A boulder transfer device for the construction of a concrete retaining wall for riverbank protection

Abstract

A boulder transfer device for constructing a concrete retaining wall on a bank includes a mobile vehicle, a robotic arm, a gripping claw assembly, a first traction device, and a second traction device. The robotic arm is mounted on the mobile vehicle. The gripping claw assembly includes several claw teeth symmetrically arranged in a divergent pattern at the end of the robotic arm. The tip of each claw tooth is connected to the end of the robotic arm. A first traction device is provided between the ends of two adjacent claw teeth, and all the first traction devices at the ends of the claw teeth use the same traction rope. The second traction device is installed above the connection point between each claw tooth and the robotic arm, on the side wall of the robotic arm. The second traction device corresponds one-to-one with each claw tooth, and the traction rope of the second traction device passes through the corresponding claw tooth and is fixedly connected to the end of the corresponding claw tooth. Each claw tooth includes several connecting rod modules, which are connected end to end. This transfer device can automatically control the claw teeth to grip boulders according to their shape and size, making it highly adaptable.

Description

Technical fields:

[0001] This utility model relates to the field of bank protection engineering technology, specifically to a boulder transfer device for the construction of a concrete retaining wall for bank protection. Background technology:

[0002] Bank protection engineering refers to protective engineering facilities designed to prevent lateral erosion of rivers and bank collapses caused by localized riverbed scouring, thereby deviating the main channel from the eroded section. Protective measures typically include directly reinforcing the bank slope, planting trees and grass, and riprap or masonry revetment. Bank protection engineering can be categorized by structural materials, including riprap revetment, a widely used structure with advantages such as readily available materials, simple and flexible construction, adaptability to riverbed deformation, and the ability to be implemented in phases for gradual reinforcement. However, the boulders used in this structure have size requirements, typically 0.2–0.4 m in diameter and weighing 20–50 kg. Larger and heavier boulders require crushing or transportation. Crushing boulders takes considerable time, delaying construction progress. While transportation can increase construction speed, the boulders often vary greatly in shape and size, causing significant difficulties in clamping and transporting them. Utility model content:

[0003] This utility model provides a boulder transfer device for the construction of concrete retaining walls for riverbank protection, in order to solve the problem that existing boulder transfer devices are difficult to adapt to boulders of different shapes and sizes.

[0004] To achieve the above objectives, this utility model adopts the following technical solution:

[0005] This utility model provides a boulder transfer device for the construction of a concrete retaining wall for riverbank protection. The transfer device includes a mobile vehicle, a robotic arm, a gripping claw assembly, a first traction device, and a second traction device. The robotic arm is mounted on the mobile vehicle. The gripping claw assembly is mounted at the end of the robotic arm and includes several claw teeth. The claw teeth are symmetrically arranged in a divergent pattern at the end of the robotic arm, and the top of each claw tooth is connected to the end of the robotic arm. A first traction device is provided between the ends of two adjacent claw teeth, and all the first traction devices at the ends of the claw teeth use the same traction rope. The second traction device is installed above the connection point between each claw tooth and the robotic arm, on the side wall of the robotic arm. The second traction device corresponds one-to-one with each claw tooth, and the traction rope of the second traction device passes through the corresponding claw tooth and is fixedly connected to the end of the corresponding claw tooth. Each claw tooth includes several connecting rod modules, and the connecting rod modules are connected end to end.

[0006] The linkage module includes an extension rod, a rotating rod, a rotating ring, and a connecting ring. One end of the extension rod has a rotating rod, and the other end has a rotating ring. The rotating rod is cylindrical. The rotating ring has a through hole and a first notch for the rotating rod to pass through. The axis of the rotating rod is parallel to the axis of the through hole in the rotating ring. The rotating rod of one linkage module is embedded in the rotating ring of another linkage module to form a linkage mechanism. Multiple linkage modules are connected in this way to form a claw. The connecting ring is located at the top of the extension rod. The connecting ring has a through hole and a second notch for the traction rope of the second traction device to pass through. The traction rope of the second traction device passes through the through hole of the connecting ring and is fixedly connected to the end of the claw.

