Manipulator for conveying water pipe in concrete pier column curing process

Abstract

The utility model discloses a manipulator for conveying a water pipe in a concrete pier column curing process, belongs to the technical field of manipulators, and aims to solve the problem that a relatively large potential safety hazard exists when a water supply pipe is manually conveyed to the top of a pier column in the prior art. The transverse holder is mounted at the top of the film covering maintenance robot body through the longitudinal holder, a pushing unit is mounted at the top of the transverse holder, a supporting plate used for fixing a water pipe is mounted at the pushing end of the pushing unit, and an L-shaped mounting frame used for being in butt joint with the top of a concrete column pier is mounted on the supporting plate. A water pipe conveying device is driven to move to the top end of a concrete column pier through a film covering maintenance robot body, a supporting plate is pushed to the top of the concrete column pier through a pushing unit, an L-shaped mounting frame on the supporting plate is mounted on the concrete column pier, and a water pipe on the top of the supporting plate is connected with a water supply pump located on the top of the concrete column pier; the device is used for conveying the water pipe to the top of the pier column during early-stage maintenance of the concrete column pier.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a robotic arm used for conveying water pipes during the curing process of concrete piers. Background Technology

[0002] For large-scale bridge piers, typically 10–15 meters high, early curing after pouring has always been a key focus and challenge in construction. After the concrete has set, it requires continuous watering, moisturizing, and covering to slow surface moisture evaporation and prevent shrinkage cracks and surface powdering. However, due to the large height of the piers and the extensive curing area, the traditional method of manually watering from the top is not only labor-intensive but also poses significant safety hazards. Construction workers need to reach the top of the pier via scaffolding or platforms to perform watering operations, which carries risks of falls from height and equipment slippage.

[0003] To reduce manual labor, the industry has seen the emergence of coating robots and coating devices. While these improve coating efficiency, they don't actually solve the problem of water supply for wet curing at the top of the piers. Some curing equipment attempts include adding nozzles to the robot's sliding mechanism or spraying water simultaneously during the coating process. However, these methods are limited by factors such as the length of the water pipes, insufficient water pressure, and limited spray range. The water volume is far from meeting the requirements of large piers and cannot achieve a unified wet curing effect from top to bottom. Therefore, some workers have proposed installing temporary water pumps at the top of the piers, using the pumps as a power source to achieve stable watering from the top. This design can effectively solve the current problem of water replenishment during the pier curing period. However, it requires extending the water supply pipe from the bottom of the pier upwards to connect to the water pump's inlet. Due to the height of the piers, manually conveying water pipes is dangerous. Therefore, developing a robotic arm for conveying water pipes during the curing process of concrete piers is a practical solution. Utility Model Content

[0004] In order to solve the problem of the significant safety hazards that exist when manually conveying water pipes to the top of concrete piers, this utility model provides a robotic arm for conveying water pipes during the curing process of concrete piers.

[0005] A manipulator for a water delivery pipe during the maintenance of a concrete pier column. The manipulator includes a horizontal cage, which is installed on the top of the film-covered maintenance robot body through a vertical cage. A pushing unit is installed on the top of the horizontal cage. A tray for fixing the water pipe is installed on the pushing end of the pushing unit. An L-shaped mounting frame for docking with the top of the concrete pier column is installed on the tray. The manipulator is driven by the film-covered maintenance robot body to move to the top of the concrete pier column. The tray is pushed to the top of the concrete pier column through the pushing unit, and the L-shaped mounting frame on the tray is installed on the concrete pier column. At the same time, the water pipe on the top of the tray is connected to the water supply pump located on the top of the concrete pier column;

[0006] The pushing unit includes a guide sleeve, which is fixed on the top of the horizontal cage along the radial extension direction of the top of the concrete pier column. A guide groove is machined on the front side of the guide sleeve along the length extension direction of the guide sleeve. A pushing rack is inserted into the guide sleeve, and the guide sleeve is movably connected to the pushing rack. A clamping part for fixing the tray is provided on the pushing rack. The clamping part extends out of the guide sleeve through the guide groove and is detachably connected to the tray. A driving motor is provided on the rear side of the guide sleeve. The housing of the driving motor is fixedly installed on the top of the horizontal cage. The power output shaft of the driving motor extends into the guide sleeve and is inserted into the driving gear located in the guide sleeve. The driving gear is in transmission connection with the pushing rack. The driving motor, as a power source, drives the pushing rack to reciprocate along the radial extension direction of the top of the concrete pier column through the driving gear;

