A prefabricated block transfer equipment based on slope protection engineering

Abstract

The utility model discloses a prefabricated block transfer equipment based on side slope protection engineering, including crawler belt rotary table assembly, the upper fixed mounting of crawler belt rotary table assembly has four axle mechanical arm, the end of four axle mechanical arm is equipped with the spacing adjusting mechanism for adjusting spacing, and is equipped with the clamping mechanism for the clamping prefabricated block of transfer storage mechanism and with utensil, spacing adjusting mechanism includes the connecting frame fixed in the end of four axle mechanical arm, the inside fixed mounting of connecting frame has transmission piston, the top fixed mounting of transmission piston has transmission frame, the upper swing mounting of transmission frame has transmission link, the top swing mounting of transmission link has the connecting rod, the inside swing mounting of transmission frame has the limiting rod, and the top inlaying mounting of connecting rod and limiting rod has the clamping plate, transfer storage mechanism includes the side plate fixed mounting in the rear side of clamping plate, clamping mechanism includes the movable plate swing mounting in the inside of connecting plate.

Description

Technical Field

[0001] This utility model belongs to the field of engineering machinery technology, and relates to an engineering transfer device, and more specifically to a precast block transfer device based on slope protection engineering. Background Technology

[0002] Precast blocks can effectively prevent damage to roads and buildings from natural disasters such as debris flows and landslides, ensuring slope stability through their robust structural design. The precast blocks employ a modular design, allowing for simple and efficient on-site assembly. Connectors secure the precast concrete slope protection components to the foundation, forming a stable overall structure.

[0003] The existing Chinese invention patent with publication number CN115092630B discloses an automatic slope-climbing conveying device for small precast blocks used in slope protection. This device includes a conveying mechanism, which comprises a connecting frame. A segmented conveyor belt is rotatably mounted on the inner wall of the connecting frame, and several equidistantly distributed push plates are fixedly connected to the middle of the segmented conveyor belt. The connecting frame includes a horizontal frame, one end of which is rotatably connected to an inclined frame. A tracked drive chassis for driving the overall movement of the conveying mechanism is fixedly mounted at the bottom of the horizontal frame. This invention uses the tracked drive chassis to move the horizontal frame, thereby moving the entire device. This allows the device to automatically climb the slope to the construction position, and then uses the rotation of the segmented conveyor belt to transport the precast blocks, reducing the manpower required for manually moving the precast blocks and improving work efficiency.

[0004] The aforementioned automated inclined conveying equipment can only transfer the precast blocks stored above it. After moving them to the vicinity of the assembly position, manual handling is required, resulting in a low degree of automation. Currently, the method of transferring precast blocks by using a robotic arm to drive clamps can only transport one precast block per stroke, which is inefficient. Furthermore, the clamping force of the clamps cannot be adjusted according to the strength of the precast blocks, which may lead to damage to the precast blocks due to excessive clamping force. Utility Model Content

[0005] This utility model provides a precast block transfer device based on slope protection engineering, which aims to solve the problem that the existing precast block transfer device can only transport one precast block at a time and cannot adjust the clamping force of the clamps.

[0006] Therefore, the present invention adopts the following technical solution: An intelligent device for slope protection engineering includes a tracked turntable assembly. A four-axis robotic arm is fixedly mounted on top of the tracked turntable assembly. A spacing adjustment mechanism for adjusting the spacing is installed at the end of the four-axis robotic arm. The spacing adjustment mechanism includes a connecting frame fixed to the end of the four-axis robotic arm. A transmission piston is fixedly mounted inside the connecting frame. A transmission frame is fixedly mounted on the top of the transmission piston. A transmission rod is movably mounted above the transmission frame. A connecting rod is movably mounted on the top of the transmission rod. A limit rod is movably mounted inside the transmission frame. A clamping plate is fitted onto the top of the connecting rod and the limit rod. The transmission rod is symmetrically mounted at both ends of the transmission frame. The bottom end of the transmission rod is rotatably connected to the transmission frame. The top end of the transmission rod is rotatably connected to the bottom end of the connecting rod. The bend of the connecting rod is rotatably connected to the connecting frame. The bottom end of the limit rod is rotatably connected to the connecting frame. The top ends of the connecting rod and the limit rod are rotatably connected to the clamping plate.

