Mechanical arm attachment device for a tower builder

Abstract

The application 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, the movable mechanical arm is moved through walking mechanisms arranged on the lower ends of the two sides of the movable mechanical arm, and a limiting mechanism is arranged on the lower side of the movable mechanical arm and close to the walking mechanisms. In the application, when the movable mechanical arm is lowered through the walking mechanisms, the limiting mechanism on the lower side of the movable mechanical arm abuts against the surface of the tower building machine platform and is embedded in the walking groove, so that positioning is preliminarily realized. Then, the locking assembly in the tower building machine platform plays a role, the active chamber of the double-direction driving cylinder controls the pressure through an air compressor, when fixing is needed, the telescopic rod is inwardly retracted, the clamping plate is inserted into the limiting mechanism, the firm fixing of the mechanical arm is realized, and when moving is needed, the clamping plate is separated from the limiting mechanism through the control of the double-direction driving cylinder, so that the state can be flexibly switched.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical arm attachment device, in particular to a mechanical arm attachment device of tower building machine. BACKGROUND

[0002] The arm attachment device of mechanical arm is mainly composed of fixed base, connecting flange, limiting device, sealing element and the like, which is connected with the arm body of mechanical arm at one end and fixed with attachment points such as working platform, workbench or mobile carrier at the other end. The main function is to ensure the stability of mechanical arm, provide reliable support, prevent the unstable displacement or shaking of mechanical arm due to load, motion inertia and other factors; at the same time, it plays the role of connection and transition, so that the mechanical arm can be firmly installed at the corresponding position to ensure its normal operation.

[0003] With the increase of building height, the construction surface of tower platform will change with the demand of functional area, so the working surface of tower building machine will also change. Since the existing mechanical arm attachment device is generally fixed by rivets to ensure stability, the installation position cannot be changed. When it is necessary to install a concrete pouring pipe on the mechanical arm and pour a larger area, a single mechanical arm and concrete pouring pipe cannot effectively cover the construction area, so it is often necessary to install multiple mechanical arms on the platform of tower building machine. However, this will occupy too much limited space of tower building machine platform and increase the weight of tower building machine platform itself. SUMMARY

[0004] The present application provides a mechanical arm attachment device of tower building machine, which overcomes the deficiencies described in the background art.

[0005] The technical solution adopted by the present application to solve the technical problems is:

[0006] A mechanical arm attachment device of tower building machine, comprising a movable mechanical arm arranged on the platform of tower building machine, wherein the platform of tower building machine is provided with a walking groove, the movable mechanical arm is moved by walking mechanisms arranged on both sides of the lower end thereof, and a limiting mechanism is arranged on the lower side of the movable mechanical arm close to the walking mechanisms, so as to control the height and position of the movable mechanical arm by the walking components. When the movable mechanical arm is controlled to move downward by the walking mechanisms, the limiting mechanism is arranged on the surface of the platform of tower building machine and embedded in the walking groove.

[0007] The platform of tower building machine is provided with a locking assembly, which comprises a mounting frame, clamping plates, sliding blocks and a double-acting drive cylinder. The clamping plates are symmetrically arranged on the left and right sides of the double-acting drive cylinder, and the two clamping plates are respectively connected to the mounting frame by a sliding block.

[0008] The bidirectional driving cylinder comprises an outer pipe body, a connecting block, a spring one and telescopic rods arranged on both sides of the outer pipe body, the outer pipe body is internally provided with a movable chamber, the telescopic rods are arranged in the movable chamber and protrude from both ends of the outer pipe body, the connecting block is arranged on the side surface of the outer pipe body and is communicated with the movable chamber through a communication port, the two ends of the spring one are respectively abutted against the two telescopic rods, the connecting block controls positive and negative pressure through an external air compressor, a piston connection is formed between the telescopic rods and the movable chamber, when the movable chamber is pressurized by the air compressor, the two telescopic rods are pushed outwards, when the limiting mechanism is abutted against the surface of the walking groove and the telescopic rods are retracted inwards, the clamping plate is inserted into the limiting mechanism.

