Manipulator for grabbing lagging jack and engineering trolley

Abstract

The utility model relates to a manipulator and an engineering trolley for grabbing an arch frame, the manipulator comprises a mounting seat, a basic arm, a gripper assembly, a first rotating mechanism and a first swinging mechanism, and the first rotating mechanism can drive the basic arm to rotate; the first swing mechanism can drive the basic arm to swing; the lower end of the basic arm is connected with one side of the first swing mechanism, the other side of the first swing mechanism is connected with the upper end of the first rotating mechanism, and the lower end of the first rotating mechanism is connected with the mounting base. The mechanical arm for grabbing the arch center and the engineering trolley have the advantages that the first swing mechanism can drive the basic arm to swing, so that the distance between the basic arm and the gripper assembly is long, namely the rotating radius of the gripper assembly is long, large-range swing can be achieved, and the working efficiency is improved. And the speed of adjusting the position of the gripper assembly is high, and efficient operation is achieved.

Description

Technical Field

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

[0002] In recent years, the underground engineering industry 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] In the prior art, for example, the Chinese utility model patent CN218206686U discloses a grab arm structure and an engineering vehicle, including a connecting seat. The connecting seat includes a first installation station and a second installation station. Among them, the first installation station is used to connect with the boom of the engineering vehicle; a first driving structure is connected to the second installation station of the connection; a grab assembly is connected to the first driving structure to be driven by the first driving structure and perform a rotary motion; among them, the grab assembly at least includes a grabbing structure and a second driving structure connected thereto, and the second driving structure can drive the grabbing structure to perform a swinging motion to adjust the grabbing working surface of the grabbing structure. However, the third driving structure of this grab arm structure directly swings the connecting frame, resulting in a short radius of swing of the grab assembly and a slow adjustment speed, which is not conducive to efficient operation. Summary of the Utility Model

[0004] An object of the present application is to provide a manipulator for arch frame grasping and an engineering vehicle, which can quickly adjust the position of the grab.

[0005] The technical solution adopted by the present application is: A manipulator for arch frame grasping, comprising:

[0006] A mounting seat;

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

[0008] A grab assembly for grasping the arch frame;

[0009] A first rotating mechanism, which can drive the basic arm to perform a rotating motion;

[0010] A first swinging mechanism, which can drive the basic arm to perform a swinging motion;

[0011] The lower end of the basic arm is connected to one side of the first swinging mechanism, the other side of the first swinging mechanism is connected to the upper end of the first rotating mechanism, and the lower end of the first rotating mechanism is connected to the mounting seat.

[0012] Compared with the prior art, the advantages of the present application are that the first rotating mechanism can drive the basic arm to perform a rotating motion, which is convenient for adjusting the direction of the gripper assembly. With only one gripper assembly, grasping in all directions can be achieved, and it can meet the requirement that one boom can cover the entire installation surface for operation at the same time; the first swinging mechanism can drive the basic arm to perform a swinging motion, that is, the radius of rotation of the gripper assembly is long, and a large range of swinging can be realized. The adjustment speed of the position of the gripper assembly is fast, and efficient operation can be achieved.

[0013] In some embodiments of the present application, it further includes a telescopic arm, and the telescopic arm can drive the gripper assembly to move; the upper end of the telescopic arm is connected to the gripper assembly, and the lower end of the telescopic arm is connected to the upper end of the basic arm.

[0014] Furthermore, the telescopic arm is slidably connected to the basic arm, and the telescopic arm can extend or retract relative to the basic arm; the upper end of the telescopic arm is connected to the gripper assembly; it further includes a telescopic driving mechanism, and the telescopic driving mechanism is used to drive the telescopic arm and the basic arm to move relative to each other.

[0015] In some embodiments of the present application, the first swinging mechanism includes a first connecting seat and a first swinging oil cylinder. The basic arm and the first connecting seat are hinged, one end of the first swinging oil cylinder is hinged to the first connecting seat, and the other end is hinged to the basic arm.

[0016] In some embodiments of the present application, the gripper assembly includes a gripper mechanism and a second swinging mechanism, and the second swinging mechanism can drive the gripper mechanism to perform a swinging motion; the second swinging mechanism includes a second swinging oil cylinder, one end of the second swinging oil cylinder is hinged to the gripper mechanism, and the other end is hinged to the telescopic arm.