[0007] The tracked turntable assembly facilitates equipment movement. The position of the end-effector transfer and storage mechanism and the clamping mechanism can be adjusted by a four-axis robotic arm. The connecting frame can limit the position of the transmission piston. The transmission piston drives the transmission frame to move, thereby adjusting the rotation angle of the connecting rod at both ends of the transmission frame. The cylindrical structure at the bend of the connecting rod can limit the rotation axis of the connecting rod. At the same time, the limiting rod can form a quadrilateral structure with the connecting rod, the connecting frame, and the side plates on both sides. When the connecting rod rotates, the side plates on both sides of the connecting rod can remain vertical while moving. By adjusting the distance between the side plates, the transmission belts on both sides can contact the sides of the precast blocks.

[0008] The end of the four-axis robotic arm is equipped with a transfer and storage mechanism for transferring and storing prefabricated blocks. The transfer and storage mechanism includes a side plate fixedly mounted to the rear of a clamping plate. A slider is fitted onto the surface of the side plate, and a limit shaft is inserted inside the slider. A limit piston is fixedly mounted on one side of the side plate, and a pressure sensor is fixedly mounted on the movable end of the limit piston. An electric actuator is fixedly mounted above the side plate, and a limit plate is fixedly mounted at the end of the electric actuator. A guide shaft is inserted inside the limit plate, and a transmission belt is mounted on the outer side of the limit shaft and the guide shaft. A connecting plate is fixedly mounted on the inner side of the side plate, and a transfer belt is installed between the connecting plates. A drive motor is fixedly mounted on one side of the side plate, and a base is fixedly mounted on one side of the side plate. A stepper motor is fixedly installed on the main body, and a camera is fixedly installed at the end of the stepper motor's shaft. One side of the side plate has a recess that fits into the cylindrical structure at the top of the connecting rod and the limit rod. The slider and the side plate form a rotatable connection. The limit shaft is also installed between the side plates, and the limit shaft, slider, and side plate form a rotatable connection. The limit plate and the side plate form a sliding connection. The limit plate and the guide shaft form a rotatable connection. Limit shafts are also installed between the connecting plates, and a tension adjustment bolt is provided on one side of the connecting plate. The conveyor belt is installed on the outside of the limit shaft between the connecting plates. The end of the limit shaft on one side of the connecting plate is fixedly connected to the shaft of the drive motor. The end of the limit shaft in the center of the side plate is fixedly connected to the shaft of another drive motor.

[0009] The side plate restricts the position of the connecting plate. A limiting piston drives a limiting shaft to fine-tune the distance between the two transmission belts. The limiting shaft also restricts the position of the transmission belt. An electric actuator moves a limiting plate to adjust the position of the guide shaft, regulating the tension of the transmission belt. A pressure sensor at the end of the limiting piston monitors the pressure on the surface of the precast block during clamping, preventing excessive pressure on the precast block between the transmission belts. The guide shaft restricts the bending position of the transmission belt, increasing the wrap angle between the transmission belt and the limiting shaft at the center of the side plate to improve transmission efficiency. The drive motor rotates the limiting shaft and the drive shaft. The limiting shafts at both ends of the transfer belt inside the connecting plate and the limiting shaft at the center of the side plate are controlled by two drive motors, allowing the transmission belt to stop during the movement of the precast block, preventing excessive spacing between precast blocks and affecting storage. A stepper motor rotates the camera to adjust its orientation, facilitating monitoring of the precast block's position during clamping.

[0010] The end of the four-axis robotic arm is equipped with a clamping mechanism for holding precast blocks. The clamping mechanism includes a movable plate movably mounted inside the connecting plate. A drive shaft is inserted into the inner side of the movable plate. A transition block is movably mounted at one end of the drive shaft. A clamping piston is fixedly mounted at the upper end of the transition block. A limit block is fitted inside the movable plate. A synchronous belt is mounted on the outer side of the drive shaft. The movable plate has an "L" shaped structure. At the corner of the movable plate, both ends of the drive shaft pass through the movable plate and the connecting plate, and are rotatably connected to the movable plate and the connecting plate through bearings. The transition block is rotatably connected to the drive shaft at the bottom of the movable plate through bearings. The top of the clamping piston is rotatably connected to the cylindrical protrusion on the outer side of the connecting plate through bearings. A pressure sensor is also installed between the movable end of the clamping piston and the transition block. The limit block is slidably connected to the movable plate, and one end of the limit block is fixedly connected to the movable end of the electric push rod inside the movable plate. The drive shaft is movably mounted inside the limit block through bearings.

