A snatch manipulator for high slope trolley

Abstract

The application provides a high-slope-trolley grabbing manipulator, and relates to the field of engineering machinery.The high-slope-trolley grabbing manipulator comprises a rotatable, telescopic and pitching lifting main arm; a grabbing auxiliary arm, which is a telescopic structure; a three-dimensional swing adjusting mechanism arranged between the grabbing auxiliary arm and the lifting main arm, which is used to drive the grabbing auxiliary arm to rotate relative to the lifting main arm in two degrees of freedom; a quick-change clamp connected to the end of the grabbing auxiliary arm, a double-shaft swing adjusting joint arranged between the quick-change clamp and the grabbing auxiliary arm, which is used to drive the quick-change clamp to rotate in two degrees of freedom; and a hoisting mechanism, which is used to lift materials to a certain height.The application expands the construction coverage range of the manipulator in high-slope construction, realizes comprehensive operation suitable for steep slope surface environment, improves the material positioning precision through the multi-degree-of-freedom adjusting mechanism, and ensures that the materials (such as reinforcement cages, steel pipes and mesh sheets) are accurately installed to the specified slope surface installation positions.

Description

Technical Field

[0001] This application relates to the field of engineering machinery, and in particular to a lifting manipulator for a high slope trolley. Background Technology

[0002] In high slope reinforcement projects at hydropower stations, prestressed anchor cables (rods) and frame beams are key structures for enhancing the stability of the surrounding rock. Traditional construction methods rely on manual labor on scaffolding for anchor head fabrication, rebar cage binding, and formwork installation. This method suffers from high labor intensity, low efficiency, and high safety risks. Especially in steep and irregular terrain, the scaffolding cannot be fully aligned with the slope surface, leading to increased blind spots. Furthermore, the installation of anchor heads and frame beams requires precise positioning of heavy materials (such as rebar cages, steel pipes, mesh, and steel formwork) to the installation location. Manually transporting these materials to the slope is not only time-consuming and labor-intensive but also prone to slippage due to slope inclination, posing a safety hazard.

[0003] To solve the above problems, technicians may think of using robotic arms to replace manual handling of materials, but the design of robotic arms for use on high slopes faces three major requirements: First, there is the need for large-scale coverage: the terrain of high slopes is complex and varied, with steep slopes and uneven areas, requiring the robotic arm to have a long reach and multiple degrees of freedom of movement in order to cover construction areas that the scaffolding cannot reach. Secondly, there is a need for high-precision material grasping and positioning: the precise installation of anchor heads and frame beams requires grasping materials such as steel cages, steel pipes and mesh, and steel formwork, and accurately placing them in the designated installation position under inclined slope conditions. This places high demands on the load capacity and positioning accuracy of the robotic arm end effector.

[0004] Thirdly, there is a need to lift heavier materials: reinforcement work is usually carried out at high altitudes. It is time-consuming and laborious to manually move heavy materials from the ground to the work surface tens of meters high. Therefore, robotic arms are required to have the function of lifting materials from the ground to the air.

[0005] In summary, there is an urgent need to develop a specialized robotic arm that combines wide-area coverage, precise operation, and enhanced material handling capabilities to address efficiency and safety issues in high slope reinforcement construction. Utility Model Content

[0006] The purpose of this application is to provide a special robotic arm that is suitable for high slope environments, has a wide coverage capability, precise operation characteristics, and improves material handling capabilities.

[0007] This application provides a lifting robot for a high slope trolley, comprising: A rotatable, telescopic, and pitchable lifting boom; The gripping auxiliary arm is a telescopic structure; a three-dimensional swing adjustment mechanism is provided between the gripping auxiliary arm and the lifting main arm, and the three-dimensional swing adjustment mechanism is used to drive the gripping auxiliary arm to rotate relative to the lifting main arm in two degrees of freedom; A quick-change clamp is detachably connected to the end of the gripping auxiliary arm. A dual-axis rotary adjustment joint is provided between the quick-change clamp and the gripping auxiliary arm. The dual-axis rotary adjustment joint is used to drive the quick-change clamp to rotate in two degrees of freedom. A lifting mechanism is used to lift materials to a certain height.

[0008] In one possible implementation, the three-dimensional swing adjustment mechanism includes: Auxiliary arm support; The auxiliary arm pitch drive is connected at both ends to the auxiliary arm support and the lifting main arm, respectively, and drives the auxiliary arm support to pitch. The first auxiliary arm slewing bearing has its fixed end face mounted on the auxiliary arm support; The second auxiliary arm slewing bearing has its fixed end face mounted on the rotating end face of the first auxiliary arm slewing bearing. The rotating end face of the second auxiliary arm slewing bearing is fixedly connected to the gripping auxiliary arm. The rotation axis of the first auxiliary arm slewing bearing and the rotation axis of the second auxiliary arm slewing bearing are not parallel to each other.