[0017] Furthermore, the second swinging mechanism further includes a second connecting seat, the second connecting seat is fixedly connected to the top end of the telescopic arm, the second connecting seat extends outside the telescopic arm, the second swinging oil cylinder is hinged to the second connecting seat, and the gripper mechanism is hinged to the second connecting seat.

[0018] Furthermore, the gripper mechanism includes a swinging plate, one end of the swinging plate is hinged to the telescopic arm; claws are provided on the swinging plate.

[0019] In some embodiments of the present application, a third swinging mechanism is provided between the mounting seat and the first rotating mechanism, and the third swinging mechanism can drive the first rotating mechanism to perform a swinging motion; the third swinging mechanism includes a swinging seat, a connecting piece and a connecting rod. One end of the swinging seat is fixedly connected to the first rotating mechanism, and the other end is hinged to the mounting seat. One end of the connecting piece is hinged to the mounting seat, and both ends of the connecting rod are respectively hinged to the swinging seat and the connecting piece; a pitching driving mechanism is provided in the mounting seat, and the pitching driving mechanism is used to drive the connecting piece to perform a pitching motion.

[0020] In some embodiments of the present application, a movable mechanism is provided at the bottom of the mounting base, and the movable mechanism can drive the mounting base to rotate or swing.

[0021] An engineering trolley obtained by the present utility model includes the above-mentioned manipulator for arch frame grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structure of Embodiment 1 of the present utility model Figure 1 ;

[0023] Figure 2 is a schematic structure of Embodiment 1 of the present utility model Figure 2 .

[0024] In the figure: 1, mounting base; 2, basic arm; 3, telescopic arm; 4, gripper assembly; 41, gripper mechanism; 42, second swing mechanism; 43, second swing oil cylinder; 44, second connecting seat; 45, swing plate; 46, claw; 5, first rotation mechanism; 6, first swing mechanism; 61, first connecting seat; 62, first swing oil cylinder; 7, third swing mechanism; 71, swing seat; 72, adapter; 73, connecting rod; 74, pitch drive mechanism; 8, movable mechanism; 10, boom. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to further elaborate on the technical means and effects adopted by the present utility model to achieve the predetermined utility model purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and their effects of the present utility model as follows.

[0026] Embodiment 1:

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

[0028] A mounting base 1 for connecting to the boom 10 of the engineering trolley;

[0029] A basic arm 2 for supporting the gripper assembly 4;

[0030] A telescopic arm 3, and the telescopic arm 3 can drive the gripper assembly 4 to move;

[0031] A gripper assembly 4 for grasping the arch frame;

[0032] A first rotation mechanism 5, and the first rotation mechanism 5 can drive the basic arm 2 to perform a rotational movement;

[0033] A first swing mechanism 6, and the first swing mechanism 6 can drive the basic arm 2 to perform a swinging movement;

[0034] The lower end of the basic arm 2 is connected to one side of the first swing mechanism 6, the other side of the first swing mechanism 6 is connected to the upper end of the first rotation mechanism 5, and the lower end of the first rotation mechanism 5 is connected to the mounting base 1; the upper end of the telescopic arm 3 is hinged to the gripper assembly 4, and the lower end of the telescopic arm 3 is connected to the upper end of the basic arm 2.

[0035] The telescopic arm 3 can make the gripper assembly 4 extend outwards, thereby expanding the grasping range of the gripper assembly 4. At the same time, it can perform telescopic fine-tuning after the arch frame is in place to ensure the installation accuracy of the arch frame; the first rotation mechanism 5 can drive the basic arm 2 to perform rotational movement, facilitating the adjustment of the direction of the gripper assembly 4. Only one gripper assembly 4 can achieve grasping in all directions; the first swing mechanism 6 can drive the basic arm 2 to perform swing movement, and there is also a telescopic arm 3 between the basic arm 2 and the gripper assembly 4, making the distance between the basic arm 2 and the gripper assembly 4 relatively far, that is, the rotation radius of the gripper assembly 4 is long, which can achieve large-range swing, quickly adjust the position of the gripper assembly 4, and can achieve efficient operation.

[0036] To expand the grasping range, as Figure 2 shown, the telescopic arm 3 is slidably inserted through the basic arm 2, and the telescopic arm 3 can extend or retract relative to the basic arm 2; the upper end of the telescopic arm 3 is connected to the gripper assembly 4; further included is a telescopic drive mechanism for driving the relative movement between the telescopic arm 3 and the basic arm 2. In this embodiment, the telescopic drive mechanism uses a telescopic oil cylinder, one end of the telescopic oil cylinder is hinged to the telescopic arm 3, and the other end is hinged to the basic arm 2. The telescopic oil cylinder is arranged inside the telescopic arm 3 and the basic arm 2. The telescopic oil cylinder can push the telescopic arm 3 to extend outwards, thereby driving the gripper assembly 4 to move outwards and expanding the grasping range of the gripper assembly 4.

