Gripper mechanism, gripping arm device and tunnel engineering trolley

Abstract

The utility model relates to the technical field of tunnel construction equipment, and discloses a gripper mechanism, a gripping arm device and a tunnel engineering trolley, which comprise a mounting seat, a first end, a second end, a first end and a second end, the clamping jaw assembly is mounted on the mounting base, and the clamping jaw assembly is suitable for grabbing and clamping an object to be clamped; the supporting assembly comprises a supporting rod, the supporting rod is detachably connected to the first end of the mounting base, the two ends of the supporting rod extend out of the two side portions of the mounting base correspondingly, and the supporting rod is suitable for supporting an object to be clamped; and the crushing part is connected to the second end of the mounting seat. According to the gripper mechanism and the gripping arm device, the stability and the reliability of gripping and clamping the object to be clamped are improved, the construction safety is guaranteed, and the construction efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction equipment, in particular to a gripping mechanism, a gripping arm device and a tunnel engineering trolley. Background Art

[0002] During tunnel construction, support structures are needed to support the tunnel to prevent the tunnel wall from collapsing. The current support structures are mainly arch structures. The installation positions of the arches in the tunnels are strictly controlled in size, and installation equipment is required to achieve accurate installation of the arches.

[0003] The installation equipment of the related technology usually includes a gripping structure, on which a gripping structure is provided, and the arch frame is gripped by the gripping structure and temporarily fixed to the corresponding installation position, thereby realizing the installation of the arch frame. However, the current gripping structure has the following defects: On the one hand, in the current gripping structure, the structural strength of the gripping structure is relatively weak, and the contact surface with the arch frame is relatively small. When installing multiple arch frames, due to the large span of multiple arch frames, the arch frames are prone to shaking during gripping, so the stability and reliability of the gripping structure in gripping the arch frames are relatively poor. On the other hand, when installing the arch frame, the surrounding rock at the arch frame installation position is often under-excavated, which makes the arch frame unable to be installed and requires manual rework. It is time-consuming and labor-intensive, which seriously affects the installation efficiency of the arch frame. Utility Model Content

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the defects in the installation equipment of the related technology that the stability and reliability of the grab structure in grabbing the arch frame are poor, and the under-excavation of the surrounding rock affects the construction efficiency of the arch frame, thereby providing a grab mechanism, a grab arm device and a tunnel engineering trolley.

[0005] In the first aspect, the utility model provides a gripping mechanism, comprising: a mounting seat having a first end and a second end relative to each other; a clamping jaw assembly mounted on the mounting seat, the clamping jaw assembly being suitable for grasping and clamping an object to be clamped; a supporting assembly comprising a supporting rod, the supporting rod being detachably connected to the first end of the mounting seat, and the two ends of the supporting rod respectively extending out of the two side portions of the mounting seat, the supporting rod being suitable for supporting the object to be clamped; and a crushing member connected to the second end of the mounting seat.

[0006] Optionally, the support rod is arranged telescopically.

[0007] Optionally, the support assembly further includes a connecting member and a sleeve, wherein the connecting member is connected to the first end of the mounting seat, the sleeve is disposed on the connecting member, and the support rod is detachably connected to the sleeve.

[0008] Optionally, the clamping assembly includes two clamping jaws, and the clamping ends of the two clamping jaws are located on one side of the top of the mounting seat; the gripping mechanism also includes a limiting structure, and the limiting structure includes two limiting plates, and the two limiting plates are respectively arranged on one side of the two clamping jaws, and the two limiting plates are connected to the mounting seat, and at least part of the structure of the limiting plates extends to one side of the top of the mounting seat.

[0009] In a second aspect, the utility model further provides a gripping arm device, comprising: the gripping mechanism as described above.

[0010] Optionally, the grab arm device also includes: a main arm body; an adjustment seat, hinged between the first end of the main arm body and the grab mechanism; a first pitch mechanism, connected between the adjustment seat and the grab mechanism, and the first pitch mechanism is suitable for adjusting the pitch angle of the grab mechanism relative to the adjustment seat when extending or shortening.