[0007] Further, the pushing rack is a trough structure with a "凵" - shaped end face. The opening side of the pushing rack faces the rear side of the guide sleeve, and the closed side of the pushing rack faces the front side of the guide sleeve. A tooth-shaped surface for cooperating with the driving gear is machined on one vertical side of the pushing rack along the length extension direction of the pushing rack. The clamping part is fixed on the outer wall of the closed side of the pushing rack;

[0008] Further, the tray is an L-shaped plate body. The horizontal part of the tray is inserted into the clamping part on the pushing rack and is detachably connected to the clamping part on the pushing rack. The water pipe is arranged on the top of the horizontal part of the tray, and the water pipe is arranged close to the vertical part of the tray;

[0009] Further, a plurality of pipe clamps for fixing the water pipe are equidistantly arranged on the top of the tray along the length extension direction of the tray. One end of the pipe clamp is detachably connected to the vertical part of the tray, and the other end of the pipe clamp is detachably connected to the horizontal part of the tray;

[0010] Further, a slot for cooperating with the horizontal part of the tray is machined on the horizontal part of the L-shaped mounting frame. The horizontal part of the tray is inserted into the horizontal part of the L-shaped mounting frame and is welded and fixed to the horizontal part of the L-shaped mounting frame;

[0011] Furthermore, the inner side of the vertical part of the L-shaped mounting bracket is machined with an arc-shaped surface that mates with the concrete pier column;

[0012] Furthermore, the front side of the transverse retainer is provided with a guide wheel for supporting the water pipe, and the guide wheel is rotatably connected to the transverse retainer;

[0013] The beneficial effects of this application compared to the prior art are:

[0014] 1. This application provides a robotic arm for transporting water pipes during the curing of concrete piers. Addressing the safety hazards of traditional manual methods involving transporting water pipes to the top of 10-15 meter high piers via scaffolding or platforms, such as falls from heights and equipment slippage, this device utilizes the climbing motion of the membrane curing robot along the pier during operation, eliminating the need for construction personnel to work at heights to complete the water pipe transport. An automated pushing unit precisely delivers the water pipe to the water pump at the top of the pier and completes the docking action, completely eliminating reliance on manual high-altitude operations, fundamentally reducing construction safety risks, and ensuring the personal safety of workers.

[0015] 2. This application provides a robotic arm for conveying water pipes during the curing of concrete piers. It employs a drive motor and a rack and pinion transmission structure to drive a pusher rack to precisely reciprocate along the radial direction of the pier, stably pushing the water pipe fixed on a support plate to a designated position, enabling rapid connection between the water pipe and the water pump at the top of the pier. Compared to the cumbersome and inefficient manual conveying, this automated design significantly reduces working time, lowers labor intensity, and effectively improves the efficiency and quality of curing operations.

[0016] 3. The robotic arm provided in this application for conveying water pipes during the curing process of concrete piers has guide wheels set on the front side of the transverse retainer to support and guide the water pipes, reduce frictional damage to the water pipes during the conveying process, and extend the service life of the water pipes; at the same time, the rotation characteristics of the guide wheels reduce the resistance during the conveying of the water pipes, making the pushing process smoother, and further improving the operational stability and durability of the device.

[0017] 4. The robotic arm provided in this application for conveying water pipes during the curing process of concrete piers adopts a detachable or modular connection method among its various components. For example, the pallet and clamping part, the clamp and the pallet, the L-shaped mounting frame and the pallet can all be flexibly disassembled or assembled. This not only facilitates rapid installation and debugging during construction, but also allows for individual replacement of components when they are worn out, reducing the maintenance cost and the threshold for use of the equipment. Attached Figure Description

[0018] Figure 1 This is a front view schematic diagram of the robotic arm described in this application;

[0019] Figure 2This is a side view of the robotic arm described in this application;

[0020] Figure 3 This is a top view of the robotic arm described in this application;

[0021] Figure 4 This is a schematic diagram illustrating the interaction between the robotic arm and the main body of the film-covering and curing robot described in this application;

[0022] Figure 5 This is a schematic diagram showing the connection between the transmission rack and the support plate in the robot arm described in this application;

[0023] Figure 6 This is a schematic diagram of the internal structure of the transmission rack in the robotic arm described in this application;