[0011] The movable plate can restrict the position of the drive shaft and restrict the shape of the timing belt through the drive shaft. One end of the clamping piston on the outside of the movable plate is connected to one end of the drive shaft at the bottom of the movable plate through an adapter block, and the other end is connected to the cylindrical structure on the outside of the connecting plate. The clamping piston drives the movable plate to rotate and adjust the angle between the two movable plates with the axis of the drive shaft at the bend of the movable plate as the reference, so as to facilitate the clamping of the precast blocks. One end of the drive shaft at the bottom of the movable plate is fixedly connected to the drive motor shaft on the outside of the movable plate. The drive motor drives the timing belt to rotate and transfer the precast blocks located between the timing belts to the transfer belts.

[0012] The beneficial effects of this utility model are as follows: 1. This precast block transfer equipment based on slope protection engineering uses a synchronous belt. One end of the drive shaft at the bottom of the movable plate is fixedly connected to the drive motor shaft on the outside of the movable plate. The drive motor drives the synchronous belt to rotate, transferring the precast blocks located between the synchronous belts to the transfer belts. The transfer belts then move the precast blocks to the transmission belts. The limiting shafts at both ends of the transfer belt inside the connecting plate and the limiting shaft at the center of the side plate are controlled by two drive motors respectively. This allows the transmission belt to stop rotating during the movement of the precast blocks by the transfer belt, avoiding excessive spacing between the precast blocks on the transmission belts, which would affect storage. This method can store a certain amount of precast blocks between the transmission belts, reducing the number of times the four-axis robotic arm moves from the stacking position to the paving position, and effectively improving the precast block paving efficiency.

[0013] 2. This precast block transfer equipment based on slope protection engineering utilizes a transmission piston to move a transmission frame, thereby adjusting the rotation angle of the connecting rods at both ends of the transmission frame. The cylindrical structure at the bend of the connecting rod restricts the rotation axis of the connecting rod. Simultaneously, the limiting rod, connecting rod, connecting frame, and side plates on both sides form a quadrilateral structure. When the connecting rod rotates, the side plates on both sides of the connecting rod can remain vertical while moving. By adjusting the distance between the side plates, the transmission belts on both sides can contact the sides of the precast blocks. A pressure sensor at the end of the limiting piston monitors the pressure on the surface of the precast block when clamping it, preventing excessive pressure on the precast block between the transmission belts. When the pressure sensor detects excessive pressure on the precast block, the position of the transmission belt can be finely adjusted by the limiting piston. At the same time, the electric push rod can move the limiting plate to adjust the position of the guide shaft, keeping the transmission belt taut. Furthermore, the pressure sensor between the clamping piston and the transfer block can monitor the clamping force during the clamping process to prevent excessive pressure on the precast block.

