Hanging column grabbing assembly, cantilever crane and hanging column construction equipment

Abstract

The utility model provides a davit grabbing assembly, a cantilever crane and davit construction equipment, and relates to the technical field of davit installation equipment, the davit grabbing assembly comprises a first connecting frame and a movable frame; the movable frame is connected with the first connecting frame and can freely swing in a limited range in the first direction relative to the first connecting frame; a plurality of clamping jaws are arranged on the movable frame in the first direction and used for grabbing hanging columns. The movable frame is further provided with a plurality of positioning blocks in the first direction. When the multiple positioning blocks make contact with the davit at the same time, the multiple clamping jaws can grab the davit at the same time. On one hand, the multiple clamping jaws are adopted to grab different positions of the davit at the same time, and grabbing is more stable and reliable. And on the other hand, by means of positioning of the multiple positioning blocks, the movable frame can be subjected to self-adaptive swing adjustment in the first direction during grabbing, and therefore all the clamping jaws can reach the correct grabbing positions to grab the davit.

Description

Technical Field

[0001] The present application relates to the technical field of sling installation equipment, and in particular to a sling grabbing assembly, an arm, and sling construction equipment. Background Art

[0002] The catenary system is the backbone of railway electrification projects. It is a specialized transmission line erected overhead along the railway line, supplying power to electric locomotives. The catenary system is responsible for transmitting electricity from traction substations directly to the locomotives. Therefore, the quality and operating condition of the catenary system directly impact the transport capacity of electrified railways. In tunnel railway transportation, catenary supports and davits are crucial components of the electrical equipment within the tunnel. The installation of catenary davits within tunnels primarily relies on manual labor, requiring them to be moved to the tunnel roof for installation. Furthermore, heavy davits are inconvenient and inefficient to carry manually, even compromising the safety of personnel involved. Furthermore, conventional gripping mechanisms are not suitable for grasping and moving davits. Utility Model Content

[0003] The technical problem to be solved by this application is to propose a column grabbing assembly, a boom and a column construction equipment in response to the above-mentioned deficiencies in the prior art.

[0004] A sling grab assembly, comprising: a first connecting frame and a movable frame; the movable frame is connected to the first connecting frame and can freely swing within a limited range along a first direction relative to the first connecting frame;

[0005] The movable frame is provided with a plurality of clamps along a first direction, and the clamps are used to grab the suspension column; the movable frame is also provided with a plurality of positioning blocks along the first direction; when the plurality of positioning blocks are in contact with the suspension column at the same time, the plurality of clamps can grab the suspension column at the same time.

[0006] Optionally, a hinged relationship is provided between the movable frame and the first connecting frame, allowing the movable frame to swing freely relative to the first connecting frame; and an adjustment screw for adjusting the swing range of the movable frame is also provided on the movable frame or the first connecting frame.

[0007] Optionally, a plurality of first adjusting screws are provided on the first side of the hinged relationship for applying a limit block to the movable frame on the first side of the hinged relationship; and a plurality of second adjusting screws are provided on the second side of the hinged relationship for applying a limit block to the movable frame on the second side of the hinged relationship.

[0008] Optionally, a clamping claw and a positioning block are arranged on both sides of the connection position between the movable frame and the first connecting frame, and the positioning block is located on the outside away from the connection position, and the clamping claw is located on the inside close to the connection position.

[0009] Optionally, the davit grabbing assembly further comprises a first drive device, a second drive device, and a third drive device;

[0010] The first driving device is used to drive the first connecting frame to rotate and adjust along a first rotation direction;

[0011] The second driving device is used to drive the first connecting frame to rotate and adjust along a second rotation direction;

[0012] The third driving device is used to drive the first connecting frame to rotate and adjust along a third rotation direction;

[0013] The rotation axes of the first rotation direction, the second rotation direction, and the third rotation direction are perpendicular to each other.