[0024] Figure 7 This is a schematic diagram of the outer side of the transmission rack in the robot hand described in this application;

[0025] Figure 8 This is a front view schematic diagram of the robotic arm described in Specific Embodiment Three of this application;

[0026] Figure 9 This is a side view of the robotic arm described in Embodiment 3 of this application;

[0027] Figure 10 This is a top view schematic diagram of the robotic arm described in Specific Embodiment 3 of this application;

[0028] Figure 11 This is a schematic diagram showing the connection between the transmission rack and the support plate in the robot hand as described in Embodiment 3 of this application;

[0029] Figure 12 This is a schematic diagram of the outer side of the transmission rack in the robot hand described in the third specific embodiment of this application;

[0030] In the diagram: 1. Lateral retainer, 2. Guide sleeve, 3. Push rack, 31. Upper clamp, 32. Lower clamp, 33. Electric push rod, 34. Bottom fixing seat, 35. Middle fixing clamp, 4. L-shaped mounting bracket, 5. Water pipe, 6. Support plate, 61. Clamp, 7. Drive motor, 8. Guide wheel, 9. Drive gear, 10. Main body of the film-coating and curing robot, and 11. Longitudinal retainer. Detailed Implementation

[0031] Specific implementation method one: Combining Figures 1 to 7This embodiment describes a robotic arm for delivering water pipes during the curing of concrete piers. The robotic arm includes a transverse retainer 1, which is mounted on the top of the main body 10 of the film-curing robot via a longitudinal retainer 11. A pushing unit is mounted on the top of the transverse retainer 1, and a support plate 6 for fixing the water pipe 5 is mounted on the pushing end of the pushing unit. An L-shaped mounting bracket 4 for docking with the top of the concrete pier is mounted on the support plate 6. The main body 10 of the film-curing robot drives the robotic arm to move to the top of the concrete pier, and the pushing unit pushes the support plate 6 to the top of the concrete pier, so that the L-shaped mounting bracket 4 on the support plate 6 is mounted on the concrete pier. At the same time, the water pipe 5 on the top of the support plate 6 is connected to a water supply pump located at the top of the concrete pier.

[0032] The pushing unit includes a guide sleeve 2, which is fixed to the top of the transverse retainer 1 along the radial extension direction of the top of the concrete pier. A guide groove is machined on the front side of the guide sleeve 2 along its length. A pushing rack 3 is inserted into the guide sleeve 2 and is movably connected to the pushing rack 3. The pushing rack 3 is provided with a clamping part for fixing the support plate 6. The clamping part extends to the outside of the guide sleeve 2 through the guide groove and is detachably connected to the support plate 6. A drive motor 7 is provided on the rear side of the guide sleeve 2. The housing of the drive motor 7 is fixedly installed on the top of the transverse retainer 1. The power output shaft of the drive motor 7 extends into the guide sleeve 2 and is inserted into the drive gear 9 located in the guide sleeve 2. The drive gear 9 is connected to the pushing rack 3 through a transmission. The drive motor 7, as a power source, drives the pushing rack 3 to reciprocate along the radial extension direction of the top of the concrete pier through the drive gear 9.

[0033] In this embodiment, the robotic arm has two functions when working. One is to fix the water supply pipe to ensure the stability of the water supply pipe during transportation. The other is to perform a pushing action to push the tray 6 with the water supply pipe and the L-shaped mounting bracket 4 to the top area of ​​the pier column and complete the connection between the water pipe 5 and the water pump inlet during the pushing process. In the design, the water pump inlet is equipped with a self-locking clamping structure, and the end of the water pipe 5 is equipped with a connector that is compatible with the self-locking clamping structure. The connection between the water pipe 5 and the water pump is guaranteed by the locking connection between the connector and the self-locking clamping structure.

