Self-adaptive inner supporting type clamping end effector based on concrete lining plate

Abstract

The utility model provides a self-adaptive inner-supporting type clamping end effector based on a concrete lining plate. The self-adaptive inner-supporting type clamping end effector comprises a bearing frame, a clamping mechanism and a clamping mechanism, the mounting plate is provided with a punching unit used for punching the lining panel and a clamping unit used for being connected with the lining panel; the transmission unit is arranged on the bearing frame, connected with the mounting plate and used for enabling the mounting plate to slide in the length direction of the bearing frame so as to change the working positions of the punching unit and the clamping unit; and the support adjusting unit is used for erecting the bearing frame on the lining panel and adjusting the distance between the bearing frame and the lining panel. Through the design that the punching unit and the clamping unit are integrated, punching and clamping work of the lining panel can be directly completed under the condition that tools are not replaced, operation steps are reduced, and meanwhile the working efficiency is improved. By means of the mode that the lining panel is punched and the clamping unit is installed in the hole, sludge or shell vegetables on the lining panel do not need to be treated, the preparation time is saved, and the construction efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of water network repair technology, and in particular to an adaptive internal support type clamping end effector based on concrete lining plate. Background Technology

[0002] Large canals or waterways primarily function to supply water, irrigate, improve the ecological environment, and promote economic and social development. They not only ensure the effective use of water resources but also promote comprehensive regional development. During operation, canals and waterways are affected by various factors such as groundwater and operating water level changes, freeze-thaw cycles, and construction quality. Damage to the concrete lining slabs may occur, including cracking, collapse, and buoyancy instability, affecting the safe operation of the canal. When the lining slabs are damaged, it will lead to increased local head loss and damage to the seepage prevention system. In severe cases, it can cause slope softening and instability, affecting the safe operation of the canal. To prevent further deformation and damage to the lining slabs and ensure the normal water conveyance of the main canal, it is necessary to promptly remove and repair the damaged concrete lining slabs.

[0003] Because canals or rivers have a continuous flow of water year-round, it is usually necessary to build a cofferdam around the damaged concrete lining slab to drain the water and create dry conditions for construction. However, this limits the time and space for construction and increases the workload and complexity of the project. In addition, the surface of the lining panel is covered with silt and a lot of shellfish (shellfish are shellfish that attach to underwater structures such as bridges, docks, and dams). The surface of the lining panel needs to be cleaned before it can be extracted, which wastes time. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an adaptive internal support type clamping end effector based on concrete lining slabs, which solves the problem of low efficiency when clamping damaged lining slabs in existing technologies.

[0005] According to the embodiments of this utility model, the following technical solution is adopted:

[0006] An adaptive internally braced gripping end effector based on a concrete lining slab includes:

[0007] Support frame;

[0008] The mounting plate is equipped with a drilling unit for drilling holes in the lining panel and a clamping unit for connecting to the lining panel.

[0009] The transmission unit is located on the support frame and connected to the mounting plate. It is used to make the mounting plate slide along the length of the support frame to change the working position of the drilling unit and the clamping unit.

[0010] And a support adjustment unit, used to mount the support frame on the lining panel and adjust the distance between the two.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] In this solution, the drilling unit and clamping unit are carried and transported by a support frame and mounting plate. The actuator can be transported into the water directly by hoisting or truss, allowing it to operate directly in the flowing water. This avoids the process of building a cofferdam, reduces the amount of work and construction complexity, and also reduces time and cost.

[0013] In this solution, by integrating the drilling unit and the clamping unit into one unit, the drilling and clamping work of the lining panel can be completed directly without changing the tools, reducing the number of operation steps. At the same time, by drilling holes in the lining panel and installing the clamping unit in the holes, there is no need to treat the silt or shells on the lining panel, saving preparation time and improving construction efficiency.