[0007] The rotating rings are provided in two symmetrically on one end of the extension rod, and the two rotating rings are respectively provided with through holes and first notches.

[0008] The through hole on the rotating ring is an irregularly shaped hole, a combination of a rectangular hole and an arc-shaped hole. The length of the through hole is greater than the diameter of the rotating rod, and the width is equal to the diameter of the rotating rod.

[0009] The width of the first notch is equal to or slightly larger than the diameter of the rotating rod.

[0010] Both ends of the rotating ring are provided with steps, and the two steps are respectively matched with the two ends of the extension rod.

[0011] Two connecting rings are symmetrically arranged, and each connecting ring has a through hole and a second notch.

[0012] The inner diameter of the through hole on the connecting ring is slightly larger than the diameter of the traction rope of the second traction device.

[0013] The width of the second notch is slightly larger than the diameter of the traction rope of the second traction device.

[0014] The first notch is provided with a first spring buckle, the shape of which is the same as that of the first notch; the second notch is provided with a second spring buckle, the shape of which is the same as that of the second notch.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This utility model uses a moving robotic arm to move the claw teeth above the boulder, so that the claw teeth, composed of several linkage modules, are laid down from top to bottom along the side wall of the boulder. Then, the first traction device is activated to tighten the ends of the claw teeth. The ends of the claw teeth and the traction rope of the first traction device are embedded into the lower end of the boulder, so that the claw teeth are in close contact with the boulder, thus clamping the boulder. Finally, the robotic arm is lifted, the moving vehicle is started to transport the boulder to the preset location, and the first traction device is released, so that the boulder can fall. The claw teeth, composed of linkage modules, have strong flexibility and can grasp according to the shape and size of the boulder, making them more adaptable.

[0017] 2. This utility model forms a linkage mechanism by embedding the rotating rod of one extension rod into the rotating ring of another extension rod. Multiple extension rods are then connected and installed in this manner to form a claw tooth, which facilitates the installation and disassembly of the claw tooth. The number of extension rods can be increased or decreased according to the shape and size of the boulder, thus increasing the adaptability of the device.

[0018] 3. This utility model sets a connecting ring at the top of the extension rod, and passes it through the traction end of the second traction device in sequence. When the second traction device extends, the traction rope lengthens, and the claw teeth relax and droop. When the second traction device shortens, the traction rope shortens, and the claw teeth retract from the end towards the mechanical arm. Due to the mutual restriction between the step and the two ends of the extension rod, the claw teeth cannot bend. Therefore, under the traction of the second traction device, the claw teeth will open towards the outlet of the traction end of the second traction device, realizing automatic control of the claw teeth. Attached image description:

[0019] Figure 1 This is a schematic diagram of the overall structure of the boulder transfer device in this utility model;

[0020] Figure 2 This is a schematic diagram of the connecting rod module structure in this utility model.

[0021] Figure reference numerals:

[0022] 1-Mobile vehicle, 2-robotic arm, 3-linkage module, 4-first traction device, 5-second traction device.

[0023] 301-Extended rod, 302-Rotating rod, 303-Rotating ring, 304-First notch, 305-Step, 306-Connecting ring, 307-Second notch. Detailed implementation method:

[0024] The present invention will be further described below with reference to specific embodiments. These specific embodiments are further explanations of the principle of the present invention and are not intended to limit the present invention in any way. Any technology that is the same as or similar to the present invention does not exceed the protection scope of the present invention.

