Mechanical arm attachment device of tower building machine

Abstract

The invention relates to the field of mechanical arm attachment devices, and discloses a mechanical arm attachment device of a tower building machine, which comprises a movable mechanical arm arranged on a tower building machine platform, the tower building machine platform is provided with a walking groove, and the movable mechanical arm moves through walking mechanisms arranged on the two sides of the lower end of the movable mechanical arm. A limiting mechanism is arranged at the position, close to the walking mechanism, of the lower side of the movable type mechanical arm, and when the movable type mechanical arm moves downwards through the walking mechanism, the limiting mechanism on the lower side of the movable type mechanical arm can abut against the surface of the tower building machine platform and is embedded into the walking groove, positioning is achieved preliminarily, and then a locking assembly in the tower building machine platform plays a role; the pressure of a movable cavity of the two-way driving cylinder is controlled through an air compressor, when fixing is needed, the telescopic rod shrinks inwards to drive the clamping plate to be inserted into the limiting mechanism, firm fixing of the mechanical arm is achieved, the clamping plate can be separated from the limiting mechanism by controlling the two-way driving cylinder when moving is needed, and the state is flexibly switched.

Description

Technical Field

[0001] The invention relates to the field of mechanical arm attachment devices, in particular to a mechanical arm attachment device for a tower crane. Background Art

[0002] The arm attachment device of the robot arm mainly consists of a fixed base, a connecting flange, a limit device, and a seal. One end of it is connected to the arm body, and the other end is fixed to an attachment point such as a work platform, work surface, or mobile carrier. Its main function is to ensure the stability of the robot arm, provide reliable support, and prevent the robot arm from unstable displacement or shaking due to factors such as load and motion inertia. It also plays a connecting and transition role, allowing the robot arm to be firmly installed in the corresponding position to ensure its normal operation. As the building height increases, the construction surface of the tower will continue to change with the needs of the functional areas, so the working end surface of the tower crane will also change. Since the existing robotic arm attachment device is generally directly fixed by rivets to ensure stability, the installation position cannot be changed. When it is necessary to install a concrete pouring pipe on the robotic arm and pour concrete in a larger area, a single robotic arm and concrete pouring pipe cannot effectively cover the construction area. Therefore, it is often necessary to install multiple robotic arms on the platform of the tower crane, but this will occupy too much of the limited space of the tower crane platform and increase the load of the tower crane platform itself. Summary of the Invention

[0003] The present invention provides a mechanical arm attachment device for a tower construction crane, which overcomes the shortcomings described in the background art.

[0004] The technical solution adopted by the present invention to solve its technical problem is: A mechanical arm attachment device for a tower crane comprises a movable mechanical arm disposed on a tower crane platform, wherein the tower crane platform is provided with a walking groove, and the movable mechanical arm is moved by walking mechanisms disposed on both sides of the lower end of the movable mechanical arm. A limiting mechanism is disposed on the lower side of the movable mechanical arm near the walking mechanism, and the height and position of the movable mechanical arm can be controlled by the walking assembly. When the movable mechanical arm is controlled to move downward by the walking mechanism, the limiting mechanism is abutted against the surface of the tower crane platform and embedded in the walking groove; The tower crane platform is provided with a locking assembly, which includes a mounting frame, a clamping plate, a slider and a bidirectional drive cylinder. The clamping plates are symmetrically arranged on the left and right sides of the bidirectional drive cylinder, and the two clamping plates are respectively connected to the mounting frame through a slider. The bidirectional drive cylinder includes an outer tube body, a connecting block, a spring 1 and telescopic rods arranged on both sides of the outer tube body. An active chamber is provided in the outer tube body, the telescopic rod is arranged in the active chamber, and the two telescopic rods protrude from both ends of the outer tube body. The connecting block is arranged on the side of the outer tube body, and the connecting block is connected to the active chamber through a connecting port. The two ends of the spring 1 are respectively against the two telescopic rods. The connecting block controls the positive and negative pressure through an external air compressor. A piston connection is formed between the telescopic rod and the active chamber. When the active chamber is pressurized by the air compressor, the two telescopic rods are pushed outward. When the limiting mechanism is against the surface of the walking groove and the telescopic rod retracts inward, the clamping plate is inserted into the limiting mechanism.