[0014] 3. This precast block transfer device based on slope protection engineering, through the setting of clamping pistons, has one end of the clamping piston on the outside of the movable plate connected to one end of the drive shaft at the bottom of the movable plate through a transition block, and the other end connected to the columnar structure on the outside of the connecting plate. The clamping piston drives the movable plate to rotate and adjust the included angle between the two movable plates with the axis of the drive shaft at the bend of the movable plate as the reference, so as to facilitate the clamping of precast blocks. The synchronous belt inside the connecting plate can drive the precast blocks to move between the transfer belts after the clamping is completed, so that the device can automatically add precast blocks between the transmission belts, eliminating the manual handling process and improving the precast block laying efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the spacing adjustment mechanism of this utility model; Figure 4 This is an exploded view of the transfer storage mechanism of this utility model; Figure 5 This is a schematic diagram of the transfer storage mechanism of this utility model; Figure 6 This is a schematic diagram of the clamping mechanism of this utility model. Figure 1 ; Figure 7 This is a schematic diagram of the clamping mechanism of this utility model. Figure 2 ; In the picture: 1. Tracked turntable assembly; 11. Four-axis robotic arm; 2. Spacing adjustment mechanism; 21. Connecting frame; 22. Transmission piston; 23. Transmission frame; 24. Transmission rod; 25. Connecting rod; 26. Limiting rod; 27. Clamping plate; 3. Transfer and storage mechanism; 31. Side plate; 32. Slider; 33. Limiting shaft; 34. Limiting piston; 35. Pressure sensor; 36. Electric actuator; 37. Limiting plate; 38. Guide shaft; 39. Transmission belt; 310. Connecting plate; 311. Transfer belt; 312. Drive motor; 313. Base; 314. Stepper motor; 315. Camera; 4. Clamping mechanism; 41. Movable plate; 42. Drive shaft; 43. Adapter block; 44. Clamping piston; 45. Limit block; 46. Synchronous belt. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figure 1 and 2 As shown, a precast block transfer device for slope protection engineering includes a tracked turntable assembly 1, a four-axis robotic arm 11 fixedly mounted on top of the tracked turntable assembly 1, and a spacing adjustment mechanism 2 for adjusting the spacing installed at the end of the four-axis robotic arm 11. Both the tracked turntable assembly 1 and the four-axis robotic arm 11 can adopt existing designs.

[0017] like Figure 3 As shown, the spacing adjustment mechanism 2 includes a connecting frame 21 fixed to the end of the four-axis robotic arm 11. The connecting frame 21 includes two T-shaped vertical iron plates, which are fixedly connected at their bottoms, forming a cavity between them. A vertical transmission piston 22 is fixedly installed at the bottom of the cavity inside the connecting frame 21. A transmission frame 23 is fixedly installed at the top of the transmission piston 22. The transmission frame 23 is a horizontal rod-shaped structure with columnar openings at both ends. A transmission rod 24 is movably installed above the transmission frame 23, and a connecting rod 25 is movably installed at the top of the transmission rod 24. A limiting rod 26 is movably installed inside the transmission frame 23. A clamping plate 27 is fitted onto the top of the connecting rod 25 and the limiting rod 26. The transmission rods 24 are symmetrically installed at both ends of the transmission frame 23. The bottom end of the transmission rod 24 is rotatably connected to the transmission frame 23. The top end of the transmission rod 24 is rotatably connected to the bottom end of the connecting rod 25. The bend of the connecting rod 25 is rotatably connected to the connecting frame 21. The bottom end of the limiting rod 26 is rotatably connected to the connecting frame 21. The top ends of the connecting rod 25 and the limiting rod 26 are rotatably connected to the clamping plate 27.

[0018] The tracked turntable assembly 1 facilitates equipment movement. The four-axis robotic arm 11 adjusts the position of the end transfer storage mechanism 3 and the clamping mechanism 4. The connecting frame 21 restricts the position of the transmission piston 22. The transmission piston 22 drives the transmission frame 23 to move vertically, so that the transmission rods 24 at both ends of the transmission frame 23 can adjust the rotation angle of the connecting rod 25. The columnar structure at the bend of the connecting rod 25 restricts the rotation axis of the connecting rod 25. At the same time, the limiting rod 26 can form a quadrilateral structure with the connecting rod 25, the connecting frame 21, and the side plates 31 on both sides. When the connecting rod 25 rotates, the side plates 31 on both sides of the connecting rod 25 can remain in a vertical state while moving. By adjusting the distance between the side plates 31, the transmission belts 39 on both sides can contact the sides of the precast blocks.