[0011] Optionally, the arm grabbing device also includes a deflection mechanism, which is connected between the main arm body and the adjustment seat, and the deflection mechanism and the first pitch mechanism are respectively located on two adjacent sides of the adjustment seat, and the deflection mechanism is suitable for adjusting the deflection angle of the adjustment seat relative to the main arm body when extending or shortening.

[0012] Optionally, the arm grabbing device further comprises a connecting arm and a connecting seat, and the second end of the main arm body is rotatably connected to the connecting arm via the connecting seat.

[0013] Optionally, the arm grabbing device further comprises a second pitch mechanism, which is disposed between the main arm body and the connecting seat, and is suitable for adjusting the pitch angle of the main arm body relative to the connecting seat.

[0014] In a third aspect, the utility model further provides a tunnel engineering trolley, comprising the grab arm device as described above.

[0015] By using the technical solution of this embodiment, the crushing piece located at the second end of the mounting seat can dig out the under-excavated rock surface before installing the arch frame, so as to meet the installation requirements of the arch frame, avoid manual work, improve the installation efficiency of the arch frame, and the safety and reliability of the construction are relatively high. The support rod located at the first end of the mounting seat, when the clamping claw assembly grabs and clamps part of the structure in the multiple arch frames, the two ends of the support rod extend on both sides of the mounting seat, and the support rod can provide support for the unclamped parts on both sides of the clamped parts in the multiple arch frames. First, the clamping claw assembly and the support rod jointly provide multi-point support for the multiple arch frames to avoid the arch frames from shaking, thereby improving the stability of the gripper mechanism to grab the arch frames. Second, under the support of the support rod, the unclamped parts of the multiple arch frames can be prevented from being damaged under the action of torque and self-gravity, and when the arch frame and the clamping claw assembly slip, the support rod can bear the gravity of the arch frame to avoid damaging other clamping claw assemblies, thereby improving the reliability of the gripper mechanism to grab the arch frame. Therefore, the gripping mechanism, the gripping arm device and the tunnel engineering trolley provided by the utility model can not only improve the construction efficiency, but also improve the stability and reliability of grabbing the arch frame, thereby ensuring the safety of the construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a structural schematic diagram of a gripper mechanism according to an embodiment of the utility model;

[0018] Figure 2 for Figure 1 A is a partial enlarged schematic diagram;

[0019] Figure 3 This is a structural schematic diagram of a grab arm device according to an embodiment of the utility model;

[0020] Figure 4 for Figure 3 A partial enlarged schematic diagram of B in the middle;

[0021] Figure 5 for Figure 3 A partial enlarged schematic diagram of C in the middle;

[0022] Figure 6 It is a partial structural schematic diagram of a grab arm device of an embodiment of the utility model from another perspective;

[0023] Figure 7 for Figure 6A partial enlarged schematic diagram of D in the middle.

[0024] Description of reference numerals:

[0025] 1. gripper mechanism; 11. mounting seat; 12. clamping jaw assembly; 121. clamping jaw; 13. support assembly; 131. connecting piece; 132. support rod; 133. sleeve; 14. limiting structure; 141. limiting plate; 15. crushing piece;

[0026] 2. Main arm body;

[0027] 3. Adjustment seat; 31. First connection part; 32. Second connection part; 33. Third connection part; 34. Fourth connection part;

[0028] 4. The first pitch mechanism;

[0029] 5. Deflection mechanism;

[0030] 6. Second pitch mechanism; 61. Driving member; 62. First connecting rod; 63. Second connecting rod;

[0031] 7. Connecting seat;

[0032] 8. Connecting arm;

[0033] 9. Rotating mechanism. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0035] Combine the following Figures 1 to 7 The embodiments of the present invention are described.

[0036] According to an embodiment of the utility model, on the one hand, a gripping mechanism 1 is provided, comprising a mounting seat 11 and a clamping jaw assembly 12, a supporting assembly 13, a limiting structure 14 and a crushing member 15 mounted on the mounting seat 11, wherein the mounting seat 11 has a first end and a second end, the supporting assembly 13 is connected to the first end of the mounting seat 11, the crushing member 15 is connected to the second end of the mounting seat 11, and the clamping jaw assembly 12 is located between the supporting assembly 13 and the crushing member 15.