[0009] A preferred technical scheme, the walking mechanism comprises symmetrically arranged driving devices, the driving device comprises a connecting rod one, a connecting rod two, a walking wheel, a motor, a spring three and an electric push rod, the connecting rod two is movably connected with the connecting rod one, and the connecting end of the connecting rod one and the connecting rod two is connected with the lower end of the mounting plate body 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, the lower end of the mounting plate body 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 with the middle part of the connecting rod two, so as to change the included angle between the connecting rod one and the connecting rod two by controlling the extension and retraction of the output shaft of the electric push rod, thereby changing the height of the mounting plate body.

[0010] A preferred technical scheme, the movable mechanical arm comprises a mounting plate body and a mechanical arm body, the limiting mechanism comprises a limiting weight plate and symmetrically arranged limiting abutting plates, the limiting weight plate is fixed to the lower end of the mounting plate body, the mounting plate body is symmetrically arranged on the left and right sides of the mounting plate body, and the walking mechanism is arranged between the limiting abutting plates and the limiting weight plate, when the movable mechanical arm is fixed to the surface of the tower machine platform, the limiting abutting plates are abutted against the surface of the tower machine platform, and the limiting weight plates are embedded in the walking grooves;

[0011] During the descending process of the mounting plate body, the lower end of the limiting abutting plate is abutted against the surface of the tower machine platform due to the abutment of the limiting weight plate;

[0012] The surface of the limiting weight plate is provided with an opening, when the limiting weight plate is embedded in the walking groove, the connecting rod two retracts the motors on both sides through the negative pressure generated by the air compressor, the insertion rod arranged on the side surface of the clamping plate is inserted into the opening, and the limiting weight plate is fixed.

[0013] A preferred technical scheme, the limiting abutting plate comprises a bent plate body, a limiting rod and a spring two, the bent plate body is arranged close to the edge of the mounting plate body, the limiting rod penetrates through the bent plate body and is fixed to the surface of the mounting plate body, and the spring two is sleeved outside the limiting rod and abutted against the surface of the bent plate body, when the mounting plate body moves downward, the bent plate body moves downward together by extruding the spring two with the limiting rod, and is abutted against the surface of the tower machine platform;

[0014] When the mounting 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 building machine platform.

[0015] In a preferred technical solution, the surface lamp of the walking groove is arranged with a plurality of limiting grooves, and the outer side of the walking wheel is provided with a clamping tooth corresponding to the limiting groove, when the walking wheel is arranged in the walking groove, the clamping tooth is embedded in the limiting groove.

[0016] Compared with the prior art, the technical solution has the following advantages:

[0017] In the present application, when the movable mechanical arm is lowered by the walking mechanism, the limiting mechanism on the lower side will abut against the surface of the tower building machine platform and be embedded in the walking groove, thereby preliminarily achieving positioning, then the locking assembly in the tower building machine platform plays a role, the movable chamber of the double-acting drive cylinder controls the pressure through the air compressor, when it is necessary to fix, the telescopic rod is retracted inward, the clamping plate is inserted into the limiting mechanism, thereby achieving firm fixation of the mechanical arm, and when it is necessary to move, the clamping plate is separated from the limiting mechanism by controlling the double-acting drive cylinder, thereby flexibly switching the state. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in combination with the drawings and examples.

[0019] Figure 1 It is a structural schematic view of the tower building machine platform and the movable mechanical arm.

[0020] Figure 2 It is a plane schematic view of the movable mechanical arm.

[0021] Figure 3 It is a structural schematic view after the mounting plate body is lowered.

[0022] Figure 4 It is a structural schematic view of the limiting abutment and the driving device.

[0023] Figure 5 It is Figure 3 It is an enlarged schematic view at a in the middle.

[0024] Figure 6 It is a schematic view of the double-acting drive cylinder.

[0025] Figure 7 It is a plane schematic view of the walking wheel and the walking groove.

