CN105858193A - Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines - Google Patents
Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines Download PDFInfo
- Publication number
- CN105858193A CN105858193A CN201610348472.5A CN201610348472A CN105858193A CN 105858193 A CN105858193 A CN 105858193A CN 201610348472 A CN201610348472 A CN 201610348472A CN 105858193 A CN105858193 A CN 105858193A
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- China
- Prior art keywords
- gripper jaw
- fixed
- seat
- clamping device
- slide block
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Supports For Pipes And Cables (AREA)
Abstract
The invention relates to crawler type intelligent transferring equipment for water conservancy and hydropower pipelines. The crawler type intelligent transferring equipment comprises a travelling device, an adjustable support, a rotating device, a Stewart parallel mechanism and a clamping device, wherein the adjustable support is located on the top rear part of the travelling device, the rotating device is located at the front end of the adjustable support and is fixedly connected to the adjustable support, the Stewart parallel mechanism is located between the rotating device and the clamping device, the upper end of the Stewart parallel mechanism is connected to the rotating device, and the lower end of the Stewart parallel mechanism is connected to the clamping device. The crawler type intelligent transferring equipment can grab, transfer and stack the water conservancy and hydropower pipelines, is high in automation degree, stable and flexible to move and high in work efficiency and solves the problems that the manual transfer work is high in cost, low in efficiency and high in risk.
Description
Technical field
The present invention relates to Hydraulic and Hydro-Power Engineering mechanical field, a kind of crawler type water conservancy and hydropower pipeline carrying smart machine.
Background technology
Water power belongs to water economic system noun, is meant that water and electricity, hydroelectric generation etc.；Water power is clean energy resource, renewable, nothing
Pollute, operating cost low, it is simple to carry out power peak regulation, be conducive to improving resource utilization and the comprehensive benefit of economic society.?
In the case of earth traditional energy growing tension, countries in the world universal preferential development water power, utilize hydraulic power potentials energetically；China is not
Opinion is explored potential hydroenergy, or the hydraulic power potentials that may develop, and all ranks first in the world.Hydroelectric resources is for I
The superior resources of state, hydroelectric resource development is the requirement of energy industry development and structural adjustment, is that land resources utilization is shaken with regional economy
Emerging requirement, is the requirement of national environmental protection and sustainable development.Through construction and the practice of decades, China's hydropower technology
The most at the forefront in the world, it is sufficient to support the flourish of hydropower Industry.The reform of State Grid's system is polynary with water power investment subject
Change, new vitality will be injected to the development of hydropower Industry.Along with economical and the further development of society, day by day carrying of environmental requirement
Implementing in full of height, optimizing and revising of electric structure, and strategy to develop western regions, China's hydropower Industry welcomes development opportunity and increases
Add.
Hydraulic and Hydro-Power Engineering relates to most be also modal engineering be exactly pipe laying, and in Hydraulic and Hydro-Power Engineering
The pipeline used is all heavy large-diameter pipeline, and in Hydraulic and Hydro-Power Engineering, construction site is all rugged hollow area, general wheeled vehicle
It is difficult to enter, and manually lifts fortune or rolling fortune now for the many employings of the pipeline used in water conservancy and hydropower, do not only take up
Substantial amounts of labour force, landed cost is high, and it is low to carry stacking efficiency, and its interprocedual easily causes certain dangerous peace simultaneously
Full accident.In consideration of it, the invention provides a kind of crawler type water conservancy and hydropower pipeline carrying smart machine.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of crawler type water conservancy and hydropower pipeline carrying smart machine.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of crawler type water conservancy and hydropower pipeline carrying smart machine, including running gear, adjustable support, rotary apparatus, Stewart
Parallel institution and clamping device；Described adjustable support is positioned at running gear back upper place, and rotary apparatus is positioned at position, adjustable support front end
Put place, and rotary apparatus be connected with adjustable support, Stewart parallel institution between rotary apparatus and clamping device, and
Stewart parallel institution upper end is connected with rotary apparatus, and Stewart parallel institution lower end is connected with clamping device.