[0014] Optionally, the davit grabbing assembly further includes a second connecting frame, a third connecting frame, and a fourth connecting frame;

[0015] The third driving device is a worm gear mechanism, which is arranged between the first connecting frame and the second connecting frame and can drive the first connecting frame to rotate and adjust relative to the second connecting frame along a third rotation direction;

[0016] The second driving device is a rotary hydraulic cylinder, which is arranged between the second connecting frame and the third connecting frame and can drive the second connecting frame to rotate and adjust relative to the third connecting frame along a second rotation direction;

[0017] The first driving device is a telescopic hydraulic cylinder, which is arranged between the third connecting frame and the fourth connecting frame and can drive the third connecting frame to rotate and adjust relative to the fourth connecting frame along a first rotation direction.

[0018] Optionally, the clamping jaw comprises:

[0019] A first clamping arm is mounted on the movable frame and is rotatable relative to the movable frame;

[0020] A second clamping arm is mounted on the movable frame and is rotatable relative to the movable frame;

[0021] The driving element is used to drive the first clamping arm and the second clamping arm to move relative to the movable frame so that the first clamping arm and the second clamping arm clamp the hanging column or release the hanging column.

[0022] Optionally, the first clamping block is provided on the first clamping arm, and the first clamping block is installed in a rotatable manner; the second clamping block is provided on the second clamping arm, and the second clamping block is installed in a rotatable manner; the second clamping block is arranged opposite to the first clamping block; the driving element can drive the first clamping arm and the second clamping arm to move, so that the first clamping block and the second clamping block are closer to or farther away from each other to clamp the hanging column or release the hanging column.

[0023] On the other hand, the present application also provides a boom, the end of which is provided with the above-mentioned boom grabbing assembly.

[0024] On the other hand, the present application also provides a column hanging construction equipment, which includes a chassis and the above-mentioned boom; the boom is installed on the chassis.

[0025] In the present application, the movable frame can freely swing within a limited range along the first direction relative to the first connecting frame; a plurality of clamps are arranged on the movable frame along the first direction, and a plurality of positioning blocks are arranged. With the help of the plurality of positioning blocks to contact and position the hanging column, it is convenient for the plurality of clamps to simultaneously grasp different positions on the hanging column. On the one hand, the use of multiple clamps to grasp different positions of the hanging column at the same time makes the grasping more stable and reliable. On the other hand, with the help of the positioning of the plurality of positioning blocks, the movable frame can be adaptively swung and adjusted along the first direction during grasping, so that each clamp can reach the correct grasping position to grasp the hanging column. In addition, during installation, the installer can use the swinging connection relationship between the movable frame and the first connecting frame to fine-tune the position of the hanging column, making installation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural diagram of the column grabbing assembly in an embodiment of the present application.

[0027] Figure 2 It is another structural schematic diagram of the sling grabbing assembly in an embodiment of the present application.

[0028] Figure 3 It is another structural schematic diagram of the sling grabbing assembly in an embodiment of the present application.

[0029] Figure 4 It is another structural schematic diagram of the sling grabbing assembly in an embodiment of the present application.

[0030] Figure 5 It is a schematic diagram of the structure of the clamping jaw in the embodiment of the present application.

[0031] Figure numerals: first connecting frame 10, second connecting frame 20, third connecting frame 30, fourth connecting frame 90, movable frame 40, clamping jaw 41, positioning block 42, first clamping jaw arm 411, second clamping jaw arm 412, driving element 413, first clamping block 414, second clamping block 415, first adjusting screw 51, second adjusting screw 52, first driving device 60, second driving device 70, third driving device 80, hanging column 100. DETAILED DESCRIPTION

[0032] The following are specific embodiments of the present application and in conjunction with the accompanying drawings, the technical scheme of the present application is further described, but the application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0033] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0034] In one embodiment of the present application, a sling grabbing assembly is provided. This assembly, mounted on the end of a robotic arm, can be used to install catenary slings in tunnels. The sling grabbing assembly provided in this embodiment of the present application can reliably and stably grab catenary slings. When integrated into a robotic arm for catenary sling installation, it can improve the automation level of sling installation in tunnels, reduce human involvement, and increase installation efficiency. The sling grabbing assembly and related equipment are described in detail below with reference to the accompanying drawings.

