Net hanging manipulator and anchor rod trolley

Abstract

The utility model provides a net hanging manipulator and an anchor rod trolley. The net hanging manipulator comprises a base, a telescopic arm, an adjusting assembly and a grabbing assembly. The telescopic arm is rotationally arranged on the base, the adjusting assembly is arranged on the telescopic arm, the grabbing assembly is arranged on the adjusting assembly, and the adjusting assembly is used for adjusting the grabbing angle of the grabbing assembly; the grabbing assembly comprises a middle support, a clamping jaw, a reverse jaw and a first driving part, the clamping jaw is arranged on the middle support, the reverse jaw is arranged on the middle support, and the first driving part is used for driving the reverse jaw to move in the direction close to or away from the clamping jaw so that the clamping jaw and the reverse jaw can grab or release the anchor net. According to the net hanging manipulator, the clamping claws are matched with the reverse claws, so that anchor nets with different grid sizes can be conveniently grabbed.

Description

Technical Field

[0001] The present application relates to the technical field of anchor net support, and in particular to a net hanging manipulator and an anchor rod trolley. Background Art

[0002] Anchor net support refers to the process of fixing the metal anchor net on the surface of the mine tunnel by using the support plate on the anchor rod. Since the mine tunnel after blasting has many floating stones and broken surface, there is a risk of roof collapse and deviation. Therefore, it is necessary to fix the easy-to-fall ore body on the surface of the mine tunnel by anchor rods and metal anchor nets, so that the ore body forms a complete and non-falling whole, which can effectively prevent small pieces of loose rocks from falling.

[0003] In the prior art, there are generally two methods for hanging nets. One is to hang nets manually, usually by building a 2-meter-high workbench in the tunnel, and then manually hanging the anchor net on the working surface. This method has the disadvantages of poor safety, high labor intensity, and low efficiency. The other is to use a net hanging manipulator to hang nets, which has good operation safety and high efficiency.

[0004] The current mesh hanging robot can generally only adapt to finished meshes, that is, meshes with welding points between machine-woven meshes. However, there are still some mines that still use manually woven meshes. Due to the characteristics of different mesh sizes, no welding points between meshes, and loose meshes, the current mesh hanging robot cannot adapt to them. Utility Model Content

[0005] The present application provides a net hanging manipulator and an anchor rod trolley, which are used to solve the problem that the mesh sizes of the anchor net are different and the manipulator is difficult to grasp.

[0006] On the one hand, the present application provides a net hanging robot, including a base, a telescopic arm, an adjustment component and a grasping component;

[0007] The telescopic arm is rotatably arranged on the base, the adjusting component is arranged on the telescopic arm, the grabbing component is arranged on the adjusting component, and the adjusting component is used to adjust the grabbing angle of the grabbing component;

[0008] The grabbing assembly includes an intermediate bracket, a claw, an anti-claw and a first driving member, the claw is arranged on the intermediate bracket, the anti-claw is arranged on the intermediate bracket, and the first driving member is used to drive the anti-claw to move toward or away from the claw, so that the claw and the anti-claw grab or release the anchor net to move.

[0009] In some embodiments, the first driving member includes a swing cylinder and a connecting pin, the connecting pin is arranged on the intermediate bracket and passes through the middle part of the anti-claw, the swing cylinder is hinged on the intermediate bracket, the piston rod of the swing cylinder is hinged to one end of the anti-claw, and the swing cylinder drives the anti-claw to rotate around the connecting pin.

[0010] In some embodiments, the claws and the counter-claws are provided in at least two groups, and the counter-claws of the same group cooperate with the claws to grab or release the anchor net.

[0011] In some embodiments, the claw includes a connecting part, an adjusting part and two clamping parts, the two clamping parts are both arranged on the connecting part for being plugged into the anchor net, the anti-claw is located between the two clamping parts, the adjusting part connects the connecting part to the intermediate bracket and is used to adjust the position of the connecting part.

[0012] In some embodiments, the adjustment portion includes an adjustment bolt, an adjustment slot is opened on the intermediate bracket, the adjustment bolt is slidably inserted into the adjustment slot and is threadedly connected to the connecting portion, and the adjustment bolt slides in a direction close to or away from the anti-claw.