[0009] In one possible implementation, the rotation axis of the first auxiliary arm slewing bearing is perpendicular to the rotation axis of the second auxiliary arm slewing bearing.

[0010] In one possible implementation, the dual-axis rotary adjustment joint includes a first clamping support, a second clamping support, a first clamping rotary bearing, and a second clamping rotary bearing. The fixed end face of the first clamping slewing bearing is connected to the gripping auxiliary arm through the first clamping support, the rotating end face of the first clamping slewing bearing is connected to the fixed end face of the second clamping slewing bearing through the second clamping support, and the rotating end face of the second clamping slewing bearing is connected to the quick-change fixture. The rotation axis of the first clamping slewing bearing is not parallel to the rotation axis of the second clamping slewing bearing.

[0011] In one possible implementation, the rotation axis of the first clamping slewing bearing is perpendicular to the rotation axis of the second clamping slewing bearing.

[0012] In one possible implementation, the lifting mechanism is mounted near the gripping arm.

[0013] In one possible implementation, the quick-change fixture includes: A support assembly is fixedly connected to the dual-axis rotary adjustment joint; the support assembly includes a first steel cylinder and a third steel cylinder arranged in parallel and spaced apart, which are connected by a second steel cylinder, which is used to adjust the distance between the first steel cylinder and the third steel cylinder; Two rotating rods are rotatably installed inside the first steel cylinder and the third steel cylinder, respectively, and calipers are fixedly installed on the rotating rods; The clamping drive assembly is used to drive the two rotating rods to rotate synchronously, thereby driving the multiple calipers to perform opening and closing actions.

[0014] In one possible implementation, the quick-change clamp includes a crossbeam and a plurality of calipers; the central portion of the crossbeam is connected to the dual-axis rotary adjustment joint, the plurality of calipers are symmetrically arranged at both ends of the crossbeam, and the crossbeam is rotatable about the axis of its central portion.

[0015] In one possible implementation, the lifting boom includes: The lifting slewing seat is rotatably mounted on the working surface; The lifting boom is a multi-level nested telescopic structure, with one end hinged to the lifting slewing seat; The lifting pitch drive unit has its two ends connected to the lifting slewing seat and the lifting boom, respectively, and is used to drive the lifting boom to pitch around its hinge point with the lifting slewing seat.

[0016] In one possible implementation, the lifting mechanism integrates a load sensor and a limit switch.

[0017] Compared with the prior art, the beneficial effects of this application are: The lifting main boom adjusts its horizontal working range through rotation, extends its vertical coverage height to expand the construction area, and its pitching motion adapts to different slopes. The grabbing auxiliary boom rotates relative to the lifting main boom in two degrees of freedom via a three-dimensional swing adjustment mechanism, allowing the end quick-change clamp to precisely approach the installation position on uneven slopes. The quick-change clamp rotates in two degrees of freedom via a dual-axis rotary adjustment joint, ensuring that the material is adjusted to a position matching the installation location on inclined slopes. After the lifting mechanism raises the heavy material on the ground to a height close to that of the grabbing auxiliary boom, the quick-change clamp completes the grabbing and positioning operation, forming a seamless process connection.

[0018] In summary, this application expands the construction coverage of robotic arms in high slope construction, enabling comprehensive operations suitable for steep slope environments; improves material positioning accuracy through a multi-degree-of-freedom adjustment mechanism, ensuring that materials (such as rebar cages, steel pipes, and mesh) are accurately installed at designated slope installation positions; and reduces the risk and labor intensity of manual material handling by setting up a hoisting mechanism, shortening the time for high-altitude material transportation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of the gripping robot for a high slope trolley is shown; Figure 2 A schematic diagram showing the connection between the three-dimensional swing adjustment mechanism and the hoisting mechanism at the free end of the lifting boom is shown; Figure 3 This diagram shows a three-dimensional swing adjustment mechanism connected to the free end of the lifting boom from another angle. Figure 4 A schematic diagram is shown showing the rear end of the gripping arm connected to a three-dimensional swing adjustment mechanism, and the front end connected to a quick-change fixture via a dual-axis rotary adjustment joint; Figure 5 A schematic diagram of a quick-change clamp for holding a wire mesh is shown; Figure 6 A schematic diagram of the high slope support trolley is shown.