As a further improvement on the present invention, described running gear include chassis, drive motor, drive shaft, walking belt wheel,
Tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking belt wheel quantity
It is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor to be separately fixed at chassis
Front and back in the mounting groove of both sides, and motor is driven to use Biaxial synchronous output motor, drive shaft one end and driving motor output shaft phase
Connecting, the drive shaft other end is connected with walking belt wheel, and is fixed by tight locking button between drive shaft and walking belt wheel, OK
Walk crawler belt two ends to walk on belt wheel rotating around being enclosed within, and outside traveling crawler, be evenly arranged with semicircle tread plate；By driving electricity
Machine rotate the rotation driving treads wheel, thus drive the motion of traveling crawler, running gear be mainly used in the present invention walking,
Move and turn to, and running gear is by using track structure to easily facilitate the walking of different physical features ground condition so that the present invention's
The suitability is higher.
As a further improvement on the present invention, described adjustable support include rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft,
Regulation connecting rod, the second rotating shaft and the 3rd rotating shaft；Described elevating lever bottom is fixed on upper surface, chassis by rotary disk basement, flexible horizontal stroke
Beam rear end is connected with elevating lever top by the first rotating shaft, and telescoping crossbeam uses in double-deck telescopic structure, and telescoping crossbeam
Using support column to be attached between layer and lower floor, telescoping crossbeam rear end is provided with the first ear mount, lower end position in the middle part of telescoping crossbeam
Place is provided with the second ear mount, and telescoping crossbeam front end is provided with mounting ring, and regulation connecting rod one end is by the second rotating shaft and telescoping crossbeam
The second ear mount at subordinate's end position is connected, and the regulation connecting rod other end is arranged at elevating lever medium position by the 3rd rotating shaft,
And regulation connecting rod is I-shaped structure；Elevating lever can realize regulating the integral-rotation of support and the function of whole height regulation, flexible
Crossbeam can carry out the regulation of horizontal cross length, telescoping crossbeam can be driven with the first rotating shaft by the stretching motion of regulation connecting rod simultaneously
Local rotary motion is carried out for center of rotation, it is achieved thereby that the regulation of the overall angle that adjustable support is on the vertical plane, adjustable supporting
Frame can carry out two translations two in space and rotate the motion in totally four degree of freedom directions, can realize the present invention by regulation support overall
Orientation and the adjustment of angle, and regulate quick and convenient, it is simple to water conservancy and hydropower pipeline transport operation is carried out by the present invention.
As a further improvement on the present invention, described rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotating disk；
Described electric rotating machine uses low-speed high-torque motor, and electric rotating machine vertically stands upside down and is positioned at inside the mounting ring of telescoping crossbeam front end,
And be fixed by motor cabinet between electric rotating machine and telescoping crossbeam, entered by key between electric rotating machine main shaft and column spinner upper end
Row connects, and column spinner lower end is connected with rotating disk, rotating disk upper end structure in the form of annular discs, rotating disk lower end edge its center axis
It is evenly arranged with connection post in circumferential direction, and connects the stepped column structure of post；Stewart can be driven by rotary apparatus
The integral-rotation motion of parallel institution and clamping device.
As a further improvement on the present invention, described Stewart parallel institution include fixed platform, moving platform, connection seat, on
Spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, moving platform is positioned at immediately below fixed platform, connects seat and is arranged on the lower surface of fixed platform, and connects seat at fixed platform
On in equilateral triangle location arrangements, Triangulum is arranged on moving platform upper surface, and connects the installation site between seat and Triangulum
Interlocking two-by-two, and Triangulum is equilateral triangle column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane,
Offer the installation screwed hole matched with lower spherical hinge lower end external screw thread in inclined plane, electric pushrod bottom by upper spherical hinge with
Connecting seat to be connected, electric pushrod top is connected with block plate seat upper end, and block plate seat lower end is connected with lower spherical hinge one end, under
The spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one end and electric pushrod phase
Connecting, the limit spring other end is connected with block plate seat；By the stretching motion up and down of electric pushrod, thus drive moving platform
Pumping, and added the stationarity of moving platform by limit spring, the present invention uses the Stewart of 6-SPS in parallel
Mechanism, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and Stewart parallel institution exists
Three translations three can be carried out in space and rotate the motion in six-freedom degree direction altogether, and motion flexibility is good, space is little, motion is fast
Degree is fast, kinematic dexterity is good, is applied in the present invention by Stewart parallel institution, can drive soft in space of clamping device
Property small movements, Stewart parallel institution be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time local micro-
Undersized adjustment.