[0025] See Figures 1-2 This utility model provides a boulder transport device for the construction of a concrete retaining wall for riverbank protection. The transport device includes a mobile vehicle 1, a robotic arm 2, a gripping claw assembly, a first traction device 4, and a second traction device 5. The robotic arm 2 is mounted on the mobile vehicle 1, which is preferably a tracked vehicle. The robotic arm 2 is a robotic arm from an existing excavator or crane. The gripping claw assembly is mounted at the end of the robotic arm 2. The gripping claw assembly includes several claw teeth, which are symmetrically arranged in a divergent pattern at the end of the robotic arm 2. Preferably, there are 4 to 8 groups of claw teeth, evenly distributed along the end of the robotic arm 2. Each claw tooth's tip connects to the end of the robotic arm 2. A first traction device 4 is provided between the ends of two adjacent claw teeth. Each claw tooth includes several link modules 3, which are connected end to end. The number of link modules 3 varies depending on the shape and size of the boulder, but at least three are provided. The specific number is not specifically limited in this embodiment. The structures of the link modules 3 connected to the robotic arm 2 and those located at the ends of the claw teeth differ, while the structures of the remaining link modules 3 are the same. Adding or removing link modules 3 is done from the middle of the claw teeth. The first traction device 4 can be installed on the link modules 3 at the ends of the claw teeth or on the robotic arm 2. The traction rope is laid to the ends of the claw teeth via the claw teeth. Preferably, the first traction device 4 at all ends of the claw teeth can use the same traction rope to enhance its tensile strength. Since there is no additional motor to drive the rotation of the connecting rod module 3 of the claw teeth, the claw teeth cannot open automatically and can only be opened manually, resulting in low work efficiency. Therefore, a second traction device 5 is installed above the connection point of each claw tooth and on the side wall of the robotic arm 2, so that the claw teeth can open towards the upper end of the robotic arm 2 under the traction of the second traction device 5, and all claw teeth are in an open state, which is convenient for gripping the boulder. The second traction device 5 corresponds to each claw tooth one by one, and the traction rope of the second traction device 5 passes through the corresponding claw tooth and is fixedly connected to the end of the corresponding claw tooth, which is convenient for simultaneous control of each claw tooth.

[0026] The linkage module 3 includes an extension rod 301, a rotating rod 302, a rotating ring 303, and a connecting ring 306. The extension rod 301 has a rotating rod 302 at one end and a rotating ring 303 at the other end. The axis of the rotating rod 302 is parallel to the axis of the through hole in the rotating ring 303. The rotating rod 302 is cylindrical. Two rotating rings 303 are symmetrically arranged on one end of the extension rod 301. The two rotating rings 303 have corresponding through holes and a first notch 304 for the rotating rod 302 to pass through. The width of the first notch 304 is equal to or slightly larger than the diameter of the rotating rod 302. The through hole on the rotating ring 303 is an irregularly shaped hole, a combination of rectangular and arc-shaped holes. The length of the through hole is greater than the diameter of the rotating rod 302, allowing the rotating rod 302 to move along the length of the irregularly shaped hole within the rotating ring 303. This not only keeps the rotating rod 302 away from the first notch 304 of the rotating ring 303 during the gripping process, preventing the claws from falling off, but also increases the retraction distance of the claws, facilitating their opening. The width of the irregularly shaped hole in the rotating ring 303 is equal to the diameter of the rotating rod 302, providing lateral restraint to the rotating rod 302 and preventing instability when the claws grip a boulder. A first spring latch is provided on the first notch 304, which closes the first notch 304. During installation, simply open the first spring latch, opening the first notch 304. Insert the rotating rod 302 of the other connecting rod module 3 into the rotating ring 303 through the first notch 304. Release the first spring latch to reset it, closing the first notch 304 and completing the connection of the two connecting rod modules 3. The operation is simple, and connecting rod modules 3 can be added or removed to the claw teeth at any time according to the size and dimensions of the boulder, making it easy to adapt to different boulders. The shape of the first spring latch is the same as the shape of the first notch 304. That is, when the first spring latch is in the initial state, there are no large notches or steps on the inner and outer walls of the rotating ring 303. The first spring latch preferably opens towards the inside of the rotating ring 303 and cannot open towards the outside. Moreover, opening towards the inside of the rotating ring 303 does not affect the entry and exit of the extension rod 301 into the rotating ring 303. Both ends of the rotating ring 303 are provided with steps 305, and the two steps 305 are respectively matched with the two ends of the extension rod 301. By matching the two ends of the extension rod 301 of one linkage module 3 with the steps 305 of another linkage module 3, when the two linkage modules 3 move towards each other, the steps 305 and the two ends of the extension rod 301 are circumferentially limited, reducing the possibility of the linkage module 3 rotating. During installation, the rotating rod 302 of one linkage module 3 is embedded in the rotating ring 303 of another linkage module 3 to form a linkage mechanism. Multiple linkage modules 3 are connected in this way to form a claw tooth. The length of the extension rod 301 is determined according to the requirements. The shorter the extension rod 301, the more extension rods 301 there are on a single claw tooth, the better the fit between the claw tooth and the boulder, but the installation difficulty and production cost are higher.Connecting rings 306 are disposed on the top of the extension rod 301 of the connecting rod module 3. Two connecting rings 306 are symmetrically arranged. The two connecting rings 306 are respectively provided with through holes and second notches 307 for the traction rope of the second traction device 5 to pass through. The inner diameter of the through hole is slightly larger than the diameter of the traction rope of the second traction device 5, and the width of the second notch 307 is slightly larger than the diameter of the traction rope of the second traction device 5. The traction rope of the second traction device 5 passes through the through hole of the connecting ring 306 and is fixedly connected to the end of the claw tooth. A second spring buckle is provided on the second notch 307. The shape of the second spring buckle is the same as the shape of the second notch 307. That is, when the second spring buckle is in the initial state, there are no large notches or steps on the inner and outer walls of the connecting ring 306. The second spring buckle preferably opens towards the inside of the connecting ring 306 and cannot open towards the outside. After the second spring buckle opens towards the inside of the connecting ring 306, it does not affect the entry and exit of the traction rope of the second traction device 5 into and out of the connecting ring 306.

