CN109305178B - Manipulator pole setting flatcar - Google Patents
Manipulator pole setting flatcar Download PDFInfo
- Publication number
- CN109305178B CN109305178B CN201811072969.4A CN201811072969A CN109305178B CN 109305178 B CN109305178 B CN 109305178B CN 201811072969 A CN201811072969 A CN 201811072969A CN 109305178 B CN109305178 B CN 109305178B
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- driving
- hinged
- rotating
- connecting arm
- driving mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 191
- 229910000831 Steel Inorganic materials 0.000 claims description 25
- 239000010959 steel Substances 0.000 claims description 25
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
- E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
- E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
- E04H12/348—Arrangements for demolition towers or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a manipulator pole setting flatcar, which comprises: the mechanical gripper comprises a first connecting arm, a first driving mechanism, a rotating connecting mechanism, a mounting seat, a second driving mechanism, a rotating motor and a clamping mechanism, wherein one end of the rotating connecting mechanism is hinged with the head end of the first connecting arm, and the other end of the rotating connecting mechanism is hinged with the mounting seat; the second driving mechanism is arranged on the rotating connecting mechanism, and the driving end of the second driving mechanism is connected with the mounting seat and drives the mounting seat to rotate; the rotary motor is arranged on the mounting seat, and a driving shaft of the rotary motor is connected with the clamping mechanism and drives the clamping mechanism to rotate; the driving shaft of the rotary motor, the hinge shaft of the rotary connecting mechanism and the first connecting arm, and the hinge shaft of the rotary connecting mechanism and the mounting seat are perpendicular to each other, so that three-dimensional rotation can be realized.
Description
Technical Field
The invention relates to the field of railway construction, in particular to a manipulator pole setting flatcar.
Background
At present, in railway infrastructure, a crane or a railway special overhead contact system pole setting operation vehicle (crane principle) is adopted when a new steel column of the overhead contact system is built or an old cement column is dismantled, and then a large number of workers are assisted in installation operation. In the operation mode, a large amount of manpower is consumed, the operation risk is extremely high, the operation efficiency is low, and the operation mode is not suitable for the social development requirement, so that the traditional operation mode needs to be mechanically improved and optimized.
Disclosure of Invention
The invention aims to overcome the technical defects, and provides a manipulator pole erecting flatcar, which solves the technical problems that a large number of workers are required to cooperatively work when an H-shaped steel column is installed in the prior art, and the labor consumption and the working danger are high.
In order to achieve the technical purpose, the technical scheme of the invention provides a manipulator pole setting flatcar, which comprises: the device comprises a first flat carriage, a rotary operation platform, a mechanical arm and a mechanical gripper, wherein the first flat carriage comprises a first delivery plate, a first rail wheel, a second rail wheel, a steel rail and an installation table, and the first rail wheel is installed at the bottom of the first delivery plate and is in rolling connection with a railway track; the steel rail is arranged along the length direction of the first delivery plate and is fixedly connected with the upper surface of the first delivery plate; the mounting table is arranged above the steel rail; the second rail wheel is arranged at the bottom of the mounting table and is in rolling connection with the steel rail; the rotary operation platform is arranged on the upper surface of the mounting table; the mechanical gripper comprises a first connecting arm, a first driving mechanism, a rotating connecting mechanism, a mounting seat, a second driving mechanism, a rotating motor and a clamping mechanism, wherein the first connecting arm is arranged on the mechanical arm; one end of the rotating connecting mechanism is hinged with the head end of the first connecting arm, and the other end of the rotating connecting mechanism is hinged with the mounting seat; the first driving mechanism is arranged on the first connecting arm, and the driving end of the first driving mechanism is connected with the rotating connecting mechanism and drives the rotating connecting mechanism to rotate; the second driving mechanism is arranged on the rotating connecting mechanism, and the driving end of the second driving mechanism is connected with the mounting seat and drives the mounting seat to rotate; the rotary motor is arranged on the mounting seat, and a driving shaft of the rotary motor is connected with the clamping mechanism and drives the clamping mechanism to rotate;
the driving shaft of the rotary motor, the hinging shaft of the rotary connecting mechanism and the first connecting arm, and the hinging shaft of the rotary connecting mechanism and the mounting seat are mutually perpendicular.