[0034] In this embodiment, the pushing unit is constructed by a driving motor cooperating with a rack and pinion transmission structure. The driving motor 7 drives the pushing rack 3 to reciprocate precisely along the radial direction of the pier column, and can stably push the water pipe fixed on the support plate to a specified position, realizing the rapid docking of the water pipe with the water supply pump at the top of the pier column. Compared with the cumbersome and inefficient manual transportation, this automated design greatly reduces the operation time and labor intensity, provides a stable premise for the overall wet maintenance of the pier column, and effectively improves the efficiency and quality of the maintenance construction. A clamping part is provided on the side of the pushing rack, and the clamping part is used to temporarily fix the water pipe fixing structure composed of the support plate 6 and the L-shaped mounting frame 4. Under the constraint of the clamping part, it can be ensured that the water pipe fixing structure carrying the water pipe 5 rises synchronously with the manipulator and reciprocates along the radial extension direction of the pier column with the pushing rack 3. It should be noted that when the water pipe 5 is successfully docked with the water pump, the driving motor 7 will drive the pushing rack 3 to move in the reverse direction. When the pushing rack 3 moves in the reverse direction, the clamping part will gradually separate from the support plate 6. When the pushing rack 3 returns to the initial position, the clamping part will completely disengage from the support plate 6. At this time, the main body 10 of the film covering maintenance robot will perform a descending action, and the manipulator will not be interfered by the water pipe after docking, and will then descend synchronously with the main body 10 of the film covering maintenance robot;

[0035] In order to improve the accuracy of the docking between the water pipe 5 and the water pump, a camera can be installed at one end near the center of the pier column on the top of the guide sleeve 2. The pushing action of the pushing unit is collected in real time by the camera and transmitted to the video receiving device of the staff through the wireless module, so that the staff can observe the working progress of the water pipe docking in real time. Once it is found that the position deviation between the water pipe 5 and the interface on the water pump is large during the pushing process, the working state of the main body 10 of the film covering maintenance robot can be adjusted in time to adjust the position of the insertion end of the water pipe 5, so as to ensure that it can be accurately docked with the water pump under the drive of the pushing unit.

[0036] Specific Embodiment 2: Combining Figures 1 to 7 This embodiment is described. The difference between this embodiment and Specific Embodiment 1 is that the pushing rack 3 is a groove structure with a "U" - shaped end face. The open side of the pushing rack 3 faces the rear side of the guide sleeve 2, and the closed side of the pushing rack 3 faces the front side of the guide sleeve 2. A tooth - shaped surface cooperating with the driving gear 9 is machined on one vertical side of the pushing rack 3 along the length extension direction of the pushing rack 3, and the clamping part is fixed on the outer wall of the closed side of the pushing rack 3;

[0037] The clamping part includes an upper clamping plate 31 and a lower clamping plate 32. The upper clamping plate 31 and the lower clamping plate 32 are arranged parallel to each other up and down, and both the upper clamping plate 31 and the lower clamping plate 32 are fixed on the outer wall of the closed side of the pushing rack 3. There is a clamping gap between the upper clamping plate 31 and the lower clamping plate 32. Rubber pads for increasing the clamping friction are attached to the bottom of the upper clamping plate 31 and the top of the lower clamping plate 32. Other compositions and connection methods are the same as those in the first specific embodiment.

[0038] In this embodiment, the pushing rack 3 adopts a "U"-shaped groove structure. With the guiding function of the guiding sleeve, the smoothness of the pushing process is ensured. The upper and lower clamping plates in the clamping part are paired with rubber pads, which not only increase the friction between the clamping plates and the supporting plate during the clamping process, improve the firmness of clamping, but also avoid clamping damage. The structure of combining the clamping plates and the rubber pads in the clamping part is also for the convenience of separating the clamping part from the supporting plate 6 after the water pipe 5 is docked in place. Since the weight of the supporting plate 6 and the L-shaped mounting bracket 4 is limited, during the process of upward conveying of the water pipe and pushing it towards the center of the top of the pier column, the stability of the water pipe conveying can be ensured only by the friction between the upper and lower clamping plates and the supporting plate 6. After the water pipe 5 is docked with the water pump, the joint at the end of the water pipe 5 is inserted and fastened with the locking unit at the water inlet end of the water pump, and its connection force is much greater than the friction of the clamping plate on the supporting plate 6. Therefore, after the water pipe 5 is docked with the water pump and the pushing rack 3 is driven reversely, the clamping part will gradually separate from the supporting plate 6. After the clamping part is separated from the supporting plate 6, the manipulator will not be interfered when it descends synchronously with the main body 10 of the film covering and curing robot.