[0014] Preferably, the punching unit includes:

[0015] Drilling rig;

[0016] The adjustment unit includes an adjustment plate connected to the drilling rig and an adjustment component connected between the adjustment plate and the mounting plate. The adjustment component is used to adjust the lifting position of the drilling rig.

[0017] Preferably, the adjustment unit includes:

[0018] The first lead screw is mounted on a mounting plate with two first mounting seats. The first lead screw is rotatably mounted between the two first mounting seats. The adjusting plate is connected to the first lead screw in a transmission manner.

[0019] The first driving component is mounted on the mounting plate. Both the output shaft of the first driving component and the end of the first lead screw are provided with bevel gears, and the two bevel gears mesh with each other.

[0020] Preferably, the mounting plate is provided with two corresponding second slide rails, and the adjusting plate is slidably disposed on the two second slide rails.

[0021] Preferably, the gripping unit includes:

[0022] The enclosure is mounted on the mounting plate;

[0023] The second telescopic component is located in the housing;

[0024] The conical block is located at the bottom of the box, and the telescopic end of the second telescopic component passes through the box and is connected to the small end of the conical block;

[0025] Several extrusion plates are slidably disposed at the bottom of the box along the radial direction of the box body, and the conical surface of the conical block abuts against the conical surface of each extrusion plate.

[0026] Preferably, each extrusion plate has several anti-slip grooves on its outer side.

[0027] Preferably, the transmission unit includes:

[0028] The second lead screw is provided with two second mounting seats on the support frame. The second lead screw is rotatably located between the two second mounting seats. The mounting plate is connected to the second lead screw in a transmission connection.

[0029] The second driving component is mounted on the support frame, and the end of the second lead screw is connected to the output shaft of the second driving component.

[0030] Preferably, the inner side of the support frame is provided with two first slide rails, and the mounting plate is slidably disposed on the two first slide rails.

[0031] Preferably, the support adjustment unit includes a plurality of first telescopic members, which are respectively installed on the periphery of the support frame, and the telescopic ends of the first telescopic members are disposed near the bottom of the support frame.

[0032] Preferably, each of the first telescopic components has a support leg at its telescopic end. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the actuator in an embodiment of this utility model.

[0034] Figure 2 This is a schematic diagram of the state of the actuator during drilling in an embodiment of this utility model.

[0035] Figure 3 This is a schematic diagram of the state of the actuator during extraction in an embodiment of this utility model.

[0036] Figure 4 This is a schematic diagram of the assembly structure of the punching unit, clamping unit and mounting plate in an embodiment of this utility model.

[0037] Figure 5 This is a schematic diagram of the state of the clamping unit before clamping in an embodiment of this utility model.

[0038] Figure 6 This is a schematic diagram of the state after the clamping unit has clamped the object in an embodiment of this utility model.

[0039] Figure 7 This is a schematic diagram showing the state of the actuators when they are used in batches in an embodiment of this utility model.

[0040] In the above attached figures: 1. Support frame; 11. First slide rail; 2. Mounting plate; 21. Second slide rail; 3. Adjusting plate; 4. Drilling rig; 5. First telescopic component; 51. Support leg; 6. Housing; 61. Second telescopic component; 62. Extrusion plate; 63. Conical block; 64. Anti-slip groove; 7. First lead screw; 71. Bevel gear; 72. First driving component; 73. First mounting base; 8. Second lead screw; 81. Second mounting base; 82. Second driving component. Detailed Implementation

[0041] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0042] like Figure 1 As shown, this utility model embodiment proposes an adaptive internal support type gripping end effector based on a concrete lining slab, comprising:

[0043] Support frame 1;

[0044] Mounting plate 2 is provided with a drilling unit for drilling holes in the lining panel and a clamping unit for connecting to the lining panel.

[0045] The transmission unit is located on the support frame 1 and connected to the mounting plate 2. It is used to make the mounting plate 2 slide along the length of the support frame 1 to change the working position of the punching unit and the clamping unit.

[0046] And a support adjustment unit, used to mount the support frame 1 on the lining panel and adjust the distance between the two.

