A mechanical arm structure and a method for grabbing a steel cage

Abstract

The present invention relates to the field of mechanical grasping, and discloses a mechanical arm structure, comprising: a hanger and two booms arranged on opposite sides of the hanger, the hanger is provided with a groove for accommodating the booms, the booms are configured to rotate around the bottom end of the hanger, the booms are rotated to be set to a folded state in a vertical direction, the booms in the folded state are arranged in the groove, the booms are rotated to be set to an extended state in a horizontal direction, the booms in the extended state are perpendicular to the hanger, a rope is connected between the respective ends of the hanger and the booms away from the hinge, the booms are transformed from the extended state to the folded state by contracting the rope, a plurality of clamping parts distributed along the length direction of the booms are provided on the booms, and a plurality of clamping parts distributed along the length direction of the booms can solve the problem of few stress points of the steel cage, and strengthen the connection between the booms and the steel cage to reduce shaking.

Description

Technical Field

[0001] The invention relates to the field of mechanical grasping, and in particular to a mechanical arm structure and a method for grasping a steel cage. Background Art

[0002] The steel cage is a cage-like structure made of welded or tied steel bars, mainly used to reinforce concrete components. Concrete has high compressive strength but very low tensile strength. The steel cage restrains the pile concrete so that it can withstand a certain axial tension.

[0003] Since the steel cage is made of a large number of steel bars tied together, its weight and volume are usually large, and it is difficult to directly carry and install it manually. Therefore, the steel cage needs to be hoisted. During operation, the steel cage before hoisting is placed horizontally on the ground, and then hoisted to a position at a specified height or a construction site using a hoisting device. Existing hoisting devices are easily affected by environmental factors in hoisting projects, especially when working at high altitudes. For example, shaking caused by wind, and because there are few stress points between the hook and the steel cage, the shaking will be aggravated, and the safety is not high. In addition, due to the single stress point, the steel cage structure near the stress point is prone to deformation, which in turn affects the quality of the steel cage. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical arm structure and a method for grabbing a steel cage to solve the problem that the hook of the lifting device and the steel cage have few stress points, which leads to easy shaking and stress concentration, making the steel cage structure easy to deform. The specific technical solution is as follows:

[0005] A mechanical arm structure includes: a hanger and two booms arranged on opposite sides of the hanger, the boom is hinged to the hanger, the hanger is provided with a groove for accommodating the boom, the boom is configured to rotate around the bottom end of the hanger, the boom is rotated to a retracted state in a vertical direction, the boom in the retracted state is arranged in the groove, the boom is rotated to an extended state in a horizontal direction, the boom in the extended state is perpendicular to the hanger, a rope is connected between the respective ends of the hanger and the boom away from the hinge, the boom is transformed from the extended state to the retracted state by contracting the rope, and a plurality of clamping parts distributed along the length direction of the boom are provided on the boom.

[0006] Preferably, the number of the clamping parts on each of the booms is two, the boom is provided with a guide rail arranged along the length direction of the boom, one of the clamping parts is fixed at the end of the guide rail, and the other of the clamping parts is slidably connected to the guide rail.

[0007] Preferably, it also includes rope 2, pulley 1 and pulley 2, wherein pulley 1 is rotatably connected to the top end of the hanger, pulley 2 is rotatably connected to the bottom end of the hanger, one end of rope 2 is connected to the end of the boom, and the other end of rope 2 passes through pulley 1 and pulley 2 in sequence and is connected to the other clamping part.

[0008] Preferably, it also includes a pulley three, which is rotatably connected to the end of the boom, and the end of the rope one passes through the pulley three and is connected to the other clamping part.

[0009] Preferably, one end of the boom is provided with two symmetrically arranged ear plates, and an accommodating space is provided between the two ear plates to install the second pulley. The hanger is provided with a rotating shaft, and the rotating shaft passes through the ear plates and the second pulley, and the ear plates and the second pulley are respectively rotatably matched with the rotating shaft.

[0010] Preferably, the boom is provided with a slide groove for installing the guide rail, a slider slidably matched therewith is installed on the guide rail, the other clamping part is connected to the slider, the inner wall of the slide groove is provided with a limiting groove, the side of the slider is provided with a protrusion, and the protrusion is arranged in the limiting groove.

