Gripper for grabbing arch center and engineering trolley

Abstract

The utility model relates to a gripper for gripping an arch frame and an engineering trolley, which comprise a mounting seat for being connected with a cantilever crane of the engineering trolley; the basic arm is used for supporting the gripper assembly; the gripper assembly is used for gripping the lagging jack; the first swing mechanism can drive the basic arm to swing; the upper end of the first swing mechanism is connected with the basic arm, and the lower end of the first swing mechanism is connected with the mounting seat; and the upper end of the basic arm is connected with the gripper assembly. The gripper for gripping the lagging jack and the engineering trolley have the advantages that the first swing mechanism can drive the basic arm to swing, so that the position of the gripper assembly is convenient to adjust; the arch frame is grabbed through the gripper assembly, then the angle of the arch frame is adjusted through the first swing mechanism, mechanical operation is adopted, the labor intensity of workers is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of engineering vehicles, in particular to a gripper for grabbing an arch frame and an engineering vehicle. Background Art

[0002] In recent years, the underground engineering cause in China has developed rapidly, and mechanized operation has been gradually widely promoted and applied in engineering technology, especially in the field of underground tunnel construction.

[0003] Currently, during the tunnel construction process, it is necessary to erect steel arch frames on the excavated rock face. The traditional steel arch frames are heavy, and the installation of the arch frames mainly relies on manual construction. The existing steel arch frames are divided into multiple sections. During the erection process, the multiple sections of steel arch frames need to be lifted to the top of the tunnel by a lifting device, and then the multiple sections of steel arch frames are manually butted together and then fixed and connected. However, only relying on manual labor to adjust the steel arch frames requires a large amount of manpower, with high labor intensity and low work efficiency. Summary of the Utility Model

[0004] An object of the present application is to provide a gripper for grabbing an arch frame and an engineering vehicle, which can improve work efficiency.

[0005] The technical solution adopted in the present application is as follows: A gripper for grabbing an arch frame includes:

[0006] A mounting seat;

[0007] A basic arm for supporting the gripper assembly;

[0008] A gripper assembly for grabbing an arch frame;

[0009] A first swing mechanism that can drive the basic arm to perform a swinging motion;

[0010] The upper end of the first swing mechanism is connected to the basic arm, and the lower end of the first swing mechanism is connected to the mounting seat; the upper end of the basic arm is connected to the gripper assembly.

[0011] Compared with the prior art, the advantage of the present application is that the first swing mechanism can drive the basic arm to perform a swinging motion, which is convenient for adjusting the position of the gripper assembly; the arch frame is grabbed by the gripper assembly, and then the angle of the arch frame is adjusted by the first swing mechanism. By using mechanical operation, the labor intensity of workers is reduced and the work efficiency is improved.

[0012] In some embodiments of the present application, the gripper assembly is arranged left and right relative to the basic arm.

[0013] Further, the gripper assembly is connected to the basic arm through a first adapter, and the gripper assembly is arranged left and right relative to the first adapter; an angle adjustment mechanism is provided between the first adapter and the basic arm, and the angle adjustment mechanism can adjust the deflection angle of the gripper assembly relative to the basic arm.

[0014] Further, the angle adjustment mechanism is an angle adjustment oil cylinder, one end of the angle adjustment oil cylinder is hinged to the basic arm, and the other end is hinged to the first adapter.

[0015] Further, the gripper assembly includes a gripper mechanism and a second swing mechanism, and the second swing mechanism can drive the gripper mechanism to perform a swinging motion; the second swing mechanism is a second swing oil cylinder, one end of the second swing oil cylinder is hinged to the gripper mechanism, and the other end is hinged to the first adapter; the gripper mechanism includes a swing plate, one end of the swing plate is hinged to the first adapter; a claw is provided on the swing plate.

[0016] In some embodiments of the present application, a telescopic arm is provided between the basic arm and the gripper assembly, and the telescopic arm can extend or retract relative to the basic arm; the telescopic arm is slidably connected to the basic arm, and the upper end of the telescopic arm is connected to the gripper assembly; a telescopic drive mechanism is further included, and the telescopic drive mechanism is used to drive the telescopic arm to slide along the basic arm.

[0017] In some embodiments of the present application, the first swing mechanism includes a first connection seat and a first swing oil cylinder, the lower end of the basic arm is connected to the first connection seat, one end of the first swing oil cylinder is hinged to the first connection seat, and the other end is hinged to the upper end of the basic arm, and the first connection seat is connected to the mounting seat.