[0021] Explanation of key component symbols: 100-Lifting main boom; 110-Lifting slewing seat; 120-Lifting boom frame; 130-Lifting pitch drive; 200-Grabbing auxiliary boom; 300-Quick change clamp; 310-First steel cylinder; 320-Second steel cylinder; 330-Third steel cylinder; 340-Clamping cylinder; 350-Rotating rod; 360-Valier; 370-Crossbeam; 400-Lifting mechanism; 500-Three-dimensional swing adjustment mechanism; 510-Auxiliary boom support; 520-Auxiliary boom pitch drive; 530-First auxiliary boom slewing bearing; 540-Second auxiliary boom slewing bearing; 600-Dual-axis slewing adjustment joint; 610-First clamping support; 620-Second clamping support; 630-First clamping slewing bearing; 640-Second clamping slewing bearing; 700-Working platform; 800-Chassis; 900-Guide rail. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0023] Example 1 In the reinforcement of high slopes in hydropower stations, traditional manual construction methods suffer from low efficiency and high safety risks. Construction workers have to work on anchor heads and frame beams on scaffolding that is difficult to get close to the slope surface, and the steel cages, steel pipes and mesh used to make anchor heads and frame beams are difficult to transport and are prone to slippage.

[0024] To solve the above problems, robotic arms can be used to replace manual labor, but their design must meet three major requirements: First, they must have a long reach and multiple degrees of freedom to cover the construction blind spots of complex and steep slopes; second, they must be able to accurately grab materials (such as steel cages and steel formwork) and position them to the installation location; and third, they must be able to lift materials from the ground to the high-altitude work surface.

[0025] Please see Figure 1 This application provides a lifting robot for a high slope trolley, which includes a lifting main arm 100, a gripping auxiliary arm 200, a quick-change clamp 300, and a lifting mechanism 400.

[0026] Specifically, the lifting main boom 100 is a support structure with rotation, extension, and pitch functions. Its function is to move the material upward by applying a vertical force, thereby changing the material's height position. The lifting main boom 100 can be implemented using a combination of multi-stage hydraulic cylinders and slewing bearings to expand the horizontal and vertical coverage range of the robotic arm.

[0027] The gripping auxiliary arm 200 is a multi-section nested telescopic structure; a three-dimensional swing adjustment mechanism 500 is provided between the gripping auxiliary arm 200 and the lifting main arm 100. The three-dimensional swing adjustment mechanism 500 is used to drive the gripping auxiliary arm 200 to rotate relative to the lifting main arm 100 in two degrees of freedom.

[0028] Specifically, the gripping auxiliary arm 200 is a telescopic structure composed of multiple nested arm sections. It can be implemented using a sleeve-type telescopic arm. The axial telescopic movement between each arm section is achieved through sliding pairs or hydraulic cylinders. By changing the length of the gripping auxiliary arm 200, it can adapt to the gripping of materials at different distances and expand the construction area.

[0029] The three-dimensional swing adjustment mechanism 500 is a connecting mechanism with pitch and dual-axis rotation functions, used to adjust the spatial position of the gripping auxiliary arm 200. Specifically, the first end of the gripping auxiliary arm 200 is connected to the free end of the lifting main arm 100 through the three-dimensional swing adjustment mechanism 500. The three-dimensional swing adjustment mechanism 500 is used to drive the gripping auxiliary arm 200 to perform pitch movements relative to the lifting main arm 100, and to drive the gripping auxiliary arm 200 to perform rotation movements in two different dimensions.

[0030] The quick-change clamp 300 is detachably connected to the end of the gripping auxiliary arm 200. A dual-axis rotary adjustment joint 600 is provided between the quick-change clamp 300 and the gripping auxiliary arm 200. The dual-axis rotary adjustment joint 600 is used to drive the quick-change clamp 300 to rotate in two degrees of freedom.

[0031] Specifically, the quick-change clamp 300 is connected to the end of the gripping auxiliary arm 200 by a bolt structure; the quick-change clamp 300 is connected to the second end of the gripping auxiliary arm 200 by a dual-axis rotary adjustment joint 600 (the first end and the second end of the gripping auxiliary arm 200 are the two opposite ends of the gripping auxiliary arm 200).

[0032] The dual-axis rotary adjustment joint 600 refers to a connecting component with two rotational degrees of freedom, such as a cross-axis hinge structure, used to adjust the gripping angle of the quick-change clamp 300. Specifically, the dual-axis rotary adjustment joint 600 is used to drive the quick-change clamp 300 to rotate around a second end, and to drive the quick-change clamp 300 to rotate around one of its own axes.

[0033] The lifting mechanism 400 is used to lift materials to a certain height.

[0034] The lifting mechanism 400 and the main lifting boom 100 can be designed as separate structures or connected together. The lifting mechanism 400 is used to vertically lift ground materials to the working height. For example, an electric hoist or winch can be used as the lifting mechanism 400. It should be noted that lifting the material to a certain height means approaching the height of the gripping auxiliary boom 200, such as lifting the material to within two meters of the gripping auxiliary boom 200, so that the gripping auxiliary boom 200 can independently grip the material or grip the material with manual assistance.