[0011] Preferably, the pulley 1 includes a first pulley and a second pulley, the rope 1 is passed through and wound around the first pulley, and the rope 2 is passed through and wound around the second pulley.

[0012] Preferably, the clamping portion includes a first arc-shaped clamping plate and a second arc-shaped clamping plate, the first arc-shaped clamping plate and the second arc-shaped clamping plate are detachably connected, the inner wall of the first arc-shaped clamping plate or the second arc-shaped clamping plate is provided with an installation groove connected to the side of the first arc-shaped clamping plate or the second arc-shaped clamping plate, and a magnet is installed in the installation groove.

[0013] Preferably, the magnetic poles of the magnets of the two clamping parts are oriented in the same direction so that the two clamping parts attract each other when they are close to each other.

[0014] A method for grabbing a steel cage, the above-mentioned mechanical arm structure, comprises the following steps:

[0015] When the rope 1 is released, the boom in the folded state will rotate and disengage from the groove. At the same time, the rope 2 pulls the clamping part connected thereto until the boom changes from the folded state to the unfolded state.

[0016] Use the clamping part to lock and fix the steel cage;

[0017] Raise the hanger to complete the grab.

[0018] The beneficial effects of the present invention are as follows: a plurality of clamping parts distributed along the length direction of the boom are provided on the boom, which can solve the problem of few stress points of the steel cage, and strengthen the connection between the boom and the steel cage to reduce shaking;

[0019] When the boom is in a non-working state and is also in a folded state, the two clamping parts are located at the top of the entire device, minimizing the space occupied at the bottom, making it easier for other equipment or construction workers on site to work;

[0020] The top of the boom with the two clamping parts in the folded state makes it easier to tip over the boom when it needs to be unfolded, so as to facilitate the unfolding of the boom;

[0021] By arranging magnets on the clamping parts, not only can the magnets be used to adsorb the steel cage, but also the stability of the clamping can be further improved. Since the magnets of the two clamping parts are arranged in opposite directions, that is, the magnetic poles are opposite, the two clamping parts will attract each other when they are close to each other, so that the two clamping parts are firmly adsorbed together when the boom is in a folded state.

[0022] Additional aspects and advantages of the present invention will be given in part in the description below, and in part will become apparent from the description below, or will be understood through the practice of the present invention. Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the boom of the present invention.

[0026] Figure 3 It is another structural schematic diagram of the boom of the present invention.

[0027] Figure 4 It is a structural schematic diagram of pulley three of the present invention.

[0028] Figure 5 It is a structural schematic diagram of pulley 1 of the present invention.

[0029] Figure 6 It is a structural schematic diagram of a slider of the present invention.

[0030] Figure 7 It is a schematic structural diagram of the clamping portion of the present invention.

[0031] In the figure: 1, hanger; 2, boom; 3, rope 1; 4, clamping part; 5, rope 2; 6, pulley 1; 7, pulley 2; 8, guide rail; 9, pulley 3; 10, slider; 11, groove; 12, magnet; 101, raised part; 21, slide groove; 41, first arc-shaped clamping plate; 42, second arc-shaped clamping plate; 62, first pulley; 61, second pulley. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] The existing hoisting device has few stress points on the hook and the steel cage, which leads to easy shaking and stress concentration, making the steel cage structure prone to deformation; please refer to Figure 1-7 The present invention provides an embodiment to solve the above technical problems, specifically comprising a hanger 1 and two booms 2 arranged on opposite sides of the hanger 1, the booms 2 being hinged to the hanger 1. It can be understood that the present invention connects the steel cage through the booms 2, and the length of the steel cage is relatively long. Therefore, by setting two booms 2, the two booms 2 can be unfolded to match the steel cage when in use, and the two booms 2 can be folded when not in use;

[0035] By providing a groove 11 for accommodating the boom 2 on the hanger 1, the boom 2 can be stored in the groove 11 when not in use, thereby reducing the occupied space; specifically, the boom 2 is configured to rotate around the bottom end of the hanger 1, so that the boom 2 is rotated to be set in a folded state in the vertical direction, and the boom 2 in the folded state is set in the groove 11, and the boom 2 is rotated to be set in an extended state in the horizontal direction, and the boom 2 in the extended state is perpendicular to the hanger 1. The maximum rotation angle of the boom 2 in this embodiment is 90 degrees;