[0037] The support assembly 13 includes a support rod 132, which is detachably connected to the first end of the mounting seat 11, and the two ends of the support rod 132 are respectively extended from the two sides of the mounting seat 11, and the support rod 132 is suitable for supporting the object to be clamped. At least part of the structure of the crushing member 15 is located outside the mounting seat 11, and the crushing member 15 is suitable for digging the under-excavated rock surface. The clamping claw assembly 12 is suitable for grabbing and clamping the object to be clamped.

[0038] Exemplarily, the crushing member 15 includes a crushing rod and a crushing hammer, the crushing hammer is connected to the second end of the mounting seat 11, and the crushing rod is connected to the crushing hammer and is located outside the mounting seat 11. It can be understood that the crushing hammer is used to apply a crushing load to the crushing rod, and the crushing rod applies the load to the rock surface to achieve excavation of the rock surface. Exemplarily, the end of the crushing rod away from the crushing hammer is configured as a cone to facilitate excavation operations.

[0039] Further, such as Figure 1 and 2 As shown, the support assembly 13 includes a connecting member 131, a first end of the connecting member 131 is connected to the first end of the mounting seat 11, and a second end of the connecting member 131 is located at one side of the end of the mounting seat 11. A support rod 132 is provided through the second end of the connecting member 131 to be detachably connected to the first end of the mounting seat 11 through the connecting member 131.

[0040] It can be understood that the object to be clamped in this solution refers to the arch frame structure, which can be one arch frame or multiple arch frames. Of course, the object to be clamped can also be other structures that have clamping requirements, and this application does not limit this.

[0041] Taking a multi-frame arch as an example, by using the technical solution of this embodiment, the crushing piece 15 located at the second end of the mounting seat 11 can dig out the under-dug rock surface before installing the arch to meet the installation requirements of the arch, avoid manual work, improve the installation efficiency of the arch, and the safety and reliability of the construction are relatively high. The support rod 132 located at the first end of the mounting seat 11, when the clamping jaw assembly 12 grabs and clamps part of the structure in the multi-frame arch, the two ends of the support rod 132 extend on both sides of the mounting seat 11, and the support rod 132 can provide support for the unclamped parts on both sides of the clamped parts in the multi-frame arch. First, the clamping jaw assembly 12 and the support rod 132 jointly provide multi-point support for the multi-frame arch to prevent the arch from shaking, thereby improving the stability of the gripper mechanism 1 in grabbing the arch. Secondly, under the support of the support rod 132, the unclamped parts of the multiple arch frames can be prevented from being damaged under the action of torque and self-gravity, and when the arch frame and the clamping jaw assembly 12 slip, the support rod 132 can bear the gravity of the arch frame to avoid damaging other clamping jaw assemblies 12, thereby improving the reliability of the gripping mechanism 1 in grabbing the arch frame and ensuring the safety of the construction site. Therefore, the gripping mechanism 1, the grabbing arm device and the tunnel engineering trolley provided by the utility model integrate the crushing parts and the support rod on the mounting seat, without the need for manual or separate mechanisms to perform excavation operations on the under-excavated rock surface, which can not only improve the construction efficiency, but also improve the stability and reliability of grabbing the arch frame, thereby ensuring the safety of construction.

[0042] by Figure 1 As shown in the example, the ends of the mounting seat 11 refer to the two ends of the mounting seat 11 in the length direction, the sides refer to the two sides of the mounting seat 11 in the width direction, and the two sides of the mounting seat 11 in the height direction are the top and the bottom respectively.

[0043] Among them, a support platform is formed on the top of the mounting seat 11, and the clamping jaw assembly 12 includes two clamping jaws 121. The clamping jaw assembly 12 can be installed at the bottom of the mounting seat 11. The two clamping jaws 121 are respectively located on both sides of the mounting seat 11, and the clamping ends of the two clamping jaws 121 extend to one side of the top of the mounting seat 11. When the clamping jaw assembly 12 clamps the object to be clamped, the support platform on the top of the mounting seat 11 can provide support for the object to be clamped, further ensuring the stability of clamping.