[0035] Please see Figure 1 The working principle of this embodiment is as follows: The lifting boom 100 adjusts the horizontal working range through rotation, extends to change its vertical coverage height to expand the construction area, and pitches to adapt to terrain with different slopes. The gripping arm 200 achieves pitch angle adjustment and dual-axis rotation through the three-dimensional swing adjustment mechanism 500, enabling the end quick-change clamp 300 to accurately approach the installation position in the uneven area of ​​the slope; the gripping arm 200 is also a telescopic structure, so the construction area can be expanded when the gripping arm 200 is extended. The quick-change clamp 300 rotates around the axis of the end of the gripping auxiliary arm 200 via a dual-axis rotary adjustment joint 600, while simultaneously rotating around its own axis, ensuring that the material is adjusted to a posture that matches the installation position under inclined slope conditions. After the lifting mechanism 400 raises the heavy material on the ground to a height close to that of the gripping auxiliary arm 200, the quick-change fixture 300 completes the gripping and positioning operation, forming a process connection.

[0036] Understandably, this solution achieves multi-dimensional angle adjustment of the quick-change clamp 300 by setting up a dual-axis rotary adjustment joint 600, and significantly improves material positioning accuracy by combining it with a three-dimensional swing adjustment mechanism to control the position of the gripping auxiliary arm 200. The vertical transport of materials is accomplished by setting up a lifting mechanism 400, improving construction efficiency and reducing labor intensity. This solution also expands the construction area by using a telescopic structure to lift the main arm 100 and the gripping auxiliary arm 200.

[0037] In summary, this application expands the construction coverage of robotic arms in high slope construction, enabling comprehensive operations suitable for steep slope environments; improves material positioning accuracy through a multi-degree-of-freedom adjustment mechanism, ensuring that materials (such as rebar cages, steel pipes, and mesh) are accurately installed at designated slope installation positions; and reduces the risk and labor intensity of manual material handling by setting up a hoisting mechanism 400, shortening the time for high-altitude material transportation.

[0038] Please see Figures 2-4 In some embodiments, the three-dimensional swing adjustment mechanism 500 includes: an auxiliary arm support 510; an auxiliary arm pitch drive 520, with its two ends connected to the auxiliary arm support 510 and the lifting main arm 100 respectively, driving the auxiliary arm support 510 to perform pitching motion; a first auxiliary arm slewing bearing 530, with its fixed end face mounted on the auxiliary arm support 510; and a second auxiliary arm slewing bearing 540, with its fixed end face mounted on the rotating end face of the first auxiliary arm slewing bearing 530, the rotating end face of the second auxiliary arm slewing bearing 540 being fixedly connected to the gripping auxiliary arm 200, and the rotation axis of the first auxiliary arm slewing bearing 530 and the rotation axis of the second auxiliary arm slewing bearing 540 being non-parallel.

[0039] Specifically, the auxiliary arm support 510 refers to the rigid support structure that supports the gripping auxiliary arm 200 and the slewing bearing. It can be made of welded steel plate or castings and is used to transmit pitch driving force and maintain structural stability. The auxiliary boom pitch drive 520 refers to the power device that drives the auxiliary boom support 510 to swing around the hinge point. Specifically, it can be implemented by a hydraulic cylinder or an electric push rod. The cylinder or rod part is connected to the lifting main boom 100, and the piston rod or push rod part is connected to the auxiliary boom support 510. The pitch angle of the auxiliary boom support 510 is changed by the telescopic movement. The first auxiliary arm slewing bearing 530 refers to a bearing assembly that provides rotational motion in the first dimension. Specifically, it can be implemented using an electric slewing bearing. Its fixed end face is rigidly connected to the auxiliary arm support 510, and its rotating end face is mounted on the fixed end face of the second auxiliary arm slewing bearing 540 through a support steel plate, so as to drive the second auxiliary arm slewing bearing 540 to rotate horizontally. The second auxiliary arm slewing bearing 540 refers to a bearing assembly that provides rotational motion in the second dimension. It can also be implemented using an electric slewing bearing. The rotating end face of the second auxiliary arm slewing bearing 540 is mounted on the auxiliary arm through a support steel plate. The rotation axis of the second auxiliary arm slewing bearing 540 and the rotation axis of the first auxiliary arm slewing bearing 530 are non-parallel in three-dimensional space.

[0040] The fixed end face of an electric slewing bearing refers to the end face that remains stationary during operation and serves as the supporting foundation for the entire bearing. The rotating end face refers to the end face that can rotate around the central axis of the bearing under the drive of a motor. This is the existing technology.