[0027] The method of adding the connecting rod module 3 to this boulder transfer device is as follows: the traction rope of the second traction device 5 is extended, the first spring buckle of one of the connecting rod modules 3 on the claw teeth is opened, the rotating rod 302 in the rotating ring 303 corresponding to this first spring buckle is taken out, the two connecting rod modules 3 are separated and disconnected, a new connecting rod module 3 is taken, the second spring buckle on it is opened, the connecting ring 306 is hooked onto the traction rope of the second traction device 5, the second spring buckle is closed, and then the rotating ring 303 and rotating rod 302 at both ends of the new connecting rod module 3 are connected to the rotating rod 302 and rotating ring 303 corresponding to the previous two connecting rod modules 3 respectively.

[0028] The working principle of this boulder transfer device is as follows: The moving vehicle 1 is activated and moved to the vicinity of the boulder to be clamped. The robotic arm 2 is controlled to move the clamping claw assembly above the boulder. Simultaneously, the traction rope of the first traction device 4 extends, and the traction rope of the second traction device 5 shortens. Starting from the connecting rod module 3 at the end of the claw teeth, the clamping mechanism tightens towards the robotic arm 2. Adjacent connecting rod modules 3 move closer to each other. The rotating rod 302 moves towards another extended rod 301 within the rotating ring 303. The two ends of the rotating rod 302 match the steps 305 at both ends of the rotating ring 303 of the other connecting rod module 3, preventing rotation between adjacent connecting rod modules 3. When all connecting rod modules 3 are matched, the entire claw teeth tighten, forming a straight rod. Since the second traction device 5 is located above the connection point between the claw teeth and the robotic arm 2, the second traction device... Under the traction of device 5, the claws rotate towards the upper end of the robotic arm 2, so that all the claws are in an open state. The robotic arm 2 is moved so that the center of the claws is close to the middle of the upper end of the boulder. The traction rope of the second traction device 5 extends, and the tightening state of the claws is released. Under the action of gravity, the claws hang down, so that each link module 3 is pressed against the surface of the boulder. The lower end of the claw hangs down to the side and below the boulder. Then the traction rope of the first traction device 4 shortens, so that the ends of all the claws come closer together and wrap around the boulder. The traction rope of the first traction device 4 is embedded in the lower end of the boulder, so that the boulder is confined within the area enclosed by all the claws. Finally, the robotic arm 2 is raised, the moving vehicle 1 is moved, and the boulder is sent to the preset position. Then the traction rope of the first traction device 4 extends, and the boulder can fall from between the claws to the preset position, completing the transfer of the boulder.