[0013] In some embodiments, the counter-claw includes a connecting shaft and two claw bodies, one end of the two claw bodies are connected to the connecting shaft, the piston rod of the swing cylinder is rotatably connected to the connecting shaft, and the middle parts of the two claw bodies are rotatably connected to the connecting pin shaft.

[0014] In some embodiments, the telescopic arm includes an outer arm, an inner arm, a telescopic cylinder, a long pin shaft and a short pin shaft. The inner arm is slidably arranged in the outer arm, and the inner arm slides along the length direction of the outer arm. The telescopic cylinder is located in the outer arm, and the long pin shaft passes through the outer arm and is connected to the bottom of the telescopic cylinder. The piston rod of the telescopic cylinder is connected to the short pin shaft, and the short pin shaft is connected to the inner arm. The outer arm is rotatably connected to the base, and the adjustment assembly is arranged at the end of the inner arm.

[0015] In some embodiments, the adjustment assembly includes a connecting plate, a second driving member, a transition plate and a third driving member, the connecting plate is arranged at the end of the inner arm, the second driving member is arranged on the connecting plate, the transition plate is arranged on the second driving member to drive the transition plate to rotate, and the rotation axis of the transition plate is parallel to the rotation axis of the telescopic arm, the third driving member is arranged on the transition plate, and the intermediate bracket is arranged on the third driving member to drive the intermediate bracket to rotate, and the rotation axis of the intermediate bracket is perpendicular to the rotation axis of the transition plate.

[0016] In some embodiments, the base includes a seat body, a rotating shaft and a fourth driving member, the rotating shaft is rotatably arranged on the seat body, the end of the outer arm is sleeved on the rotating shaft, and the fourth driving member is arranged on the seat body to drive the rotating shaft to rotate.

[0017] On the other hand, the present application provides an anchor trolley, comprising an anchor trolley and the above-mentioned net hanging robot arranged on the anchor trolley.

[0018] The present application provides a net hanging robot and an anchor trolley. The net hanging robot inserts a clamping claw and a reverse claw into the grid of the anchor net, and drives the reverse claw to move through a first driving member, so that the clamping claw and the reverse claw grab the anchor net, and grabs the anchor net by the reverse claw and the clamping claw cooperating with each other, so as to facilitate the grabbing of anchor nets with different grid sizes, no welding points between grids, loose grids, etc., thereby improving the applicability of the robot; and by rotating the telescopic arm on the base, extending and retracting the telescopic arm, and adjusting the grabbing angle of the grabbing component in two directions, the grabbing component has multiple degrees of freedom, so as to flexibly cope with complex working conditions and improve the construction efficiency of the anchor net. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] Figure 1 A schematic diagram of the structure of a net hanging robot provided in an embodiment of the present application;

[0021] Figure 2 for Figure 1 Schematic diagram of the structure of the grabbing component;

[0022] Figure 3 for Figure 2 A structural diagram of another perspective of part A;

[0023] Figure 4 for Figure 1 Structural sectional view of the middle telescopic arm;

[0024] Figure 5 A structural schematic diagram of the working state of the net hanging robot provided in an embodiment of the present application.

[0025] Description of reference numerals:

[0026] 1- Anchor net;

[0027] 100-base; 110-base body; 120-rotating shaft; 130-fourth driving member;

[0028] 200-telescopic arm; 210-outer arm; 220-inner arm; 230-telescopic cylinder; 240-long pin; 250-short pin;

[0029] 300-adjustment assembly; 310-connection plate; 320-second drive member; 330-transition plate; 340-third drive member;

[0030] 400-grabbing assembly; 410-intermediate bracket; 411-mounting plate; 412-support plate; 413-adjusting slot; 420-claw; 421-connecting part; 422-adjusting part; 423-clamping part; 430-counter-claw; 431-connecting shaft; 432-claw body; 440-first driving member; 441-swinging cylinder; 442-connecting pin shaft.

