to drive the outer arm 102 to swing up and down.

[0052] Preferably, the arm telescopic member 103 is preferably configured as a telescopic cylinder.

[0053] See also Figure 5 As shown, the net hanging mechanism 7 includes a second swinging assembly, a second telescopic arm, a gripper 711 and a gripper drive assembly; the second swinging assembly includes a swinging motor 4, a flange and a coupling, the fixed end of the swinging motor 4 is mounted on the slewing support 3, and the driving end is connected to the second telescopic arm through a coupling to drive the second telescopic arm to rotate, and the flange is mounted on the slewing support 3 for supporting and axially fixing the coupling; the second telescopic arm includes a first arm 701, a net hanging arm telescopic member 702 and a second arm 703, one end of the first arm 701 is connected to the driving end of the second swinging assembly, and the other end is sleeved on the second arm 703, the net hanging arm telescopic member 702 is used to connect the first arm 701 and the second arm 703, and drive the second arm 703 to telescope on the first arm 701; the gripper drive assembly is mounted on the second arm 703, and is used to drive the gripper 711 to grasp or release the wire mesh.

[0054] Preferably, the net hanging arm telescopic member 702 is preferably configured as a telescopic cylinder.

[0055] Preferably, the gripper drive assembly includes a first net hanging arm rotary motor 704, a transition plate 705, a second net hanging arm rotary motor 706, an intermediate bracket 707, a gripper telescopic member 708, a first gripper bracket 709 and a second gripper bracket 710; the fixed end of the first net hanging arm rotary motor 704 is connected to the second arm 703, and its driving end is connected to the fixed end of the second net hanging arm rotary motor 706 through the transition plate 705, so that the second arm net hanging arm rotary motor 706 and the first net hanging arm rotary motor 704 are in a mutually perpendicular state; an intermediate bracket 707 is installed on the driving end of the second net hanging arm rotary motor 706 to drive the gripper telescopic member 708 to rotate in two mutually perpendicular directions; the intermediate bracket 707 A connecting assembly is installed on the intermediate bracket 707, and the connecting assembly includes a connecting rod and a sleeve. The sleeve is provided with two parts respectively arranged at both ends of the connecting rod, and the central axis of the sleeve is arranged perpendicular to the central axis of the connecting rod; the first gripper bracket 709 and the second gripper bracket 710 are respectively arranged with the sleeve, and a gripper telescopic member 708 is also connected between the first gripper bracket 709 and the second gripper bracket 710. The gripper telescopic member 708 is set as a dual-drive telescopic member to drive the first gripper bracket 709 and the second gripper bracket 710 to rotate relative to each other, thereby controlling the grippers 711 respectively installed on the first gripper bracket 709 and the second gripper bracket 710 to release or grasp.

[0056] Preferably, the gripper telescopic member 708 is preferably configured as a dual-drive telescopic cylinder.

[0057] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An arm mechanism for an anchor net trolley, characterized by: It includes a main arm (1), an anchor mechanism and a net hanging mechanism (7); The main arm (1) is used to connect with the anchor net trolley; The anchor rod mechanism comprises a slewing support (3) and a rod storage assembly, one end of the slewing support (3) is connected to a rotating frame (108) in the main arm (1) so as to be driven to rotate synchronously by the rotating frame (108), and the rod storage assembly is arranged on the slewing support (3) and is used to store anchor rods (807); The mesh hanging mechanism (7) is connected to the anchor rod mechanism and is used to hang the steel mesh; the mesh hanging mechanism (7) comprises a second swing assembly, a second telescopic arm, a gripper (711) and a gripper drive assembly; The fixed end of the second swing assembly is mounted on the slewing support (3), and the driving end thereof is connected to the second telescopic arm and is used to drive the second telescopic arm to swing relative to the slewing support (3); The second telescopic arm comprises a first arm (701), a net hanging arm telescopic member (702), and a second arm (703); one end of the first arm (701) is connected to the driving end of the second swing assembly, and the other end is sleeved on the second arm (703); the net hanging arm telescopic member (702) is used to connect the first arm (701) and the second arm (703), and drive the second arm (703) to telescope on the first arm (701); The gripper drive assembly is mounted on the second arm (703) and is used to drive the gripper (711) to grasp or release the wire mesh.

2. The arm mechanism according to claim 1, characterized in that: The main arm (1) comprises an arm support (101), a first telescopic arm, an arm rotation motor (107) and a rotating frame (108); The arm support (101) is used to connect with the anchor net trolley; The first telescopic arm comprises an outer arm (102), an arm support telescopic member (103) and an inner arm (106); one end of the outer arm (102) is connected to the arm support (101), and the other end is sleeved on the inner arm (106); two ends of the arm support telescopic member (103) are respectively connected to the outer arm (102) and the inner arm (106), and are used to drive the inner arm (106) to perform telescopic movement relative to the outer arm (102); The two ends of the arm rotation motor (107) are respectively connected to the inner arm (106) and the rotating frame (108), and are used to drive the rotating frame (108) to rotate relative to the inner arm (106).