[0035] refer to Figure 1 and Figure 2The column grabbing assembly includes a first connecting frame 10 and a movable frame 40; the movable frame 40 is connected to the first connecting frame 10 and can freely swing relative to the first connecting frame 10 in a limited range along a first direction; the movable frame 40 is arranged with a plurality of clamps 41 along the first direction, and the clamps 41 are used to grab the column; the movable frame 40 is also arranged with a plurality of positioning blocks 42 along the first direction; when the plurality of positioning blocks 42 are in contact with the column 100 at the same time, the plurality of clamps 41 can simultaneously grab the column 100. When the column grabbing assembly grabs the column, in the first direction x, the movable frame 40 can swing within a certain range relative to the first connecting frame 10. When the movable frame 40 moves downward and approaches the column placed on the ground, the positioning blocks 42 on the movable frame 40 gradually come into contact with the column, and as the movable frame 40 is adjusted at an adaptive angle, all the positioning blocks 42 on the movable frame 40 come into contact with the column. At this point, the movable frame 40 is positioned in alignment with the sling, and all of the clamping jaws 41 thereon can simultaneously grasp the sling 100. It should be understood that in this structure, the positioning block 42 is used to adjust the angle of the movable frame 40 to achieve angular positioning. After angular positioning is completed, each clamping jaw 41 on the movable frame has reached the correct grasping position.

[0036] Specifically, the column grabbing assembly can be installed at the end of the robotic arm to grab the contact network column placed on the ground and transport it to the predetermined installation position on the top of the tunnel for installation. When grabbing the column, the column grabbing assembly moves above the column, so that the multiple clamping claws 41 and multiple positioning blocks 42 on the movable frame 40 are roughly aligned with the column along the first direction. At this time, the clamping claws 41 are in an open state. As the robotic arm drives the movable frame 40 downward to approach the column, the various positioning blocks 42 on the movable frame 40 gradually come into contact with the column. As the movable frame 40 adjusts its adaptive angle, all the positioning blocks 42 on the movable frame 40 come into contact with the column. At this time, the column enters the clamping range of all the clamping claws 41, and the multiple clamping claws 41 clamp different positions on the column at the same time. Next, the robotic arm drives the sling grabbing assembly to the predetermined installation position on the tunnel ceiling. At this installation position, the installer can fine-tune the sling's position using the swinging connection between the movable frame 40 and the first connecting frame 10, aligning it with the corresponding mounting structure and facilitating the next step of installation and fastening. In one specific installation method, the installer can fine-tune the angular position of the movable frame 40 to align its mounting holes with those on the tunnel ceiling, facilitating screw insertion. The above installation process utilizes the sling grabbing assembly to grasp the sling. This assembly employs multiple grippers to simultaneously grasp the sling at different positions, providing more stable and reliable grasping. Furthermore, the sling grabbing assembly, with its multiple positioning blocks, allows the movable frame to adaptively adjust along the first direction during grasping, ensuring that each gripper reaches the correct grasping position for the sling. Furthermore, during installation, the installer can fine-tune the sling's position using the swinging connection between the movable frame 40 and the first connecting frame 10, making installation more convenient.

[0037] refer to Figure 1 and Figure 2 In one embodiment of the present application, a hinged connection a is provided between the movable frame 40 and the first connecting frame 10, which allows the movable frame 40 to swing freely relative to the first connecting frame 10; an adjustment screw is also provided on the movable frame 40 or the first connecting frame 10 for adjusting the swing range of the movable frame 40. Figure 1 and Figure 2 In the structure shown, a hinge relationship a is provided between the movable frame 40 and the first connecting frame 10 . The movable frame 40 can be swung relative to the first connecting frame 10 around the hinge relationship a. The adjusting screw can adjust the swing range of the movable frame 40 .