[0031] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0033] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] In this application, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] Anchor net support refers to the process of fixing the metal anchor net on the surface of the mine tunnel by using the support plate on the anchor rod. Since the mine tunnel after blasting has the characteristics of a lot of floating stones and surface crushing, there is a risk of roof collapse and deviation. Therefore, it is necessary to fix the easy-to-fall ore body on the surface of the mine tunnel by anchor rods and metal anchor nets, so that the ore body forms a complete and non-easy-to-fall whole, which can effectively prevent small pieces of loose rock from falling. The net hanging operation is generally carried out by a net hanging manipulator, which has good operation safety and high efficiency. The net hanging manipulator is installed on the anchor rod trolley, and the net hanging operation is realized by driving the manipulator through the anchor rod trolley.

[0037] The current mesh hanging robot can generally only adapt to finished meshes, that is, meshes with welding points between machine-woven meshes. However, there are still some mines that still use manually woven meshes. Due to the characteristics of different mesh sizes, no welding points between meshes, and loose meshes, the current mesh hanging robot cannot adapt to them.

[0038] In order to solve the above problems, the present application provides a net hanging robot and an anchor trolley. The net hanging robot inserts the claw and the counter claw into the grid of the anchor net, and drives the counter claw to move through the first driving member, so that the claw and the counter claw grab the anchor net, and grabs the anchor net by the cooperation of the counter claw and the claw, so as to facilitate the grabbing of anchor nets with different grid sizes, no welding points between grids, loose grids, etc., thereby improving the applicability of the robot; and by rotating the telescopic arm on the base, extending and retracting the telescopic arm, and adjusting the grabbing angle of the grabbing component in two directions, the grabbing component has multiple degrees of freedom, so as to flexibly cope with complex working conditions and improve the construction efficiency of the anchor net.

[0039] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0040] On the one hand, the present application provides a mesh hanging robot, referring to Figures 1 to 5The net hanging robot includes a base 100, a telescopic arm 200, an adjustment component 300 and a grabbing component 400.

[0041] The telescopic arm 200 is rotatably disposed on the base 100 , the adjusting assembly 300 is disposed on the telescopic arm 200 , the grabbing assembly 400 is disposed on the adjusting assembly 300 , and the adjusting assembly 300 is used to adjust the grabbing angle of the grabbing assembly 400 .

[0042] The grabbing assembly 400 includes an intermediate bracket 410, a claw 420, an anti-claw 430 and a first driving member 440. The claw 420 is arranged on the intermediate bracket 410, and the anti-claw 430 is arranged on the intermediate bracket 410. The first driving member 440 is used to drive the anti-claw 430 to move toward or away from the claw 420, so that the claw 420 and the anti-claw 430 grab or release the anchor net 1.

[0043] The net hanging manipulator inserts the claw 420 and the reverse claw 430 into the grid of the anchor net 1, and drives the reverse claw 430 to move in a direction away from the claw 420 through the first driving member 440, so that the claw 420 and the reverse claw 430 are respectively in contact with both sides of the grid of the anchor net 1 to grab the anchor net 1. The anchor net 1 is grabbed by adjusting the position of the reverse claw 430, so as to facilitate the grabbing of the anchor net 1 of different grid sizes, no welding points between grids, loose grids, etc., thereby improving the applicability of the manipulator; and by rotating the telescopic arm 200 on the base 100, the telescopic arm 200 is extended and retracted, and the adjustment component 300 adjusts the grabbing angle of the grabbing component 400, so as to achieve the adjustment of multiple degrees of freedom of the grabbing component 400, so as to flexibly cope with complex working conditions and improve the construction efficiency of the anchor net 1.

[0044] Reference Figure 2 and Figure 3 The first driving member 440 includes a swing cylinder 441 and a connecting pin 442. The connecting pin 442 is arranged on the intermediate bracket 410 and passes through the middle of the anti-claw 430. The swing cylinder 441 is hinged on the intermediate bracket 410. The piston rod of the swing cylinder 441 is hinged to one end of the anti-claw 430. The swing cylinder 441 drives the anti-claw 430 to rotate around the connecting pin 442.