Compared with the prior art, the invention has the beneficial effects that: the first driving mechanism is used for driving the rotary connecting mechanism to drive the clamping mechanism to rotate parallel to the hinge shaft of the rotary connecting mechanism; the second driving mechanism is used for driving the mounting seat to deflect in a small amplitude, so that the deflection angles of the clamping mechanism relative to the two sides of the first connecting arm are adjusted; the rotary motor is used for driving the clamping mechanism to rotate along the axial direction of the clamping mechanism; the driving shaft of the rotary motor, the hinging shaft of the rotary connecting mechanism and the first connecting arm, and the hinging shaft of the rotary connecting mechanism and the mounting seat are mutually perpendicular, so that three-dimensional rotation can be realized, the clamping mechanism can conveniently grasp the H-shaped steel column, the auxiliary operation of workers is reduced, the labor is replaced by machinery, and the working safety is improved; the rotary operation platform is used for driving the mechanical arm to rotate relative to the mounting table; the mounting table can move along the steel rail, so that the final adjustment is convenient, and the bottom surface mounting hole of the H-shaped steel column is aligned with the embedded foundation bolt on the ground.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of a partial perspective view of the present invention with the second flatcar removed.
Fig. 3 is a schematic perspective view of a mechanical gripper according to a first view of the present invention.
Fig. 4 is a schematic perspective view of a second view of the mechanical gripper according to the present invention.
Fig. 5 is a schematic top view of the mechanical gripper according to the present invention.
Fig. 6 is a schematic view of the bottom structure of the mechanical gripper according to the present invention.
Fig. 7 is a schematic elevational view of the mechanical gripper of the present invention.
Fig. 8 is a schematic side view of the mechanical gripper of the present invention.
Fig. 9 is a schematic perspective view of the mechanical gripper of the present invention after clamping an H-beam.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 9, the present embodiment provides a manipulator pole setting flatcar, including: a first carriage 1, a second carriage 2, a tractor (not shown), a swing work platform 3, a robot arm 4 and a robot arm 5.
One end of the first flat car 1 is connected with the second flat car 2, and the other end of the first flat car 1 is connected with the tractor; the tractor is used for pulling the first flatcar 1 and the second flatcar 2 to move along a railway track; the second flatcar 2 is used for carrying H-shaped steel columns.
The first flatcar 1 comprises a first consignment plate 11, a first rail wheel 12, a second rail wheel 13, a steel rail 14 and a mounting table 15, wherein the first rail wheel 12 is mounted at the bottom of the first consignment plate 11 and is in rolling connection with a railway track; the steel rails 14 are arranged along the length direction of the first consignment plate 11 and fixedly connected with the upper surface thereof; the mounting table 15 is arranged above the steel rail 14; the second rail wheel 13 is arranged at the bottom of the mounting table 15 and is in rolling connection with the steel rail 14; the rotary working platform 3 is mounted on the upper surface of the mounting table 15; one end of the mechanical arm 4 is connected with one side of the rotary operation platform 3, and the mechanical gripper 5 is installed at the other end of the mechanical arm 4.
The mechanical gripper comprises a first connecting arm 51, a first driving mechanism 52, a rotary connecting mechanism 53, a mounting seat 54, a second driving mechanism 55, a rotary motor 56 and a clamping mechanism 57, wherein the driving shaft of the rotary motor 56, the rotary connecting mechanism 53 and the hinge shaft of the first connecting arm 51, and the hinge shaft of the rotary connecting mechanism 53 and the mounting seat 54 are perpendicular to each other.