[0038] Furthermore, a plurality of first adjusting screws 51 are provided on the first side of the hinge relationship a for applying a limit block to the movable frame 40 on the first side of the hinge relationship; a plurality of second adjusting screws 52 are provided on the second side of the hinge relationship a for applying a limit block to the movable frame 40 on the second side of the hinge relationship. Figure 1In the structure shown, a first adjusting screw 51 and a second adjusting screw 52 are provided on both sides of the hinge relationship a along the first direction x. The adjusting screws on both sides can limit the rotation of the movable frame 40 from two directions, so that it can only be fine-tuned within a limited range.

[0039] In one embodiment of the present application, a clamping claw 41 and a positioning block 42 are arranged on both sides of the connection position between the movable frame 40 and the first connecting frame 10, and the positioning block 42 is located on the outside away from the connection position, and the clamping claw 41 is located on the inside close to the connection position. Figure 1 and Figure 2 As shown, the two positioning blocks 42 are respectively located outside the two clamping jaws 41. The clamping jaws 41 and the positioning blocks 42 on both sides are roughly symmetrically distributed on both sides of the connection position between the movable frame 40 and the first connecting frame 10. Such an arrangement makes the structure more balanced and compact.

[0040] refer to Figure 3 and Figure 4 In one embodiment of the present application, the sling grab assembly further includes a first drive device 60, a second drive device 70, and a third drive device 80; the first drive device 60 is used to drive the first connecting frame 10 to rotate and adjust along a first rotational direction; the second drive device 70 is used to drive the first connecting frame 10 to rotate and adjust along a second rotational direction; and the third drive device 80 is used to drive the first connecting frame 10 to rotate and adjust along a third rotational direction; wherein the rotation axes of the first, second, and third rotational directions are mutually perpendicular. Specifically, the first drive device 60, the second drive device 70, and the third drive device 80 are all rotational drive devices for outputting rotational motion. Various forms of rotational drive devices exist in the prior art, such as worm gear mechanisms, rotary hydraulic cylinders, electric motors, and hydraulic motors. Furthermore, the rotation axes of the first, second, and third rotational directions are mutually perpendicular, thus enabling the first connecting frame to achieve angular adjustment in various directions in space. In addition, it should be understood that the first drive device 60, the second drive device 70, and the third drive device 80 are used to drive the rotation of the first connecting frame 10, and are not necessarily directly connected to the first connecting frame. Their specific combined drive structure can be determined according to actual design needs.

[0041] Continue to refer Figure 3 and Figure 4In one embodiment of the present application, the column grabbing assembly also includes a second connecting frame 20, a third connecting frame 30, and a fourth connecting frame 90; the third driving device 80 is a worm gear mechanism, which is arranged between the first connecting frame 10 and the second connecting frame 20, and can drive the first connecting frame 10 to rotate and adjust relative to the second connecting frame 20 along the third rotation direction; the second driving device 70 is a rotary hydraulic cylinder, which is arranged between the second connecting frame 20 and the third connecting frame 30, and can drive the second connecting frame 20 to rotate and adjust relative to the third connecting frame 30 along the second rotation direction; the first driving device 60 is a telescopic hydraulic cylinder, which is arranged between the third connecting frame 30 and the fourth connecting frame 90, and can drive the third connecting frame 30 to rotate and adjust relative to the fourth connecting frame 90 along the first rotation direction.

[0042] Specifically, the first connecting frame 10, the second connecting frame 20, the third connecting frame 30, and the fourth connecting frame 90 are all intermediate connecting structures. The third drive device 80 is arranged between the first connecting frame 10 and the second connecting frame 20, and is used to drive the first connecting frame 10 to rotate and adjust relative to the second connecting frame 20. The second drive device 70 is arranged between the second connecting frame 20 and the third connecting frame 30, and is used to drive the second connecting frame 20 to rotate and adjust relative to the third connecting frame 30. The first drive device 60 is arranged between the third connecting frame 30 and the fourth connecting frame 90, and is used to drive the third connecting frame 30 to rotate and adjust relative to the fourth connecting frame 90. Thus, by superimposing the above-mentioned drive structures, the first drive device 60, the second drive device 70, and the third drive device 80 can drive the first connecting frame to rotate and adjust in the first, second, and third rotational directions, respectively, ultimately achieving position adjustment of the movable frame on the first connecting frame.

