Pipe grabbing device for all-terrain transport vehicle

Abstract

The utility model discloses a pipe gripping device for an all-terrain transport vehicle, which comprises a moving device, a mechanical arm and a pipeline clamping jaw, the pipeline clamping jaw comprises a flange plate and at least one clamping jaw device, and each clamping jaw device comprises a power device and two single-side jaws with the same structure. Each single-side claw comprises an extending part and a clamping claw body with a C-shaped lateral section, and the power device works to drive the extending parts of the two corresponding single-side claws to get close to each other or get away from each other, so that the clamping claw bodies of the two single-side claws get close to each other or get away from each other and are used for clamping an object.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of pipe gripping device for all-terrain transport vehicle, belong to coal mine auxiliary transport field. BACKGROUND

[0002] In the complex environment of coal mining, the installation and maintenance of pipeline systems play a crucial role. These pipelines not only carry critical functions such as underground ventilation, water supply and drainage, gas extraction, directly related to the safety production of mine and the health of operating personnel, but also are the infrastructure to ensure the efficient operation of coal mine and reduce the risk of accidents. However, traditional coal mine pipeline installation work often highly depends on manual operation, facing many challenges such as high labor intensity, low operation efficiency, high safety risk and difficult to control installation quality uniformly.

[0003] Therefore, how to design an efficient, safe and automated pipe gripping device for coal mine pipeline installation to replace or assist manual installation of coal mine pipeline, effectively solve the problems of low efficiency, high labor intensity, many safety hazards, insufficient installation precision and difficulty to adapt to complex environment in current manual installation process, has become a technical problem of technological innovation and transformation and upgrading in coal industry. SUMMARY

[0004] The purpose of the utility model is to solve the deficiencies in the background art, and to provide a manufacturing method and use method of a pipe gripping device for all-terrain transport vehicle.

[0005] The technical solution adopted by the utility model is: a pipe gripping device for all-terrain transport vehicle, characterized by: comprising a moving device, a mechanical arm, and a pipe clamp jaw:

[0006] The mechanical arm base is arranged on the moving device,

[0007] The pipe clamp jaw includes a flange plate and at least one clamp jaw device, each clamp jaw device is arranged in sequence on the bottom edge of the flange plate, and the top end of the mechanical arm is connected with the top edge of the flange plate; the structure of each clamp jaw device is the same as each other, and each clamp jaw device respectively includes a power device and two single-sided jaws with the same structure, each single-sided jaw respectively includes an extension piece and a C-shaped clamp body in lateral section, one end of the extension piece is fixedly connected with one end of the clamp body, and the connection position is defined as the target position;

[0008] The two unilateral claws in each clamping jaw device are movably connected to the two sides of the bottom edge of the flange plate bottom edge at the positions of the target positions, the two unilateral claws in each clamping jaw device are arranged in a top-extended member and a bottom-clamping jaw body, the planes where the side surfaces of the two unilateral claws in each clamping jaw device are located are parallel to each other, the inner arcs of the clamping jaw bodies of the two unilateral claws are opposite to each other, and each unilateral claw rotates about the target position thereof; the power devices in each clamping jaw device are arranged between the extended members corresponding to the two unilateral claws, the extended members corresponding to the two unilateral claws are driven by the power devices to move close to or away from each other, so that the clamping jaw bodies of the two unilateral claws move close to or away from each other, thereby clamping the object; the target positions of the unilateral claws on the same side of the flange plate bottom edge are connected in parallel to the flange plate bottom edge.

[0009] Further, the pipe clamping jaw further comprises a rotary mechanism, the bottom of the rotary mechanism is fixedly connected to the top edge of the flange plate, and the end of the mechanical arm is connected to the top of the rotary mechanism.

[0010] Further, the two unilateral claws in each clamping jaw device are arranged in an axial symmetry.

[0011] Further, the pipe clamping jaw further comprises two limiting members which are identical in structure, the two limiting members are connected to the two sides of the flange plate respectively, the planes where the bottom surfaces of the two limiting members are located are coplanar to each other, the planes where the side surfaces of the two limiting members are located are parallel to each other, and the plane where the bottom surface of the limiting member is located is lower than the plane where the target position is located.

[0012] Further, the pipe clamping jaw further comprises two inverted V-shaped structural members which are identical in structure, the opening directions of the two inverted V-shaped structural members are both downward, the top points of the two inverted V-shaped structural members are connected to the bottom ends of the two limiting members on the two sides of the flange plate respectively, the planes where the bottom surfaces of the two inverted V-shaped structural members are located are coplanar to each other, and the planes where the side surfaces of the two inverted V-shaped structural members are located are parallel to each other.