[0041] Please see Figures 2-4 The working principle of this embodiment is as follows: The auxiliary arm pitch drive 520 pushes the auxiliary arm support 510 to swing around the hinge point, so that the gripping auxiliary arm 200 can adjust the pitch angle in the vertical plane. The first auxiliary arm slewing bearing 530 drives the second auxiliary arm slewing bearing 540 to perform horizontal slewing motion, so that the gripping auxiliary arm 200 expands its coverage area in the horizontal plane. The rotation axis of the second auxiliary arm slewing bearing 540 is non-parallel to the rotation axis of the first auxiliary arm slewing bearing 530 in three-dimensional space. When the two move in superimposed motion, the end of the gripping auxiliary arm 200 generates a rotational trajectory in an inclined plane. For example, when the first auxiliary arm slewing bearing 530 rotates 30 degrees and the second auxiliary arm slewing bearing 540 rotates 45 degrees, the end of the gripping auxiliary arm 200 can be adjusted in position along the slope inclination direction. The non-parallel arrangement of the rotation axes of the two slewing bearings allows the robotic arm to compensate for the positioning deviation caused by the local unevenness of the slope through two rotational movements, thereby delivering the gripping auxiliary arm 200 to construction areas that are difficult to reach.

[0042] Understandably, this solution uses the non-parallel arrangement of the rotation axes of the two slewing bearings to enable the gripping arm 200 to form a composite rotational degree of freedom in three-dimensional space, allowing the gripping arm 200 to adapt to the continuous changes in the slope inclination angle.

[0043] In summary, the three-dimensional swing adjustment mechanism 500 enables the gripping auxiliary arm 200 to adjust its position in three-dimensional space, covering the uneven areas of the high slope surface. When there are concave areas on the slope, the quick-change clamp 300 can be moved along the slope contour by adjusting the rotation angle of the two slewing support structures. This multi-dimensional adjustment capability improves the material positioning accuracy, reduces blind spots caused by complex terrain, and increases the working range of the gripping auxiliary arm 200.

[0044] Please see Figure 4 In some embodiments, the rotation axis of the first auxiliary arm slewing bearing 530 is perpendicular to the rotation axis of the second auxiliary arm slewing bearing 540.

[0045] This design sets the rotation axes of the two slewing bearings to be orthogonal, allowing the gripping arm 200 to rotate independently in both horizontal and vertical dimensions. This design, with its mutually perpendicular rotation axes, avoids motion interference between the two slewing bearings. Furthermore, this design improves the overall load-bearing capacity by rationally distributing the load. For example, when the gripping arm 200 is carrying heavy materials, the first slewing bearing 530 mainly bears the radial load, while the second slewing bearing 540 mainly bears the axial load, with both working together to share the oblique moment.

[0046] Please see Figure 4 In some embodiments, the dual-axis rotary adjustment joint 600 includes a first clamping support 610, a second clamping support 620, a first clamping rotary bearing 630, and a second clamping rotary bearing 640; the fixed end face of the first clamping rotary bearing 630 is connected to the gripping auxiliary arm 200 through the first clamping support 610, the rotating end face of the first clamping rotary bearing 630 is connected to the fixed end face of the second clamping rotary bearing 640 through the second clamping support 620, and the rotating end face of the second clamping rotary bearing 640 is connected to the quick-change fixture 300; the rotation axis of the first clamping rotary bearing 630 and the rotation axis of the second clamping rotary bearing 640 are not parallel to each other.

[0047] Specifically, both the first clamping support 610 and the second clamping support 620 are triangular flange supports, with flange mounting surfaces designed on both vertical surfaces. The two flange mounting surfaces of the first clamping support 610 are rotatably connected to the free end of the gripping auxiliary arm 200 and the first clamping slewing bearing 630, respectively. The two flange mounting surfaces of the second clamping support 620 are connected to the rotating end face of the first clamping slewing bearing 630 and the fixed end face of the second clamping slewing bearing 640, respectively. The inclined surfaces of the first clamping support 610 and the second clamping support 620 are arranged opposite each other and connected in the middle by the first clamping slewing bearing 630, forming a rectangular structure from a specific perspective.

[0048] In addition, both the first clamping slewing bearing 630 and the second clamping slewing bearing 640 can be electrically driven slewing bearings. The rotation axis of the first clamping slewing bearing 630 is perpendicular to the extension direction of the gripping auxiliary arm 200, and is used to drive the quick-change clamp 300 to pitch and swing relative to the gripping auxiliary arm 200. The rotation axis of the second clamping slewing bearing 640 and the rotation axis of the first clamping slewing bearing 630 form a non-parallel relationship in three-dimensional space. This design is similar to the two slewing bearings in the three-dimensional swing adjustment mechanism 500. The difference is that this design is to deliver the quick-change clamp 300 to construction areas that are not easy to reach.