[0005] A preferred technical solution, the walking mechanism includes a symmetrically arranged driving device, the driving device includes connecting rod one, connecting rod two, walking wheels, a motor, a spring three and an electric push rod, the connecting rod two is movably connected to the connecting rod one, and the connecting end of connecting rod one and connecting rod two is connected to the lower end of the mounting plate through spring three, the motor is installed at the end of connecting rod two away from spring three, and the walking wheel is installed on the output shaft of the motor, the lower end of the mounting plate is provided with a mounting groove, the electric push rod is movably installed in the mounting groove, and the output shaft of the electric push rod is movably connected to the middle part of connecting rod two, so as to change the angle between connecting rod one and connecting rod two by controlling the extension and contraction of the output shaft of the electric push rod, thereby changing the height of the mounting plate.

[0006] A preferred technical solution, the movable robotic arm includes a mounting plate and a robotic arm body, the limiting mechanism includes a limiting load plate and a symmetrically arranged limiting abutment plate, the limiting load plate is fixed to the lower end of the mounting plate, and the mounting plate is symmetrically arranged on the left and right sides of the mounting plate, and the walking mechanism is arranged between the limiting abutment plate and the limiting load plate, when the movable robotic arm is fixed to the surface of the tower crane platform, the limiting abutment plate is abutted against the surface of the tower crane platform, and the limiting load plate is embedded in the walking groove; During the process of the installation plate body descending, the lower end of the limit plate is pressed against the surface of the tower crane platform due to the limit load plate; An opening is provided on the surface of the limit load plate. When the limit load plate is embedded in the walking groove, the connecting rod 2 creates negative pressure through the air compressor to contract the motors on both sides, and the insertion rod provided on the side of the clamping plate is inserted into the opening to fix the limit load plate.

[0007] A preferred technical solution, the limit abutment plate includes a bent plate body, a limit rod and a second spring. The bent plate body is arranged near the edge of the mounting plate body. The limit rod passes through the bent plate body and is fixed to the surface of the mounting plate body. The second spring is sleeved outside the limit rod and abuts against the surface of the bent plate body. When the mounting plate body moves downward, the limit rod is used to squeeze the second spring to cause the bent plate body to move downward together and abut against the surface of the tower crane platform. When the installation plate body is not lowered, the lower end horizontal plane of the bent plate body is higher than the upper end horizontal plane of the tower crane platform.

[0008] A preferred technical solution is that the surface of the walking groove is provided with a plurality of limiting grooves, and the outer side of the walking wheel is provided with latches corresponding to the limiting grooves. When the walking wheel is set in the walking groove, the latches are embedded in the limiting grooves.

[0009] Compared with the existing technology, this technical solution has the following advantages: In the present invention, when the movable robotic arm moves downward through the walking mechanism, the limiting mechanism on its lower side will be against the surface of the tower crane platform and embedded in the walking groove to initially achieve positioning. Subsequently, the locking assembly in the tower crane platform will play a role, and the active chamber of the two-way drive cylinder will control the pressure through the air compressor. When it needs to be fixed, the telescopic rod will retract inward, driving the card to insert into the limiting mechanism, thereby achieving firm fixation of the robotic arm. When it needs to be moved, the card can be disengaged from the limiting mechanism by controlling the two-way drive cylinder, and the state can be flexibly switched. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be further described below with reference to the accompanying drawings and examples.

[0011] Figure 1 This is a structural diagram of the tower crane platform and movable robotic arm.

[0012] Figure 2 This is a plan view of the movable robotic arm.

[0013] Figure 3 It is a structural diagram after the installation plate is moved downward.

[0014] Figure 4 It is a structural diagram of the limit plate and the driving device.

[0015] Figure 5 for Figure 3 Enlarged schematic diagram of point a in the middle.

[0016] Figure 6 Schematic diagram of a bidirectional drive cylinder.

[0017] Figure 7 It is a plan view of the walking wheel and the walking groove.