[0013] Further, the pipe clamping jaw further comprises a support, one end of the support is connected to the bottom edge of the flange plate, and the limiting members are movably connected to the two sides of the support.

[0014] Further, the pipe clamping jaw further comprises a distance measuring sensor, the distance measuring sensor is arranged on the two sides of the support, and the working direction of the distance measuring sensor is parallel to the plane where the flange plate is located.

[0015] Further, the mechanical arm is composed of multiple mechanical arm bodies, and a driving device is arranged at each joint position of the mechanical arm bodies, so that the pitch angle of each mechanical arm body can be adjusted by driving the driving device, thereby achieving posture adjustment.

[0016] Further, the mechanical arm base comprises a hydraulic rotary mechanism and a base flange, the hydraulic rotary mechanism is arranged at the bottom of the mechanical arm base and is hinged to the mechanical arm body through the base flange. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Figure 1 is a schematic diagram of the position relationship between the pipe grabbing device and the all-terrain vehicle body.

[0018] Figure 2 Figure 4 is a schematic diagram of the pipe clamping jaw structure.

[0019] Figure 3 Figure 5 is a schematic diagram of the mechanical arm structure. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying Figure 1 to the accompanying Figure 3 , the utility model will be further described.

[0021] A pipe grabbing device for an all-terrain vehicle, comprising a moving device 1-1, a mechanical arm 1-2, and a pipe clamping jaw 1-3:

[0022] The base of the mechanical arm 1-2 is arranged on the moving device 1-1. In this embodiment, the moving device is an all-terrain vehicle chassis vehicle body,

[0023] The pipe clamping jaw 1-3 comprises a flange plate 3-2 and at least one clamping jaw device 3-9. Each clamping jaw device 3-9 is arranged in turn at the bottom edge of the flange plate 3-2, and the end of the mechanical arm 1-2 is connected to the center position of the top edge of the flange plate 3-2. The structure of each clamping jaw device 3-9 is the same as each other, and each clamping jaw device 3-9 comprises a power device 3-6 and two single-sided jaws 3-10 which are the same in structure. Each single-sided jaw 3-10 comprises an extension piece 3-11 and a clamping jaw body 3-5 with a C-shaped lateral section. One end of the extension piece 3-11 is fixedly connected to one end of the clamping jaw body 3-5, and the connection position is defined as the target position.

[0024] In each clamping jaw device 3-9, the two single-sided jaws 3-10 are movably connected to the two sides of the bottom edge of the position arranged at the bottom edge of the flange plate 3-2 through their target positions. The two single-sided jaws 3-10 in each clamping jaw device 3-9 are distributed in axial symmetry. In each clamping jaw device 3-9, the extension piece 3-11 is above the clamping jaw body 3-5. The planes in which the two single-sided jaws 3-10 in each clamping jaw device 3-9 are parallel to each other, and the inner arcs of the clamping jaw bodies 3-5 of the two single-sided jaws 3-10 in each clamping jaw device 3-9 are opposite to each other. Each single-sided jaw 3-10 rotates around its target position.

[0025] The power device 3-6 in each jaw device 3-9 is arranged between the extension pieces 3-11 of the corresponding two unilateral jaws 3-10, each power device 3-6 is connected with the extension pieces 3-11 of the corresponding two unilateral jaws 3-10 through a connecting rod, and the power devices 3-6 in each jaw device 3-9 work synchronously, and the extension pieces 3-11 of the corresponding two unilateral jaws 3-10 are driven by the respective power devices 3-6 to realize approaching or moving away from each other, so as to realize the approaching or moving away from each other of the jaw bodies 3-5 of the two unilateral jaws 3-10 for clamping objects, and the power device in the embodiment is a hydraulic cylinder.

[0026] The target position connecting pieces of the unilateral jaws 3-10 on the same side of the bottom edge of the flange plate 3-2 in each jaw device 3-9 are parallel to the bottom edge of the flange plate 3-2.

[0027] The pipeline jaw 1-3 further comprises a rotating mechanism 3-1, the rotating mechanism 3-1 is fixedly connected with the top edge of the flange plate 3-2, the top end of the mechanical arm is connected with the top of the rotating mechanism 3-1, the pipeline jaw is realized 360° rotation, and the posture adjustment during object grabbing is realized.

[0028] The pipeline jaw 1-3 further comprises a support 3-3, one end of the support 3-3 is connected with the bottom edge of the flange plate 3-2.

[0029] The pipeline jaw 1-3 further comprises two limiters with the same structure, the two limiters are connected with the two sides of the support 3-3 respectively, the planes where the bottom surfaces of the two limiters are located are coplanar, the planes where the side surfaces of the two limiters are located are parallel, the plane where the bottom surface of the two limiters is located is lower than the plane where the target position is located, and the two limiters are used for pipeline limiting function during clamping objects, so as to prevent the jaw body 3-5 from colliding with the object, and the limiters are movably connected with the support 3-3, so as to facilitate timely replacement of the worn limiters.