[0019] like Figure 3 As shown, the spacing adjustment mechanism 2 includes a connecting frame 21 fixed to the end of the four-axis robotic arm 11. The connecting frame 21 includes two T-shaped vertical iron plates, which are fixedly connected at their bottoms, forming a cavity between them. A vertical transmission piston 22 is fixedly installed at the bottom of the cavity inside the connecting frame 21, and a transmission frame 23 is fixedly installed at the top of the transmission piston 22. A transmission rod 24 is movably installed above the transmission frame 23, and a connecting rod 25 is movably installed at the top of the transmission rod 24. A limit rod 26 is movably installed inside the transmission frame 23. A clamping plate 27 is fitted into the top of the limiting rod 26; the transmission frame 23 is a horizontal rod-shaped structure with columnar openings at both ends. The transmission rods 24 are symmetrically installed at both ends of the transmission frame 23, and the bottom end of the transmission rod 24 is rotatably connected to the transmission frame 23. The top end of the transmission rod 24 is rotatably connected to the bottom end of the connecting rod 25. The bend of the connecting rod 25 is rotatably connected to the connecting frame 21. The bottom end of the limiting rod 26 is rotatably connected to the connecting frame 21. The top end of the connecting rod 25 and the limiting rod 26 are rotatably connected to the clamping plate 27.

[0020] The tracked turntable assembly 1 facilitates equipment movement. The four-axis robotic arm 11 adjusts the position of the end transfer storage mechanism 3 and the clamping mechanism 4. The connecting frame 21 restricts the position of the transmission piston 22. The transmission piston 22 drives the transmission frame 23 to move vertically, so that the transmission rods 24 at both ends of the transmission frame 23 adjust the rotation angle of the connecting rod 25. The columnar structure at the bend of the connecting rod 25 restricts the rotation axis of the connecting rod 25. At the same time, the limiting rod 26 can form a quadrilateral structure with the connecting rod 25, the connecting frame 21, and the side plates 31 on both sides. When the connecting rod 25 rotates, the side plates 31 on both sides of the connecting rod 25 can remain in a vertical state while moving. When the transmission piston 22 extends and retracts, it drives the transmission frame 23 to drive the connecting rod 25 to rotate around the hinge point between itself and the connecting frame 21 through the transmission rod 24, so as to adjust the distance between the side plates 31 so that the transmission belts 39 on both sides can contact the sides of the precast block.

[0021] like Figure 4 and 5 As shown, the end of the four-axis robotic arm 11 is equipped with a transfer and storage mechanism 3 for transferring and storing prefabricated blocks. The transfer and storage mechanism 3 includes a side plate 31 fixedly installed on the rear side of the clamping plate 27. A slider 32 is fitted onto the surface of the side plate 31. A limiting shaft 33 is inserted inside the slider 32. A transverse limiting piston 34 is fixedly installed on one side of the side plate 31. A pressure sensor 35 is fixedly installed on the movable end of the limiting piston 34. A vertical electric push rod 36 is fixedly installed above the side plate 31. A limiting plate 37 is fixedly installed at the end of the electric push rod 36. A guide shaft 38 is inserted inside the limiting plate 37. A transmission belt 39 is installed on the outer side of the limiting shaft 33 and the guide shaft 38. A connecting plate 310 is fixedly installed on the inner side of the side plate 31. A transfer belt 311 is installed between the connecting plates 310. A drive motor 312 is fixedly installed on one side of the side plate 31. A base 313 is fixedly installed on one side of the side plate 31. A stepper motor 314 is fixedly installed inside the 13. A camera 315 is fixedly installed at the end of the rotating shaft of the stepper motor 314. A recess is provided on one side of the side plate 31 to fit into the cylindrical structure at the top of the connecting rod 25 and the limiting rod 26. The slider 32 and the side plate 31 are rotatably connected. The limiting shaft 33 is also installed between the side plates 31. The limiting shaft 33 is rotatably connected to the slider 32 and the side plate 31. The limiting plate 37 and the side plate 31 are slidably connected. The limiting plate 37 and the guide shaft 38 are rotatably connected. The connecting plates 310 are also equipped with limiting shafts 33. A tension adjustment bolt is provided on one side of the connecting plate 310. The conveyor belt 311 is installed on the outside of the limiting shaft 33 between the connecting plates 310. The end of the limiting shaft 33 on one side of the connecting plate 310 is fixedly connected to the rotating shaft of the drive motor 312. The end of the limiting shaft 33 in the center of the side plate 31 is fixedly connected to the rotating shaft of another drive motor 312.