As a further improvement on the present invention, described clamping device includes fixed plate and clamping device, and clamping device quantity is
Three；Described clamping device is positioned at immediately below fixed plate, and clamping device is the most equidistant along the central transverse axis of fixed plate
Arrange；Described clamping device includes directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connects spiral shell
Post, the second slide block, hydraulic cylinder, mobile ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described leads
Being strip structure to slide rail, and the directive slide track left and right sides is respectively arranged with baffle plate, directive slide track vertical cross section is I shape knot
Structure, the first slide block is arranged on directive slide track, and the first slide block is respectively symmetrically layout, upper clamping along the central axis of directive slide track
Pawl upper end is fixed on immediately below the first slide block, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at clamping
Immediately below pawl, lower gripper jaw is also quadrant shape column structure, stretching spring between upper gripper jaw and lower gripper jaw,
And stretching spring is arranged side by side between upper gripper jaw and lower gripper jaw, stretching spring upper end is by under connecting stud and upper gripper jaw
End face is connected, and stretching lower spring end is connected with lower gripper jaw upper surface by connecting stud, and the second slide block is positioned at the first slide block
Outside, and the second slide block is arranged on directive slide track, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting
Single-stage telescoping hydraulic cylinder, hydraulic cylinder lower end is fixed with mobile ear mount, uses mobile turning between air-leg one end and mobile ear mount
Pin is attached, and the air-leg other end is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on outside lower gripper jaw
On sidewall, and move ear mount and the most U-shaped structure of fixed ear base；During specific works, first pass through directive slide track, the first slide block
Clamping diameter during gripping apparatus grips is adjusted with the second slide block；Then upper gripper jaw and lower gripper jaw are placed into water to be handled
The outside of diuretic electric pipe, wherein on the one hand stretching spring serves clamping diameter dimension tune when the present invention clamps water conservancy and hydropower pipeline
The effect of whole change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；Transported by the stretching, extension of air-leg again
The lower gripper jaw compressional movement to inner side of dynamic drive, further clamps water conservancy and hydropower pipeline, prevents water conservancy and hydropower pipeline from removing
Slippage during fortune；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower folder by the contractile motion of air-leg
Hold pawl extension movement laterally so that lower gripper jaw opens, water conservancy and hydropower pipeline is discharged.
Compared with prior art, the invention have the advantages that
(1) present invention can realize the crawl to water conservancy and hydropower pipeline, carry and a series of operations such as stacking, and automaticity is high,
Stable movement is flexible, working performance is high, the problem such as solve that a dead lift operating cost is high, efficiency is low and danger is big.
(2) running gear of the present invention is mainly used in walking, moves and turn to, and running gear is by using track structure more
Add the walking being easy to different physical features ground condition so that the suitability of the present invention is higher.
(3) adjustable support of the present invention can carry out two translations two in space and rotates the motion in totally four degree of freedom directions, by adjusting
Joint support can realize entirety orientation of the present invention and the adjustment of angle, and regulates quick and convenient, it is simple to the present invention is to water conservancy and hydropower pipeline
The carrying out of transport operation.
(4) the Stewart parallel institution of the present invention can carry out the fortune in three translations three rotation six-freedom degree directions altogether in space
Dynamic, and motion flexibility is good, space is little, movement velocity is fast, kinematic dexterity is good, is applied to by Stewart parallel institution
In the present invention, can drive the clamping device flexible small movements in space, Stewart parallel institution is mainly used in the present invention and enters
The minute sized adjustment in local when the crawl of row water conservancy and hydropower pipeline and stacking operation.