[0044] The support rod 132 is extended along the width direction of the mounting seat 11, and the length of the support rod 132 is much longer than the spacing between the two clamping jaws 121 of the clamping jaw assembly 12. The utility model does not specifically limit the length of the support rod 132, as long as it can achieve the function of supporting the object to be clamped. In addition, the support rod 132 can be constructed as an integrated rod-shaped structure or can be formed by splicing multiple rod-shaped structures, which is not specifically limited in the application.

[0045] It can be understood that the arch frame is an arch structure. In order to enable the support rod 132 to support the arch frame, the setting height of the support rod 132 is slightly lower than the setting height of the clamping end of the clamp 121 with the above-mentioned support platform as the reference plane.

[0046] Alternatively, in some embodiments not shown in the figures, an angle adjustment structure may be provided between the first end of the connector 131 and the mounting seat 11, and the first end of the connector 131 is rotatably connected to the side of the mounting seat 11 through the angle adjustment structure. The angle adjustment structure is suitable for adjusting the relative position between the first end of the connector 131 and the side of the mounting seat 11, so as to adjust the rotation angle of the second end of the connector 131 relative to the mounting seat 11, thereby adjusting the setting height of the support rod 132. In this way, the setting height of the support rod 132 can be adjusted according to the structural adaptability of the object to be clamped, so as to be able to support the object to be clamped.

[0047] Furthermore, the support rod 132 and the second end of the connecting member 131 may be fixedly connected, such as by welding, or detachably connected.

[0048] In some embodiments, Figure 1 and 2 As shown, the support assembly 13 also includes a sleeve 133, which is fixedly connected to the second end of the connecting member 131, and the support rod 132 is arranged in the sleeve 133. That is, the support rod 132 is arranged on the connecting member 131 through the sleeve 133. The arrangement of the sleeve 133 improves the structural strength of the connection between the support rod 132 and the connecting member 131, thereby ensuring the reliability of the support rod 132 supporting the object to be clamped. Among them, the support rod 132 can be fixedly connected to the sleeve 133, and can also be detachably connected to the sleeve 133.

[0049] Exemplarily, the connector 131 is constructed as a sheet structure, the first end of the connector 131 is fixedly connected to the side of the mounting seat 11, the second end of the connector 131 is provided with a through hole, and the sleeve 133 is fixedly connected in the through hole. Exemplarily, the first end of the connector 131 can be welded, riveted, bolted, or pinned to the side of the mounting seat 11; the sleeve 133 and the second end of the connector 131 can be welded. It can be understood that the sleeve 133 is extended along the width direction of the mounting seat 11, so that the support rod 132 penetrating the sleeve 133 can extend along the width direction of the mounting seat 11.

[0050] More specifically, in some embodiments, the support assembly 13 further includes a fastener, a connecting hole is provided on the sleeve 133, the connecting hole is communicated with the interior of the sleeve 133, and the fastener is threadedly connected in the connecting hole to press the support rod 132 into the sleeve 133, which has a simple structure and is convenient for disassembly and installation of the support rod 132. Exemplarily, the fastener is a bolt, and the connecting hole is a threaded hole. Exemplarily, the sleeve 133 may be provided with a plurality of connecting holes spaced apart in the axial direction, and the corresponding fasteners are also provided in a plurality to improve the stability of the installation of the support rod 132.

[0051] Further, two connectors 131 and two sleeves 133 are provided, the first ends of the two connectors 131 are respectively connected to the two sides of the mounting seat 11, and the two sleeves 133 are respectively provided at the second ends of the two connectors 131. The two connectors 131 and the two sleeves 133 jointly support the support rod 132, and the stability and reliability of the support rod 132 are higher. Exemplarily, the support rod 132 is constructed as an integrated rod-shaped structure, the support rod 132 is provided through the two sleeves 133, and the two ends extend on both sides of the mounting seat 11 respectively. Exemplarily, the support rod 132 can also be telescopically provided, so that the length of the support rod 132 can be adjusted by telescoping, so as to be suitable for supporting arches of different spans.