[0022] The side plate 31 can limit the position of the connecting plate 310. The distance between the two transmission belts 39 can be finely adjusted by moving the limiting shaft 33 via the limiting piston 34. Simultaneously, the limiting shaft 33 can also limit the position of the transmission belts 39. The tension of the transmission belt 39 is adjusted by moving the limiting plate 37 via the electric actuator 36 to adjust the position of the guide shaft 38. The pressure sensor 35 at the end of the limiting piston 34 monitors the pressure on the surface of the precast block when clamping it, preventing excessive pressure on the precast block between the transmission belts 39. The guide shaft 38 can limit the bending position of the transmission belt 39, ensuring that the transmission belt 39 is in contact with the side plate 310. The wrap angle between the limiting shafts 33 at the center of plate 31 is increased to improve transmission efficiency. The drive motor 312 can drive the limiting shafts 33 and drive shaft 42 to rotate. The limiting shafts 33 at both ends of the transfer belt 311 inside the connecting plate 310 and the limiting shaft 33 at the center of the side plate 31 are controlled by two drive motors 312 respectively. This can stop the transmission belt 39 during the movement of the precast blocks by the transfer belt 311, so as to avoid the precast blocks between the transmission belts 39 being too far apart and affecting storage. The camera 315 is rotated by the stepper motor 314 to adjust the orientation of the camera 315 so as to monitor the position of the precast blocks during the clamping process.

[0023] like Figure 6 and 7 As shown, the end of the four-axis robotic arm 11 is equipped with a clamping mechanism 4 for clamping prefabricated blocks. The clamping mechanism 4 includes a movable plate 41 movably mounted inside the connecting plate 310. A drive shaft 42 is inserted into the inner side of the movable plate 41. A transition block 43 is movably mounted at one end of the drive shaft 42. A clamping piston 44 is fixedly mounted at the upper end of the transition block 43. A limit block 45 is fitted inside the movable plate 41. A synchronous belt 46 is mounted on the outer side of the drive shaft 42. The movable plate 41 has an "L"-shaped structure. At the corner of the movable plate 41, both ends of the drive shaft 42 pass through the movable plate 41 and the connecting plate 310. The bearing forms a rotatable connection between the movable plate 41 and the connecting plate 310. The transition block 43 forms a rotatable connection between the bearing and the drive shaft 42 at the bottom of the movable plate 41. The top of the clamping piston 44 forms a rotatable connection between the bearing and the outer cylindrical protrusion of the connecting plate 310. A pressure sensor 35 is also installed between the movable end of the clamping piston 44 and the transition block 43. The limiting block 45 forms a sliding connection with the movable plate 41. One end of the limiting block 45 is fixedly connected to the movable end of the electric push rod 36 on the inner side of the movable plate 41. The drive shaft 42 is movably installed inside the limiting block 45 through the bearing.

[0024] The movable plate 41 can limit the position of the drive shaft 42 and limit the shape of the synchronous belt 46 through the drive shaft 42. One end of the clamping piston 44 on the outside of the movable plate 41 is connected to one end of the drive shaft 42 at the bottom of the movable plate 41 through the adapter block 43, and the other end is connected to the outer cylindrical structure of the connecting plate 310. The clamping piston 44 drives the movable plate 41 to rotate and adjust the angle between the two movable plates 41 with the axis of the drive shaft 42 at the bend of the movable plate 41 as the reference, so as to clamp the preform. One end of the drive shaft 42 at the bottom of the movable plate 41 is fixedly connected to the rotating shaft of the drive motor 312 on the outside of the movable plate 41. The drive motor 312 drives the synchronous belt 46 to rotate and transfer the preform located between the synchronous belts 46 to the transfer belts 311.