[0030] The pipeline jaw 1-3 further comprises a distance measuring sensor 3-7, the distance measuring sensor 3-7 is arranged on the two sides of the support 3-3, the distance measuring sensor 3-7 works in the direction perpendicular to the center of the opening of each jaw device, is used for detecting the distance between the jaw body and the tunnel wall or other obstacles during installation, and prevents the jaw body from colliding with the obstacles during installation.

[0031] The pipeline jaw 1-3 further comprises a visual camera 3-8, the visual camera 3-8 is arranged at the middle position of the pipeline jaw 1-3, is used for pipeline grabbing, identification and positioning, realizes identification of the midpoint of the pipeline, improves positioning accuracy, realizes accurate grabbing and installation of materials.

[0032] The mechanical arm 1-2 is composed of multiple mechanical arm bodies, that is, a mechanical arm large arm 2-4, a mechanical arm swing arm 2-6, a mechanical arm small arm 2-8, a connecting rod 2-10 and a terminal joint 2-12, and each mechanical arm body joint position is provided with a driving device, that is Figure 2The 2-3, 2-5, 2-7, 2-9 and 2-11 shown are driving devices, and the driving driving device can adjust the pitch angle of each section of the mechanical arm body, realize posture adjustment, the mechanical arm body in the embodiment is welded by high-strength structural steel plate, and the driving device is a hydraulic oil cylinder.

[0033] The mechanical arm base comprises a hydraulic rotary mechanism 2-1 and a base flange 2-2, the hydraulic rotary mechanism 2-1 is arranged at the bottom of the mechanical arm base, and is hinged with the mechanical arm body through the base flange 2-2.

[0034] When the tubular material is grabbed, the pipe grabbing device can be installed on the moving device 1-1, the hydraulic rotary mechanism 2-1 of the mechanical arm is used to realize 360° rotation of the bottom of the mechanical arm, so as to grab the tubular material around; through the work of the driving device, the pitch angle of the multi-section mechanical arm body is adjusted, and then the posture of each section of the mechanical arm body is adjusted, so that the tubular material is lifted; after the mechanical arm end joint 2-12 is connected with the pipe clamp jaw 1-3, the whole rotation, movement and posture adjustment of the mechanical arm 1-2 are used to align the target tubular material with the pipe clamp jaw 1-3, and the pipe clamp jaw 1-3 can be flexibly rotated in the case that the angle, height and direction of the mechanical arm are fixed through the rotary mechanism 3-1 of the pipe clamp jaw; when the tubular material is grabbed, since the plane where the bottom surface of the limiting piece is located is lower than the plane where the target position is located, the limiting piece will first contact the material, preventing the clamp body 3-5 from impacting the material, and improving safety; and the limiting piece is flexibly connected with the support 3-3, so that the worn limiting piece can be replaced in time; the driving devices 3-6 in each clamp jaw device 3-9 work synchronously, the extension pieces 3-11 of the two unilateral jaws 3-10 corresponding to each driving device 3-6 are driven to move close to or away from each other, so that the clamp bodies 3-5 of the two unilateral jaws 3-10 move close to or away from each other, and the tubular material is clamped and grabbed; and the ranging sensor 3-7 and the visual camera 3-8 can prevent collision and improve positioning accuracy, so that the tubular material can be accurately grabbed and installed.

[0035] On the basis of the above embodiment 1, the utility model provides still a kind of specific implementation mode: the vertex of two structures identical and inverted V-shaped structural member 3-4 opening downwards is respectively connected with the bottom end of two limiting pieces, and the plane where the bottom surface of two inverted V-shaped structural member 3-4 is located is coplanar, the plane where the side surface of two inverted V-shaped structural member 3-4 is located is parallel, and rubber strip is attached at the bottom of two inverted V-shaped structural member 3-4;Since the plane where the bottom surface of the limiting piece is located is already lower than the plane where the target position is located, after being connected with inverted V-shaped structural member, the plane where the bottom of two inverted V-shaped structural member is located is still lower than the plane where the target position is located, so when clamping object, two inverted V-shaped structural member 3-4 will first adhere to material, play the role of fixing material, prevent rolling when grabbing.

[0036] The above merely is preferred implementation manner of the present application, for ordinary skilled person in the art, on the premise of not departing from the technical principle of the present application, can make several improvements and deformations, these improvements and deformations also should be regarded as the protection scope of the present application.