One end of the rotating connecting mechanism 53 is hinged with the head end of the first connecting arm 51, and the other end of the rotating connecting mechanism 53 is hinged with the mounting seat 54; the first driving mechanism 52 is mounted on the first connecting arm 51, and the driving end of the first driving mechanism 52 is connected with the rotating connecting mechanism 53 and drives the rotating connecting mechanism to rotate; specifically, the rotation connection mechanism 53 includes a first link 531, a second link 532, and a connection seat 533, where one end of each of the first link 531 and the connection seat 533 is hinged to the first connection arm 51, the other ends of the first link 531 and the connection seat 533 are respectively hinged to two ends of the second link 532, so as to form a four-bar mechanism, in this embodiment, the hinge axis of the first link 531 and the first connection arm 51 is defined as an a axis, the hinge axis of the first link 531 and the second link 532 is defined as a B axis, the hinge axis of the connection seat 533 and the first connection arm 51 is defined as a C axis, the hinge axis of the connection seat 533 and the second link 532 is defined as a D axis, the a axis, the B axis, the C axis, and the D axis are parallel to each other and are different, and the vertical distance between the a axis and the B axis is greater than the vertical distance between the C axis and the D axis, so that the rotation connection mechanism 53 in this embodiment is a crank mechanism, the rotation deflection angle of the first link 531 can be driven to rotate by a smaller deflection angle; a connection head 533a is disposed in the middle of the connection seat 533, and the connection head 533a is hinged to the mounting seat 54, and defines a hinge axis of the connection head 533a and the mounting seat 54 as an E axis.
The second driving mechanism 55 is mounted on the rotation connecting mechanism 53, and the driving end of the second driving mechanism 55 is connected with the mounting seat 54 and drives the mounting seat to rotate; specifically, the second driving mechanism 55 is a hydraulic cylinder, the fixed end of the second driving mechanism 55 is hinged to the connection seat 533, the telescopic end of the second driving mechanism 55 is hinged to the mounting seat 54, the hinge axis defining the fixed end of the second driving mechanism 55 and the connection seat 533 is an F axis, the hinge axis of the telescopic end of the second driving mechanism 55 and the mounting seat 54 is a G axis, the E axis, the F axis and the G axis are parallel to each other and are not coaxial, and the E axis is perpendicular to the a axis; preferably, two second driving mechanisms 55 are provided, the two second driving mechanisms 55 are symmetrically disposed at two sides of the hinge position of the connector 33a and the mounting seat 54, and the two second driving mechanisms 55 synchronously and reversely stretch and retract, so that the deflection of the mounting seat 54 is more stable.
The first driving mechanism 52 is a hydraulic cylinder, the fixed end of the first driving mechanism 52 is hinged to the tail end of the first connecting arm 51, the telescopic end of the first driving mechanism 52 is hinged to one end of the first connecting rod 531, which is close to the second connecting rod 532, the hinge axis defining the fixed end of the first driving mechanism 52 and the tail end of the first connecting arm 51 is an H axis, the hinge axis of the telescopic end of the first driving mechanism 52 and the hinge axis of one end of the first connecting rod 531, which is close to the second connecting rod 532, is a J axis, and the a axis, the B axis, the C axis, the D axis, the H axis and the J axis are all parallel and different.
The rotary motor 56 is mounted on the mounting base 54, and a driving shaft of the rotary motor 56 is connected with the clamping mechanism 57 and drives the clamping mechanism to rotate.