[0049] Please see Figure 4 The working principle of this embodiment is as follows: When the material's posture needs adjustment, the first gripping slewing bearing 630 drives the quick-change clamp 300 to pitch relative to the gripping arm 200, changing the material's position in the first dimension; the second gripping slewing bearing 640 drives the quick-change clamp 300 to rotate in the second dimension, adjusting the material's tilt angle in the second dimension. Since the axes of the two slewing bearings are not parallel, the material can simultaneously obtain rotational degrees of freedom in two dimensions, forming a curved motion trajectory. For example, in a sloped condition, when the material needs to align with the slope, the first gripping slewing bearing 630 can compensate for the slope's tilt angle, and the second gripping slewing bearing 640 can adjust the material to rotate a certain angle around its own axis. The coordinated movement of both ensures that the material's final posture aligns with the slope.

[0050] Understandably, this solution, through the non-parallel layout of the rotation axes of the two slewing bearings, enables the quick-change clamp 300 to adjust the material angle in any direction in space, ensuring that the final posture of the clamped materials such as steel cages and steel formwork can accurately fit the installation position of the slope.

[0051] Please see Figure 4 In some embodiments, the rotation axis of the first clamping slewing bearing 630 is perpendicular to the rotation axis of the second clamping slewing bearing 640.

[0052] The purpose of this design is the same as that of the design in the three-dimensional swing adjustment mechanism 500 where the rotation axes of the two slewing bearings are perpendicular to each other. Both aim to avoid motion interference between the two slewing bearings and improve the overall load-bearing performance. This will not be elaborated further here.

[0053] Please see Figure 1 and Figure 2 In some embodiments, the lifting mechanism 400 is mounted near the gripping arm 200. Specifically, the lifting mechanism 400 is mounted on the arm support 510 to facilitate loading materials onto the quick-change fixture 300.

[0054] Electric hoists, hydraulic winches, or hoisting mechanisms can all be used as the lifting mechanism 400. In this embodiment, the lifting mechanism 400 is an electric hoist. The electric hoist is connected to the material via a wire rope or chain. By lifting the material to the same horizontal height as the gripping auxiliary arm 200, it is convenient to load the material onto the gripping auxiliary arm 200.

[0055] In some embodiments, the lifting mechanism 400 integrates a load sensor and a limit switch, which automatically stops operation when an overload is detected or a preset height is reached.

[0056] Please see Figure 5 In some embodiments, the quick-change clamp 300 includes: a support assembly fixedly connected to a dual-axis rotary adjustment joint 600; the support assembly includes a first steel cylinder 310 and a third steel cylinder 330 arranged in parallel and spaced apart, connected by a second steel cylinder 320, the second steel cylinder 320 being used to adjust the distance between the first steel cylinder 310 and the third steel cylinder 330; two rotating rods 350 rotatably mounted in the first steel cylinder 310 and the third steel cylinder 330 respectively, with calipers 360 fixedly mounted on the rotating rods 350; and a clamping drive assembly for driving the two rotating rods 350 to rotate synchronously, thereby driving the multiple calipers 360 to perform opening and closing actions.

[0057] The quick-change clamp 300 in this solution is used to clamp the wire mesh. The support assembly includes a first steel cylinder 310, a second steel cylinder 320, and a third steel cylinder 330 that can extend and retract axially along the second steel cylinder 320. The two ends of the clamping cylinder 340 are respectively hinged to two rotating rods 350, each rotating rod 350 being rotatably mounted inside the first steel cylinder 310 and the third steel cylinder 330. Four clamps 360 are fixed in an array to these two rotating rods 350. When the cylinder is activated, it drives the two rotating rods 350 to rotate, thereby causing the four clamps 360 to move synchronously, achieving clamping of the wire mesh.

[0058] Please see Figure 5 The quick-change fixture 300 operates as follows: Preparation and positioning: Operate the equipment to move the main body of the clamp to the target mesh area, and initially adjust the overall working length of the clamp by extending and retracting the third steel cylinder 330.

[0059] Clamping is performed by activating the clamping cylinder 340. The piston rod of the clamping cylinder 340 extends or retracts, driving the two rotating rods 350, which are hinged to its two ends, to rotate within their respective mounting seats (first steel cylinder 310 and third steel cylinder 330).

[0060] Material clamping: The rotation of the two rotating rods 350 drives the four clamps 360 fixed on them to move, so that the clamp array 360 moves synchronously and finally clamps (grabs) the mesh evenly from both sides.

[0061] Release and reset: The hydraulic cylinder moves in the opposite direction, driving the rotating rod 350 to return to its original position, which in turn drives the caliper 360 to release the mesh, completing one work cycle.

[0062] This design uses a single hydraulic cylinder to simultaneously drive the dual rotating rods 350 and the four clamps 360, ensuring the synchronization and stability of the clamping action. It is suitable for operational scenarios that require fast and reliable gripping of wire mesh.