[0037] To ensure reliable swinging, the first swing mechanism 6 includes a first connecting seat 61 and a first swing oil cylinder 62. The basic arm 2 is hinged to the first connecting seat 61, one end of the first swing oil cylinder 62 is hinged to the first connecting seat 61, and the other end is hinged to the basic arm 2. The first swing oil cylinder 62 can drive the basic arm 2 to rotate around the hinge point with the first connecting seat 61, thereby realizing the swing of the gripper assembly 4. The swinging is reliable and convenient for adjusting the grasping position of the gripper assembly 4.

[0038] In order to expand the grasping range, the gripper assembly 4 includes a gripper mechanism 41 and a second swing mechanism 42. The second swing mechanism 42 can drive the gripper mechanism 41 to perform a swinging motion, and the gripper mechanism 41 is used for grasping construction materials. The second swing mechanism 42 includes a second swing oil cylinder 43. One end of the second swing oil cylinder 43 is hinged to the gripper mechanism 41, and the other end is hinged to the telescopic arm 3. The second swing oil cylinder 43 can drive the gripper mechanism 41 to rotate, and the second swing oil cylinder 43 directly pushes the gripper mechanism 41 to perform a swinging motion. The rotation radius of the gripper mechanism 41 is small, which is convenient for adjusting the grasping position within a small range and making the grasping more accurate.

[0039] In order to ensure reliable swinging, the second swing mechanism 42 further includes a second connecting seat 44. The second connecting seat 44 is fixedly connected to the top end of the telescopic arm 3. The second connecting seat 44 extends outside the telescopic arm 3. The second swing oil cylinder 43 is hinged to the second connecting seat 44, and the gripper mechanism 41 is hinged to the second connecting seat 44. The design of the second connecting seat 44 makes the hinge of the second swing oil cylinder 43 not affect the telescopic arm 3 and ensures the reliable telescoping of the telescopic arm 3.

[0040] The gripper mechanism 41 includes a swing plate 45. One end of the swing plate 45 is hinged to the telescopic arm 3; a claw 46 is provided on the swing plate 45. Specifically, the second connecting seat 44 is fixedly connected to the top end of the telescopic arm 3; one end of the swing plate 45 is hinged to the second connecting seat 44, and the other end is hinged to the second swing oil cylinder 43; the claws 46 are arranged in pairs on the swing plate 45 and are at least provided at both ends of the swing plate 45; the first swing oil cylinder 62 and the second swing oil cylinder 43 are arranged on the same side.

[0041] In order to expand the grasping range, a third swing mechanism 7 is provided between the mounting seat 1 and the first rotating mechanism 5. The third swing mechanism 7 can drive the first rotating mechanism 5 to perform a swinging motion; the third swing mechanism 7 includes a swing seat 71, a connecting piece 72 and a connecting rod 73. One end of the swing seat 71 is fixedly connected to the first rotating mechanism 5, and the other end is hinged to the mounting seat 1. One end of the connecting piece 72 is hinged to the mounting seat 1, and both ends of the connecting rod 73 are respectively hinged to the swing seat 71 and the connecting piece 72; a pitching drive mechanism 74 is provided in the mounting seat 1. The pitching drive mechanism 74 is used to drive the connecting piece 72 to perform a pitching motion; the motion plane of the pitching drive mechanism 74 driving the basic arm 2 to pitch is perpendicular to the motion plane of the first swing oil cylinder 62 driving the basic arm 2 to swing. In this embodiment, the pitching drive mechanism 74 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 connecting piece 72. The pitching drive mechanism 74 can push the connecting piece 72 to rotate, and then the connecting piece 72 drives the connecting rod 73 to act. The connecting rod 73 pushes the swing seat 71 to rotate, and the swing seat 71 drives the first rotating mechanism 5 to achieve pitching adjustment.