[0026] In the drawings: tower building machine platform 1, lifting frame mounting port 11, locking assembly 12, walking groove 13, movable mechanical arm 2;

[0027] Mounting frame 121, clamping plate 122, sliding block 123, double-acting drive cylinder 124;

[0028] Limiting groove 131;

[0029] Outer tube 1241, connecting block 1242, connecting port 2421, spring 1243, telescopic rod 1244;

[0030] Mounting plate 21, robotic arm body 22, limiting stop plate 23, drive device 24, limiting load plate 25;

[0031] Bending plate body 231, limiting rod 232, spring 233;

[0032] Link 1 241, Link 2 242, Traveling wheel 243, Gear 2431, Motor 244, Spring 3 245, Electric push rod 246. Detailed Implementation

[0033] like Figures 1 to 7 As shown, the present invention proposes a robotic arm attachment device for a tower-building machine, including a movable robotic arm 2 disposed on a tower-building machine platform 1. The tower-building machine platform 1 is provided with a travel groove 13. The movable robotic arm 2 moves through a travel mechanism disposed on both sides of its lower end. A limit mechanism is provided on the lower side of the movable robotic arm 2 near the travel mechanism. The height and position of the movable robotic arm 2 can be controlled by the travel assembly. When the movable robotic arm 2 moves downward under the control of the travel mechanism, the limit mechanism abuts against the surface of the tower-building machine platform 1 and is embedded in the travel groove 13.

[0034] The tower building platform 1 is equipped 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 each of the two clamping plates 122 is connected to the mounting frame 121 by a slider 123.

[0035] The bidirectional drive cylinder 124 includes an outer tube 1241, a connecting block 1242, a spring 1243, and telescopic rods 1244 disposed on both sides of the outer tube 1241. The outer tube 1241 has a movable chamber, and the telescopic rods 1244 are disposed within the movable chamber, with both telescopic rods 1244 protruding from both ends of the outer tube 1241. The connecting block 1242 is disposed on the side of the outer tube 1241 and is connected via a connecting port 24. 21 is connected to the movable chamber. The two ends of the spring 1243 abut against the two telescopic rods 1244 respectively. The connecting block 1242 controls the positive and negative pressure through an external air compressor. The telescopic rods 1244 and the movable chamber form a piston connection. When the movable chamber is pressurized by the air compressor, the two telescopic rods 1244 push outward. When the limiting mechanism abuts against the surface of the traveling groove 13 and the telescopic rods 1244 retract inward, the clamping plate 122 is inserted into the limiting mechanism.

[0036] Firstly, in order to solve the problem that the existing mechanical arm attachment device cannot change the installation position, the device is provided with a walking groove 13 on the tower building machine platform 1, and the movable mechanical arm 2 moves through the walking mechanism on both sides of the lower end, breaking the position fixed restriction caused by the traditional rivet direct fixation, so that the mechanical arm can be flexibly adjusted according to the construction demand, thereby expanding the construction coverage range and avoiding the situation that multiple mechanical arms need to be installed due to insufficient coverage of a single mechanical arm.

[0037] Secondly, while ensuring the stability of the mechanical arm, reliable fixation is realized. When the movable mechanical arm 2 moves downward through the walking mechanism, the limiting mechanism on the lower side will abut against the surface of the tower building machine platform 1 and be embedded in the walking groove 13, thereby preliminarily realizing positioning. Subsequently, the locking assembly 12 in the tower building machine platform 1 plays a role, and the movable chamber of the double-acting drive cylinder 124 controls the pressure through the air compressor. When fixation is needed, the telescopic rod 1244 is retracted inward, driving the clamping plate 122 to be inserted into the limiting mechanism, thereby realizing firm fixation of the mechanical arm. This fixation mode not only ensures the stability of the mechanical arm during work, preventing unstable displacement or shaking due to load, motion inertia, etc., but also enables the clamping plate 122 to be separated from the limiting mechanism by controlling the double-acting drive cylinder 124 when movement is needed, thereby flexibly switching states.

[0038] Finally, the problem of space occupation and additional weight caused by multiple mechanical arms is effectively solved. Since a single movable mechanical arm 2 can cover a larger construction area by adjusting the position through movement, multiple mechanical arms do not need to be installed on the tower building machine platform, thereby saving the limited space of the platform and reducing the additional weight caused by multiple mechanical arms, ensuring the normal operation of the tower building machine platform.

[0039] Further, the walking mechanism includes symmetrically arranged driving devices 24, the driving device 24 includes connecting rod one 241, connecting rod two 242, walking wheel 243, motor 244, spring three 245, and electric push rod 246, the connecting rod two 242 is movably connected with the connecting rod one 241, and the connecting end of the connecting rod one 241 and the connecting rod two 242 is connected with the lower end of the mounting plate body 21 through the spring three 245, the motor 244 is installed at one end of the connecting rod two 242 away from the spring three 245, and the walking wheel 243 is installed on the output shaft of the motor 244, the lower end of the mounting plate body 21 is provided with a mounting groove, 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 with the middle part of the connecting rod two 242, so as to change the included angle between the connecting rod one 241 and the connecting rod two 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 body 21.