[0036] Further, to improve the strength of the boom 2, please refer to Figure 1A rope 3 is connected between the hanger 1 and the boom 2 at their respective ends away from the hinge. It should be noted that: Figure 1 , Figure 2 , Figure 3 and Figure 5 The blue line in the figure is rope 3. Setting rope 3 can not only improve the carrying capacity of the end of the boom 2, but also can change the boom 2 from the deployed state to the retracted state by contracting rope 3. In addition, when the boom 2 changes from the retracted state to the deployed state, rope 3 can also limit the boom 2 to prevent the boom 2 from being uncontrolled and deployed at high speed during the deployment process, thereby causing impact on the hinge. The boom 2 is provided with multiple clamping parts 4 distributed along the length direction of the boom 2, which can solve the problem of few force points of the steel cage and strengthen the connection between the boom 2 and the steel cage to reduce shaking.

[0037] Although adding multiple clamping parts 4 can strengthen the connection with the steel cage, multiple clamping parts 4 will become potential obstacles or danger sources when not in operation. Figure 1 The present invention also provides an embodiment in which the number of the clamping parts 4 is limited to two, and the boom 2 is provided with a guide rail 8 arranged along the length direction of the boom 2. It should be noted that: Figure 1 , Figure 2 and Figure 6 The purple line in the figure represents the guide rail 8, one clamping part 4 is fixed at the end of the guide rail 8, and the other clamping part 4 is slidably connected to the guide rail 8. The boom 2 in a non-working state can retract the slidable clamping part 4 to the end of the guide rail 8. Since the boom 2 is also in a retracted state when not in operation, the two clamping parts 4 are located at the top of the entire device at this time, minimizing the bottom space occupancy and facilitating other equipment or construction personnel on site to carry out operations.

[0038] In some preferred embodiments, please refer to Figure 1 The present invention utilizes the expansion of the boom 2 to separate the slidable clamping part 4 from the fixed clamping part 4, and enables the slidable clamping part 4 to reach a predetermined position for connecting the steel cage. The embodiment includes a rope 2 5, a pulley 1 6 and a pulley 2 7. The pulley 1 6 is rotatably connected to the top of the hanger 1. It should be noted that Figure 1 , Figure 2 and Figure 5The red line is rope 25, pulley 27 is rotatably connected to the bottom end of the hanger 1, one end of rope 25 is connected to the end of the boom 2, and the other end of rope 25 passes through pulley 16 and pulley 27 in sequence and is connected to the slidable clamping part 4. It can be understood that when the boom 2 is unfolded, the boom 2 will pull rope 25. This embodiment changes the direction of force by setting pulley 16 and pulley 27. After passing through pulley 16 and pulley 27, rope 25 will pull the slidable clamping part 4 in the length direction of the boom 2, and when the boom 2 is unfolded, the slidable clamping part 4 will slide the farthest distance on the guide rail 8, that is, the slidable clamping part 4 reaches the predetermined position.

[0039] To further ensure that the slidable clamping part 4 can be firmly maintained at the predetermined position after reaching the predetermined position, the present invention also provides an embodiment, including pulley three 9, pulley three 9 is rotatably connected to the end of the boom 2, and the end of rope one 3 passes through pulley three 9 and is connected to another clamping part 4, so that when the boom 2 is in the deployed state, rope one 3 and rope two 5 respectively pull the slidable clamping part 4 from the left and right sides or the opposite sides to keep it balanced, and when rope one 3 is retracted or after rope one 3 is retracted, that is, the boom 2 is changed from the deployed state to the retracted state or the boom 2 is changed to the retracted state, the slidable clamping part 4 will be pulled by rope two 5 and gradually approach the fixed clamping part 4, so that the top of the boom 2 with the two clamping parts 4 in the retracted state has another advantage that the boom 2 is easier to tip over when it needs to be deployed, which facilitates the deployment of the boom 2.