(5) clamping device level interval and the vertical interval of the present invention are the most adjustable, it is simple to the water conservancy and hydropower pipe to different-diameter size
Road captures, and captures and stack fast and easy, and in handling process, clamping is stable firmly, is difficult to slip, and safety is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when running gear of the present invention, adjustable support and rotary apparatus cooperation；
Fig. 3 is perspective view when Stewart parallel institution of the present invention and clamping device cooperation；
Fig. 4 is the perspective view of Stewart parallel institution of the present invention；
Fig. 5 is the perspective view of clamping device of the present invention；
Fig. 6 is the perspective view of clamping device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of crawler type water conservancy and hydropower pipeline carrying smart machine, including running gear 1, adjustable supporting
Frame 2, rotary apparatus 3, Stewart parallel institution 4 and clamping device 5；After described adjustable support 2 is positioned at running gear 1
Top, rotary apparatus 3 is positioned at adjustable support 2 front position, and rotary apparatus 3 is connected with adjustable support 2, Stewart
Parallel institution 4 is between rotary apparatus 3 and clamping device 5, and Stewart parallel institution 4 upper end and rotary apparatus 3 phase
Connecting, Stewart parallel institution 4 lower end is connected with clamping device 5.
As in figure 2 it is shown, described running gear 1 include chassis 11, drive motor 12, drive shaft 13, walking belt wheel 14,
Tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers installation respectively
Groove, drives motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drives motor 12 to use Biaxial synchronous to export
Motor, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14,
And be fixed by tight locking button 15 between drive shaft 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking
On belt wheel 14, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate；By driving the rotation of motor 12 to drive walking
The rotation of belt wheel 14, thus drive the motion of traveling crawler 16, running gear 1 be mainly used in the walking of the present invention, movement and
Turn to, and running gear 1 is by using track structure to easily facilitate the walking of different physical features ground condition so that the present invention is suitable for
Property is higher.
As in figure 2 it is shown, described adjustable support 2 include rotary disk basement 21, elevating lever 22, telescoping crossbeam the 23, first rotating shaft 24,
Regulation connecting rod the 25, second rotating shaft 26 and the 3rd rotating shaft 27；Described elevating lever 22 bottom is fixed on chassis by rotary disk basement 21
11 upper surfaces, telescoping crossbeam 23 rear end is connected with elevating lever 22 top by the first rotating shaft 24, and telescoping crossbeam 23 uses double
Layer uses support column to be attached between telescopic structure, and telescoping crossbeam 23 the upper and lower, telescoping crossbeam 23 rear end sets
Being equipped with the first ear mount, be provided with the second ear mount in the middle part of telescoping crossbeam 23 at lower end position, telescoping crossbeam 23 front end is provided with installation
Ring, regulation connecting rod 25 one end is connected with the second ear mount at lower end position in the middle part of telescoping crossbeam 23 by the second rotating shaft 26, adjusts
Joint connecting rod 25 other end is arranged at elevating lever 22 medium position by the 3rd rotating shaft 27, and regulation connecting rod 25 is tied in I shape
Structure；Elevating lever 22 can realize regulating the integral-rotation of support 2 and the function of whole height regulation, and telescoping crossbeam 23 can carry out water
The regulation of flat lateral length, can drive telescoping crossbeam 23 with the first rotating shaft 24 for rotation by the stretching motion of regulation connecting rod 25 simultaneously
Turn center and carry out local rotary motion, it is achieved thereby that the regulation of the overall angle that adjustable support 2 is on the vertical plane, adjustable support
2 can carry out two translations two in space rotates the motion in totally four degree of freedom directions, can realize the present invention by regulation support 2 whole
Body orientation and the adjustment of angle, and regulate quick and convenient, it is simple to water conservancy and hydropower pipeline transport operation is carried out by the present invention.
As in figure 2 it is shown, described rotary apparatus 3 includes electric rotating machine 31, motor cabinet 32, column spinner 33 and rotating disk 34；
Described electric rotating machine 31 uses low-speed high-torque motor, and electric rotating machine 31 vertically stands upside down and is positioned at the installation of telescoping crossbeam 23 front end
Inside ring, and it is fixed by motor cabinet 32 between electric rotating machine 31 and telescoping crossbeam 23, electric rotating machine 31 main shaft and rotation
Rotary column 33 is attached by key between upper end, and column spinner 33 lower end is connected with rotating disk 34, and rotating disk 34 upper end is circle
Disk-like structure, rotating disk 34 lower end edge its center axis is that circumferential direction is evenly arranged with connection post, and connects the stepped post of post
Body structure；The integral-rotation that can be driven Stewart parallel institution 4 and clamping device 5 by rotary apparatus 3 is moved.