[0043] refer to Figure 5 In one embodiment of the present application, the clamp 41 includes a first clamp arm 411, a second clamp arm 412, and a driving element 413; wherein the first clamp arm 411 is installed on the movable frame and can rotate relative to the movable frame; the second clamp arm 412 is installed on the movable frame and can rotate relative to the movable frame; the driving element 413 is used to drive the first clamp arm 411 and the second clamp arm 412 to move relative to the movable frame so that the first clamp arm 411 and the second clamp arm 412 clamp the suspension column or release the suspension column. Specifically, when the clamp 41 is clamping the hanging column, the driving element 413 drives the first clamp arm 411 and the second clamp arm 412 to move so that the first clamp arm 411 and the second clamp arm 412 move closer to each other to clamp the hanging column located therebetween; when releasing, the driving element 413 drives the first clamp arm 411 and the second clamp arm 412 to move so that the first clamp arm 411 and the second clamp arm 412 move away from each other, so that the first clamp arm 411 and the second clamp arm 412 are out of contact with the hanging column.

[0044] Furthermore, the first clamping block 414 is provided on the first clamping arm 411, and the first clamping block 414 is rotatably mounted. The second clamping block 415 is provided on the second clamping arm 412, and the second clamping block 415 is rotatably mounted. The second clamping block 415 is arranged opposite the first clamping block 414. The driving element 413 can drive the first clamping arm 411 and the second clamping arm 412 to move the first clamping block 414 and the second clamping block 415 closer to or farther away from each other to clamp or release the sling. Specifically, when the clamping jaw 41 clamps the sling, the first clamping block 414 and the second clamping block 415 can be adaptively adjusted to fit together with the side surface of the sling, thereby achieving automatic clamping of the sling, and the clamping of the sling is stable and reliable. Furthermore, the first clamping block 414 is hinged on the first clamping arm 411, and the first clamping block 414 can be freely rotated and adjusted around the hinge; the second clamping block 415 is hinged on the second clamping arm 412, and the second clamping block 415 can be freely rotated and adjusted around the hinge.

[0045] The embodiment of the present application also provides an arm, the end of which is provided with the column grabbing assembly provided in the previous part of the embodiment of the present application. After the arm is integrated with the column grabbing assembly, the column can be grabbed with the help of the column grabbing assembly. The column grabbing assembly uses multiple clamps to grab different positions of the column at the same time, and the grabbing is more stable and reliable. In addition, the column grabbing assembly can allow the movable frame to adaptively swing and adjust along the first direction during grabbing with the help of multiple positioning blocks, so that each clamp can reach the correct grabbing position to grab the column. In addition, during installation, the installer can use the swing connection relationship between the movable frame and the first connecting frame to fine-tune the position of the column, making installation more convenient. For more specific instructions, please refer to the description of the column grabbing assembly in the previous part, which will not be repeated here.

[0046] This embodiment of the present application also provides a davit construction device, comprising a chassis and the boom described in the previous section; the boom is mounted on the chassis. The chassis can be used for movement within a tunnel, while the boom, equipped with a davit grab assembly, can be used to grab and move the davit. For detailed instructions, refer to the description of the davit grab assembly in the previous section and will not be repeated here.

[0047] Embodiments of the present application provide a sling gripping assembly and related equipment. This assembly utilizes multiple gripping jaws to simultaneously grip different positions of the sling, providing more stable and reliable gripping. Furthermore, the assembly utilizes multiple positioning blocks to allow the movable frame to adaptively swing and adjust along a first direction during gripping, allowing each gripping jaw to reach the correct gripping position for the sling. Furthermore, during installation, the installer can utilize the swinging connection between the movable frame and the first connecting frame to fine-tune the position of the sling, making installation more convenient.