The clamping mechanism 57 comprises a manipulator support 571, a horizontal clamping mechanism 572 and a vertical clamping mechanism 573, the horizontal clamping mechanism 572 comprises two rotating plates 5721 and a third driving mechanism 5722, the middle parts of the two rotating plates 5721 are hinged with the middle part of the manipulator support 571, the two rotating plates 5721 are movably connected, and the hinge shafts of the two rotating plates 5721 and the manipulator support 571 are defined as K shafts; the third driving mechanisms 5722 are hydraulic cylinders, two third driving mechanisms 5722 are provided, fixed ends of the two third driving mechanisms 5722 are respectively hinged to two ends of the manipulator support 571, telescopic ends of the two third driving mechanisms 5722 are respectively hinged to one ends of the two rotating plates 5721, the two third driving mechanisms 5722 synchronously move in the same direction in a telescopic manner, the fixed ends of the third driving mechanisms 5722 and the hinged shafts of the manipulator support 571 are defined as L shafts, the telescopic ends of the third driving mechanisms 5722 and the hinged shafts of the rotating plates 5721 are M shafts, the K shafts, the L shafts and the M shafts are parallel and are different, and the K shafts, the E shafts and the a shafts are perpendicular to each other; the driving shaft of the rotating motor 56 is fixedly connected with the middle part of the manipulator support 571 and drives the manipulator support 571 to rotate; the four vertical clamping mechanisms 573 are arranged at one end of the rotating plate 5721 in a one-to-one correspondence manner, each vertical clamping mechanism 573 comprises a fourth driving mechanism 5731 and a clamping block 5732, the fourth driving mechanism 5731 is a hydraulic cylinder, the fixed end of the fourth driving mechanism 5731 is fixedly connected with one end of the rotating plate 5721, and the telescopic direction of the telescopic end of the fourth driving mechanism 5731 is the same as the axial line of the driving shaft of the rotary motor 56; the clamping block 5732 is fixed to the telescopic end of the fourth driving mechanism 5731, and a first clamping surface 5732a is disposed on one surface of the clamping block 5732 opposite to the rotating plate 5721.
Specifically, the manipulator support 571 includes a first mounting plate 5711, a second mounting plate 5712, and a connection post 5713, where the first mounting plate 5711 is fixedly connected with the rotating shaft of the rotary motor 56, and the second mounting plate 5712 is disposed opposite to one surface of the first mounting plate 5711, which is away from the rotary motor 56; the number of the connection columns 5713 is two, the two connection columns 5713 are respectively disposed at two ends of the first mounting plate 5711 and the second mounting plate 5712, and two ends of the connection column 5713 are respectively fixedly connected with the first mounting plate 5711 and the second mounting plate 5712; the second mounting plate 5712 has a second clamping surface 5712a opposite to one end surface of the first clamping surface 5732a, and the first clamping surface 5732a and the second clamping surface 5712a are used for longitudinally clamping an H-shaped steel column; both the rotating plates 5721 are hinged between the first mounting plate 5711 and the second mounting plate 5712; the fixed ends of the two third driving mechanisms 5722 are hinged to the two connection columns 5713, respectively.
In this embodiment, the mechanical arm 4 includes a rotating block 41, a second connecting arm 42, a third connecting arm 43, a fifth driving mechanism 44, a sixth driving mechanism 45, a seventh driving mechanism 46, and an eighth driving mechanism 47, where the fifth driving mechanism 44, the sixth driving mechanism 45, the seventh driving mechanism 46, and the eighth driving mechanism 47 are all hydraulic cylinders; one side of the rotating block 41 is hinged with one side of the rotary operation platform 3, and the hinge shaft of the rotating block is perpendicular to the upper surface of the first consignment plate 11; the fixed end of the fifth driving mechanism 44 is hinged to the rotary working platform 3, the telescopic end of the fifth driving mechanism 44 is hinged to the rotating block 41, and is used for driving the rotating block 41 to rotate, the