[0039] Specific embodiment three: Combining Figures 8 to 12 To illustrate this embodiment, the difference between this embodiment and the first specific embodiment is that the pushing rack 3 is a groove structure with a "U"-shaped end face. The open side of the pushing rack 3 faces the rear side of the guiding sleeve 2, and the closed side of the pushing rack 3 faces the front side of the guiding sleeve 2. A tooth-shaped surface cooperating with the driving gear 9 is machined on one vertical side of the pushing rack 3 along the length extension direction of the pushing rack 3. The clamping part is fixed on the outer wall of the closed side of the pushing rack 3;

[0040] The clamping part includes an upper clamping plate 31 and a lower clamping plate 32, which are arranged parallel to each other vertically. The lower clamping plate 32 is fixed to the outer wall of the closed side of the push rack 3. The upper clamping plate 31 is positioned above the lower clamping plate 32 and has a clamping gap between them. Two electric push rods 33 are provided on the top of the upper clamping plate 31. The two electric push rods 33 are inverted above the upper clamping plate 31, and the housing of each electric push rod 33 is fixed to the outer wall of the closed side of the push rack 3 by a bottom fixing seat 34 and a middle fixing clamp 35. The piston rod end of each electric push rod 33 is fixedly connected to the upper clamping plate 31 and can drive the upper clamping plate 31 to perform longitudinal lifting and lowering movements. Rubber pads for increasing clamping friction are attached to the bottom of the upper clamping plate 31 and the top of the lower clamping plate 32. Other components and connection methods are the same as in specific embodiment one.

[0041] The difference between this embodiment and Embodiment Two is that the clamping part provided in Embodiment Two is a passive structure, while the clamping part provided in this application is an active structure. The core feature of the active clamping is that the upper clamping plate 31 is driven to move vertically by two electric push rods 33, thereby dynamically adjusting the clamping gap. The active clamping can flexibly adjust the distance between the upper and lower clamping plates through the extension and retraction of the electric push rods 33, which can adapt to pallets 6 of different thicknesses and is also compatible with workpieces with slightly raised or recessed surfaces, greatly improving the versatility of the clamping structure. At the same time, the active clamping provides active and adjustable clamping pressure through the electric push rods, which is stronger than the passive clamping that only relies on the natural friction between the clamping plate and the pallet. The passive clamping in Embodiment Two only... It can handle scenarios where the weight of pallet 6 and L-shaped mounting bracket 4 is limited, and can meet the conveying requirements by relying on friction. If the weight of the water pipe 5 paired with pallet 6 increases, or if the surface of the pallet material is smooth, passive clamping may fail due to insufficient load-bearing capacity. Active clamping can increase the output force of the electric push rod to improve the clamping load-bearing capacity. It can not only handle heavier workpieces, but also adapt to pallets of more materials, expanding the application boundaries of the entire conveying mechanism. Moreover, the power drive design of active clamping makes the separation process between the clamping part and pallet 6 more reliable. Active clamping can actively lift the upper clamping plate 31 through the electric push rod to directly release the clamping state. The separation action does not depend on the connection force of the water pipe and water pump, making the operation more independent and precise, and avoiding the risk of jamming and interference that may occur in passive separation.

[0042] Specific implementation method four: Combination Figures 1 to 7 This embodiment differs from specific embodiment three in that the pallet 6 is an L-shaped plate, the horizontal part of the pallet 6 is inserted into the clamping part located on the push rack 3 and is detachably connected to the clamping part on the push rack 3, and the water pipe 5 is set at the top of the horizontal part of the pallet 6 and is set close to the vertical part of the pallet 6.

[0043] Multiple clamps 61 for fixing water pipes 5 are provided at equal intervals along the length of the support plate 6. One end of the clamp 61 is detachably connected to the vertical part of the support plate 6, and the other end of the clamp 61 is detachably connected to the horizontal part of the support plate 6. Other components and connection methods are the same as in specific embodiment three.

[0044] In this embodiment, the vertical part of the support plate 6 can limit the water pipe 5 from the side, and the horizontal part of the support plate 6 serves as a connecting part to be connected to the clamping part on the L-shaped mounting bracket 4 and the push rack 3. The clamp 61 on the support plate 6 is used to fix the water pipe 5 so that it can be reliably installed on the support plate 6. Both ends of the clamp 61 are detachably connected to the horizontal and vertical parts of the support plate 6 through bolt and nut assemblies.