[0052] In some embodiments not shown in the figures, the support rod 132 can also be provided in two sections, and the two sections of the support rod 132 are arranged at intervals along the width direction of the mounting seat 11. Exemplarily, one end of each section of the support rod 132 is provided with an external thread section, and the two sleeves 133 are correspondingly provided with internal thread sections, and the external thread sections of the two support rods 132 are respectively threadedly connected with the internal thread sections of the two sleeves 133. By rotating the support rod 132, the support rod 132 can be moved relative to the sleeve 133, thereby adjusting the length of the two sections of the support rod 132 on both sides of the mounting seat 11.

[0053] Furthermore, in some embodiments, Figure 1 and 2 As shown, the gripper mechanism 1 also includes a limiting structure 14, which includes two limiting plates 141. The two limiting plates 141 are respectively arranged on one side of the two clamping jaws 121, and the two limiting plates 141 are connected to the mounting seat 11, and at least part of the structure of the limiting plates 141 extends to one side of the top of the mounting seat 11. When the clamping jaw assembly 12 clamps the object to be clamped, the limiting plates 141 can form a barrier on both sides of the clamped part to prevent the object to be clamped from sliding off the mounting seat 11. Among them, the limiting plates 141 can be installed on the side of the mounting seat 11, and can also be installed on the top of the mounting seat 11.

[0054] Exemplarily, the clamping jaw assembly 12 and the limiting structure 14 may be provided with one or more groups. Preferably, the clamping jaw assembly 12 and the limiting structure 14 are each provided with two groups, and the two groups of the clamping jaw assembly 12 and the limiting structure 14 are arranged at intervals along the length direction of the mounting seat 11. Exemplarily, the clamping jaw assembly 12 also includes a driving structure, which is arranged at the bottom of the mounting seat 11 and connected between the two clamping jaws 121 of each group of the clamping jaw assembly 12, and the driving structure is suitable for driving the clamping ends of the two clamping jaws 121 to open or clamp when extending or shortening. The driving structure can be a cylinder, a hydraulic cylinder, an electric drive cylinder, etc.

[0055] According to an embodiment of the present invention, on the other hand, a gripping arm device is provided, comprising the gripping mechanism 1 described in the above embodiment. Since the gripping arm device of the present invention comprises the gripping mechanism 1 described above, it has the same technical effect as the gripping mechanism 1 of the present invention, and will not be described in detail here.

[0056] Specifically, Figure 3-7 As shown, the grab arm device also includes a main arm body 2, an adjustment seat 3 and a connecting seat 7 respectively connected to the two ends of the main arm body 2, and a connecting arm 8. Among them, the gripping mechanism 1 is connected to the first end of the main arm body 2 through the adjustment seat 3, and the second end of the main arm body 2 is connected to the connecting arm 8 through the connecting seat 7, and the connecting arm 8 is used to connect with the working machinery. Further, taking the arch frame as an example, the arch frame is usually composed of a plurality of sub-arch frames. After the two adjacent sub-arch frames are assembled, the two sub-arch frames are connected by a connecting structure. In the related art, the gripping mechanism 1 can usually only adjust the left and right swing angles of the arch frame within one plane, and the arch frame has no longitudinal deflection angle, which makes it difficult to connect the vertical arches and affects the construction efficiency. Based on this, in some embodiments of the utility model, such as Figure 3 and 6 As shown, the grab arm device also includes a first pitch mechanism 4, a deflection mechanism 5, a second pitch mechanism 6 and a rotation mechanism 9, so as to be suitable for adjusting the position of the grab mechanism 1 in multiple directions, thereby facilitating accurate fitting between two adjacent sub-arch frames and improving construction efficiency.