[0045] Specifically, the intermediate bracket 410 includes a mounting plate 411 and two support plates 412. The two support plates 412 are fixed in parallel on the mounting plate 411. There is a gap between the two support plates 412. The first driving member 440, the claw 420 and the anti-claw 430 are all installed between the two support plates 412, and the claw 420 and the anti-claw 430 extend to the outside of the plane where the support plates 412 are located. The two support plates 412 are conducive to supporting the anchor net 1 to facilitate the grabbing of the anchor net 1.

[0046] One end of the swing cylinder 441 is hinged between the two support plates 412, and the piston rod of the swing cylinder 441 is hinged to one end of the counter claw 430 located in the gap; the connecting pin 442 is fixed in the gap, and the middle part of the counter claw 430 is passed through the connecting pin 442, so that the counter claw 430 can rotate around the connecting pin 442, so that the top of the counter claw 430 is close to or away from the top of the claw 420, so as to capture anchor nets 1 of different specifications. The hinge axis of the swing cylinder 441 is parallel to the length direction of the connecting pin 442. The swing cylinder 441 is located in the gap, thereby avoiding the influence of the swing cylinder 441 on the capture of the anchor net 1.

[0047] Reference Figure 2 and Figure 3 At least two groups of claws 420 and anti-claws 430 are provided, and the anti-claws 430 of the same group cooperate with the claws 420 to grab or release the anchor net 1.

[0048] Specifically, the claws 420 and the reverse claws 430 are arranged in two groups, and the two groups of claws 420 and the reverse claws 430 are symmetrically arranged on the middle bracket 410. The two groups of claws 420 and the reverse claws 430 simultaneously grasp the anchor net 1, making the grasping more stable and reducing the possibility of the anchor net 1 falling. In other embodiments, the claws 420 and the reverse claws 430 can be arranged in three groups, four groups, or other different numbers, and no excessive restrictions are made here.

[0049] Reference Figure 2 and Figure 3 The counter claw 430 includes a connecting shaft 431 and two claw bodies 432 , one end of the two claw bodies 432 are connected to the connecting shaft 431 , the piston rod of the swing cylinder 441 is rotatably connected to the connecting shaft 431 , and the middle parts of the two claw bodies 432 are rotatably connected to the connecting pin 442 .

[0050] The claw body 432 part extends outside the support plate 412, and the claw body 432 includes a first claw body 432 part and a second claw body 432 part. One end of the first claw body 432 part is connected to the second claw body 432 part, and the other end extends outside the support plate 412. One end of the second claw body 432 part away from the first claw body 432 part is fixedly connected to the connecting shaft 431. The first claw body 432 part and the second claw body 432 part are integrally formed, and the first claw body 432 part and the second claw body 432 part are arranged at an obtuse angle to facilitate the adjustment of the position of the top of the first claw body 432 part. A groove is provided on the top of the first claw body 432 part to form a hook, so as to facilitate the grasping of the steel wire of the anchor net 1 and reduce the slippage of the anchor net 1.

[0051] Reference Figure 2 and Figure 3The claw 420 includes a connecting portion 421, an adjusting portion 422 and two clamping portions 423. The two clamping portions 423 are both arranged on the connecting portion 421 for being plugged into the anchor net 1. The anti-claw 430 is located between the two clamping portions 423. The adjusting portion 422 connects the connecting portion 421 to the intermediate bracket 410 and is used to adjust the position of the connecting portion 421.

[0052] Specifically, the connecting portion 421 is located in the gap between the two supporting plates 412, the clamping portion 423 is integrally formed with the two clamping portions 423, the clamping portion 423 is an L-shaped plate, and the top of the clamping portion 423 extends outside the supporting plate 412, so as to be inserted into the mesh of the anchor net 1 and cooperate with the reverse claw 430 to grab the anchor net 1. The connecting portion 421 is slidably arranged between the two supporting plates 412, and the sliding direction of the connecting portion 421 is arranged along the length direction of the supporting plate 412. The adjusting portion 422 is used to adjust the position of the connecting portion 421 to change the relative position between the clamping claw 420 and the reverse claw 430, further adapt to the anchor nets 1 with different mesh widths, and improve the applicability of the manipulator.