[0047] In the embodiments of this utility model, before construction, the position of the support frame 1 can be moved by a crane, winch or truss, so that the support frame 1 can freely return to the shore or go into the water to work. When the support frame 1 moves to the designated lining panel position, under the action of the support adjustment unit, the support frame 1 can be erected on the lining panel to provide stable support for subsequent drilling and clamping.

[0048] Specifically, the support adjustment unit includes several first telescopic components 5, which are respectively installed on the periphery of the support frame 1. The telescopic ends of the first telescopic components 5 are positioned towards the bottom of the support frame 1. When the position of the support frame 1 corresponds to the lining panel, each of the first telescopic components 5 is synchronously controlled to extend its telescopic end, thereby gradually bringing the telescopic end of the first telescopic component 5 closer to the lining panel. Moreover, each telescopic end of the first telescopic component 5 is provided with a support leg 51. With the extension of the telescopic end, the support leg 51 can press against the lining panel, thus stably supporting the support frame 1 on the lining panel. Preferably, the aforementioned first telescopic component 5 is a cylinder.

[0049] After the position is adjusted, the lining panel is then drilled, such as... Figure 2 As shown, the initial position of the punching unit is located in the middle of the support frame 1. Specifically, the punching unit includes:

[0050] Drilling Rig 4;

[0051] The adjustment unit includes an adjustment plate 3 connected to the drill rig 4 and an adjustment component connecting the adjustment plate 3 and the mounting plate 2. The adjustment component is used to adjust the lifting position of the drill rig 4. The lifting adjustment of the drill rig 4 can be achieved by the adjustment component. During drilling, the extension ends of each of the first telescopic members 5 can remain stationary. When the drill rig 4 is started, the drilling part of the drill rig 4 begins to rotate. At the same time, the adjustment component controls the adjustment plate 3 to gradually descend, allowing the drilling part of the drill rig 4 to drill a hole in the lining panel. After drilling to a certain depth, the adjustment component is controlled again, causing the adjustment component to move the adjustment plate 3 upward, thereby allowing the drilling part of the drill rig 4 to disengage from the hole and move the drill rig 4 away from the lining panel, thus completing the drilling of the lining panel. The adjustment of the adjustment component can be controlled by a cylinder.

[0052] To improve the precise control of drilling rig 4, such as Figure 4 As shown, the adjustment unit includes:

[0053] The first lead screw 7 is mounted on the mounting plate 2 and has two first mounting seats 73. The first lead screw 7 is rotatably mounted between the two first mounting seats 73. The adjusting plate 3 is connected to the first lead screw 7 in a transmission manner.

[0054] The first driving component 72 is mounted on the mounting plate 2. Both the output shaft of the first driving component 72 and the end of the first lead screw 7 are provided with bevel gears 71, and the two bevel gears 71 mesh with each other.

[0055] By activating the first drive unit 72, the output shaft of the first drive unit 72 rotates, driving the bevel gear 71 it is equipped with to rotate. When the two bevel gears 71 are meshed, the first drive unit 72 can directly drive the first lead screw 7 between the two first mounting seats 73 to rotate. Since the adjusting plate 3 is driven by the first lead screw 7, the transmission connection includes a drive block with internal threads on the adjusting plate 3. When the first lead screw 7 rotates, it drives the drive block to move on the first lead screw 7, thereby precisely adjusting the height of the adjusting plate 3 to ensure the processing depth of the lining panel. The first drive unit 72 is preferably a motor, and underwater sealing is ensured.

[0056] Meanwhile, the mounting plate 2 is provided with two corresponding second slide rails 21, and the adjusting plate 3 is slidably mounted on the two second slide rails 21. A slider is provided on the adjusting plate 3, and the position of the adjusting plate 3 can be limited by the slider being slidably mounted on the second slide rails 21, ensuring the stability of the adjusting plate 3 during movement and preventing it from shifting.