[0040] Regarding pulley 1 6 , pulley 1 6 includes a first pulley 62 and a second pulley 61 , rope 1 3 is passed through the first pulley 62 , and rope 2 5 is passed through the second pulley 61 . Preferably, a rotating shaft is provided at the top of the hanger 1 for installing the first pulley 62 and the second pulley 61 , and the first pulley 62 and the second pulley 61 are provided so that rope 1 3 and rope 2 5 do not interfere with each other.

[0041] In some preferred embodiments, the present invention also optimizes the connection structure between the boom 2 and the hanger 1 to achieve a rotation of the boom 2 and the pulley 2 7 simultaneously coordinated by a rotating shaft. Specifically, one end of the boom 2 is provided with two symmetrically arranged ear plates, and a receiving space is provided between the two ear plates to install the pulley 2 7. The hanger 1 is provided with a rotating shaft, which passes through the ear plate and the pulley 2 7. The ear plate and the pulley 2 7 respectively cooperate with the rotating shaft for rotation. In this embodiment, the pulley 2 7 is not larger than the ear plate, and the boom 2 is provided with a first wire hole, which connects the receiving space and the subsequent slide groove 21 to facilitate the installation of the rope 2 5.

[0042] After the slidable clamping part 4 is connected to the steel cage, the guide rail 8 needs to bear part of the weight of the steel cage. In order to reduce the occurrence of force deformation of the guide rail 8, the present invention also provides an embodiment, specifically, the boom 2 is provided with a slide groove 21 for installing the guide rail 8, and a slider 10 slidably matched therewith is installed on the guide rail 8, and another clamping part 4 is connected to the slider 10. The inner wall of the slide groove 21 is provided with a limiting groove, and the side of the slider 10 is provided with a protrusion 101, which is arranged in the limiting groove. Preferably, the limiting groove is rectangular and is arranged along the length direction of the boom 2. The protrusion 101 slides in the limiting groove synchronously with the movement of the slider 10. The protrusion 101 is provided to cooperate with the limiting groove, which can improve the load-bearing capacity of the slider 10.

[0043] On the basis of the above, the present invention further provides an embodiment to ensure that the two clamping parts 4 can attract each other after approaching each other instead of relying solely on the rope 3 to maintain the position of the slidable clamping part 4. Specifically, the clamping part 4 includes a first arc-shaped clamping plate 41 and a second arc-shaped clamping plate 42. The first arc-shaped clamping plate 41 and the second arc-shaped clamping plate 42 are detachably connected. The inner wall of the first arc-shaped clamping plate 41 or the second arc-shaped clamping plate 42 is provided with a mounting groove connecting the side of the first arc-shaped clamping plate 41 or the second arc-shaped clamping plate 42. A magnet 12 is installed in the mounting groove. The magnetic poles of the magnets 12 of the two clamping parts 4 face The two clamping parts 4 are arranged in the same direction so that they attract each other when they are close to each other. Specifically, the N pole of the magnet 12 of one clamping part 4 faces the S pole of the magnet 12 of the other clamping part 4. It can be understood that the design of the first arc clamping plate 41 and the second arc clamping plate 42 is adapted for the round, cylindrical or columnar steel cage of the present invention, and the configuration of the magnet 12 can not only be used to adsorb the steel cage and optimize the connection stability, but also can utilize the principle that the opposite magnetic poles of the magnet 12 attract each other, so that the two clamping parts 4 are firmly adsorbed together when the boom 2 is in the retracted state.

[0044] The present invention also provides a method for grabbing a steel cage using the above-mentioned mechanical arm structure, which specifically includes the following steps:

[0045] When the rope 1 3 is released, the boom 2 in the folded state will rotate and disengage from the groove 11. At the same time, the rope 2 5 pulls the clamping part 4 connected thereto until the boom 2 changes from the folded state to the unfolded state.