hinge shaft of the fifth driving mechanism 44 and the rotary working platform 3 is defined as an N-axis, and the hinge shaft of the fifth driving mechanism 44 and the rotating block 41 is defined as a P-axis; the tail end of the second connecting arm 42 is hinged with the rotating block 41, and the hinge axis of the second connecting arm is defined as a Q axis; the fixed end of the sixth driving mechanism 45 is hinged to the rotating block 41, the telescopic end of the sixth driving mechanism 45 is hinged to the second connecting arm 42, and is used for driving the second connecting arm 42 to rotate, and the hinge axis of the sixth driving mechanism 45 and the rotating block 41 is defined as an R axis, and the hinge axis of the sixth driving mechanism 45 and the second connecting arm 42 is defined as an S axis; the tail end of the third connecting arm 43 is hinged with the head end of the second connecting arm 42, and the hinge axis is defined as a T axis; the fixed end of the seventh driving mechanism 46 is hinged to the second connecting arm 42, the telescopic end of the seventh driving mechanism 46 is hinged to the third connecting arm 43, and is used for driving the third connecting arm 43 to rotate, the hinge axis of the seventh driving mechanism 46 and the second connecting arm 42 is defined as a U axis, and the hinge axis of the seventh driving mechanism 46 and the third connecting arm 43 is defined as a V axis; the tail end of the first connecting arm 51 is hinged with the head end of the third connecting arm 43, and the hinge axis is defined as a W axis; the fixed end of the eighth driving mechanism 47 is hinged to the third connecting arm 43, the telescopic end of the eighth driving mechanism 47 is hinged to the first connecting arm 51, and is used for driving the first connecting arm 51 to rotate, the hinge axis of the eighth driving mechanism 47 and the third connecting arm 43 is defined as an X axis, and the hinge axis of the eighth driving mechanism 47 and the first connecting arm 51 is defined as a Y axis; wherein the hinge axes of the second connecting arm 42 and the rotating block 41, the hinge axes of the third connecting arm 43 and the second connecting arm 42, the hinge axes of the first connecting rod 531 and the first connecting arm 51 are parallel to each other and are parallel to the upper surface of the first shipping plate 11, and the N axis, the P axis, the Q axis, the R axis, the S axis, the T axis, the U axis, the V axis, the W axis, the X axis, the Y axis, the Z axis, and the a axis are parallel to each other; in this embodiment, the first connecting arm 51, the second connecting arm 42 and the third connecting arm 43 together form a three-section arm operation mode, and the operation range is wider.
Working principle: the first step, the tractor pulls the first flatcar 1 and the second flatcar 2 to a required working position along a railway track; secondly, the rotary operation platform 3 rotates, so that the mechanical arm 4 drives the mechanical gripper 5 to move to the position above the H-shaped steel column carried on the second flatcar 2; thirdly, the mechanical arm 4 moves downwards, the mechanical gripper 5 is put down, the second clamping surface 5712a contacts with the H-shaped steel column, and the two rotating plates 5721 transversely clamp the H-shaped steel column; fourth, the fourth driving mechanism 5731 is contracted so that the first clamping surface 5732a moves upward, thereby clamping the H-beam longitudinally and lifting the H-beam; fifthly, the rotary working platform 3 rotates, so that the mechanical arm 4 drives the mechanical gripper 5 to move to the position above the installation position, and meanwhile, the deflection angle of the rotating block 41 is adjusted through the fifth driving mechanism 44, so that the precise positioning of the rotation angle of the mechanical arm 4 is further realized; sixth, the first driving mechanism 52 is contracted, and at the same time, the rotating motor 56 is rotated, so that the H-beam column is vertical; seventh, the mounting table 15 moves along the steel rail 14, and finally the position is adjusted to align the bottom surface mounting hole of the H-shaped steel column with the embedded foundation bolt on the ground; in this embodiment, a hydraulic motor is connected to the second rail wheel 13, and the hydraulic motor is used to drive the second rail wheel 13 to roll.