[0063] Please see Figure 4 In some embodiments, the quick-change clamp 300 includes a crossbeam 370 and a plurality of calipers 360; the central portion of the crossbeam 370 is connected to a dual-axis rotary adjustment joint 600, and the plurality of calipers 360 are symmetrically arranged at both ends of the crossbeam 370, and the crossbeam 370 is capable of rotating about the axis of its central portion.

[0064] The quick-change clamp 300 in this solution is used to clamp long strip materials such as steel pipes and frame beams.

[0065] Specifically, the crossbeam 370 is fixed to the rotating end face of the dual-axis rotary adjustment joint 600 via a central connection point. When the two slewing supports of the dual-axis rotary adjustment joint 600 move independently, the crossbeam 370 can drive the caliper 360 to adjust its pitch angle and rotate around its own central axis, ensuring that the caliper 360 is directly facing the material. The symmetrically arranged calipers 360, when clamping the material, form a symmetrical clamping force through synchronous closing actions on both sides, preventing slippage of the material due to force on one side. The structure of the crossbeam 370 rotating around its central axis meets the installation requirement of maintaining a specific angle with the slope when the caliper 360 clamps long, narrow materials such as frame beams.

[0066] Please see Figure 1 and Figure 2 In some embodiments, the lifting boom 100 includes: a lifting slewing seat 110, rotatably mounted on the working surface; a lifting boom 120, which is a multi-level nested telescopic structure, with one end hinged to the lifting slewing seat 110; and a lifting pitch drive 130, with both ends connected to the lifting slewing seat 110 and the lifting boom 120 respectively, for driving the lifting boom 120 to pitch around its hinge point with the lifting slewing seat 110.

[0067] The lifting slewing base 110 refers to the base installed on the working surface through a slewing bearing or bearing structure. Specifically, a slewing bearing can be used to realize rotational movement in the horizontal plane. Its function is to enable the lifting boom 120 to have lateral rotation capability.

[0068] The multi-stage nested telescopic structure in the lifting boom 120 refers to a telescopic boom formed by multiple boom sections nested together. For example, the lifting boom 120 includes an outer boom section (fixed on the lifting slewing seat 110), an intermediate boom section (composed of several nested boom sections, each of which can slide axially to achieve progressive telescopic extension and retraction), and an inner boom section (hinged to the auxiliary boom support 510). The extension and retraction of the intermediate boom section is driven by the piston rod of a hydraulic cylinder, thereby driving the overall extension and retraction. This is prior art, and the multi-stage nested telescopic structure in the grabbing auxiliary boom 200 is also similar to that of the lifting boom 120, so it will not be described in detail here.

[0069] The lifting pitch drive 130 refers to the linear drive device that connects the slewing seat and the boom. Specifically, it can be a hydraulic cylinder or an electric push rod. Its function is to directly drive the lifting boom 120 to adjust the pitch angle around the hinge point through the rigid connection at both ends.

[0070] This solution achieves flexible movement of the free end of the lifting boom 100 in three-dimensional space through the combination of the horizontal rotation of the lifting slewing seat 110, the axial extension of the multi-stage telescopic boom, and the lifting pitch drive component 130, and increases the construction range of the lifting boom 100.

[0071] This application also provides a high slope support trolley, including a gripping manipulator for the high slope trolley. The high slope support trolley also includes a working platform 700, a chassis 800, and a guide rail 900. The bottom end of the guide rail 900 is hinged to the chassis 800. The working platform 700 is movably mounted on the guide rail 900 and can be positioned at a certain height. The gripping manipulator for the high slope trolley is rotatably mounted on the working platform 700.

[0072] Please see Figure 6 The following is an introduction to the high slope support trolley containing a grabbing robot for high slope trolley, with reference to the attached drawings. Since the high slope support trolley is not the focus of this application, only a brief overview is given. The main purpose is to illustrate the application scenarios of the grabbing robot for high slope trolley.

[0073] The chassis 800 can be a tracked, wheeled, or rail-mounted walking device. In this embodiment, the chassis 800 is a tracked walking device. The chassis 800 includes a chassis 800 mounting frame and a tracked chassis 800 mounted below the chassis 800 mounting frame.

[0074] Hydraulic outriggers are fixedly installed at both ends of the main beam of the 800 chassis fixed frame. The hydraulic outriggers are used to extend the support range, and two or more sets of hydraulic outriggers can be set.

[0075] A guide rail 900 pitch cylinder is connected between the guide rail 900 and the chassis 800 to drive the guide rail 900 to pitch. Its movement is similar to that of the lifting pitch drive component 130 in the lifting boom 100.

[0076] The high slope support trolley also includes a traction mechanism. The moving end of the traction mechanism drives the working platform 700 to move along the extension direction of the guide rail 900. The traction mechanism can be a wire rope winch mechanism or a gear and rack mechanism to achieve long-distance lifting and lowering of the working platform 700 in the vertical direction, which is existing technology. The lifting slewing seat 110 of the high slope trolley's grab manipulator is inserted into the mounting bearing on the working platform 700.