3. The arm mechanism according to claim 2, characterized in that: The main arm (1) is further provided with a horizontal yaw assembly and a pitch yaw assembly. The horizontal yaw assembly is connected to the front end surfaces of the arm support (101) and the outer arm (102) at the same time, and is used to drive the outer arm (102) to swing in the horizontal direction relative to the arm support (101); the pitch yaw assembly is connected to the lower end surfaces of the arm support (101) and the outer arm (102) at the same time, and is used to drive the outer arm (102) to swing in the vertical direction relative to the arm support (101).

4. The arm mechanism according to claim 1, characterized in that: The anchor rod mechanism is also provided with a first swing assembly, the two ends of which are respectively connected to the rotating frame (108) and the slewing support (3), and are used to drive the slewing support (3) to swing relative to the rotating frame (108).

5. The arm mechanism according to claim 1, characterized in that: The slewing support (3) is configured as Shape structure.

6. The arm mechanism according to claim 1, characterized in that: The rod storage assembly comprises a rod storage (8), an anchor rod unit rotary oil cylinder (9) and a limit ring (10); The rod library (8) includes a reaction plate (802), an anchor rod (807), an anchor rod fixing assembly and an anchor rod driving assembly, one end of the reaction plate (802) is connected to the slewing support (3), and the other end is connected to the fixed end of the anchor rod driving assembly, the anchor rod (807) is installed on the anchor rod fixing assembly, and the anchor rod fixing assembly is connected to the driving end of the anchor rod driving assembly so that the anchor rod fixing assembly is controlled to rotate by the anchor rod driving assembly, thereby running the anchor rod (807) to the grabbing position of the anchor rod unit; One end of the anchor rod unit rotary oil cylinder (9) is connected to the rotary support (3), and the other end is connected to the anchor rod unit of the anchor net trolley, so as to realize the connection of the construction process of aligning the anchor rod with the anchor rod hole and driving the anchor rod after the anchor rod unit has drilled the anchor rod hole; The limiting ring (10) is configured as an arc structure, one end of which is mounted on the slewing support (3) and the other end of which extends to the rod storage (8), and is used to prevent the anchor rod (807) provided on the rod storage (8) from falling off during rotation.

7. The arm mechanism according to claim 6, characterized in that: The anchor rod fixing assembly includes at least one retaining ring, which includes a chuck and a retaining spring. The chuck is provided with at least one retaining groove, which is arranged on the chuck in a circular array for retaining the anchor rod (807). The retaining spring is provided with at least one group, and each group is provided with two symmetrically arranged pieces, which are respectively installed on both sides of the retaining groove and are used to limit and fix the anchor rod (807) retained in the retaining groove by the spring force of the retaining spring.

8. The arm mechanism according to claim 1, characterized in that: The gripper drive assembly comprises a first net hanging arm rotary motor (704), a transition plate (705), a second net hanging arm rotary motor (706), an intermediate bracket (707), a gripper telescopic member (708), a first gripper bracket (709), and a second gripper bracket (710); The fixed end of the first net hanging arm rotary motor (704) is connected to the second arm (703), and the driving end thereof is connected to the fixed end of the second net hanging arm rotary motor (706) via a transition plate (705), so that the second net hanging arm rotary motor (706) and the first net hanging arm rotary motor (704) are in a mutually perpendicular state; An intermediate bracket (707) is installed on the driving end of the second net hanging arm rotary motor (706) to drive the gripper telescopic member (708) to rotate in two mutually perpendicular directions; A connecting assembly is mounted on the intermediate bracket (707), the connecting assembly comprising a connecting rod and a sleeve, the sleeve comprising two pieces respectively arranged at both ends of the connecting rod, and the central axis of the sleeve and the central axis of the connecting rod are arranged perpendicular to each other; The first gripper bracket (709) and the second gripper bracket (710) are respectively arranged to be sleeved with each other, and a gripper telescopic member (708) is further connected between the first gripper bracket (709) and the second gripper bracket (710). The gripper telescopic member (708) is configured as a dual-drive telescopic member to drive the first gripper bracket (709) and the second gripper bracket (710) to rotate relative to each other, thereby controlling the grippers (711) respectively installed on the first gripper bracket (709) and the second gripper bracket (710) to release or grasp.

Images