[0045] Specific Implementation Method Five: Combining Figures 1 to 7 This embodiment differs from Specific Embodiment Four in that the horizontal portion of the L-shaped mounting bracket 4 is machined with a slot for engaging with the horizontal portion of the support plate 6. The horizontal portion of the support plate 6 is inserted into the horizontal portion of the L-shaped mounting bracket 4 and welded to it. The inner side of the vertical portion of the L-shaped mounting bracket 4 is machined with an arc-shaped surface that engages with the concrete pier. Other components and connection methods are the same as in Specific Embodiment Four.

[0046] In this embodiment, the L-shaped mounting bracket 4 mainly serves as a connecting component between the support plate 6 and the top of the pier. After the water pipe 5 and the water pump are connected in place, the horizontal part of the L-shaped mounting bracket 4 will remain on the top of the pier and abut against the upper surface of the pier top platform. The vertical part of the L-shaped mounting bracket 4 will remain on the side of the pier and abut against the vertical baffle or the side wall of the pier on the outer side of the platform. The horizontal pressure plate and the vertical pressure plate in the L-shaped mounting bracket 4 abut against the horizontal and vertical surfaces respectively. Under the action of gravity and reaction force, the L-shaped mounting bracket 4 is pressed between the upper surface and the side surface at the same time, forming a stable right-angle clamping state.

[0047] Specific Implementation Method Six: Combination Figures 1 to 7 This embodiment differs from specific embodiment five in that a guide wheel 8 for supporting the water pipe 5 is provided on the front side of the transverse retainer 1, and the guide wheel 8 is rotatably connected to the transverse retainer 1. Other components and connections are the same as in specific embodiment five.

[0048] In this embodiment, the guide wheel 8 can support and guide the water pipe 5, reduce frictional damage to the water pipe 5 during transportation, and extend the service life of the water pipe; at the same time, the rotation characteristics of the guide wheel 8 reduce the resistance during water pipe transportation, making the pushing process smoother, and further improving the operational stability and durability of the device.

[0049] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention. However, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

[0050] Working principle

[0051] Before operation, the push unit is first installed on the top of the transverse retainer 1, and then the transverse retainer 1 is installed on the top of the main body 10 of the film-covering and curing robot via the longitudinal retainer 11. The water pipe 5 is fixed to the tray 6 by multiple clamps 61, and a connecting joint is installed on the connection end of the water pipe 5 and the water pump. The L-shaped mounting bracket 4 is installed on the tray 6 and welded to the tray 6. The horizontal part of the tray 6 is inserted into the clamping part on the push rack 3 so that it can move synchronously with the push unit.

[0052] At the start of the work, the operator controls the main body 10 of the film-covering and curing robot to climb along the height extension direction of the concrete pier. During this climbing motion, the robot transports the robotic arm and water pipe 5 to the top of the concrete pier. Once the water pipe 5 reaches the top, the drive motor 7 in the pushing unit drives the drive gear 9 to rotate. Through the meshing of the drive gear 9 and the pushing rack 3, the pushing rack 3 moves along the radial extension direction of the pier's top surface (towards the center of the pier's top). Simultaneously, it moves the pallet 6 and the L-shaped mounting bracket 4 towards the concrete pier. The operator can observe the connection between the water pipe 5 and the water pump in real time through images captured by the camera located on top of the guide sleeve 2. If a significant positional deviation is found between the water pipe 5 and the interface on the water pump during the pushing process, the film-covering and curing robot can be adjusted promptly. The working state of the main body 10 then adjusts the position of the water pipe 5 connector to ensure that it can accurately connect with the water pump under the drive of the pushing unit. After the water pipe 5 connector is connected to the water pump inlet, the drive motor 7 drives the drive gear 9 to reverse. Under the meshing action of the drive gear 9 and the pushing rack 3, the pushing rack 3 is driven to move away from the top surface of the pier. At this time, since the water pipe 5 connector is locked with the locking connector on the water pump inlet, its locking force is much greater than the friction between the clamping part and the support plate 6. Therefore, when the pushing rack 3 moves away from the pier, the clamping part will gradually disengage from the support plate 6. When the pushing rack 3 returns to the initial position, the clamping part is completely disengaged from the support plate 6. At this time, the main body 10 of the film covering and maintenance robot is controlled to move downward, which drives the pushing unit and the transverse retainer 1 back to the bottom of the shield.

[0053] The empty space in the transverse retainer 1 can be used to install a battery to power the drive motor 7 and the camera. The drive motor 7 has an integrated PLC controller to receive instructions input by the operator, so that the operator can control the working status of the drive motor 7.