[0018] In the figure: tower crane platform 1, lifting frame installation opening 11, locking assembly 12, walking groove 13, movable mechanical arm 2; Mounting frame 121, clamping plate 122, slider 123, bidirectional driving cylinder 124; Limiting groove 131; Outer tube 1241, connecting block 1242, communication port 2421, spring 1243, telescopic rod 1244; Mounting plate 21, robotic arm body 22, position limiting plate 23, driving device 24, position limiting load plate 25; Bending plate body 231, limiting rod 232, spring 233; Connecting rod 1 241 , connecting rod 242 , walking wheel 243 , latching gear 2431 , motor 244 , spring 3 245 , electric push rod 246 . DETAILED DESCRIPTION

[0019] like Figures 1 to 7 As shown, the present invention proposes a mechanical arm attachment device for a tower crane, comprising a movable mechanical arm 2 disposed on a tower crane platform 1, wherein a walking groove 13 is provided on the tower crane platform 1. The movable mechanical arm 2 is moved by walking mechanisms disposed on both sides of its lower end. A limiting mechanism is disposed on the lower side of the movable mechanical arm 2 near the walking mechanism, and the height and position of the movable mechanical arm 2 can be controlled by the walking assembly. When the movable mechanical arm 2 is controlled to move downward by the walking mechanism, the limiting mechanism is abutted against the surface of the tower crane platform 1 and embedded in the walking groove 13. The tower crane platform 1 is provided with a locking assembly 12, which includes a mounting frame 121, a clamping plate 122, a slider 123 and a bidirectional drive cylinder 124. The clamping plates 122 are symmetrically arranged on the left and right sides of the bidirectional drive cylinder 124, and the two clamping plates 122 are respectively connected to the mounting frame 121 through a slider 123. The bidirectional drive cylinder 124 includes an outer tube body 1241, a connecting block 1242, a spring 1243, and telescopic rods 1244 arranged on both sides of the outer tube body 1241. The outer tube body 1241 is provided with an activity chamber, and the telescopic rods 1244 are arranged in the activity chamber, and both telescopic rods 1244 protrude from both ends of the outer tube body 1241. The connecting block 1242 is arranged on the side of the outer tube body 1241, and the connecting block 1242 is connected to the outer tube body 1241 through a connecting port 24. 21 is connected to the movable chamber, the two ends of the spring 1243 are respectively against the two telescopic rods 1244, the connecting block 1242 controls the positive and negative pressures through an external air compressor, and a piston connection is formed between the telescopic rods 1244 and the movable chamber. When the movable chamber is pressurized by the air compressor, the two telescopic rods 1244 are pushed outward. When the limiting mechanism is against the surface of the walking groove 13 and the telescopic rods 1244 are retracted inward, the clamping plate 122 is inserted into the limiting mechanism.

[0020] First, in response to the problem that the existing robotic arm attachment device cannot change the installation position, the device sets a walking groove 13 on the tower crane platform 1, and the movable robotic arm 2 is moved through the walking mechanism on both sides of the lower end, breaking the position fixation limitation caused by traditional rivet direct fixation, so that the robotic arm can flexibly adjust its position according to construction needs, thereby expanding the construction coverage and avoiding the situation where multiple robotic arms need to be installed due to insufficient coverage of a single robotic arm. Secondly, reliable fixation is achieved while ensuring the stability of the robotic arm. When the movable robotic arm 2 moves downward through the walking mechanism, the limiting mechanism on its lower side will be against the surface of the tower crane platform 1 and embedded in the walking groove 13, thereby initially achieving positioning. Subsequently, the locking assembly 12 in the tower crane platform 1 comes into play, and the pressure of the active chamber of the two-way drive cylinder 124 is controlled by the air compressor. When fixation is required, the telescopic rod 1244 contracts inward, driving the card plate 122 to be inserted into the limiting mechanism, thereby achieving firm fixation of the robotic arm. This fixing method not only ensures the stability of the robotic arm during operation, and prevents unstable displacement or shaking due to load, motion inertia, etc., but also can flexibly switch states by controlling the two-way drive cylinder 124 to disengage the card plate 122 from the limiting mechanism when movement is required. Finally, the problem of multiple robotic arms taking up space and increasing load is effectively solved. Because a single movable robotic arm 2 can be adjusted to cover a larger construction area, there is no need to install multiple robotic arms on the tower crane platform, thus saving the limited space on the platform and reducing the additional load caused by multiple robotic arms, ensuring the normal operation of the tower crane platform. Furthermore, the walking mechanism includes a symmetrically arranged driving device 24, which includes a connecting rod 1 241, a connecting rod 242, a walking wheel 243, a motor 244, a spring 3 245 and an electric push rod 246. The connecting rod 242 is movably connected to the connecting rod 1 241, and the connecting end of the connecting rod 1 241 and the connecting rod 2 242 is connected to the lower end of the mounting plate 21 through the spring 3 245. The motor 244 is installed at the end of the connecting rod 242 away from the spring 3 245, and the walking wheel 243 is installed on the output shaft of the motor 244. The lower end of the mounting plate 21 is provided with a mounting groove, and the electric push rod 246 is movably installed in the mounting groove, and the output shaft of the electric push rod 246 is movably connected to the middle part of the connecting rod 242, so as to change the angle between the connecting rod 1 241 and the connecting rod 2 242 by controlling the extension and retraction of the output shaft of the electric push rod 246, thereby changing the height of the mounting plate 21.