The first driving mechanism 52 is configured to drive the rotation connecting mechanism 53 to drive the clamping mechanism 57 to rotate parallel to the hinge shaft of the rotation connecting mechanism 53; the second driving mechanism 55 is used for driving the mounting seat 54 to deflect by a small extent, so as to adjust the deflection angle of the clamping mechanism 57 relative to the two sides of the mechanical arm 4; the rotary motor 56 is used for driving the clamping mechanism 57 to rotate along the axial direction; the driving shaft of the rotating motor 56, the hinge shaft of the rotating connecting mechanism 53 and the mechanical arm 4, and the hinge shaft of the rotating connecting mechanism 53 and the hinge shaft of the mounting seat 54 are mutually perpendicular, so that three-dimensional rotation can be realized, the clamping mechanism 57 can conveniently grasp the H-shaped steel column, the auxiliary operation of workers is reduced, the labor is replaced by machinery, and the working safety is improved.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (5)
1. A robotic pole setting flatcar comprising: the device comprises a first flat carriage, a rotary operation platform, a mechanical arm and a mechanical gripper, wherein the first flat carriage comprises a first delivery plate, a first rail wheel, a second rail wheel, a steel rail and an installation table, and the first rail wheel is installed at the bottom of the first delivery plate and is in rolling connection with a railway track; the steel rail is arranged along the length direction of the first delivery plate and is fixedly connected with the upper surface of the first delivery plate; the mounting table is arranged above the steel rail; the second rail wheel is arranged at the bottom of the mounting table and is in rolling connection with the steel rail; the rotary operation platform is arranged on the upper surface of the mounting table; the mechanical gripper comprises a first connecting arm, a first driving mechanism, a rotating connecting mechanism, a mounting seat, a second driving mechanism, a rotating motor and a clamping mechanism, wherein the first connecting arm is arranged on the mechanical arm; one end of the rotating connecting mechanism is hinged with the head end of the first connecting arm, and the other end of the rotating connecting mechanism is hinged with the mounting seat; the first driving mechanism is arranged on the first connecting arm, and the driving end of the first driving mechanism is connected with the rotating connecting mechanism and drives the rotating connecting mechanism to rotate; the second driving mechanism is arranged on the rotating connecting mechanism, and the driving end of the second driving mechanism is connected with the mounting seat and drives the mounting seat to rotate; the rotary motor is arranged on the mounting seat, and a driving shaft of the rotary motor is connected with the clamping mechanism and drives the clamping mechanism to rotate;
the driving shaft of the rotary motor, the hinging shaft of the rotary connecting mechanism and the first connecting arm, and the hinging shaft of the rotary connecting mechanism and the mounting seat are perpendicular to each other;
the rotary connecting mechanism comprises a first connecting rod, a second connecting rod and a connecting seat, wherein one end of each of the first connecting rod and the connecting seat is hinged with the first connecting arm, and the other ends of the first connecting rod and the connecting seat are respectively hinged with two ends of the second connecting rod; a connector is arranged in the middle of the connecting seat and hinged with the mounting seat; the second driving mechanism is a hydraulic cylinder, the fixed end of the second driving mechanism is hinged with the connecting seat, and the telescopic end of the second driving mechanism is hinged with the mounting seat; the first driving mechanism is a hydraulic cylinder, the fixed end of the first driving mechanism is hinged with the tail end of the first connecting arm, and the telescopic end of the first driving mechanism is hinged with one end, close to the second connecting rod, of the first connecting rod;
the clamping mechanism comprises a manipulator support, a horizontal clamping mechanism and a vertical clamping mechanism, wherein the horizontal clamping mechanism comprises two rotating plates and a third driving mechanism, the middle parts of the two rotating plates are hinged with the middle part of the manipulator support, and the two rotating plates are movably connected; the two fixed ends of the two third driving mechanisms are respectively hinged with two ends of the manipulator support, the telescopic ends of the two third driving mechanisms are respectively hinged with one ends of the two rotating plates, and the two third driving mechanisms synchronously move in the same direction in a telescopic manner; the driving shaft of the rotary motor is fixedly connected with the middle part of the manipulator support and drives the manipulator support to rotate; the four vertical clamping mechanisms are arranged at one end of the rotating plate in a one-to-one correspondence manner, each vertical clamping mechanism comprises a fourth driving mechanism and a clamping block, the fourth driving mechanism is a hydraulic cylinder, the fixed end of the fourth driving mechanism is fixedly connected with one end of the rotating plate, and the telescopic direction of the telescopic end of the fourth driving mechanism is in the same direction with the axis of the driving shaft of the rotating motor; the clamping block is fixed at the telescopic end of the fourth driving mechanism, and a first clamping surface is arranged on one surface of the clamping block, which is opposite to the rotating plate.
2. The manipulator pole setting flatcar of claim 1, wherein the number of the second driving mechanisms is two, the two second driving mechanisms are symmetrically arranged at two sides of the hinging position of the connector and the mounting seat, and the two second driving mechanisms synchronously and reversely stretch and retract.