[0057] After the holes are machined, the lining panels are then clamped, specifically, as follows: Figure 5 and Figure 6 As shown, the gripping unit includes:

[0058] The housing 6 is located on the mounting plate 2;

[0059] The second telescopic component 61 is provided on the housing 6;

[0060] The conical block 63 is located at the bottom of the box 6, and the telescopic end of the second telescopic component 61 passes through the box 6 and is connected to the small end of the conical block 63.

[0061] Several extrusion plates 62 are slidably disposed at the bottom of the box 6 along the radial direction of the box 6, and the conical surfaces of the conical blocks 63 respectively abut against the conical surfaces of each extrusion plate 62.

[0062] When the extrusion plates 62 come closer together, the diameter of the arc formed by the extrusion plates 62 is smaller than the diameter of the machined hole. With the cooperation of the transmission unit, the position of the mounting plate 2 on the support frame 1 is adjusted so that the clamping unit is positioned in the middle of the support frame 1. Figure 3 As shown, under the action of the support adjustment unit, when the clamping unit is aligned with the hole, the telescopic ends of each of the first telescopic members 5 are simultaneously contracted, causing the bearing frame 1 to drive each extrusion plate 62 closer to the lining panel and gradually enter the hole. In the initial state, the extrusion plate 62 is not in contact with the inner wall of the hole. Figure 5 At this time, by activating the second telescopic component 61, the telescopic end of the second telescopic component 61 retracts, causing the conical block 63 it is equipped with to move upward. Since each extrusion plate 62 is limited by the housing 6 and can only move radially, the conical block 63 will cause each extrusion plate 62 to be squeezed by the conical surface when it moves upward, thereby causing the conical blocks 63 to move away from each other, realizing an expansion movement, that is... Figure 6 As shown, until it abuts against the inner wall of the hole to achieve compression and fixation, before drilling the lining panel, the lining panel is generally cut into 2m*1m rectangular plates by cutting, without cutting through the entire lining panel. When the support frame 1 is lifted by the external support mechanism, the clamping unit transmits the force to the lining panel. After being subjected to force, the lining panel can be separated from the original lining panel from the cut part, realizing the extraction of the lining panel. The above-mentioned second telescopic member 61 is preferably a cylinder.

[0063] To increase the contact area between the actuator and the lining panel, thereby improving stability during extraction, multiple actuators can be mounted on the same load-bearing mechanism and act simultaneously on the same lining panel. This ensures stability and reduces the pressure on a single actuator. Figure 7 As shown.

[0064] Specifically, each extrusion plate 62 has several anti-slip grooves 64 on its outer side. These anti-slip grooves 64 can increase the friction between the extrusion plate 62 and the holes, ensuring stability during clamping.

[0065] Based on the above scheme, in order to ensure the transmission stability and accuracy of the mounting plate 2, such as Figure 2 As shown, the transmission unit includes:

[0066] The second lead screw 8 and the support frame 1 are provided with two second mounting seats 81. The second lead screw 8 is rotatably disposed between the two second mounting seats 81. The mounting plate 2 is connected to the second lead screw 8 in a transmission manner.

[0067] The second driving member 82 is located on the support frame 1, and the end of the second lead screw 8 is connected to the output shaft of the second driving member 82.

[0068] Mounting plate 2 has a transmission block with an internal threaded hole, which is connected to the second lead screw 8. Activating the second drive unit 82 causes its output shaft to rotate, driving the second lead screw 8 to rotate. This causes the transmission block to move on the second lead screw 8, allowing the mounting plate 2 to move laterally on the support frame 1, thus switching between the drilling unit and the clamping unit. Furthermore, when the second drive unit 82 stops, the mounting plate 2 remains self-locking due to the threaded self-locking mechanism, improving construction stability. Preferably, the second drive unit 82 is a motor.