As shown in Figure 3 and Figure 4, described Stewart parallel institution 4 include fixed platform 41, moving platform 42, connect seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described company
Joint chair 43 and Triangulum 48 quantity are three, upper spherical hinge 44, electric pushrod 45, block plate seat 46 and the quantity of lower spherical hinge 47
It is six, described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at immediately below fixed platform 41,
Connect seat 43 to be arranged on the lower surface of fixed platform 41, and connect seat 43 on fixed platform 41 in equilateral triangle location arrangements,
Triangulum 48 is arranged on moving platform 42 upper surface, and the installation site connected between seat 43 and Triangulum 48 is interlocked two-by-two,
And Triangulum 48 is in equilateral triangle column structure, Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane, tilts
Offering the installation screwed hole matched with lower spherical hinge 47 lower end external screw thread on face, electric pushrod 45 bottom is by upper spherical hinge
44 are connected with being connected seat 43, and electric pushrod 45 top is connected with block plate seat 46 upper end, block plate seat 46 lower end and lower ball pivot
Chain 47 one end is connected, and lower spherical hinge 47 other end is arranged on Triangulum 48, and limit spring 49 is around being enclosed within electric pushrod 45
On, and limit spring 49 one end is connected with electric pushrod 45, limit spring 49 other end is connected with block plate seat 46；Logical
Cross the stretching motion up and down of electric pushrod 45, thus drive pumping of moving platform 42, and increased by limit spring 49
Having added the stationarity of moving platform 42, the present invention uses the Stewart parallel institution 4 of 6-SPS, big with serial mechanism phase specific stiffness,
Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and Stewart parallel institution 4 can carry out three translations three in space and rotate altogether
The motion in six-freedom degree direction, and motion flexibility is good, space is little, movement velocity is fast, kinematic dexterity is good, by Stewart
Parallel institution 4 is applied in the present invention, can drive the clamping device 5 flexible small movements in space, Stewart parallel machine
Structure 4 is mainly used in the minute sized adjustment in local when the present invention carries out water conservancy and hydropower pipeline crawl and stacks operation.
As shown in Figure 5 and Figure 6, described clamping device 5 includes fixed plate 51 and clamping device 52, and clamping device 52 number
Amount is three；Described clamping device 52 is positioned at immediately below fixed plate 51, and clamping device 52 is along the transverse center of fixed plate 51
Axis is linearly equally spaced；Described clamping device 52 include directive slide track the 521, first slide block 522, upper gripper jaw 523,
Lower gripper jaw 524, stretching spring 525, connecting stud the 526, second slide block 527, hydraulic cylinder 528, mobile ear mount 529, shifting
Dynamic ship and resell on another market 5210, air-leg 5211, fixed ear base 5212 and fixing swing pin 5213；Described directive slide track 521 is in bar shaped
Shape structure, and directive slide track 521 left and right sides is respectively arranged with baffle plate, directive slide track 521 vertical cross section is I-shaped structure,
First slide block 522 is arranged on directive slide track 521, and the first slide block 522 is respectively symmetrically along the central axis of directive slide track 521
Arranging, upper gripper jaw 523 upper end is fixed on immediately below the first slide block 522, and upper gripper jaw 523 is in quadrant shape cylinder
Structure, lower gripper jaw 524 is positioned at immediately below gripper jaw 523, and lower gripper jaw 524 is also quadrant shape column structure,
Stretching spring 525 between upper gripper jaw 523 and lower gripper jaw 524, and stretching spring 525 upper gripper jaw 523 and under
Being arranged side by side between gripper jaw 524, stretching spring 525 upper end is connected with upper gripper jaw 523 lower surface by connecting stud 526
Connecing, stretching spring 525 lower end is connected with lower gripper jaw 524 upper surface by connecting stud 526, and the second slide block 527 is positioned at
Outside first slide block 522, and the second slide block 527 is arranged on directive slide track 521, and it is sliding that hydraulic cylinder 528 upper end is fixed on second
On block 527, and hydraulic cylinder 528 uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder 528 lower end to be fixed with mobile ear mount 529,
Mobile shipping and reselling on another market is used 5210 to be attached between air-leg 5211 one end and mobile ear mount 529, air-leg 5211 other end
Being connected with fixed ear base 5212 by fixing swing pin 5213, fixed ear base 5212 is fixed on lower gripper jaw 5247 lateral wall,
And move ear mount 529 and the most U-shaped structure of fixed ear base 5212；During specific works, first pass through directive slide track 521, first
Slide block 522 and the second slide block 527 adjust clamping diameter during gripping apparatus grips；Then by upper gripper jaw 523 and lower gripper jaw