[0025] The usage method of this solution is as follows: Through the coordinated action of the clamping mechanism 4, the transfer and storage mechanism 3, and the four-axis robotic arm 11, the precast blocks are automatically clamped, temporarily stored, and transferred. During clamping, the movable plate 41 of the clamping mechanism 4 is "L"-shaped, and its bend is rotatably connected to the connecting plate 310 via the drive shaft 42. One end of the clamping piston 44 is connected to the outer protrusion of the connecting plate 310, and the other end is connected to the drive shaft 42 at the bottom of the movable plate 41 via the adapter block 43. The extension and retraction of the clamping piston 44 can drive the movable plate 41 to rotate around the drive shaft 42 at the bend, adjusting the included angle of the two movable plates 41 to fit the precast blocks. At the same time, the pressure sensor 35 between the clamping piston 44 and the adapter block 43 monitors the clamping force in real time to avoid excessive pressure that could damage the precast blocks. Next, the drive shaft 42 on the inner side of the movable plate 41 is connected to the drive motor 312 on the outer side. The drive motor 312 drives the drive shaft 42 to rotate, causing the synchronous belt 46 to rotate and transfer the clamped precast block to the transfer belt 311 between the connecting plates 310. The transfer belt 311 is driven by the drive motor 312 on one side of the connecting plate 310, further transferring the precast block to the transmission belt 39 between the side plates 31 for temporary storage. Subsequently, the tracked turntable assembly 1 drives the equipment to move to the slope operation area. The four-axis robotic arm 11 adjusts the attitude of the end mechanism and transfers the precast block temporarily stored on the transmission belt 39 to the designated laying position. The transmission belt 39 is driven by the drive motor 312 in the center of the side plate 31 to release the precast block as needed, completing the laying.

[0026] For precast blocks of different sizes, the equipment achieves adaptive operation through multi-structure cooperation: Regarding width adjustment, the transmission piston 22 of the spacing adjustment mechanism 2 extends and retracts, driving the transmission frame 23 to move up and down. The transmission rods 24 at both ends of the transmission frame 23 push the connecting rod 25 to rotate around the connecting frame 21. The limiting rod 26, together with the connecting rod 25, the connecting frame 21, and the side plate 31, forms a quadrilateral structure, ensuring that the side plate 31 remains vertical during movement. The two side plates 31 move closer or further apart as the connecting rod 25 rotates, thereby adjusting the spacing of the two transmission belts 39 to adapt to precast blocks of different widths. Regarding pressure adjustment, for precast blocks with different thicknesses or strengths, in addition to the pressure sensor 35 of the clamping mechanism 4 monitoring the clamping force, the limiting piston on one side of the side plate 31... The position of the transmission belt 39 can be finely adjusted. If the pressure sensor 35 detects that the precast block is under excessive pressure, the limit piston 34 extends and retracts to push the slider 32 and the limit shaft 33 to move, indirectly adjusting the pressure of the transmission belt 39 on the precast block to avoid pressure damage. In terms of conveying stability, the electric push rod 36 above the side plate 31 extends and retracts to drive the limit plate 37 and the guide shaft 38 to move up and down. The guide shaft 38 adjusts the bending angle of the transmission belt 39. No matter how the spacing of the transmission belt 39 changes, it can keep the transmission belt 39 taut to prevent slippage. At the same time, the electric push rod 36 inside the movable plate 41 drives the limit block 45 to slide. The limit block 45 is connected to the drive shaft 42 through the bearing, which can adjust the spacing of the synchronous belt 46 to adapt to the transfer requirements of precast blocks of different widths.

Claims

1. A prefabricated block transfer apparatus based on slope protection engineering, characterized in that, The system includes a tracked turntable assembly (1), on which a four-axis robotic arm (11) is fixedly mounted. The system is characterized in that: the end of the four-axis robotic arm (11) is equipped with a spacing adjustment mechanism (2) for adjusting the spacing, a transfer storage mechanism (3) for transferring and storing prefabricated blocks, and a clamping mechanism (4) for clamping the prefabricated blocks. The spacing adjustment mechanism (2) includes a connecting frame (21) fixed to the end of the four-axis robotic arm (11). A transmission piston (22) is fixedly installed inside the connecting frame (21). A transmission frame (23) is fixedly installed at the top of the transmission piston (22). A transmission rod (24) is movably installed above the transmission frame (23). A connecting rod (25) is movably installed at the top of the transmission rod (24). A limit rod (26) is movably installed inside the transmission frame (23). A clamping plate (27) is fitted between the top of the connecting rod (25) and the limit rod (26). The transfer storage mechanism (3) includes a side plate (31) fixedly installed on the rear side of the clamp (27). The clamping mechanism (4) includes a movable plate (41) that is movably mounted inside the connecting plate (310).