[0018] In some embodiments of the present application, a third swing mechanism is provided between the mounting seat and the basic arm, and the third swing mechanism can drive the basic arm to perform a swinging motion; the third swing mechanism includes a swing seat, a second adapter and a connecting rod, one end of the swing seat is connected to the basic arm, the other end is hinged to the mounting seat, one end of the second adapter is hinged to the mounting seat, and both ends of the connecting rod are respectively hinged to the swing seat and the second adapter; a pitching drive mechanism is provided in the mounting seat, and the pitching drive mechanism is used to drive the second adapter to perform a pitching motion.

[0019] In some embodiments of the present application, a moving mechanism is provided at the bottom of the mounting seat, and the moving mechanism can drive the mounting seat to rotate or swing.

[0020] An engineering trolley obtained by the present utility model includes a gripper for arch frame grasping as described above. Description of the Drawings

[0021] Figure 1 is the structural schematic of Embodiment 1 of the present utility model Figure 1 ;

[0022] Figure 2 It is a structural schematic diagram of Embodiment 1 of the present utility model Figure 2 ;

[0023] Figure 3 It is a structural schematic diagram of Embodiment 2 of the present utility model

[0024] In the figure: 1, mounting seat; 2, basic arm; 3, gripper assembly; 31, gripper mechanism; 32, second swing oil cylinder; 33, swing plate; 34, claw; 4, first swing mechanism; 41, first connecting seat; 42, first swing oil cylinder; 5, telescopic arm; 6, first adapter; 7, angle adjustment mechanism; 8, third swing mechanism; 81, swing seat; 82, second adapter; 83, connecting rod; 84, pitching drive mechanism; 9, moving mechanism; 10, boom Specific embodiments

[0025] To further elaborate on the technical means and effects adopted by the present utility model to achieve the predetermined utility model purpose, the following combines the drawings and preferred embodiments to describe in detail the specific embodiments, structures, features and their effects of the present utility model as follows

[0026] Embodiment 1:

[0027] A gripper for arch frame grasping provided in this embodiment, as shown in Figure 1 , Figure 2 shown, includes:

[0028] Mounting seat 1, used to connect with the boom 10 of the engineering trolley

[0029] Basic arm 2, used to support the gripper assembly 3

[0030] Gripper assembly 3, used to grasp the arch frame

[0031] First swing mechanism 4, the first swing mechanism 4 can drive the basic arm 2 to perform swing motion

[0032] The upper end of the first swing mechanism 4 is connected to the basic arm 2, and the lower end of the first swing mechanism 4 is connected to the mounting seat 1; the upper end of the basic arm 2 is connected to the gripper assembly 3

[0033] The first swing mechanism 4 can drive the basic arm 2 to perform swing motion, which is convenient for adjusting the position of the gripper assembly 3; the arch frame is grasped by the gripper assembly 3, and then the angle of the arch frame is adjusted by the first swing mechanism 4. Using mechanical operation reduces the labor intensity of workers and improves work efficiency

[0034] To improve work efficiency, the gripper assembly 3 is arranged left and right relative to the basic arm 2. When a single gripper is used, it can only grasp workpieces on one side. To grasp the workpieces on the other side, the single gripper needs to be rotated. However, since the gripper assembly 3 is arranged left and right relative to the basic arm 2, it can achieve the function of grasping and installing arch frames on both sides, expanding the grasping range while eliminating a set of slewing mechanisms. The control link is simple and easy to implement, and it reduces costs and improves work efficiency.

[0035] To facilitate connection, the gripper assembly 3 is connected to the basic arm 2 through a first adapter 6, and the gripper assembly 3 is symmetrically arranged relative to the first adapter 6. The lower end of the first adapter 6 is hinged to the upper end of the telescopic arm 5, and two swing plates 33 are symmetrically hinged to the first adapter 6. The design of the first adapter 6 can connect the symmetrically arranged gripper assembly 3 and the telescopic arm 5 together.

[0036] To expand the grasping range, the gripper assembly 3 includes a gripper mechanism 31 and a second swing mechanism. The second swing mechanism can drive the gripper mechanism 31 to perform a swinging motion; the second swing mechanism is a second swing oil cylinder 32. One end of the second swing oil cylinder 32 is hinged to the gripper mechanism 31, and the other end is hinged to the first adapter 6. The second swing oil cylinder 32 can drive the gripper mechanism 31 to rotate around the hinge point, and the second swing oil cylinder 32 directly pushes the gripper mechanism 31 to perform a swinging motion. The rotation radius of the gripper mechanism 31 is small, which is convenient for adjusting the grasping position within a small range and making the grasping more accurate.