[0021] When the robotic arm needs to move to a turn, raising the mounting plate 21 can effectively prevent the limiting mechanism from contacting the tower crane platform 1. The working principle is as follows: when the robotic arm is working normally or moving to a designated position for fixation, the limiting mechanism is placed against the surface of the tower crane platform 1 and embedded in the travel groove 13. At this time, the limiting mechanism is in close contact with the platform, mainly used to limit the horizontal displacement of the robotic arm and cooperate with the locking. However, when the robotic arm turns, if the limiting mechanism still maintains contact with the platform, the fixed embedded state of the limiting mechanism will hinder the steering action of the robotic arm, and may even cause damage to the limiting mechanism, travel groove 13 and related components due to forced turning. Therefore, before the robotic arm turns, the control system will activate the electric push rod 246, lift the mounting plate 21, and drive the limiting mechanism to disengage the travel groove 13 so that it no longer contacts the platform surface, providing sufficient space for the flexible turning of the robotic arm.

[0022] A preferred technical solution, the movable robotic arm 2 includes a mounting plate 21 and a robotic arm body 22, the limiting mechanism includes a limiting load plate 25 and a symmetrically arranged limiting abutment plate 23, the limiting load plate 25 is fixed to the lower end of the mounting plate 21, and the mounting plate 21 is symmetrically arranged on the left and right sides of the mounting plate 21, and the walking mechanism is arranged between the limiting abutment plate 23 and the limiting load plate 25. When the movable robotic arm 2 is fixed to the surface of the tower crane platform 1, the limiting abutment plate 23 is abutted against the surface of the tower crane platform 1, and the limiting load plate 25 is embedded in the walking groove 13; During the descent of the mounting plate 21, the limiting abutment plate 23 first contacts the surface of the tower crane platform 1 to form a preliminary support. Compared with directly positioning the limiting load plate 25 by inserting it into the travel groove 13, this method can provide a wider and more uniform force-bearing surface for the robotic arm, preventing the robotic arm from tilting or shaking due to uneven force during the descent process, and avoiding deviation of the limiting load plate 25 when inserting it into the travel groove 13, ensuring that it can be accurately inserted. In addition, the surface of the limiting load plate 25 is provided with an opening. When the limiting load plate 25 is inserted into the travel groove 13, the connecting rod 242 generates negative pressure through the air compressor to contract the motors 244 on both sides, and the rod set on the side of the clamping plate 122 is inserted into the opening to fix the limiting load plate 25, thereby achieving stable locking of the robotic arm on the tower crane platform 1.

[0023] Furthermore, the limit stop plate 23 includes a bending plate body 231, a limit rod 232 and a second spring 233. The bending plate body 231 is arranged near the edge of the mounting plate body 21. The limit rod 232 passes through the bending plate body 231 and is fixed to the surface of the mounting plate body 21. The second spring 233 is sleeved outside the limit rod 232 and abuts against the surface of the bending plate body 231. When the mounting plate body 21 moves downward, the limit rod 232 is used to squeeze the second spring 233 to make the bending plate body 231 The folding plate body 231 moves downward together and rests against the surface of the tower crane platform 1. When the mounting plate 21 has not descended, the lower end horizontal plane of the folding plate body 231 is higher than the upper end horizontal plane of the tower crane platform 1. In addition, a plurality of limit grooves 131 are arranged on the surface of the walking groove 13, and a latch 2431 corresponding to the limit groove 131 is provided on the outer side of the walking wheel 243. When the walking wheel 243 is set in the walking groove 13, the latch 2431 is embedded in the limit groove 131.

[0024] The above description is merely a preferred embodiment of the present invention and therefore cannot be used to limit the scope of the present invention. In other words, equivalent changes and modifications made according to the scope of the present invention and the contents of the specification should still fall within the scope of the present invention.