[0057] Specifically, the first pitch mechanism 4 is connected between the adjustment seat 3 and the gripping mechanism 1, and the adjustment seat 3 is hinged between the first end of the main arm body 2 and the gripping mechanism 1, and the first pitch mechanism 4 is suitable for adjusting the pitch angle of the gripping mechanism 1 relative to the adjustment seat 3 when extending or shortening. The deflection mechanism 5 is connected between the main arm body 2 and the adjustment seat 3, and the deflection mechanism 5 and the first pitch mechanism 4 are respectively located on the adjacent two sides of the adjustment seat 3, and the deflection mechanism 5 is suitable for adjusting the deflection angle of the adjustment seat 3 relative to the main arm body 2 when extending or shortening. Among them, the first pitch mechanism 4 adjusts the pitch angle of the gripping mechanism 1 relative to the adjustment seat 3, so that the gripping mechanism 1 rotates up and down relative to the main arm body 2. The deflection mechanism 5 adjusts the deflection angle of the adjustment seat 3 relative to the main arm body 2, so that the gripping mechanism 1 on the adjustment seat 3 swings left and right relative to the main arm body 2.

[0058] Specifically, it can be achieved, such as Figure 4 and 7 As shown, the adjustment seat 3 includes a first connection part 31, a second connection part 32, a third connection part 33 and a fourth connection part 34. Among them, the third connection part 33 is located at the bottom of the adjustment seat 3, and the third connection part 33 is hinged to the first end of the main arm body 2. The first connection part 31 and the second connection part 32 are located on the same side of the main arm body 2, and are arranged with an interval up and down. The first connection part 31 is hinged to the end of the mounting seat 11 away from the support structure, the second connection part 32 is hinged to one end of the first pitch mechanism 4, and the other end of the first pitch mechanism 4 is hinged to the end of the mounting seat 11 close to the support structure. One end of the deflection mechanism 5 is connected to the side wall of the main arm body 2, and the other end is connected to the fourth connection part 34.

[0059] Exemplarily, the first pitch mechanism 4 and the deflection mechanism 5 may both adopt structures such as air cylinders, hydraulic cylinders, and electric-driven cylinders. Preferably, the first pitch mechanism 4 and the deflection mechanism 5 are both oil cylinders.

[0060] Further, such as Figure 3 As shown, the arm grabbing device also includes the above-mentioned connecting arm 8 and connecting seat 7, and the second end of the main arm body 2 is rotatably connected to the connecting arm 8 through the connecting seat 7. The second pitch mechanism 6 is arranged between the main arm body 2 and the connecting seat 7, and the second pitch mechanism 6 is suitable for adjusting the pitch angle of the main arm body 2 relative to the connecting seat 7. Among them, the second pitch mechanism 6 adjusts the pitch angle of the main arm body 2 relative to the connecting seat 7, so that the gripping mechanism 1 installed at the first end of the main arm body 2 can move up and down.

[0061] In some embodiments, the main arm body 2 is an integrated structure, and the interior of the main arm body 2 is hollow, and the second pitch mechanism 6 is suitable for adjusting the pitch angle of the main arm body 2, thereby adjusting the height of the gripping mechanism 1 within a predetermined stroke. The main arm body 2 of the present application is set in a non-telescopic form, which not only simplifies the structure of the main arm body 2, saves production costs, but also meets the lightweight requirements.

[0062] For example, Figure 5 As shown, the second pitch mechanism 6 includes a driving member 61, a first connecting rod 62 and a second connecting rod 63 which are hinged to each other, wherein one end of the first connecting rod 62 which is away from the second connecting rod 63 is hinged to the connecting seat 7, and one end of the second connecting rod 63 which is away from the first connecting rod 62 is hinged to the second end of the main arm body 2. The fixed end of the driving member 61 is connected to the connecting seat 7, and the telescopic end is hinged to the middle part of the first connecting rod 62. Exemplarily, the driving member 61 can adopt a structure such as a cylinder, a hydraulic cylinder, an electric drive cylinder, etc., preferably an oil cylinder. Exemplarily, the grab arm device also includes a rotating mechanism 9, which is connected between the bottom of the connecting seat 7 and the connecting arm 8, and the main arm body 2 is hinged to the top of the connecting seat 7. The rotating mechanism 9 is suitable for driving the main arm body 2 to rotate in a horizontal plane through the connecting seat 7, so that the gripping mechanism 1 installed at the first end of the main arm body 2 can rotate in a horizontal plane.