2. The prefabricated block transfer equipment based on slope protection engineering according to claim 1, characterized in that: The transmission rod (24) is symmetrically installed at both ends of the transmission frame (23), and the bottom end of the transmission rod (24) is rotatably connected to the transmission frame (23). The top end of the transmission rod (24) is rotatably connected to the bottom end of the connecting rod (25). The bend of the connecting rod (25) is rotatably connected to the connecting frame (21). The bottom end of the limiting rod (26) is rotatably connected to the connecting frame (21). The top ends of the connecting rod (25) and the limiting rod (26) are rotatably connected to the clamping plate (27).

3. The prefabricated block transfer equipment based on slope protection engineering according to claim 1, characterized in that: A slider (32) is fitted onto the surface of the side plate (31). A limiting shaft (33) is inserted inside the slider (32). A limiting piston (34) is fixedly installed on one side of the side plate (31). A pressure sensor (35) is fixedly installed on the movable end of the limiting piston (34). An electric actuator (36) is fixedly installed above the side plate (31). A limiting plate (37) is fixedly installed at the end of the electric actuator (36). A guide shaft (38) is inserted inside the limiting plate (37). 33) A transmission belt (39) is installed on the outside of the guide shaft (38). A connecting plate (310) is fixedly installed on the inside of the side plate (31). A transfer belt (311) is installed between the connecting plates (310). A drive motor (312) is fixedly installed on one side of the side plate (31). A base (313) is fixedly installed on one side of the side plate (31). A stepper motor (314) is fixedly installed inside the base (313). A camera (315) is fixedly installed at the end of the rotating shaft of the stepper motor (314).

4. The prefabricated block transfer equipment based on slope protection engineering according to claim 3, characterized in that: The side plate (31) has a recess on one side that fits into the cylindrical structure at the top of the connecting rod (25) and the limiting rod (26). The slider (32) and the side plate (31) are rotatably connected. The limiting shaft (33) is also installed between the side plates (31). The limiting shaft (33) is rotatably connected with the slider (32) and the side plate (31).

5. The prefabricated block transfer equipment based on slope protection engineering according to claim 3, characterized in that: The limiting plate (37) and the side plate (31) are connected in a sliding manner, and the limiting plate (37) and the guide shaft (38) are connected in a rotating manner. The connecting plates (310) are also connected in a limiting shaft (33), and a tensioning adjustment bolt is provided on one side of the connecting plate (310).

6. The prefabricated block transfer equipment based on slope protection engineering according to claim 3, characterized in that: The transfer belt (311) is installed on the outside of the limiting shaft (33) between the connecting plates (310). The end of the limiting shaft (33) on one side of the connecting plate (310) is fixedly connected to the shaft of the drive motor (312). The end of the limiting shaft (33) at the center of the side plate (31) is fixedly connected to the shaft of another drive motor (312).

7. The prefabricated block transfer equipment based on slope protection engineering according to claim 1, characterized in that: A drive shaft (42) is inserted into the inner side of the movable plate (41). A transition block (43) is movably installed at one end of the drive shaft (42). A clamping piston (44) is fixedly installed at the upper end of the transition block (43). A limit block (45) is fitted inside the movable plate (41). A synchronous belt (46) is installed on the outer side of the drive shaft (42).

8. The prefabricated block transfer equipment based on slope protection engineering according to claim 7, characterized in that: The movable plate (41) has an "L" shaped structure. The two ends of the drive shaft (42) at the corner of the movable plate (41) pass through the movable plate (41) and the connecting plate (310), and are rotatably connected to the movable plate (41) and the connecting plate (310) through bearings. The adapter block (43) is rotatably connected to the drive shaft (42) at the bottom of the movable plate (41) through bearings.

9. The prefabricated block transfer equipment based on slope protection engineering according to claim 7, characterized in that: The top of the clamping piston (44) is rotatably connected to the outer cylindrical protrusion of the connecting plate (310) through a bearing. A pressure sensor (35) is also installed between the movable end of the clamping piston (44) and the adapter block (43). The limiting block (45) is slidably connected to the movable plate (41), and one end of the limiting block (45) is fixedly connected to the movable end of the electric push rod (36) inside the movable plate (41). A drive shaft (42) is movably installed inside the limiting block (45) through a bearing.

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