[0048] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "multiple" means at least two, such as two, three, etc., unless otherwise clearly defined. It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprises" and / or "includes" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0050] The specific embodiments described herein are merely examples of the technical solutions of this application. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them with similar methods without departing from the scope defined by the claims of this application.

Claims

1. A davit grabbing assembly, characterized in that: The sling grabbing assembly includes: a first connecting frame and a movable frame; the movable frame is connected to the first connecting frame and can freely swing within a limited range along a first direction relative to the first connecting frame; The movable frame is provided with a plurality of clamps along a first direction, and the clamps are used to grab the suspension column; the movable frame is also provided with a plurality of positioning blocks along the first direction; when the plurality of positioning blocks are in contact with the suspension column at the same time, the plurality of clamps can grab the suspension column at the same time.

2. The davit grab assembly according to claim 1, characterized in that: A hinged connection is provided between the movable frame and the first connecting frame, allowing the movable frame to swing freely relative to the first connecting frame; an adjusting screw for adjusting the swing range of the movable frame is also provided on the movable frame or the first connecting frame.

3. The davit grab assembly according to claim 2, wherein: A plurality of first adjusting screws are provided on the first side of the hinged relationship for applying a limit block to the movable frame on the first side of the hinged relationship; a plurality of second adjusting screws are provided on the second side of the hinged relationship for applying a limit block to the movable frame on the second side of the hinged relationship.

4. The davit grab assembly according to claim 1, wherein: A clamping claw and a positioning block are respectively arranged on both sides of the connection position between the movable frame and the first connecting frame, and the positioning block is located on the outside away from the connection position, and the clamping claw is located on the inside close to the connection position.

5. The davit grab assembly according to claim 1, wherein: The sling grab assembly further includes a first drive device, a second drive device, and a third drive device; The first driving device is used to drive the first connecting frame to rotate and adjust along a first rotation direction; The second driving device is used to drive the first connecting frame to rotate and adjust along a second rotation direction; The third driving device is used to drive the first connecting frame to rotate and adjust along a third rotation direction; The rotation axes of the first rotation direction, the second rotation direction, and the third rotation direction are perpendicular to each other.

6. The davit grab assembly according to claim 5, characterized in that: The sling grabbing assembly further includes a second connecting frame, a third connecting frame, and a fourth connecting frame; The third driving device is a worm gear mechanism, which is arranged between the first connecting frame and the second connecting frame and can drive the first connecting frame to rotate and adjust relative to the second connecting frame along a third rotation direction; The second driving device is a rotary hydraulic cylinder, which is arranged between the second connecting frame and the third connecting frame and can drive the second connecting frame to rotate and adjust relative to the third connecting frame along a second rotation direction; The first driving device is a telescopic hydraulic cylinder, which is arranged between the third connecting frame and the fourth connecting frame and can drive the third connecting frame to rotate and adjust relative to the fourth connecting frame along a first rotation direction.

7. The davit grab assembly according to claim 1, wherein: The clamping jaws include: A first clamping arm is mounted on the movable frame and is rotatable relative to the movable frame; A second clamping arm is mounted on the movable frame and is rotatable relative to the movable frame; The driving element is used to drive the first clamping arm and the second clamping arm to move relative to the movable frame so that the first clamping arm and the second clamping arm clamp the hanging column or release the hanging column.

8. The davit grab assembly according to claim 7, wherein: The first clamping block is provided on the first clamping arm, and the first clamping block is installed in a rotatable manner; the second clamping block is provided on the second clamping arm, and the second clamping block is installed in a rotatable manner; the second clamping block is arranged opposite to the first clamping block; the driving element can drive the first clamping arm and the second clamping arm to move, so that the first clamping block and the second clamping block are closer to or farther away from each other to clamp the hanging column or release the hanging column.

9. A boom, characterized in that: The end of the arm is provided with a davit grabbing assembly as described in any one of claims 1-8.

10. A suspender construction device, characterized in that: The suspender construction equipment includes a chassis and a boom as described in claim 9; the boom is installed on the chassis.

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