[0053] Reference Figure 2 and Figure 3 The adjusting portion 422 includes an adjusting bolt. An adjusting slot 413 is provided on the intermediate bracket 410. The adjusting bolt is slidably inserted into the adjusting slot 413 and is threadedly connected to the connecting portion 421. The adjusting bolt slides toward or away from the anti-claw 430.

[0054] Specifically, the sides of the two support plates 412 are provided with adjustment grooves 413, which are strip grooves, and the length direction of the strip grooves is along the length direction of the support plates 412. Adjustment bolts are inserted into the adjustment grooves 413 on the two support plates 412, and the adjustment bolts pass through the adjustment grooves 413 and are threadedly connected with the connecting portion 421. When it is necessary to adjust the distance between the clamping claw 420 and the anti-claw 430, loosen the adjustment bolts on the two support plates 412, slide the adjustment bolts along the length direction of the adjustment groove 413, adjust to a suitable position, tighten the adjustment bolts, and fix the clamping claw 420 to adjust the distance between the clamping claw 420 and the anti-claw 430, so as to further improve the adaptability of the manipulator to the anchor nets 1 of different mesh widths. In this way, targeted adjustments can be made for anchor nets 1 of different mesh sizes, ensuring that the clamping claw 420 and the anti-claw 430 will not cause excessive deformation of the mesh in the process of grabbing the anchor net 1, resulting in broken mesh welding points.

[0055] Reference Figure 1 and Figure 4The telescopic arm 200 includes an outer arm 210, an inner arm 220, a telescopic cylinder 230, a long pin 240 and a short pin 250. The inner arm 220 is slidably arranged in the outer arm 210, and the inner arm 220 slides along the length direction of the outer arm 210. The telescopic cylinder 230 is located in the outer arm 210, and the long pin 240 passes through the outer arm 210 and is connected to the bottom of the telescopic cylinder 230. The piston rod of the telescopic cylinder 230 is connected to the short pin 250, and the short pin 250 is connected to the inner arm 220. The outer arm 210 is rotatably connected to the base 100, and the adjustment assembly 300 is arranged at the end of the inner arm 220.

[0056] Specifically, the outer arm 210 and the inner arm 220 are both hollow cylinders, which can be square columns or round columns, and no excessive restrictions are made here. The inner arm 220 is slidably inserted into the outer arm 210, and the long pin 240 passes through the end of the outer arm 210 close to the base 100. The bottom end of the telescopic cylinder 230 is hinged on the long pin 240, and part of the telescopic cylinder 230 is inserted into the inner arm 220. The short pin 250 is fixed inside the inner arm 220, and the piston rod of the telescopic cylinder 230 is hinged on the short pin 250. When in use, the inner arm 220 is driven to move by the telescopic piston rod of the telescopic cylinder 230, thereby realizing the telescopic arm 200 and the adjustment of the position of the grab assembly 400.

[0057] Reference Figure 1 and Figure 5 The adjustment assembly 300 includes a connecting plate 310, a second driving member 320, a transition plate 330 and a third driving member 340. The connecting plate 310 is arranged at the end of the inner arm 220, the second driving member 320 is arranged on the connecting plate 310, the transition plate 330 is arranged on the second driving member 320 to drive the transition plate 330 to rotate, and the rotation axis of the transition plate 330 is parallel to the rotation axis of the telescopic arm 200. The third driving member 340 is arranged on the transition plate 330, and the intermediate bracket 410 is arranged on the third driving member 340 to drive the intermediate bracket 410 to rotate, and the rotation axis of the intermediate bracket 410 is perpendicular to the rotation axis of the transition plate 330.

[0058] For example, refer to Figure 1, the second driving member 320 and the third driving member 340 are both motors. The connecting plate 310 is fixed to one end of the inner arm 220 extending to the outside of the outer arm 210, and the connecting plate 310 and the inner arm 220 are connected and fixed by bolts. The second driving member 320 is fixed on the connecting plate 310, and the second driving member 320 and the connecting plate 310 are also connected and fixed by bolts, and the rotation axis of the motor of the second driving member 320 is parallel to the rotation axis of the telescopic arm 200. The transition plate 330 is installed on the output shaft of the motor of the second driving member 320, so that the second driving member 320 drives the transition plate 330 to rotate. The third driving member 340 is installed on the transition plate 330, and the third driving member 340 is connected and fixed by bolts, and the rotation axis of the motor of the third driving member 340 is perpendicular to the rotation axis of the motor of the second driving member 320, and the mounting plate 411 of the intermediate bracket 410 is installed on the motor output shaft of the third driving member 340, so that the third driving member 340 drives the intermediate bracket 410 to rotate.