[0037] The gripper mechanism 31 includes a swing plate 33. One end of the swing plate 33 is hinged to the first adapter 6; a claw 34 is provided on the swing plate 33. Specifically, one end of the swing plate 33 is hinged to one side of the top of the first adapter 6, and the other end is hinged to the second swing oil cylinder 32; the claws 34 are arranged in pairs on the swing plate 33 and are at least provided at both ends of the swing plate 33. The motion plane in which the second swing oil cylinder 32 drives the swing plate 33 to swing is perpendicular to the motion plane in which the angle adjustment oil cylinder drives the first adapter 6 to deflect.

[0038] In order to expand the grasping range, a telescopic arm 5 is provided between the basic arm 2 and the gripper assembly 3. The telescopic arm 5 can extend or retract relative to the basic arm 2. The telescopic arm 5 is slidably connected to the basic arm 2, and the upper end of the telescopic arm 5 is connected to the gripper assembly 3. It also includes a telescopic driving mechanism for driving the telescopic arm 5 to slide along the basic arm 2. In this embodiment, the telescopic driving mechanism adopts a telescopic oil cylinder. One end of the telescopic oil cylinder is hinged to the telescopic arm 5, and the other end is hinged to the basic arm 2. The telescopic oil cylinder is arranged inside the basic arm 2 and the telescopic arm 5. The telescopic oil cylinder can push the telescopic arm 5 to extend outwards, thereby driving the gripper assembly 3 to move outwards and expanding the grasping range of the gripper assembly 3. The telescopic arm 5 enables the gripper assembly 3 to extend outwards, thereby expanding the grasping range of the gripper assembly 3. The telescopic arm 5 makes the distance between the basic arm 2 and the gripper assembly 3 relatively far, that is, the radius of rotation of the gripper assembly 3 is long, which can realize large-range swinging, the adjustment speed of the position of the gripper assembly 3 is fast, and efficient operation can be achieved.

[0039] In order to ensure reliable swinging, the first swinging mechanism 4 includes a first connecting seat 41 and a first swinging oil cylinder 42. The lower end of the basic arm 2 is connected to the first connecting seat 41. One end of the first swinging oil cylinder 42 is hinged to the first connecting seat 41, and the other end is hinged to the upper end of the basic arm 2. The first connecting seat 41 is connected to the mounting seat 1. The first swinging oil cylinder 42 can drive the basic arm 2 to rotate around the hinge point with the swinging seat 81, thereby realizing the swinging of the gripper assembly 3. The swinging is reliable and it is convenient to adjust the grasping position of the gripper assembly 3.

[0040] In order to expand the grasping range, a third swinging mechanism 8 is provided between the mounting seat 1 and the basic arm 2. The third swinging mechanism 8 can drive the basic arm 2 to perform a swinging motion. The third swinging mechanism 8 includes a swinging seat 81, a second adapter 82 and a connecting rod 83. One end of the swinging seat 81 is connected to the basic arm 2, and the other end is hinged to the mounting seat 1. One end of the second adapter 82 is hinged to the mounting seat 1, and both ends of the connecting rod 83 are respectively hinged to the swinging seat 81 and the second adapter 82. A pitching driving mechanism 84 is arranged inside the mounting seat 1 for driving the second adapter 82 to perform a pitching motion. The first connecting seat 41 is connected to the swinging seat 81, and one end of the swinging seat 81 is hinged to the basic arm 2. The motion plane of the pitching driving mechanism 84 driving the basic arm 2 to pitch is perpendicular to the motion plane of the first swinging oil cylinder 42 driving the basic arm 2 to swing. In this embodiment, the pitching driving mechanism 84 adopts a pitching oil cylinder. One end of the pitching oil cylinder is hinged to the mounting seat 1, and the other end is hinged to the second adapter 82. The pitching driving mechanism 84 can push the second adapter 82 to rotate, and then the second adapter 82 drives the connecting rod 83 to act. The connecting rod 83 pushes the swinging seat 81 to rotate, and the swinging seat 81 drives the basic arm 2 to realize pitching adjustment.

[0041] In order to expand the grasping range, a movable mechanism 9 is provided at the bottom of the mounting base 1. The movable mechanism 9 can drive the mounting base 1 to rotate or swing. One side of the movable mechanism 9 is connected to the mounting base 1, and the other side is connected to the boom 10. In this embodiment, the rotary reducer is adopted for the movable mechanism 9. The design of the movable mechanism 9 can expand the overall grasping range.

[0042] Embodiment 2:

[0043] A gripper for arch frame grasping provided in this embodiment is as Figure 3 shown. Except for the features described in Embodiment 1, an angle adjustment mechanism 7 is provided between the first adapter 6 and the basic arm 2. The angle adjustment mechanism 7 can adjust the deflection angle of the gripper assembly 3 relative to the basic arm 2. The angle adjustment mechanism 7 can adjust the deflection angle of the gripper assembly 3, which is convenient for the gripper assembly 3 to grasp in different directions.