[0042] In order to expand the grasping range, a movable mechanism 8 is provided at the bottom of the mounting base 1, and the movable mechanism 8 can drive the mounting base 1 to rotate or swing. In this embodiment, both the first rotating mechanism 5 and the movable mechanism 8 adopt swing reducers. The design of the movable mechanism 8 can expand the grasping range of the overall manipulator. Moreover, compared with the first rotating mechanism 5, the distance between the movable mechanism 8 and the gripper assembly 4 on the horizontal plane is greater. Therefore, the rotation range of the movable mechanism 8 is larger, and the rotation speed of the gripper assembly 4 is faster.

[0043] Embodiment 2:

[0044] An engineering trolley provided in this embodiment includes a manipulator for arch frame grasping described in Embodiment 1.

[0045] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. 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 equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution 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 manipulator 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 (4); A gripper assembly (4) for grabbing the arch; A first rotating mechanism (5), the first rotating mechanism (5) being capable of driving the basic arm (2) to perform a rotating motion; A first swing mechanism (6), the first swing mechanism (6) being capable of driving the basic arm (2) to perform a swinging motion; The lower end of the basic arm (2) is connected to one side of the first swing mechanism (6), the other side of the first swing mechanism (6) is connected to the upper end of the first rotating mechanism (5), and the lower end of the first rotating mechanism (5) is connected to the mounting seat (1).

2. The manipulator for arch grabbing according to claim 1 is characterized in that: It also comprises a telescopic arm (3), which can drive the gripper assembly (4) to move; the upper end of the telescopic arm (3) is connected to the gripper assembly (4), and the lower end of the telescopic arm (3) is connected to the upper end of the basic arm (2).

3. The manipulator for arch grabbing according to claim 2 is characterized in that: The telescopic arm (3) is slidably connected to the basic arm (2), and the telescopic arm (3) can be extended or retracted relative to the basic arm (2); the upper end of the telescopic arm (3) is connected to the gripper assembly (4); and the telescopic drive mechanism is also included, which is used to drive the telescopic arm (3) and the basic arm (2) to move relative to each other.

4. The manipulator for arch grabbing according to claim 1 is characterized in that: The first swing mechanism (6) comprises a first connecting seat (61) and a first swing cylinder (62); the basic arm (2) and the first connecting seat (61) are hinged; one end of the first swing cylinder (62) is hinged to the first connecting seat (61), and the other end is hinged to the basic arm (2).

5. The manipulator for arch grabbing according to claim 2 is characterized in that: The gripper assembly (4) comprises a gripper mechanism (41) and a second swing mechanism (42), wherein the second swing mechanism (42) can drive the gripper mechanism (41) to swing; the second swing mechanism (42) comprises a second swing cylinder (43), wherein one end of the second swing cylinder (43) is hinged to the gripper mechanism (41), and the other end is hinged to the telescopic arm (3).

6. The manipulator for arch grabbing according to claim 5 is characterized in that: The second swing mechanism (42) further comprises a second connecting seat (44), the second connecting seat (44) is fixedly connected to the top end of the telescopic arm (3), the second connecting seat (44) extends out of the outside of the telescopic arm (3), the second swing cylinder (43) is hinged to the second connecting seat (44), and the gripping mechanism (41) is hinged to the second connecting seat (44).

7. The manipulator for arch grabbing according to claim 5 is characterized in that: The gripping mechanism (41) comprises a swinging plate (45), one end of which is hinged to the telescopic arm (3); and a clamping claw (46) is provided on the swinging plate (45).

8. The manipulator for arch grabbing according to claim 1 is characterized in that: A third swing mechanism (7) is provided between the mounting seat (1) and the first rotating mechanism (5), and the third swing mechanism (7) can drive the first rotating mechanism (5) to perform a swinging motion; the third swing mechanism (7) comprises a swing seat (71), a transfer member (72) and a connecting rod (73); one end of the swing seat (71) is fixedly connected to the first rotating mechanism (5), and the other end is hinged to the mounting seat (1); one end of the transfer member (72) is hinged to the mounting seat (1), and two ends of the connecting rod (73) are respectively hinged to the swing seat (71) and the transfer member (72); a pitch driving mechanism (74) is provided inside the mounting seat (1), and the pitch driving mechanism (74) is used to drive the transfer member (72) to perform a pitching motion.

9. The manipulator for arch grabbing according to claim 1 is characterized in that: A movable mechanism (8) is provided at the bottom of the mounting seat (1), and the movable mechanism (8) can drive the mounting seat (1) to rotate or swing.

10. An engineering trolley, characterized in that: It comprises a manipulator for arch grasping as claimed in any one of claims 1 to 9.

Images