[0059] In other implementations, a cylinder may be used to drive the connecting rod mechanism to move, and a slewing bearing may be used to drive the intermediate bracket 410 to rotate.

[0060] The rotation axes of the second driving member 320 and the third driving member 340 are perpendicular to each other, thereby realizing the position adjustment of the intermediate bracket 410 in two directions, and then cooperating with the rotation and extension of the telescopic arm 200, the grabbing assembly 400 has four degrees of freedom, which can flexibly cope with complex working conditions and ensure the efficiency of the net hanging construction.

[0061] Reference Figure 1 and Figure 5 The base 100 includes a base body 110, a rotating shaft 120 and a fourth driving member 130. The rotating shaft 120 is rotatably disposed on the base body 110. The end of the outer arm 210 is sleeved on the rotating shaft 120. The fourth driving member 130 is disposed on the base body 110 to drive the rotating shaft 120 to rotate.

[0062] Specifically, a connecting ring is fixed at one end of the outer wall of the telescopic arm 200, and the connecting ring is fixedly sleeved on the rotating shaft 120, and the rotating shaft 120 is rotatably connected to the seat body 110, and the fourth driving member 130 is installed on the seat body 110. In the present application, the fourth driving member 130 is also a motor, and the output shaft of the fourth driving member 130 is connected to the rotating shaft 120. The rotation axis of the motor of the fourth driving member 130 is perpendicular to the length direction of the telescopic arm 200, thereby driving the rotating shaft 120 to rotate, so as to realize the rotation of the telescopic arm 200. The seat body 110 is mounted on the anchor trolley by bolts. In other embodiments, a hydraulic motor can be used instead of a traditional motor to realize the swing of the telescopic arm 200.

[0063] On the other hand, the present application provides an anchor trolley, comprising an anchor trolley and the above-mentioned net hanging robot arranged on the anchor trolley.

[0064] The seat body 110 on the net hanging robot is fixed on the anchor trolley by bolts, and the anchor trolley provides power for the net hanging robot.

[0065] Among them, the structure of the net hanging robot in this embodiment is the same as the structure of the net hanging robot provided in any of the above embodiments, and can bring the same or similar technical effects, which will not be described one by one here, and the details can be referred to the description of the above embodiments.

[0066] The anchor trolley provided in the present application inserts the claw 420 and the anti-claw 430 into the grid of the anchor net 1 through the net hanging manipulator, and drives the anti-claw 430 to move through the first driving member 440, so that the claw 420 and the anti-claw 430 grab the anchor net 1, and grabs the anchor net 1 by the anti-claw 430 and the claw 420 cooperating with each other, so as to facilitate the grabbing of anchor nets 1 of different grid sizes, no welding points between grids, loose grids, etc., thereby improving the applicability of the manipulator; and through the rotation of the telescopic arm 200, the extension and retraction of the telescopic arm 200, and the adjustment component 300, the grabbing angle of the grabbing component 400 is adjusted in two directions, so that the grabbing component 400 has multiple degrees of freedom, so as to flexibly cope with complex working conditions and improve the construction efficiency of the anchor net 1.

[0067] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0068] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A net hanging robot, characterized in that: It comprises a base (100), a telescopic arm (200), an adjustment component (300) and a grabbing component (400); The telescopic arm (200) is rotatably arranged on the base (100), the adjustment component (300) is arranged on the telescopic arm (200), the gripping component (400) is arranged on the adjustment component (300), and the adjustment component (300) is used to adjust the gripping angle of the gripping component (400); The grabbing assembly (400) comprises an intermediate bracket (410), a clamping claw (420), an anti-claw (430) and a first driving member (440); the clamping claw (420) is arranged on the intermediate bracket (410); the anti-claw (430) is arranged on the intermediate bracket (410); and the first driving member (440) is used to drive the anti-claw (430) to move in a direction approaching or away from the clamping claw (420), so that the clamping claw (420) and the anti-claw (430) grab or release the anchor net (1).