[0040] When the mechanical arm needs to move to a turn, lifting the mounting plate body 21 can effectively avoid the abutment of the limiting mechanism and the tower machine platform 1, and the working principle is as follows: when the mechanical arm is normally working or moving to a specified position and fixed, the limiting mechanism is abutted on the surface of the tower machine platform 1 and embedded in the walking groove 13, at this time the limiting mechanism is in close contact with the platform, which is mainly used to limit the horizontal displacement of the mechanical arm and cooperate with locking. However, when the mechanical arm turns, if the limiting mechanism still maintains contact with the platform, due to the fixed embedded state of the limiting mechanism, it will hinder the turning action of the mechanical arm, and even may cause damage to the limiting mechanism, the walking groove 13 and related parts due to forced turning. Therefore, before the mechanical arm turns, the control system will start the electric push rod 246 to lift the mounting plate body 21, drive the limiting mechanism to disengage from the walking groove 13, so that it is no longer in contact with the surface of the platform, and provide enough space for flexible turning of the mechanical arm.

[0041] A preferred technical solution, the movable mechanical arm 2 includes a mounting plate body 21 and a mechanical arm body 22, the limiting mechanism includes a limiting weight plate 25 and a symmetrically arranged limiting abutment plate 23, the limiting weight plate 25 is fixed to the lower end of the mounting plate body 21, and the mounting plate body 21 is symmetrically arranged on the left and right sides of the mounting plate body 21, and the walking mechanism is arranged between the limiting abutment plate 23 and the limiting weight plate 25, when the movable mechanical arm 2 is fixed on the surface of the tower machine platform 1, the limiting abutment plate 23 is abutted on the surface of the tower machine platform 1, and the limiting weight plate 25 is embedded in the walking groove 13;

[0042] During the descending process of the mounting plate body 21, the limiting abutment plate 23 first contacts the surface of the tower machine platform 1 to form a preliminary support. Compared with directly positioning by embedding the limiting weight plate 25 into the walking groove 13, this way can provide a wider and more uniform force surface for the mechanical arm, prevent the mechanical arm from tilting or shaking during the descending process due to uneven force, avoid deviation of the limiting weight plate 25 when it is embedded in the walking groove 13, and ensure that it can be accurately embedded. In addition, the surface of the limiting weight plate 25 is provided with an opening, when the limiting weight plate 25 is embedded in the walking groove 13, the connecting rod two 242 contracts the motors 244 on both sides through negative pressure generated by the air compressor, and the plug rod provided on the side surface of the clamping plate 122 is inserted into the opening to fix the limiting weight plate 25, thereby realizing stable locking of the mechanical arm on the tower machine platform 1.

[0043] Further, the limiting stop plate 23 comprises a bent plate body 231, a limiting rod 232 and a spring 233. The bent plate body 231 is arranged close to the edge of the mounting plate body 21. The limiting rod 232 penetrates through the bent plate body 231 and is fixed to the surface of the mounting plate body 21. The spring 233 is sleeved on the limiting rod 232 and abuts against the surface of the bent plate body 231. When the mounting plate body 21 moves downward, the limiting rod 232 extrudes the spring 233 to make the bent plate body 231 move downward together and abut against the surface of the tower machine platform 1. When the mounting plate body 21 does not move downward, the lower end of the bent plate body 231 is higher than the upper end of the tower machine platform 1. The surface of the walking groove 13 is arranged with a plurality of limiting grooves 131. The outer side of the walking wheel 243 is arranged with a clamping tooth 2431 corresponding to the limiting groove 131. When the walking wheel 243 is arranged in the walking groove 13, the clamping tooth 2431 is embedded in the limiting groove 131.

[0044] The above merely describes the preferred embodiments of the present application, and therefore cannot limit the scope of the present application. Any equivalent changes and modifications made according to the scope of the present application and the content of the specification should still fall within the scope of the present application.