3. The manipulator pole setting flatcar of claim 1, wherein the manipulator support comprises a first mounting plate, a second mounting plate and a connecting column, the first mounting plate is fixedly connected with the rotating shaft of the rotating motor, and the second mounting plate is arranged opposite to one surface of the first mounting plate, which is away from the rotating motor; the two connecting columns are respectively arranged at the two ends of the first mounting plate and the second mounting plate, and the two ends of the connecting columns are respectively fixedly connected with the first mounting plate and the second mounting plate; an end surface of the second mounting plate opposite to the first clamping surface is a second clamping surface; the two rotating plates are hinged between the first mounting plate and the second mounting plate; the fixed ends of the two third driving mechanisms are hinged with the two connecting columns respectively.
4. The manipulator pole assembly wagon of claim 1, wherein the manipulator includes a rotating block, a second connecting arm, a third connecting arm, a fifth drive mechanism, a sixth drive mechanism, a seventh drive mechanism, and an eighth drive mechanism, each of the fifth drive mechanism, the sixth drive mechanism, the seventh drive mechanism, and the eighth drive mechanism being a hydraulic cylinder; one side of the rotating block is hinged with one side of the rotary operation platform, and the hinge shaft of the rotating block is perpendicular to the upper surface of the first consignment plate; the fixed end of the fifth driving mechanism is hinged with the rotary working platform, and the telescopic end of the fifth driving mechanism is hinged with the rotating block and is used for driving the rotating block to rotate; the tail end of the second connecting arm is hinged with the rotating block; the fixed end of the sixth driving mechanism is hinged with the rotating block, and the telescopic end of the sixth driving mechanism is hinged with the second connecting arm and is used for driving the second connecting arm to rotate; the tail end of the third connecting arm is hinged with the head end of the second connecting arm; the fixed end of the seventh driving mechanism is hinged with the second connecting arm, and the telescopic end of the seventh driving mechanism is hinged with the third connecting arm and is used for driving the third connecting arm to rotate; the tail end of the first connecting arm is hinged with the head end of the third connecting arm; the fixed end of the eighth driving mechanism is hinged with the third connecting arm, and the telescopic end of the eighth driving mechanism is hinged with the first connecting arm and is used for driving the first connecting arm to rotate; the second connecting arm is parallel to the hinge shaft of the rotating block, the third connecting arm is parallel to the hinge shaft of the second connecting arm, the first connecting rod is parallel to the hinge shaft of the first connecting arm, and the second connecting arm is parallel to the upper surface of the first delivery plate.
5. The robotic arm-tie truck of claim 1, further comprising a second truck and a tractor, wherein one end of the first truck is connected to the second truck and the other end of the first truck is connected to the tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811072969.4A CN109305178B (en) | 2018-09-14 | 2018-09-14 | Manipulator pole setting flatcar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811072969.4A CN109305178B (en) | 2018-09-14 | 2018-09-14 | Manipulator pole setting flatcar |
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| CN109305178A CN109305178A (en) | 2019-02-05 |
| CN109305178B true CN109305178B (en) | 2023-10-27 |
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| CN201811072969.4A Active CN109305178B (en) | 2018-09-14 | 2018-09-14 | Manipulator pole setting flatcar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854062A (en) * | 2019-03-26 | 2019-06-07 | 武汉迪亚威紧固件有限公司 | A kind of railway electrification construction upright bar mechanical arm car group |
| CN209163593U (en) * | 2019-05-14 | 2019-07-26 | 中铁电气化局集团有限公司石家庄机械装备分公司 | A kind of equipment of automatic installation H profile steel column |
| CN110017053A (en) * | 2019-05-14 | 2019-07-16 | 中铁电气化局集团有限公司石家庄机械装备分公司 | A kind of equipment of automatic installation H profile steel column |
| CN112046339A (en) * | 2020-08-28 | 2020-12-08 | 中铁建电气化局集团第三工程有限公司 | Pole erecting device |
| CN113223423B (en) * | 2021-05-14 | 2022-08-30 | 童画控股有限公司 | Advertisement design display device capable of displaying advertisement effects in multiple ways |
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