[0046] The steel cage is locked and fixed using the clamping part 4. Specifically, the first arc-shaped clamping plate 41 and the second arc-shaped clamping plate 42 are connected by bolts. The bolts are twisted and disengaged from the first arc-shaped clamping plate 41 and the second arc-shaped clamping plate 42, and then the first arc-shaped clamping plate 41 is separated from the second arc-shaped clamping plate 42. Then, the steel cage is pushed into the inner side of the second arc-shaped clamping plate 42. At this time, the magnet 12 will absorb the steel cage. Finally, the first arc-shaped clamping plate 41 and the second arc-shaped clamping plate 42 are assembled and the bolts are locked to complete the locking and fixing of the steel cage.

[0047] Lift the hanger 1 to complete the grab.

[0048] The contraction or release of the rope 3 itself is accomplished by a corresponding winding mechanism, which is well known to those skilled in the art.

[0049] Preferably, a detachable plug-in rod is provided between the two booms 2. Specifically, the boom 2 is provided with a connecting portion, and both ends of a plug-in rod are respectively threadedly connected to the connecting portions of the two booms 2. By providing the plug-in rod, the two booms 2 can be locked after being unfolded.

[0050] It should be noted that the terms "first", "second", etc. in this document are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

Claims

1. A mechanical arm structure, characterized in that: include: A hanger and two booms arranged on opposite sides of the hanger, the booms are hinged to the hanger, the hanger is provided with a groove for accommodating the booms, the booms are arranged to rotate around the bottom end of the hanger, the booms are rotated to be arranged in a folded state in a vertical direction, the booms in the folded state are arranged in the groove, the booms are rotated to be arranged in an extended state in a horizontal direction, the booms in the extended state are perpendicular to the hanger, a rope 1 is connected between the respective ends of the hanger and the booms away from the hinge, the booms are changed from the extended state to the folded state by contracting the rope 1, and a plurality of clamping parts distributed along the length direction of the booms are provided on the booms; There are two clamping parts on each of the suspension arms, the suspension arm is provided with a guide rail arranged along the length direction of the suspension arm, one of the clamping parts is fixed at the end of the guide rail, and the other of the clamping parts is slidably connected to the guide rail; It also includes rope 2, pulley 1 and pulley 2, wherein the pulley 1 is rotatably connected to the top end of the hanger, the pulley 2 is rotatably connected to the bottom end of the hanger, one end of the rope 2 is connected to the end of the boom, and the other end of the rope 2 passes through the pulley 1 and the pulley 2 in sequence and is connected to the other clamping part; It also includes a pulley three, the pulley three is rotatably connected to the end of the boom, and the end of the rope one passes through the pulley three and is connected to the other clamping part; One end of the boom is provided with two symmetrically arranged ear plates, a receiving space is provided between the two ear plates for installing the second pulley, the hanger is provided with a rotating shaft, the rotating shaft passes through the ear plates and the second pulley, and the ear plates and the second pulley are respectively rotatably matched with the rotating shaft; The suspension arm is provided with a slide groove for installing the guide rail, a slider slidably matched with the guide rail is installed on the guide rail, the other clamping part is connected to the slider, the inner wall of the slide groove is provided with a limiting groove, the side of the slider is provided with a protrusion, and the protrusion is arranged in the limiting groove; The pulley 1 includes a first pulley and a second pulley, the rope 1 is passed through and wound around the first pulley, and the rope 2 is passed through and wound around the second pulley.

2. A mechanical arm structure according to claim 1, characterized in that: The clamping part includes a first arc-shaped clamping plate and a second arc-shaped clamping plate, the first arc-shaped clamping plate and the second arc-shaped clamping plate are detachably connected, the inner wall of the first arc-shaped clamping plate or the second arc-shaped clamping plate is provided with an installation groove connected to the side of the first arc-shaped clamping plate or the second arc-shaped clamping plate, and a magnet is installed in the installation groove.

3. A mechanical arm structure according to claim 2, characterized in that: The magnetic poles of the magnets of the two clamping parts face the same direction so that the two clamping parts attract each other when they are close to each other.

4. A method for grasping a steel cage, applied to the mechanical arm structure as claimed in claim 3, characterized in that: The following steps are involved: When the rope 1 is released, the boom in the folded state will rotate and disengage from the groove. At the same time, the rope 2 pulls the clamping part connected thereto until the boom changes from the folded state to the unfolded state. Use the clamping part to lock and fix the steel cage; Raise the hanger to complete the grab.

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