Claims

1. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection, characterized in that: The transfer device includes a mobile vehicle (1), a robotic arm (2), a gripper assembly, a first traction device (4), and a second traction device (5). The robotic arm (2) is mounted on the mobile vehicle (1). The gripper assembly is mounted on the end of the robotic arm (2). The gripper assembly includes several teeth, which are symmetrically arranged in a divergent pattern at the end of the robotic arm (2). The top of each tooth is connected to the end of the robotic arm (2). A first traction device (4) is provided between the ends of two adjacent teeth. All the first traction devices (4) at the ends of the teeth use the same traction rope. The second traction device (5) is mounted above the connection point between each tooth and the robotic arm (2) and on the side wall of the robotic arm (2). The second traction device (5) corresponds to each tooth. The traction rope of the second traction device (5) passes through the corresponding tooth and is fixedly connected to the end of the corresponding tooth. Each tooth includes several linkage modules (3), which are connected end to end.

2. The boulder transfer device for the construction of a concrete retaining wall for riverbank protection as described in claim 1, characterized in that: The connecting rod module (3) includes an extension rod (301), a rotating rod (302), a rotating ring (303), and a connecting ring (306). One end of the extension rod (301) is provided with the rotating rod (302), and the other end is provided with the rotating ring (303). The rotating rod (302) has a cylindrical structure. The rotating ring (303) has a through hole and a first notch (304) for the rotating rod (302) to pass through. The axis of the rotating rod (302) is parallel to the axis of the through hole in the rotating ring (303). One connecting rod module... The rotating rod (302) of (3) is embedded in the rotating ring (303) of another connecting rod module (3) to form a connecting mechanism. Multiple connecting rod modules (3) are connected in this way to form a claw tooth. The connecting ring (306) is set on the top of the extension rod (301). The connecting ring (306) has a through hole and a second notch (307) for the traction rope of the second traction device (5) to pass through. The traction rope of the second traction device (5) passes through the through hole of the connecting ring (306) and is fixedly connected to the end of the claw tooth.

3. The boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: Two rotating rings (303) are provided, symmetrically arranged on one end of the extension rod (301), and the two rotating rings (303) are respectively provided with through holes and first notches (304).

4. The boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: The through hole on the rotating ring (303) is an irregularly shaped hole, which is a combination of a rectangular hole and a circular arc hole. The length of the through hole is greater than the diameter of the rotating rod (302), and the width is equal to the diameter of the rotating rod (302).

5. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: The width of the first notch (304) is equal to or slightly larger than the diameter of the rotating rod (302).

6. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: The rotating ring (303) has steps (305) at both ends, and the two steps (305) are respectively matched with the two ends of the extension rod (301).

7. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: Two connecting rings (306) are symmetrically arranged, and the two connecting rings (306) are respectively provided with through holes and second notches (307).

8. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: The inner diameter of the through hole on the connecting ring (306) is slightly larger than the diameter of the traction rope of the second traction device (5).

9. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: The width of the second notch (307) is slightly larger than the diameter of the traction rope of the second traction device (5).

10. A boulder transfer device for the construction of a concrete retaining wall for riverbank protection according to claim 2, characterized in that: The first notch (304) is provided with a first spring buckle, the shape of which is the same as that of the first notch (304); the second notch (307) is provided with a second spring buckle, the shape of which is the same as that of the second notch (307).

Images