Claims

1. A mechanical hand for delivering a water pipe during the curing process of a concrete pier, characterized by: The mechanical arm comprises a transverse holder (1) mounted on the top of a film curing robot body (10) through a longitudinal holder (11), a pushing unit is mounted on the top of the transverse holder (1), a supporting plate (6) for fixing a water pipe (5) is mounted on the pushing end of the pushing unit, an L-shaped mounting bracket (4) for docking with the top of the concrete pier column is mounted on the supporting plate (6), the mechanical arm is driven by the film curing robot body (10) to move to the top end of the concrete pier column, the supporting plate (6) is pushed to the top of the concrete pier column by the pushing unit, and the L-shaped mounting bracket (4) on the supporting plate (6) is mounted on the concrete pier column, at the same time, the water pipe (5) on the top of the supporting plate (6) is connected with the water supply pump located on the top of the concrete pier column.

2. A robot for a water delivery pipe for use in the curing process of concrete piers according to claim 1, characterized in that: The pushing unit comprises a guide sleeve (2) fixed on the top of the transverse holder (1) along the radial extension direction of the top end of the concrete pier column, a guide groove is processed on the front side of the guide sleeve (2) along the length extension direction of the guide sleeve (2), a pushing rack (3) is inserted in the guide sleeve (2), and the guide sleeve (2) is movably connected with the pushing rack (3), a clamping part for fixing the supporting plate (6) is arranged on the pushing rack (3), the clamping part extends out of the guide sleeve (2) through the guide groove and is detachably connected with the supporting plate (6), a driving motor (7) is arranged on the rear side of the guide sleeve (2), the housing of the driving motor (7) is fixedly mounted on the top of the transverse holder (1), the power output shaft of the driving motor (7) extends into the guide sleeve (2) and is inserted into a driving gear (9) located in the guide sleeve (2), the driving gear (9) is in transmission connection with the pushing rack (3), and the driving motor (7) serves as a power source to drive the pushing rack (3) to reciprocate along the radial extension direction of the top end of the concrete pier column through the driving gear (9).

3. A robot for a water delivery pipe for use in the curing of concrete piers according to claim 2, wherein: The pushing rack (3) is a groove structure with a "N" shaped end face, the opening side of the pushing rack (3) is arranged towards the rear side of the guide sleeve (2), the closed side of the pushing rack (3) is arranged towards the front side of the guide sleeve (2), and a toothed surface matched with the driving gear (9) is processed on one vertical side of the pushing rack (3) along the length extension direction of the pushing rack (3), and the clamping part is fixed on the outer wall of the closed side of the pushing rack (3).

4. A robot for a water delivery pipe for use in the curing of concrete piers according to claim 3, wherein: The supporting plate (6) is an L-shaped plate body, the horizontal part of the supporting plate (6) is inserted into the clamping part on the pushing rack (3) and is detachably connected with the clamping part on the pushing rack (3), the water pipe (5) is arranged on the top of the horizontal part of the supporting plate (6), and the water pipe (5) is arranged close to the vertical part of the supporting plate (6).

5. A robot for a water delivery pipe for use in the curing of concrete piers according to claim 4, wherein: A plurality of clamps (61) for fixing the water pipe (5) are equidistantly arranged on the top of the supporting plate (6) along the length extension direction of the supporting plate (6), one end of the clamp (61) is detachably connected with the vertical part of the supporting plate (6), and the other end of the clamp (61) is detachably connected with the horizontal part of the supporting plate (6).

6. A robot for a water delivery pipe for use in the curing of concrete piers according to claim 5, wherein: An insertion groove matched with the horizontal part of the supporting plate (6) is processed on the horizontal part of the L-shaped mounting bracket (4), and the horizontal part of the supporting plate (6) is inserted into the horizontal part of the L-shaped mounting bracket (4) and is welded and fixed with the horizontal part of the L-shaped mounting bracket (4).

7. A robot for delivering a water pipe in the curing process of a concrete pier according to claim 6, characterized in that: The inner side of the vertical part of the L-shaped mounting frame (4) is processed with an arc surface matched with the concrete pier column.

8. A robot for delivering a water pipe in the curing process of a concrete pier according to claim 7, characterized in that: The front side of the transverse holder (1) is provided with a guide wheel (8) for supporting the water pipe (5), and the guide wheel (8) is rotationally connected with the transverse holder (1).

Images