524 outsides being placed into water conservancy and hydropower pipeline to be handled, wherein stretching spring 525 1 aspect serves the present invention and clamps water conservancy
Clamp diameter dimension during water power pipeline and adjust the effect of change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；
The lower gripper jaw 524 compressional movement to inner side is driven again, further by water conservancy and hydropower by the stretching of air-leg 5211
Pipeline clamps, and prevents the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination,
Lower clamping 524 pawls extension movement laterally is driven so that lower gripper jaw 524 opens by the contractile motion of air-leg 5211,
Water conservancy and hydropower pipeline is discharged.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (3)
1. a crawler type water conservancy and hydropower pipeline carrying smart machine, it is characterised in that: include running gear, adjustable support, rotation
Rotary device, Stewart parallel institution and clamping device；Described adjustable support is positioned at running gear back upper place, rotary apparatus position
At adjustable support front position, and rotary apparatus is connected with adjustable support, and Stewart parallel institution is positioned at rotary apparatus and folder
Hold between device, and Stewart parallel institution upper end is connected with rotary apparatus, Stewart parallel institution lower end and clamping dress
Put and be connected；Wherein:
Described running gear includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives
The quantity of motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The rectangular knot in described chassis
Structure, rear and front end, chassis offers mounting groove respectively, drives motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drives
Galvanic electricity machine uses Biaxial synchronous output motor, drive shaft one end to be connected with driving motor output shaft, the drive shaft other end and walking
Belt wheel is connected, and is fixed by tight locking button between drive shaft and walking belt wheel, and traveling crawler two ends are rotating around being enclosed within walking
On belt wheel, and outside traveling crawler, it is evenly arranged with semicircle tread plate；
Described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat,
Lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, gear
The quantity of dish seat and lower spherical hinge is six, and described fixed platform and moving platform the most rounded shape structure, moving platform is positioned at fixed platform
Underface, connects seat and is arranged on the lower surface of fixed platform, and connects seat on fixed platform in equilateral triangle location arrangements, triangle
Seat is arranged on moving platform upper surface, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is positive triangle
Shape column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers with under lower spherical hinge
The installation screwed hole that end external screw thread matches, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod top
Being connected with block plate seat upper end, block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum,
Limit spring is around being enclosed within electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end and block plate seat
It is connected；
Described clamping device includes fixed plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at solid
Determine immediately below plate, and clamping device is linearly equally spaced along the central transverse axis of fixed plate；Described clamping device includes
Directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connecting stud, the second slide block, hydraulic cylinder, shifting
Dynamic ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described directive slide track is strip structure, and leads
Be respectively arranged with baffle plate to the slide rail left and right sides, directive slide track vertical cross section is I-shaped structure, and it is sliding that the first slide block is arranged on guiding
On rail, and the first slide block is respectively symmetrically layout along the central axis of directive slide track, upper gripper jaw upper end be fixed on the first slide block just under
Just, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at immediately below gripper jaw, and lower gripper jaw is also four
/ mono-circular cylinder structure, stretching spring between upper gripper jaw and lower gripper jaw, and stretching spring upper gripper jaw and under
Being arranged side by side between gripper jaw, stretching spring upper end is connected with upper gripper jaw lower surface by connecting stud, stretches lower spring end
Being connected with lower gripper jaw upper surface by connecting stud, the second slide block is positioned at outside the first slide block, and the second slide block is arranged on and leads
On slide rail, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder
Lower end is fixed with mobile ear mount, uses mobile shipping and reselling on another market to be attached between air-leg one end and mobile ear mount, air-leg another
End is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on lower gripper jaw lateral wall, and mobile ear mount is with fixing
The most U-shaped structure of ear mount.