2. The net hanging robot according to claim 1, characterized in that: The first driving member (440) comprises a swing cylinder (441) and a connecting pin (442); the connecting pin (442) is arranged on the intermediate bracket (410) and passes through the middle part of the counter claw (430); the swing cylinder (441) is hinged on the intermediate bracket (410); the piston rod of the swing cylinder (441) is hinged to one end of the counter claw (430); the swing cylinder (441) drives the counter claw (430) to rotate around the connecting pin (442).

3. The net hanging robot according to claim 1, characterized in that: The clamping claws (420) and the counter-claws (430) are provided in at least two groups, and the counter-claws (430) of the same group cooperate with the clamping claws (420) to grasp or release the anchor net (1).

4. The net hanging robot according to any one of claims 1 to 3, characterized in that: The clamping claw (420) comprises a connecting portion (421), an adjusting portion (422) and two clamping portions (423); the two clamping portions (423) are both arranged on the connecting portion (421) for being plugged into the anchor net (1); the counter-claw (430) is located between the two clamping portions (423); the adjusting portion (422) connects the connecting portion (421) to the intermediate bracket (410) and is used to adjust the position of the connecting portion (421).

5. The net hanging robot according to claim 4, characterized in that: The adjusting portion (422) comprises an adjusting bolt. An adjusting slot (413) is provided on the intermediate bracket (410). The adjusting bolt is slidably inserted into the adjusting slot (413) and is threadedly connected to the connecting portion (421). The adjusting bolt slides in a direction approaching or away from the counter claw (430).

6. The net hanging robot according to claim 2, characterized in that: The counter claw (430) comprises a connecting shaft (431) and two claw bodies (432), one end of each of the two claw bodies (432) is connected to the connecting shaft (431), the piston rod of the swing cylinder (441) is rotatably connected to the connecting shaft (431), and the middle parts of the two claw bodies (432) are rotatably connected to the connecting pin shaft (442).

7. The net hanging robot according to any one of claims 1 to 3, characterized in that: The telescopic arm (200) comprises an outer arm (210), an inner arm (220), a telescopic oil cylinder (230), a long pin shaft (240) and a short pin shaft (250); the inner arm (220) is slidably arranged in the outer arm (210); the inner arm (220) slides along the length direction of the outer arm (210); the telescopic oil cylinder (230) is located in the outer arm (210); the long pin shaft (240) passes through the outer arm (210) and is connected to the bottom of the telescopic oil cylinder (230); the piston rod of the telescopic oil cylinder (230) is connected to the short pin shaft (250); the short pin shaft (250) is connected to the inner arm (220); the outer arm (210) is rotatably connected to the base (100); and the adjustment assembly (300) is arranged at the end of the inner arm (220).

8. The net hanging robot according to claim 7, characterized in that: The adjustment assembly (300) comprises a connecting plate (310), a second driving member (320), a transition plate (330) and a third driving member (340); the connecting plate (310) is arranged at the end of the inner arm (220); the second driving member (320) is arranged on the connecting plate (310); the transition plate (330) is arranged on the second driving member (320) to drive the transition plate (330) to rotate; the rotation axis of the transition plate (330) is parallel to the rotation axis of the telescopic arm (200); the third driving member (340) is arranged on the transition plate (330); the intermediate bracket (410) is arranged on the third driving member (340) to drive the intermediate bracket (410) to rotate; the rotation axis of the intermediate bracket (410) is perpendicular to the rotation axis of the transition plate (330).

9. The net hanging robot according to claim 7, characterized in that: The base (100) comprises a base body (110), a rotating shaft (120) and a fourth driving member (130); the rotating shaft (120) is rotatably arranged on the base body (110); an end of the outer arm (210) is sleeved on the rotating shaft (120); and the fourth driving member (130) is arranged on the base body (110) to drive the rotating shaft (120) to rotate.

10. An anchor trolley, characterized in that: It comprises an anchor trolley and a net hanging robot as described in any one of claims 1 to 9 arranged on the anchor trolley.

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