[0044] For reliable angle adjustment, the angle adjustment mechanism 7 is an angle adjustment oil cylinder. One end of the angle adjustment oil cylinder is hinged to the basic arm 2, and the other end is hinged to the first adapter 6. The movement plane in which the angle adjustment oil cylinder drives the first adapter 6 to deflect is perpendicular to the movement plane in which the first swing oil cylinder 42 drives the basic arm 2 to swing.

[0045] Embodiment 3:

[0046] An engineering vehicle provided in this embodiment includes a gripper for arch frame grasping described in Embodiment 1 or Embodiment 2.

[0047] The above is only the preferred embodiments of the present invention, and it is not intended to limit the present invention in any form. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to make equivalent embodiments with equivalent changes, but as long as it does not depart from the technical content of the present invention, any brief modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A gripper for grabbing an arch frame, used for an engineering trolley, characterized in that: include: Mounting seat (1); A basic arm (2) for supporting a gripper assembly (3); A gripper assembly (3) for grabbing the arch; A first swing mechanism (4), the first swing mechanism (4) being capable of driving the basic arm (2) to perform a swinging motion; The upper end of the first swing mechanism (4) is connected to the basic arm (2), and the lower end of the first swing mechanism (4) is connected to the mounting seat (1); the upper end of the basic arm (2) is connected to the gripper assembly (3).

2. A gripper for grabbing an arch according to claim 1, characterized in that: The gripper assembly (3) is arranged left and right relative to the basic arm (2).

3. A gripper for grabbing an arch according to claim 2, characterized in that: The gripper assembly (3) is connected to the basic arm (2) via a first adapter (6), and the gripper assembly (3) is arranged to the left and right of the first adapter (6); an angle adjustment mechanism (7) is provided between the first adapter (6) and the basic arm (2), and the angle adjustment mechanism (7) is capable of adjusting a deflection angle of the gripper assembly (3) relative to the basic arm (2).

4. A gripper for grabbing an arch according to claim 3, characterized in that: The angle adjustment mechanism (7) is an angle adjustment cylinder, one end of which is hinged to the basic arm (2), and the other end of which is hinged to the first adapter (6).

5. The gripper for grabbing an arch according to claim 3, characterized in that: The gripper assembly (3) comprises a gripper mechanism (31) and a second swing mechanism, wherein the second swing mechanism can drive the gripper mechanism (31) to swing; the second swing mechanism is a second swing cylinder (32), one end of the second swing cylinder (32) is hinged to the gripper mechanism (31), and the other end is hinged to the first adapter (6); the gripper mechanism (31) comprises a swing plate (33), one end of the swing plate (33) is hinged to the first adapter (6); and a clamping claw (34) is provided on the swing plate (33).

6. The gripper for grabbing an arch according to claim 1, characterized in that: A telescopic arm (5) is provided between the basic arm (2) and the gripper assembly (3), and the telescopic arm (5) can be extended or retracted relative to the basic arm (2); the telescopic arm (5) is slidably connected to the basic arm (2), and the upper end of the telescopic arm (5) is connected to the gripper assembly (3); and a telescopic drive mechanism is also included, and the telescopic drive mechanism is used to drive the telescopic arm (5) to slide along the basic arm (2).

7. The gripper for grabbing an arch according to claim 1, characterized in that: The first swing mechanism (4) comprises a first connecting seat (41) and a first swing cylinder (42); the lower end of the basic arm (2) is connected to the first connecting seat (41); one end of the first swing cylinder (42) is hinged to the first connecting seat (41) and the other end is hinged to the upper end of the basic arm (2); and the first connecting seat (41) is connected to the mounting seat (1).

8. The gripper for grabbing an arch according to claim 1, characterized in that: A third swing mechanism (8) is provided between the mounting seat (1) and the basic arm (2), and the third swing mechanism (8) can drive the basic arm (2) to perform a swinging motion; the third swing mechanism (8) comprises a swing seat (81), a second adapter (82) and a connecting rod (83); one end of the swing seat (81) is connected to the basic arm (2), and the other end is hinged to the mounting seat (1); one end of the second adapter (82) is hinged to the mounting seat (1); and two ends of the connecting rod (83) are respectively hinged to the swing seat (81) and the second adapter (82); a pitch driving mechanism (84) is provided inside the mounting seat (1), and the pitch driving mechanism (84) is used to drive the second adapter (82) to perform a pitching motion.

9. The gripper for grabbing an arch according to claim 1, characterized in that: A movable mechanism (9) is provided at the bottom of the mounting seat (1), and the movable mechanism (9) can drive the mounting seat (1) to rotate or swing.

10. An engineering trolley, characterized in that: It comprises a double gripper for grabbing an arch frame as described in any one of claims 1-9.

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