A kind of crawler type water conservancy and hydropower pipeline carrying smart machine the most according to claim 1, it is characterised in that: described
Rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotating disk；Described electric rotating machine uses low-speed high-torque motor,
Electric rotating machine vertically stands upside down and is positioned at inside the mounting ring of telescoping crossbeam front end, and passes through motor cabinet between electric rotating machine and telescoping crossbeam
Being fixed, be attached by key between electric rotating machine main shaft and column spinner upper end, column spinner lower end is connected with rotating disk,
Rotating disk upper end structure in the form of annular discs, rotating disk lower end edge its center axis is that circumferential direction is evenly arranged with connection post, and connects
The stepped column structure of post.
A kind of crawler type water conservancy and hydropower pipeline carrying smart machine the most according to claim 1, it is characterised in that: described
Adjustable support includes rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft, regulation connecting rod, the second rotating shaft and the 3rd rotating shaft；Institute
The elevating lever bottom stated is fixed on upper surface, chassis by rotary disk basement, and the first rotating shaft and elevating lever top phase are passed through in telescoping crossbeam rear end
Connecting, telescoping crossbeam uses bilayer to use support column to be attached between telescopic structure, and telescoping crossbeam the upper and lower,
Telescoping crossbeam rear end is provided with the first ear mount, is provided with the second ear mount in the middle part of telescoping crossbeam at lower end position, and telescoping crossbeam front end sets
Being equipped with mounting ring, regulation connecting rod one end is connected with the second ear mount at lower end position in the middle part of telescoping crossbeam by the second rotating shaft, adjusts
The joint connecting rod other end is arranged at elevating lever medium position by the 3rd rotating shaft, and regulation connecting rod is I-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348472.5A CN105858193A (en) | 2016-05-24 | 2016-05-24 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348472.5A CN105858193A (en) | 2016-05-24 | 2016-05-24 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
Publications (1)
| Publication Number | Publication Date |
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| CN105858193A true CN105858193A (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610348472.5A Pending CN105858193A (en) | 2016-05-24 | 2016-05-24 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
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| CN107814154A (en) * | 2017-11-22 | 2018-03-20 | 西南交通大学 | A kind of airdrome luggage handling device |
| CN108502319A (en) * | 2018-03-06 | 2018-09-07 | 曾传金 | A kind of pipeline handling device of water conservancy |
| CN108952800A (en) * | 2018-07-25 | 2018-12-07 | 黄河科技学院 | Machine driving frame type hydraulic support carrying implement |
| CN109516110A (en) * | 2018-11-20 | 2019-03-26 | 周小红 | A kind of large-scale steel pipe transfer robot |
| CN109519601A (en) * | 2018-11-07 | 2019-03-26 | 广州中桥能源科技有限公司 | A kind of natural gas line laying apparatus |
| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
| CN112607298A (en) * | 2020-12-07 | 2021-04-06 | 储孟怡 | Hydraulic engineering is with laborsaving type pipeline mobile device with suitability |
| CN112645074A (en) * | 2020-12-25 | 2021-04-13 | 河北科技师范学院 | Port carrying device and method with adjustable width |
| CN115229356A (en) * | 2022-09-23 | 2022-10-25 | 济南森峰激光科技股份有限公司 | High-power laser cutting head |
| CN116767810A (en) * | 2023-08-22 | 2023-09-19 | 潍坊特钢集团有限公司 | Billet rotating device |
| CN117228314A (en) * | 2023-10-20 | 2023-12-15 | 山东信隆机电有限公司 | Motor rotating shaft grabbing and conveying mechanism |
| CN117262721A (en) * | 2023-10-23 | 2023-12-22 | 湖北冠升光电科技有限公司 | Optical module burning device and optical module burning method |
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| CN112607298A (en) * | 2020-12-07 | 2021-04-06 | 储孟怡 | Hydraulic engineering is with laborsaving type pipeline mobile device with suitability |
| CN112645074A (en) * | 2020-12-25 | 2021-04-13 | 河北科技师范学院 | Port carrying device and method with adjustable width |
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