Claims

1. A robotic arm attachment device for a tower-building machine, characterized in that, The invention includes a movable robotic arm mounted on a tower-building machine platform. The tower-building machine platform is provided with a travel groove. The movable robotic arm moves through travel mechanisms provided on both sides of its lower end. A limit mechanism is provided on the lower side of the movable robotic arm near the travel mechanism. The height and position of the movable robotic arm can be controlled by the travel assembly. When the movable robotic arm moves downward by controlling the travel mechanism, the limit mechanism abuts against the surface of the tower-building machine platform and is embedded in the travel groove. The tower-building machine platform is equipped with a locking assembly, which includes a mounting frame, a locking plate, a slider, and a bidirectional drive cylinder. The locking plates are symmetrically arranged on the left and right sides of the bidirectional drive cylinder, and each of the two locking plates is connected to the mounting frame by a slider. The bidirectional drive cylinder includes an outer tube body, a connecting block, a spring, and telescopic rods disposed on both sides of the outer tube body. The outer tube body has a movable chamber, and the telescopic rods are disposed in the movable chamber, with both telescopic rods protruding from both ends of the outer tube body. The connecting block is disposed on the side of the outer tube body and is connected to the movable chamber through a connecting port. The two ends of the spring abut against the two telescopic rods respectively. The connecting block is controlled by an external air compressor to control positive and negative pressure. A piston connection is formed between the telescopic rods and the movable chamber. When the movable chamber is pressurized by the air compressor, the two telescopic rods push outward. When the limiting mechanism abuts against the surface of the traveling groove and the telescopic rods retract inward, the locking plate is inserted into the limiting mechanism.

2. The robotic arm attachment device for a tower-building machine according to claim 1, characterized in that, The walking mechanism includes symmetrically arranged drive devices, each including a first link, a second link, a walking wheel, a motor, a third spring, and an electric push rod. The second link is movably connected to the first link, and the connection end of the first link and the second link is connected to the lower end of the mounting plate via the third spring. The motor is mounted on the end of the second link away from the third spring, and the walking wheel is mounted on the output shaft of the motor. The lower end of the mounting plate has a mounting groove, in which the electric push rod is movably mounted. The output shaft of the electric push rod is movably connected to the middle of the second link, so that the angle between the first link and the second link can be changed by controlling the extension and retraction of the output shaft of the electric push rod, thereby changing the height of the mounting plate.

3. The robotic arm attachment device for a tower-building machine according to claim 2, characterized in that, The movable robotic arm includes a mounting plate and a robotic arm body. The limiting mechanism includes a limiting load plate and symmetrically arranged limiting abutments. The limiting load plate is fixed to the lower end of the mounting plate, while the limiting abutments are symmetrically arranged on the left and right sides of the mounting plate. The traveling mechanism is arranged between the limiting abutments and the limiting load plate. When the movable robotic arm is fixed to the surface of the tower-building machine platform, the limiting abutments abut against the surface of the tower-building machine platform, and the limiting load plate is embedded in the traveling groove. During the descent of the installation plate, the lower end of the limiting plate abuts against the surface of the tower-building machine platform due to the limiting load plate. The limiting load plate has an opening on its surface. When the limiting load plate is embedded in the walking groove, the connecting rod two generates negative pressure through the air compressor to contract the motors on both sides. The plug is inserted into the opening through the plug provided on the side of the clamping plate to fix the limiting load plate.

4. The robotic arm attachment device for a tower-building machine according to claim 3, characterized in that, The limiting plate includes a bent plate body, a limiting rod, and a second spring. The bent plate body is located near the edge of the mounting plate. The limiting rod passes through the bent plate body and is fixed to the surface of the mounting plate. The second spring is sleeved outside the limiting rod and abuts against the surface of the bent plate body. When the mounting plate moves down, the limiting rod squeezes the second spring to make the bent plate body move down together and abut against the surface of the tower building machine platform. When the mounting plate is not lowered, the lower horizontal plane of the bent plate body is higher than the upper horizontal plane of the tower building machine platform.

5. The robotic arm attachment device for a tower-building machine according to claim 4, characterized in that, The surface of the walking groove has multiple limiting grooves arranged at equal intervals, and the outer side of the walking wheel is provided with locking teeth corresponding to the limiting grooves. The walking wheel is set in the walking groove, and the locking teeth are embedded in the limiting grooves.

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