Claims

1. A mechanical arm attachment device for a tower crane, characterized in that: The tower crane comprises a movable mechanical arm provided on the tower crane platform, wherein the tower crane platform is provided with a walking groove, and the movable mechanical arm is moved by walking mechanisms provided on both sides of the lower end thereof, and a limit mechanism is provided on the lower side of the movable mechanical arm near the walking mechanism, and the height and position of the movable mechanical arm can be controlled by the walking assembly. When the movable mechanical arm is controlled to move downward by the walking mechanism, the limit mechanism is abutted against the surface of the tower crane platform and embedded in the walking groove; The tower crane platform is provided with a locking assembly, which includes a mounting frame, a clamping plate, a slider and a bidirectional drive cylinder. The clamping plates are symmetrically arranged on the left and right sides of the bidirectional drive cylinder, and the two clamping plates are respectively connected to the mounting frame through a slider. The bidirectional drive cylinder includes an outer tube body, a connecting block, a spring 1 and telescopic rods arranged on both sides of the outer tube body. An active chamber is provided in the outer tube body, the telescopic rod is arranged in the active chamber, and the two telescopic rods protrude from both ends of the outer tube body. The connecting block is arranged on the side of the outer tube body, and the connecting block is connected to the active chamber through a connecting port. The two ends of the spring 1 are respectively against the two telescopic rods. The connecting block controls the positive and negative pressure through an external air compressor. A piston connection is formed between the telescopic rod and the active chamber. When the active chamber is pressurized by the air compressor, the two telescopic rods are pushed outward. When the limiting mechanism is against the surface of the walking groove and the telescopic rod retracts inward, the clamping plate is inserted into the limiting mechanism.

2. The mechanical arm attachment device of a tower crane according to claim 1, characterized in that: The walking mechanism includes a symmetrically arranged driving device, which includes connecting rod one, connecting rod two, walking wheels, a motor, a spring three and an electric push rod. The connecting rod two is movably connected to the connecting rod one, and the connecting end of the connecting rod one and the connecting rod two is connected to the lower end of the mounting plate through the spring three. The motor is installed at the end of the connecting rod two away from the spring three, and the walking wheel is installed on the output shaft of the motor. A mounting groove is provided at the lower end of the mounting plate, and the electric push rod is movably installed in the mounting groove, and the output shaft of the electric push rod is movably connected to the middle part of the connecting rod two, so as to change the angle between the connecting rod one and the connecting rod two by controlling the extension and contraction of the output shaft of the electric push rod, thereby changing the height of the mounting plate.

3. The mechanical arm attachment device of a tower construction machine according to claim 2, characterized in that: The movable mechanical arm includes a mounting plate and a mechanical arm body, the limiting mechanism includes a limiting load plate and a symmetrically arranged limiting abutment plate, the limiting load plate is fixed to the lower end of the mounting plate, and the mounting plate is symmetrically arranged on the left and right sides of the mounting plate, and the walking mechanism is arranged between the limiting abutment plate and the limiting load plate. When the movable mechanical arm is fixed to the surface of the tower crane platform, the limiting abutment plate is abutted against the surface of the tower crane platform, and the limiting load plate is embedded in the walking groove; During the process of the installation plate body descending, the lower end of the limit plate is pressed against the surface of the tower crane platform due to the limit load plate; An opening is provided on the surface of the limit load plate. When the limit load plate is embedded in the walking groove, the connecting rod 2 creates negative pressure through the air compressor to contract the motors on both sides, and the insertion rod provided on the side of the clamping plate is inserted into the opening to fix the limit load plate.

4. The mechanical arm attachment device of a tower construction machine according to claim 3, characterized in that: The limit abutment plate includes a bent plate body, a limit rod and two springs. The bent plate body is arranged near the edge of the mounting plate body. The limit rod passes through the bent plate body and is fixed to the surface of the mounting plate body. The two springs are sleeved outside the limit rod and abut against the surface of the bent plate body. When the mounting plate body moves downward, the limit rod is used to squeeze the two springs to make the bent plate body move downward together and abut against the surface of the tower crane platform. When the installation plate body is not lowered, the lower end horizontal plane of the bent plate body is higher than the upper end horizontal plane of the tower crane platform.

5. The mechanical arm attachment device of a tower construction machine according to claim 4, characterized in that: The surface of the walking groove is provided with a plurality of limiting grooves, and the outer side of the walking wheel is provided with latches corresponding to the limiting grooves. When the walking wheel is arranged in the walking groove, the latches are embedded in the limiting grooves.

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