Claims

1. A grip device for an all-terrain transporter, characterized in that: The pipeline clamp jaw (1-3) comprises a flange plate (3-2) and at least one clamp device (3-9), each clamp device is sequentially arranged at the bottom edge of the flange plate (3-2), and the top end of the mechanical arm (1-2) is connected with the top edge of the flange plate (3-2); the structures of each clamp device (3-9) are the same as each other, each clamp device (3-9) comprises a power device (3-6) and two single-sided jaws (3-10) which are the same in structure, each single-sided jaw (3-10) comprises an extension piece (3-11) and a C-shaped clamp body (3-5) in lateral section, one end of the extension piece (3-11) is fixedly connected with one end of the clamp body (3-5), and the fixed connection position is defined as a target position. The two single-sided jaws (3-10) in each clamp device (3-9) are movably connected to the two sides of the bottom edge of the flange plate (3-2) at the positions arranged on the bottom edge, the two single-sided jaws (3-10) in each clamp device (3-9) are arranged with the extension piece (3-11) above and the clamp body (3-5) below, the planes where the side surfaces of the two single-sided jaws (3-10) in each clamp device (3-9) are parallel to each other, the inner arcs of the clamp bodies (3-5) of the two single-sided jaws (3-10) in each clamp device (3-9) are opposite to each other, and each single-sided jaw (3-10) rotates about the target position thereof; the power device (3-6) in each clamp device (3-9) is arranged at a position between the extension pieces (3-11) of the corresponding two single-sided jaws (3-10), and the extension pieces (3-11) of the corresponding two single-sided jaws (3-10) are driven by the power device (3-6) to move close to or away from each other, so that the clamp bodies (3-5) of the two single-sided jaws (3-10) move close to or away from each other to clamp the object; the target positions of the single-sided jaws (3-10) on the same side of the bottom edge of the flange plate (3-2) in each clamp device (3-9) are connected with the bottom edge of the flange plate (3-2) in parallel. The pipeline clamp jaw (1-3) further comprises a rotating mechanism (3-1), the bottom of the rotating mechanism (3-1) is fixedly connected with the top edge of the flange plate (3-2), and the end of the mechanical arm (1-2) is connected with the top of the rotating mechanism (3-1). The two single-sided jaws (3-10) in each clamp device (3-9) are distributed in axial symmetry.

2. A ground engaging device for an all-terrain vehicle as defined in claim 1, wherein, The pipeline clamp jaw (1-3) further comprises two limiters which are the same in structure, the two limiters are connected with the two sides of the flange plate (3-2) respectively, the planes where the bottom surfaces of the two limiters are coplanar, the planes where the side surfaces of the two limiters are parallel to each other, and the plane where the bottom surfaces of the two limiters is lower than the plane where the target position is located.

3. A ground engaging device for an all-terrain vehicle as defined in claim 1, wherein ​ 4. A ground engaging device for an all-terrain vehicle as defined in claim 1, wherein ​ 5. A ground engaging device for an all-terrain vehicle as defined in claim 4, wherein, The pipeline clamp jaw (1-3) further comprises two inverted V-shaped structural members which are identical to each other, both of which are downwardly open, and the top points of the two inverted V-shaped structural members are respectively connected with the bottom ends of the two limit members on both sides of the flange plate (3-2), the planes where the bottom surfaces of the two inverted V-shaped structural members are located are coplanar with each other, and the planes where the side surfaces of the two inverted V-shaped structural members are located are parallel to each other.

6. A ground engaging device for an all terrain vehicle as claimed in either claim 4 or claim 5, wherein, The pipeline clamp jaw (1-3) further comprises a bracket (3-3), one end of the bracket (3-3) is connected with the bottom edge of the flange plate (3-2), and the limit members are respectively movably connected with both sides of the bracket (3-3).

7. A ground engaging device for an all-terrain vehicle as defined in claim 6, wherein The pipeline clamp jaw (1-3) further comprises a distance measuring sensor (3-7), which is arranged on both sides of the bracket (3-3), and the working direction of the distance measuring sensor (3-7) is parallel to the plane where the flange plate (3-2) is located.

8. A ground engaging device for an all-terrain vehicle as defined in claim 1, wherein, The mechanical arm (1-2) is composed of multiple mechanical arm bodies, and a driving device (2-3, 2-5, 2-7, 2-9, 2-11) is arranged at each body joint position, so that the pitch angle of each mechanical arm body can be adjusted by driving the driving device, thereby realizing posture adjustment.

9. A ground engaging device for an all-terrain vehicle as defined in claim 1, wherein, The mechanical arm base comprises a hydraulic rotary mechanism (2-1) and a base flange (2-2), the hydraulic rotary mechanism (2-1) is arranged at the bottom of the mechanical arm base and is hinged with the mechanical arm body through the base flange (2-2).

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