[0069] Specifically, the inner side of the support frame 1 is provided with two first slide rails 11, and the mounting plate 2 is slidably disposed on the two first slide rails 11. A slider is provided on the inner side of the mounting plate 2, which is engaged with the first slide rail 11 by sliding the slider. This can limit the position of the mounting plate 2 and also support the mounting plate 2 and the installed components, thereby reducing the pressure on the second lead screw 8.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An adaptive internally supported gripping end effector based on a concrete lining slab, characterized in that, include: Support frame (1); Mounting plate (2) is provided with a punching unit for punching holes in the lining panel and a clamping unit for connecting to the lining panel. A transmission unit is provided on the support frame (1) and connected to the mounting plate (2), which is used to make the mounting plate (2) slide along the length direction of the support frame (1) to change the working position of the punching unit and the clamping unit; And a support adjustment unit for mounting the support frame (1) on the lining panel and adjusting the distance between the two.

2. The adaptive internal support type gripping end effector based on concrete lining slab according to claim 1, characterized in that, The punching unit includes: Drilling rig (4); The adjustment unit includes an adjustment plate (3) connected to the drilling rig (4) and an adjustment component connected between the adjustment plate (3) and the mounting plate (2). The adjustment component is used to adjust the lifting position of the drilling rig (4).

3. The adaptive internal support type gripping end effector based on a concrete lining slab according to claim 2, characterized in that, The adjustment unit includes: The first lead screw (7) is provided with two first mounting seats (73) on the mounting plate (2). The first lead screw (7) is rotatably disposed between the two first mounting seats (73). The adjusting plate (3) is connected to the first lead screw (7) in a transmission manner. A first driving member (72) is provided on the mounting plate (2). The output shaft of the first driving member (72) and the end of the first lead screw (7) are both provided with bevel gears (71), and the two bevel gears (71) mesh with each other.

4. An adaptive internal support type gripping end effector based on a concrete lining slab according to claim 2 or 3, characterized in that, The mounting plate (2) is provided with two corresponding second slide rails (21), and the adjusting plate (3) is slidably disposed on the two second slide rails (21).

5. The adaptive internal support type gripping end effector based on a concrete lining slab according to claim 1, characterized in that, The gripping unit includes: The housing (6) is located on the mounting plate (2); A second telescopic member (61) is provided on the box body (6); A conical block (63) is located at the bottom end of the box (6), and the telescopic end of the second telescopic member (61) passes through the box (6) and is connected to the small end of the conical block (63); A plurality of extrusion plates (62) are slidably disposed at the bottom of the box body (6) along the radial direction of the box body (6), and the conical surface of the conical block (63) abuts against the conical surface of each of the extrusion plates (62).

6. The adaptive internal support type gripping end effector based on a concrete lining slab according to claim 5, characterized in that, Each of the extrusion plates (62) has several anti-slip grooves (64) on its outer side.

7. The adaptive internal support type gripping end effector based on a concrete lining slab according to claim 1, characterized in that, The transmission unit includes: The second lead screw (8) is provided with two second mounting seats (81) corresponding to the support frame (1). The second lead screw (8) is rotatably disposed between the two second mounting seats (81). The mounting plate (2) is connected to the second lead screw (8) in a transmission manner. The second drive member (82) is provided on the support frame (1), and the end of the second lead screw (8) is connected to the output shaft of the second drive member (82).

8. An adaptive internally supported gripping end effector based on a concrete lining slab according to claim 1 or 7, characterized in that, The inner side of the support frame (1) is provided with two first slide rails (11), and the mounting plate (2) is slidably disposed on the two first slide rails (11).

9. The adaptive internal support type gripping end effector based on concrete lining slab according to claim 1, characterized in that, The support adjustment unit includes a plurality of first telescopic components (5), which are respectively installed on the periphery of the support frame (1), and the telescopic ends of the first telescopic components (5) are disposed near the bottom of the support frame (1).

10. The adaptive internal support type gripping end effector based on a concrete lining slab according to claim 9, characterized in that, Each of the first telescopic components (5) has a support leg (51) at its telescopic end.

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