[0077] The high slope support trolley, through the coordinated operation of the chassis 800, guide rails 900, and traction mechanism, solves the technical problems of lifting and moving the working platform 700 in steep slope environments. This allows the high slope trolley to be moved by a grabbing manipulator to a height of tens of meters, close to the slope to be constructed. The chassis 800 ensures the overall stability of the equipment, the guide rails 900 provide the vertical lifting space for the working platform 700, and the traction mechanism drives the lifting and lowering of the working platform 700.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A gripping robot for a high slope trolley, characterized in that, include: A rotatable, telescopic, and pitchable lifting boom; The gripping auxiliary arm is a telescopic structure; a three-dimensional swing adjustment mechanism is provided between the gripping auxiliary arm and the lifting main arm, and the three-dimensional swing adjustment mechanism is used to drive the gripping auxiliary arm to rotate relative to the lifting main arm in two degrees of freedom; A quick-change clamp is detachably connected to the end of the gripping auxiliary arm. A dual-axis rotary adjustment joint is provided between the quick-change clamp and the gripping auxiliary arm. The dual-axis rotary adjustment joint is used to drive the quick-change clamp to rotate in two degrees of freedom. A lifting mechanism is used to lift materials to a certain height.

2. The high slope trolley gripper according to claim 1, characterized in that, The three-dimensional swing adjustment mechanism includes: Auxiliary arm support; The auxiliary arm pitch drive is connected at both ends to the auxiliary arm support and the lifting main arm, respectively, and drives the auxiliary arm support to pitch. The first auxiliary arm slewing bearing has its fixed end face mounted on the auxiliary arm support; The second auxiliary arm slewing bearing has its fixed end face mounted on the rotating end face of the first auxiliary arm slewing bearing. The rotating end face of the second auxiliary arm slewing bearing is fixedly connected to the gripping auxiliary arm. The rotation axis of the first auxiliary arm slewing bearing and the rotation axis of the second auxiliary arm slewing bearing are not parallel to each other.

3. The high slope trolley gripper according to claim 2, characterized in that, The rotation axis of the first auxiliary arm slewing bearing is perpendicular to the rotation axis of the second auxiliary arm slewing bearing.

4. The high slope trolley gripper according to claim 1, characterized in that, The dual-axis rotary adjustment joint includes a first clamping support, a second clamping support, a first clamping rotary bearing, and a second clamping rotary bearing; The fixed end face of the first clamping slewing bearing is connected to the gripping auxiliary arm through the first clamping support, the rotating end face of the first clamping slewing bearing is connected to the fixed end face of the second clamping slewing bearing through the second clamping support, and the rotating end face of the second clamping slewing bearing is connected to the quick-change fixture. The rotation axis of the first clamping slewing bearing is not parallel to the rotation axis of the second clamping slewing bearing.

5. The high slope trolley gripper according to claim 4, characterized in that, The rotation axis of the first clamping slewing bearing is perpendicular to the rotation axis of the second clamping slewing bearing.

6. The high slope trolley gripper according to claim 1, characterized in that, The lifting mechanism is installed near the gripping arm.

7. The high slope trolley gripper according to claim 1, characterized in that, The quick-change fixture includes: A support assembly is fixedly connected to the dual-axis rotary adjustment joint; the support assembly includes a first steel cylinder and a third steel cylinder arranged in parallel and spaced apart, which are connected by a second steel cylinder, which is used to adjust the distance between the first steel cylinder and the third steel cylinder; Two rotating rods are rotatably installed inside the first steel cylinder and the third steel cylinder, respectively, and calipers are fixedly installed on the rotating rods; The clamping drive assembly is used to drive the two rotating rods to rotate synchronously, thereby driving the multiple calipers to perform opening and closing actions.

8. The high slope trolley gripper according to claim 1, characterized in that, The quick-change fixture includes a crossbeam and multiple calipers; the central portion of the crossbeam is connected to the dual-axis rotary adjustment joint, and the multiple calipers are symmetrically arranged at both ends of the crossbeam, which is capable of rotating around the axis of its central portion.

9. The gripping robot for a high slope trolley according to claim 1, characterized in that, The lifting boom includes: The lifting slewing seat is rotatably mounted on the working surface; The lifting boom is a multi-level nested telescopic structure, with one end hinged to the lifting slewing seat; The lifting pitch drive unit has its two ends connected to the lifting slewing seat and the lifting boom, respectively, and is used to drive the lifting boom to pitch around its hinge point with the lifting slewing seat.

10. The gripping robot for a high slope trolley according to claim 1, characterized in that, The lifting mechanism integrates a load sensor and a limit switch.

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