[0063] According to an embodiment of the present invention, in another aspect, a tunnel engineering trolley is provided, comprising the grab arm device as described in the above embodiment. Since the tunnel engineering trolley of the present invention comprises the above grab arm device, it has the same technical effect as the grab arm device of the present invention, and will not be described in detail here.

[0064] The gripping mechanism 1, the gripping arm device and the tunnel engineering trolley of the utility model integrate the support rod and the crushing piece on the gripping mechanism, which has a simple and compact structure and high stability and reliability, which not only improves the stability and reliability of grabbing and clamping the arch frame structure, but also greatly improves the construction efficiency.

[0065] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A gripper mechanism, characterized in that: include: A mounting base (11) having a first end and a second end opposite to each other; A clamping jaw assembly (12) is mounted on the mounting seat (11), and the clamping jaw assembly (12) is suitable for grasping and clamping an object to be clamped; A support assembly (13), comprising a support rod (132), wherein the support rod (132) is detachably connected to a first end of the mounting seat (11), and two ends of the support rod (132) are respectively extended out of two side portions of the mounting seat (11), and the support rod (132) is suitable for supporting the object to be clamped; A crushing member (15) is connected to the second end of the mounting seat (11).

2. The gripper mechanism according to claim 1, characterized in that: The support rod (132) is telescopically arranged.

3. The gripper mechanism according to claim 2, characterized in that: The support assembly (13) further comprises a connecting member (131) and a sleeve (133), wherein the connecting member (131) is connected to a first end of the mounting seat (11), the sleeve (133) is arranged on the connecting member (131), and the support rod (132) is detachably connected to the sleeve (133).

4. The gripper mechanism according to any one of claims 1 to 3, characterized in that: The clamping jaw assembly (12) comprises two clamping jaws (121), and the clamping ends of the two clamping jaws (121) are located on one side of the top of the mounting seat (11); The gripping mechanism (1) further comprises a limiting structure (14), wherein the limiting structure (14) comprises two limiting plates (141), wherein the two limiting plates (141) are respectively arranged on one side of the two clamping jaws (121), and the two limiting plates (141) are both connected to the mounting seat (11), and at least part of the structure of the limiting plates (141) extends to one side of the top of the mounting seat (11).

5. A grab arm device, characterized in that: include: A gripper mechanism (1) as claimed in any one of claims 1 to 4.

6. The grab arm device according to claim 5, characterized in that: The grab arm device also includes: Main arm body (2); An adjustment seat (3) is hinged between the first end of the main arm body (2) and the gripping mechanism (1); A first pitch mechanism (4) is connected between the adjustment seat (3) and the gripping mechanism (1), and the first pitch mechanism (4) is suitable for adjusting the pitch angle of the gripping mechanism (1) relative to the adjustment seat (3) when extending or shortening.

7. The grab arm device according to claim 6, characterized in that: The arm grabbing device also includes a deflection mechanism (5), which is connected between the main arm body (2) and the adjustment seat (3), and the deflection mechanism (5) and the first pitch mechanism (4) are respectively located on two adjacent sides of the adjustment seat (3), and the deflection mechanism (5) is suitable for adjusting the deflection angle of the adjustment seat (3) relative to the main arm body (2) when extending or shortening.

8. The grab arm device according to claim 7, characterized in that: The arm grabbing device also includes a connecting arm (8) and a connecting seat (7), and the second end of the main arm body (2) is rotatably connected to the connecting arm (8) via the connecting seat (7).

9. The grab arm device according to claim 8, characterized in that: The arm grabbing device further comprises a second pitch mechanism (6), which is arranged between the main arm body (2) and the connecting seat (7), and the second pitch mechanism (6) is suitable for adjusting the pitch angle of the main arm body (2) relative to the connecting seat (7).

10. A tunnel engineering trolley, characterized in that: include: A grab arm device as claimed in any one of claims 5 to 9.

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